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#ifndef GU_OVERLAP_TESTS_H
#define GU_OVERLAP_TESTS_H

#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "foundation/PxAssert.h"
#include "foundation/PxErrors.h"
#include "foundation/PxFoundation.h"
#include "geometry/PxGeometry.h"
#include "geometry/PxGeometryHit.h"
#include "geometry/PxGeometryQueryContext.h"

namespace physx
{
namespace Gu
{
	class Capsule;
	class Sphere;

	// PT: this is just a shadow of what it used to be. We currently don't use TRIGGER_INSIDE anymore, but I leave it for now,
	// since I really want to put this back the way it was before.
	enum TriggerStatus
	{
		TRIGGER_DISJOINT,
		TRIGGER_INSIDE,
		TRIGGER_OVERLAP
	};

	// PT: currently only used for convex triggers
	struct TriggerCache
	{
		PxVec3	dir;
		PxU16	state;
		PxU16	gjkState; //gjk succeed or fail
	};

	#define UNUSED_OVERLAP_THREAD_CONTEXT	NULL

	// PT: we use a define to be able to quickly change the signature of all overlap functions.
	// (this also ensures they all use consistent names for passed parameters).
	// \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
	// \param[in]	threadContext	optional per-thread context
	#define GU_OVERLAP_FUNC_PARAMS	const PxGeometry& geom0, const PxTransform& pose0,	\
									const PxGeometry& geom1, const PxTransform& pose1,	\
									Gu::TriggerCache* cache, PxOverlapThreadContext* threadContext

	// PT: function pointer for Geom-indexed overlap functions
	// See GU_OVERLAP_FUNC_PARAMS for function parameters details.
	// \return		true if an overlap was found, false otherwise
	typedef bool (*GeomOverlapFunc)	(GU_OVERLAP_FUNC_PARAMS);

	// PT: typedef for a bundle of all overlap functions, i.e. the function table itself (indexed by geom-type).
	typedef GeomOverlapFunc GeomOverlapTable[PxGeometryType::eGEOMETRY_COUNT];

	// PT: retrieves the overlap function table (for access by external non-Gu modules)
	PX_PHYSX_COMMON_API const GeomOverlapTable* getOverlapFuncTable();

	PX_FORCE_INLINE bool overlap(	const PxGeometry& geom0, const PxTransform& pose0,
									const PxGeometry& geom1, const PxTransform& pose1,
									const GeomOverlapTable* PX_RESTRICT overlapFuncs, PxOverlapThreadContext* threadContext)
	{
		PX_CHECK_AND_RETURN_VAL(pose0.isValid(), "Gu::overlap(): pose0 is not valid.", false);
		PX_CHECK_AND_RETURN_VAL(pose1.isValid(), "Gu::overlap(): pose1 is not valid.", false);
		
		if(geom0.getType() > geom1.getType())
		{
			GeomOverlapFunc overlapFunc = overlapFuncs[geom1.getType()][geom0.getType()];
			PX_ASSERT(overlapFunc);
			return overlapFunc(geom1, pose1, geom0, pose0, NULL, threadContext);
		}
		else
		{
			GeomOverlapFunc overlapFunc = overlapFuncs[geom0.getType()][geom1.getType()];
			PX_ASSERT(overlapFunc);
			return overlapFunc(geom0, pose0, geom1, pose1, NULL, threadContext);
		}
	}

}  // namespace Gu

}

#endif
