// 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.  

#include "GuDistancePointBox.h"

using namespace physx;

PxReal Gu::distancePointBoxSquared(	const PxVec3& point, 
									const PxVec3& boxOrigin, const PxVec3& boxExtent, const PxMat33& boxBase, 
									PxVec3* boxParam)
{
	// Compute coordinates of point in box coordinate system
	const PxVec3 diff = point - boxOrigin;

	PxVec3 closest(	boxBase.column0.dot(diff),
					boxBase.column1.dot(diff),
					boxBase.column2.dot(diff));
	
	// Project test point onto box
	PxReal sqrDistance = 0.0f;
	for(PxU32 ax=0; ax<3; ax++) 
	{
		if(closest[ax] < -boxExtent[ax])
		{
			const PxReal delta = closest[ax] + boxExtent[ax];
			sqrDistance += delta*delta;
			closest[ax] = -boxExtent[ax];
		}
		else if(closest[ax] > boxExtent[ax])
		{
			const PxReal delta = closest[ax] - boxExtent[ax];
			sqrDistance += delta*delta;
			closest[ax] = boxExtent[ax];
		}
	}
	
	if(boxParam) *boxParam = closest;
	
	return sqrDistance;
}
