#include "Platform.h"
#include "Primitive/Primitive3D.h"
#include "Vector/Vector3D.h"
#include "ComputeGeometry.h"

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Classes
struct	dyno::ClipVertex

Namespaces
namespace	dyno
	This is an implementation of AdditiveCCD based on peridyno.

Macros
#define	REAL_infinity 1.0e30

#define	REAL_EQUAL(a, b)

#define	REAL_GREAT(a, b)

#define	REAL_LESS(a, b)

#define	InFront(a)

#define	Behind(a)

#define	On(a)

Functions
template<typename Real>
DYN_FUNC float	dyno::fsign (Real v)

template<typename Real>
DYN_FUNC void	dyno::swapContactPair (TManifold< Real > &m)

template<typename Real>
DYN_FUNC bool	dyno::trackFaceAxis (int &axis, Real &sMax, Vector< Real, 3 > &axisNormal, int n, Real s, const Vector< Real, 3 > &normal)

template<typename Real>
DYN_FUNC bool	dyno::trackEdgeAxis (int &axis, Real &sMax, Vector< Real, 3 > &axisNormal, int n, Real s, const Vector< Real, 3 > &normal)

template<typename Real>
DYN_FUNC void	dyno::computeReferenceEdgesAndBasis (unsigned char out, SquareMatrix< Real, 3 > basis, Vector< Real, 3 > *e, const Vector< Real, 3 > &eR, const Transform< Real, 3 > &rtx, Vector< Real, 3 > n, int axis)

template<typename Real>
DYN_FUNC void	dyno::computeIncidentFace (ClipVertex *out, const Transform< Real, 3 > &itx, const Vector< Real, 3 > &e, Vector< Real, 3 > n)

template<typename Real>
DYN_FUNC int	dyno::orthographic (ClipVertex out, Real sign, Real e, int axis, int clipEdge, ClipVertex in, int inCount)

template<typename Real>
DYN_FUNC int	dyno::clip (ClipVertex outVerts, float outDepths, const Vector< Real, 3 > &rPos, const Vector< Real, 3 > &e, unsigned char clipEdges, const SquareMatrix< Real, 3 > &basis, ClipVertex incident)

template<typename Real>
DYN_FUNC void	dyno::edgesContact (Vector< Real, 3 > &CA, Vector< Real, 3 > &CB, const Vector< Real, 3 > &PA, const Vector< Real, 3 > &QA, const Vector< Real, 3 > &PB, const Vector< Real, 3 > &QB)

template<typename Real>
DYN_FUNC void	dyno::checkSignedDistance (Real lowerBoundaryA, Real upperBoundaryA, Real lowerBoundaryB, Real upperBoundaryB, Real &intersectionDistance, Real &boundaryA, Real &boundaryB)

template<typename Real>
DYN_FUNC bool	dyno::checkPointInBoundary (const Vec3f &p, const Vec3f &N, const Real &b, const Real &r)

template<typename Real>
DYN_FUNC void	dyno::updateSDF (Real &boundaryA, Real &boundaryB, Real &depth, Vec3f &normal, Real currentBoundaryA, Real currentBoundaryB, Real currentDepth, Vec3f currentN)

template<typename Real, typename ShapeA, typename ShapeB>
DYN_FUNC void	dyno::checkSignedDistanceAxis (Real &intersectionDistance, Real &BoundaryA, Real &BoundaryB, const Vec3f axisNormal, ShapeA &shapeA, ShapeB &shapeB, const Real radiusA, const Real radiusB)

template<typename Real, typename ShapeA, typename ShapeB>
DYN_FUNC void	dyno::checkAxisPoint (TSeparationData< Real > &sat, ShapeA &shapeA, ShapeB &shapeB, const Real radiusA, const Real radiusB, Vec3f pA, Vec3f pB, const Real rA=0.f, const Real rB=0.f)

template<typename Real, typename ShapeA, typename ShapeB>
DYN_FUNC void	dyno::checkAxisEdge (TSeparationData< Real > &sat, ShapeA &shapeA, ShapeB &shapeB, const Real radiusA, const Real radiusB, Segment3D edgeA, Segment3D edgeB)

template<typename Real, typename ShapeA, typename ShapeB>
DYN_FUNC void	dyno::checkAxisTri (TSeparationData< Real > &sat, ShapeA &shapeA, ShapeB &shapeB, const Real radiusA, const Real radiusB, Triangle3D tri, SeparationType type)

template<typename Real, typename ShapeA, typename ShapeB>
DYN_FUNC void	dyno::checkAxisRect (TSeparationData< Real > &sat, ShapeA &shapeA, ShapeB &shapeB, const Real radiusA, const Real radiusB, Rectangle3D rect, SeparationType type)

template<typename Real>
DYN_FUNC void	dyno::projectOnAxis (Real &lowerBoundary, Real &upperBoundary, const Vec3f axisNormal, Sphere3D sphere, const Real radius)

template<typename Real>
DYN_FUNC void	dyno::setupContactOnSphere (TManifold< Real > &m, TSeparationData< Real > &sat, const TSphere3D< Real > &sphereB, const Real radiusA, const Real radiusB)

template<typename Real>
DYN_FUNC int	dyno::ClippingWithTri (Vector< Real, 3 > *q, const TTriangle3D< Real > &triA, const TSphere3D< Real > &sphereB, const Vector< Real, 3 > &transA, const Vector< Real, 3 > &transB)

template<typename Real>
DYN_FUNC int	dyno::ClippingWithRect (Vector< Real, 3 > *q, const TRectangle3D< Real > &rectA, const TSphere3D< Real > &sphereB, const Vector< Real, 3 > &transA, const Vector< Real, 3 > &transB)

