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#include "GuGJK.h"
#include "GuGJKRaycast.h"
#include "GuGJKPenetration.h"
#include "GuGJKTest.h"

namespace physx
{
namespace Gu
{

using namespace Ps::aos;

GjkStatus testGjk(GjkConvex& a, GjkConvex& b,  const Vec3VArg initialSearchDir, const FloatVArg contactDist, Vec3V& closestA, Vec3V& closestB, Vec3V& normal, FloatV& dist)
{
	return gjk<GjkConvex, GjkConvex>(a, b, initialSearchDir, contactDist, closestA, closestB, normal, dist);
}
	

bool testGjkRaycast(GjkConvex& a, GjkConvex& b, const Vec3VArg initialSearchDir, const Ps::aos::FloatVArg initialLambda, const Ps::aos::Vec3VArg s, const Ps::aos::Vec3VArg r, Ps::aos::FloatV& lambda, 
		Ps::aos::Vec3V& normal, Ps::aos::Vec3V& closestA, const PxReal inflation)
{
	return gjkRaycast(a, b, initialSearchDir, initialLambda, s, r, lambda, normal, closestA, inflation);
}

GjkStatus testGjkPenetration (GjkConvex& a, GjkConvex& b,  const Vec3VArg initialSearchDir, const FloatVArg contactDist, Vec3V& closestA, Vec3V& closestB, Vec3V& normal, FloatV& sqDist)
{
	const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
	PxU8 aIndices[4];
	PxU8 bIndices[4];
	PxU8 size=0;
	return gjkPenetration<GjkConvex, GjkConvex>(a, b, initialSearchDir, contactDist, closestA, closestB, normal, 
		sqDist, aIndices, bIndices, size, takeCoreShape);
}

GjkStatus testGjkPenetration(GjkConvex& a, GjkConvex& b, const Vec3VArg initialSearchDir, const FloatVArg contactDist, Vec3V& closestA, Vec3V& closestB, Vec3V& normal, FloatV& sqDist,
	PxU8* aIndices, PxU8* bIndices, PxU8 size)
{
	const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
	return gjkPenetration<GjkConvex, GjkConvex>(a, b, initialSearchDir, contactDist, closestA, closestB, normal,
		sqDist, aIndices, bIndices, size, takeCoreShape);
}

GjkStatus testEpaPenetration(GjkConvex& a, GjkConvex& b, Ps::aos::Vec3V& contactA, Ps::aos::Vec3V& contactB, Ps::aos::Vec3V& normal, 
		Ps::aos::FloatV& penetrationDepth)
{
	const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
	PxU8 aIndices[4];
	PxU8 bIndices[4];
	PxU8 size=0;
	return epaPenetration(a, b, aIndices, bIndices, size, contactA, contactB, normal, penetrationDepth, takeCoreShape);
}

GjkStatus testEpaPenetration(GjkConvex& a, GjkConvex& b, Ps::aos::Vec3V& contactA, Ps::aos::Vec3V& contactB, Ps::aos::Vec3V& normal, 
		Ps::aos::FloatV& penetrationDepth, PxU8* aIndices, PxU8* bIndices, PxU8 size)
{
	const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
	return epaPenetration(a, b, aIndices, bIndices, size, contactA, contactB, normal, penetrationDepth, takeCoreShape);
}

}
}