// 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 the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#ifndef GU_CCD_SWEEP_CONVEX_MESH_H
#define GU_CCD_SWEEP_CONVEX_MESH_H

#include "common/PxPhysXCommonConfig.h"
#include "foundation/PxVecTransform.h"
#include "CmScaling.h"

#define GU_TRIANGLE_SWEEP_METHOD_ARGS				\
	const PxGeometry& shape0,						\
	const PxGeometry& shape1,						\
	const PxTransform32& transform0,				\
	const PxTransform32& transform1,				\
	const PxTransform32& lastTm0,					\
	const PxTransform32& lastTm1,					\
	PxReal restDistance,							\
	PxVec3& worldNormal,							\
	PxVec3& worldPoint,								\
	const Cm::FastVertex2ShapeScaling& meshScaling,	\
	Gu::TriangleV& triangle,						\
	const PxF32 toiEstimate

#define GU_SWEEP_METHOD_ARGS			\
	const Gu::CCDShape& shape0,			\
	const Gu::CCDShape& shape1,			\
	const PxTransform32& transform0,	\
	const PxTransform32& transform1,	\
	const PxTransform32& lastTm0,		\
	const PxTransform32& lastTm1,		\
	PxReal restDistance,				\
	PxVec3& worldNormal,				\
	PxVec3& worldPoint,					\
	const PxF32 toiEstimate,			\
	PxU32& outCCDFaceIndex,				\
	const PxReal fastMovingThreshold

#define GU_SWEEP_ESTIMATE_ARGS			\
	const CCDShape& shape0,				\
	const CCDShape& shape1,				\
	const PxReal restDistance,			\
	const PxReal fastMovingThreshold

#define GU_SWEEP_METHOD_ARGS_UNUSED		\
	const Gu::CCDShape& /*shape0*/,		\
	const Gu::CCDShape& /*shape1*/,		\
	const PxTransform32& /*transform0*/,\
	const PxTransform32& /*transform1*/,\
	const PxTransform32& /*lastTm0*/,	\
	const PxTransform32& /*lastTm1*/,	\
	PxReal /*restDistance*/,			\
	PxVec3& /*worldNormal*/,			\
	PxVec3& /*worldPoint*/,				\
	const PxF32 /*toiEstimate*/,		\
	PxU32& /*outCCDFaceIndex*/,			\
	const PxReal /*fastMovingThreshold*/

namespace physx
{
namespace Gu
{
	struct CCDShape
	{
		const PxGeometry*	mGeometry;
		PxReal				mFastMovingThreshold;		//The CCD threshold for this shape
		PxTransform			mPrevTransform;				//This shape's previous transform
		PxTransform			mCurrentTransform;			//This shape's current transform
		PxVec3				mExtents;					//The extents of this shape's AABB
		PxVec3				mCenter;					//The center of this shape's AABB
		PxU32				mUpdateCount;				//How many times this shape has been updated in the CCD. This is correlated with the CCD body's update count.
	};

	PX_FORCE_INLINE PxF32 sweepAABBAABB(const PxVec3& centerA, const PxVec3& extentsA, const PxVec3& centerB, const PxVec3& extentsB, const PxVec3& trA, const PxVec3& trB)
	{
		//Sweep 2 AABBs against each other, return the TOI when they hit else PX_MAX_REAL if they don't hit
		const PxVec3 cAcB = centerA - centerB;
		const PxVec3 sumExtents = extentsA + extentsB;

		//Initial hit
		if(PxAbs(cAcB.x) <= sumExtents.x && 
			PxAbs(cAcB.y) <= sumExtents.y && 
			PxAbs(cAcB.z) <= sumExtents.z)
			return 0.f;

		//No initial hit - perform the sweep
		const PxVec3 relTr = trB - trA;
		PxF32 tfirst = 0.f;
		PxF32 tlast = 1.f;

		const PxVec3 aMax = centerA + extentsA;
		const PxVec3 aMin = centerA - extentsA;
		const PxVec3 bMax = centerB + extentsB;
		const PxVec3 bMin = centerB - extentsB;

		const PxF32 eps = 1e-6f;

		for(PxU32 a = 0; a < 3; ++a)
		{
			if(relTr[a] < -eps)
			{
				if(bMax[a] < aMin[a]) 
					return PX_MAX_REAL;
				if(aMax[a] < bMin[a]) 
					tfirst = PxMax((aMax[a] - bMin[a])/relTr[a], tfirst);
				if(bMax[a] > aMin[a]) 
					tlast = PxMin((aMin[a] - bMax[a])/relTr[a], tlast);
			}
			else if(relTr[a] > eps)
			{
				if(bMin[a] > aMax[a]) 
					return PX_MAX_REAL;
				if(bMax[a] < aMin[a]) 
					tfirst = PxMax((aMin[a] - bMax[a])/relTr[a], tfirst);
				if(aMax[a] > bMin[a]) 
					tlast = PxMin((aMax[a] - bMin[a])/relTr[a], tlast);
			}
			else
			{
				if(bMax[a] < aMin[a] || bMin[a] > aMax[a])
					return PX_MAX_REAL;
			}

			//No hit
			if(tfirst > tlast)
				return PX_MAX_REAL;
		}
		//There was a hit so return the TOI
		return tfirst; 
	}

	PX_PHYSX_COMMON_API PxReal SweepShapeShape(GU_SWEEP_METHOD_ARGS);

	PX_PHYSX_COMMON_API PxReal SweepEstimateAnyShapeHeightfield(GU_SWEEP_ESTIMATE_ARGS);

	PX_PHYSX_COMMON_API PxReal SweepEstimateAnyShapeMesh(GU_SWEEP_ESTIMATE_ARGS);
}
}
#endif

