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#ifndef GU_GJK_TEST_H
#define GU_GJK_TEST_H

#include "PxPhysXCommonConfig.h"
#include "CmPhysXCommon.h"
#include "GuGJKUtil.h"

namespace physx
{
namespace Gu
{
	struct GjkConvex;
		

	PX_PHYSX_COMMON_API GjkStatus testGjk(GjkConvex& a, GjkConvex& b,  const Ps::aos::Vec3VArg initialSearchDir, const Ps::aos::FloatVArg contactDist, Ps::aos::Vec3V& closestA, Ps::aos::Vec3V& closestB,
		Ps::aos::Vec3V& normal, Ps::aos::FloatV& dist);
	
	PX_PHYSX_COMMON_API	bool testGjkRaycast(GjkConvex& a, GjkConvex& b,  const Ps::aos::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, const bool initialOverlap);

	PX_PHYSX_COMMON_API GjkStatus testGjkPenetration(GjkConvex& a, GjkConvex& b,  const Ps::aos::Vec3VArg initialSearchDir, const Ps::aos::FloatVArg contactDist, Ps::aos::Vec3V& closestA, 
		Ps::aos::Vec3V& closestB, Ps::aos::Vec3V& normal, Ps::aos::FloatV& sqDist);

	PX_PHYSX_COMMON_API GjkStatus testGjkPenetration(GjkConvex& a, GjkConvex& b, const Ps::aos::Vec3VArg initialSearchDir, const Ps::aos::FloatVArg contactDist, Ps::aos::Vec3V& closestA, 
		Ps::aos::Vec3V& closestB, Ps::aos::Vec3V& normal, Ps::aos::FloatV& sqDist, PxU8* aIndices, PxU8* bIndices, PxU8 size);

	PX_PHYSX_COMMON_API GjkStatus testEpaPenetration(GjkConvex& a, GjkConvex& b, Ps::aos::Vec3V& contactA, Ps::aos::Vec3V& contactB, Ps::aos::Vec3V& normal, 
		Ps::aos::FloatV& penetrationDepth);

	PX_PHYSX_COMMON_API 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);
}
}

#endif