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#ifndef GU_MTD_H
#define GU_MTD_H

#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "geometry/PxGeometry.h"

namespace physx
{
namespace Gu
{
	// PT: we use a define to be able to quickly change the signature of all MTD functions.
	// (this also ensures they all use consistent names for passed parameters).
	// \param[out]	mtd		computed depenetration dir
	// \param[out]	depth	computed depenetration depth
	// \param[in]	geom0	first geometry object
	// \param[in]	pose0	pose of first geometry object
	// \param[in]	geom1	second geometry object
	// \param[in]	pose1	pose of second geometry object
	// \param[in]	cache	optional cached data for triggers
	#define GU_MTD_FUNC_PARAMS	PxVec3& mtd, PxF32& depth,								\
								const PxGeometry& geom0, const PxTransform32& pose0,	\
								const PxGeometry& geom1, const PxTransform32& pose1

	// PT: function pointer for Geom-indexed MTD functions
	// See GU_MTD_FUNC_PARAMS for function parameters details.
	// \return		true if an overlap was found, false otherwise
	// \note		depenetration vector D is equal to mtd * depth. It should be applied to the 1st object, to get out of the 2nd object.
	typedef bool (*GeomMTDFunc)	(GU_MTD_FUNC_PARAMS);

	PX_FORCE_INLINE PxF32 manualNormalize(PxVec3& mtd, const PxVec3& normal, PxReal lenSq)
	{
		const PxF32 len = PxSqrt(lenSq);

		// We do a *manual* normalization to check for singularity condition
		if(lenSq < 1e-6f)
			mtd = PxVec3(1.0f, 0.0f, 0.0f);			// PT: zero normal => pick up random one
		else
			mtd = normal * 1.0f / len;

		return len;
	}
}
}

#endif
