// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
//  »Project«   Teikitu Gaming System (TgS) (∂)
//  »File«      TgS Collision - F - Capsule-Sphere.c_inc
//  »Author«    Andrew Aye (EMail: mailto:andrew.aye@gmail.com, Web: http://www.andrewaye.com)
//  »Version«   4.0
//  »Keywords«  Collision;Distance;Closest;Intersect;Penetrate;Sweep;Capsule;Sphere;
// ------------------------------------------------------------------------------------------------------------------------------ //
//  Copyright: © 2002-2010, Andrew Aye.  All Rights Reserved.
//  This software is free for non-commercial use. Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met: 
//    Redistributions of source code must retain this copyright notice, this list of conditions and the following disclaimers. 
//    Redistributions in binary form must reproduce this copyright notice, this list of conditions and the following
//      disclaimers in the documentation and other materials provided with the distribution. 
//  Neither the names of the copyright owner nor the names of its contributors may be used to endorse or promote products derived
//  from this software without specific prior written permission. 
//  The intellectual property rights of the algorithms used reside with Andrew Aye.  You may not use this software, in whole or
//  in part, in support of any commercial product without the express written consent of the author.
//  There is no warranty or other guarantee of fitness of this software for any purpose. It is provided solely "as is".
// =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //
// == Collision ================================================================================================================= //

// ---- tgCO_F_Penetrate_SP_CP -------------------------------------------------------------------------------------------------- //
// Input:  tgPacket: The current series of contact points for this query-series, and contact generation parameters.
// Input:  psSP0: Sphere primitive
// Input:  psCP0: Capsule primitive - contact points are generated on this primitive
// Output: tgPacket: Points of penetration between the two primitives are added to it
// Return: Result Code
// ------------------------------------------------------------------------------------------------------------------------------ //
TgRESULT V(tgCO_F_Penetrate_SP_CP)( V(PCU_STg2_CO_Packet) psPacket, V(CPCU_TgSPHERE) psSP0, V(CPCU_TgTUBE) psCP0 )
{
    const TYPE                          fRS = psCP0->m_fRadius + psSP0->m_fRadius;
    const TYPE                          fRSSq = fRS*fRS;
    V(TgVEC)                            vPnt, vK1;
    V(TgVEC)                            vNormal;
    TYPE                                fNM;
    V(P_STg2_CO_Contact)                psContact;

    const TYPE                          fDistSq = V(tgCO_F_ClosestSq_SG_VT)( &vPnt, &psCP0->m_sAX, &psSP0->m_vOrigin );

    TgASSERT_PARAM((TgSIZE)psPacket->m_iStride >= sizeof( V(P_STg2_CO_Contact) ));
    TgASSERT_PARAM(V(tgGM_Is_Valid_TB)( psCP0 ) && V(tgGM_Is_Valid_SP)( psSP0 ));

    if (0 == psPacket->m_niMaxContact || psPacket->m_niContact >= psPacket->m_niMaxContact || NULL == psPacket->m.psContact)
    {
        return (TgE_FAIL);
    };

    if (fDistSq > fRSSq)
    {
        return (ETgE_NO_INTERSECT);
    };

    if (F(KTgEPS) >= fDistSq)
    {
        V(C_TgVEC)                          vK0 = V(F_Set_Ortho)( &psCP0->m.m.vU_HAX );

        vNormal = V(F_NORM)( &vK0 );
        fNM = MKL(0.0);
    }
    else
    {
        V(C_TgVEC)                          vK0 = V(F_SUB_VV)( &vPnt, &psSP0->m_vOrigin );

        vNormal = V(F_NORM_LEN)( &fNM, &vK0 );
    };

    psContact = (V(P_STg2_CO_Contact))(psPacket->m.piContact + psPacket->m_niContact*psPacket->m_iStride);

    vK1 = V(F_MUL_VS)( &vNormal, psCP0->m_fRadius );
    psContact->m_vS0 = V(F_SUB_VV)( &vPnt, &vK1 );
    psContact->m_vN0 = vNormal;
    psContact->m_fT0 = MKL(0.0);
    psContact->m_fDepth = fRS - fNM;

    ++psPacket->m_niContact;

    return (TgS_OK);
}