template<typename Real>
DYN_FUNC void	dyno::projectOnAxis (Real &lowerBoundary, Real &upperBoundary, const Vec3f axisNormal, Segment3D seg, const Real radius)

template<typename Real>
DYN_FUNC int	dyno::ClippingWithTri (Vector< Real, 3 > *q, const TTriangle3D< Real > &triA, const TSegment3D< Real > &segB, const Vector< Real, 3 > &transA, const Vector< Real, 3 > &transB)

template<typename Real>
DYN_FUNC int	dyno::ClippingWithRect (Vector< Real, 3 > *q, const TRectangle3D< Real > &rectA, const TSegment3D< Real > &segB, const Vector< Real, 3 > &transA, const Vector< Real, 3 > &transB)

template<typename Real>
DYN_FUNC void	dyno::setupContactOnSeg (TManifold< Real > &m, TSeparationData< Real > &sat, const TSegment3D< Real > &segB, const Real radiusA, const Real radiusB)

template<typename Real>
DYN_FUNC void	dyno::projectOnAxis (Real &lowerBoundary, Real &upperBoundary, const Vec3f axisNormal, Triangle3D tri, const Real radius)

template<typename Real>
DYN_FUNC int	dyno::ClippingWithTri (Vector< Real, 3 > *q, const TTriangle3D< Real > &triA, const TTriangle3D< Real > &triB, const Vector< Real, 3 > &transA, const Vector< Real, 3 > &transB)

template<typename Real>
DYN_FUNC int	dyno::ClippingWithRect (Vector< Real, 3 > *q, const TRectangle3D< Real > &rectA, const TTriangle3D< Real > &triB, const Vector< Real, 3 > &transA, const Vector< Real, 3 > &transB)

template<typename Real, typename Shape>
DYN_FUNC void	dyno::setupContactOnTri (TManifold< Real > &m, TSeparationData< Real > &sat, const Shape &shapeA, const TTriangle3D< Real > &triB, const Real radiusA, const Real radiusB)

template<typename Real>
DYN_FUNC void	dyno::projectOnAxis (Real &lowerBoundary, Real &upperBoundary, const Vec3f axisNormal, Tet3D tet, const Real radius)

template<typename Real>
DYN_FUNC int	dyno::ClippingWithTri (Vector< Real, 3 > *q, const TTriangle3D< Real > &triA, const TTet3D< Real > &tetB, const Vector< Real, 3 > &transA, const Vector< Real, 3 > &transB)

template<typename Real>
DYN_FUNC int	dyno::ClippingWithRect (Vector< Real, 3 > *q, const TRectangle3D< Real > &rectA, const TTet3D< Real > &tetB, const Vector< Real, 3 > &transA, const Vector< Real, 3 > &transB)

template<typename Real, typename Shape>
DYN_FUNC void	dyno::setupContactOnTet (TManifold< Real > &m, TSeparationData< Real > &sat, const Shape &shapeA, const TTet3D< Real > &tetB, const Real radiusA, const Real radiusB)

template<typename Real>
DYN_FUNC void	dyno::projectOnAxis (Real &lowerBoundary, Real &upperBoundary, const Vec3f axisNormal, OrientedBox3D box, const Real radius)

template<typename Real>
DYN_FUNC int	dyno::ClippingWithTri (Vector< Real, 3 > *q, const TTriangle3D< Real > &triA, const TOrientedBox3D< Real > &boxB, const Vector< Real, 3 > &transA, const Vector< Real, 3 > &transB)

template<typename Real>
DYN_FUNC int	dyno::ClippingWithRect (Vector< Real, 3 > *q, const TRectangle3D< Real > &rectA, const TOrientedBox3D< Real > &boxB, const Vector< Real, 3 > &transA, const Vector< Real, 3 > &transB)

template<typename Real, typename Shape>
DYN_FUNC void	dyno::setupContactOnBox (TManifold< Real > &m, TSeparationData< Real > &sat, const Shape &shapeA, const TOrientedBox3D< Real > &boxB, const Real radiusA, const Real radiusB)

template<typename Real>
DYN_FUNC void	dyno::computeSupportEdge (Vector< Real, 3 > &aOut, Vector< Real, 3 > &bOut, const SquareMatrix< Real, 3 > &rot, const Vector< Real, 3 > &trans, const Vector< Real, 3 > &e, Vector< Real, 3 > n)

template<typename Real>
DYN_FUNC bool	dyno::checkOverlapAxis (Real &lowerBoundary1, Real &upperBoundary1, Real &lowerBoundary2, Real &upperBoundary2, Real &intersectionDistance, Real &boundary1, Real &boundary2, const Vector< Real, 3 > axisNormal, OrientedBox3D box, Capsule3D cap)

template<typename Real>
DYN_FUNC bool	dyno::checkOverlapTetTri (Real lowerBoundary1, Real upperBoundary1, Real lowerBoundary2, Real upperBoundary2, Real &intersectionDistance, Real &boundary1, Real &boundary2)

template<typename Real>
DYN_FUNC bool	dyno::checkOverlapAxis (Real &lowerBoundary1, Real &upperBoundary1, Real &lowerBoundary2, Real &upperBoundary2, Real &intersectionDistance, Real &boundary1, Real &boundary2, const Vector< Real, 3 > axisNormal, Tet3D tet, Capsule3D cap)

template<typename Real>
DYN_FUNC void	dyno::setupContactCaps (Real boundary1, Real boundary2, const Vector< Real, 3 > axisNormal, TCapsule3D< Real > cap, TOrientedBox3D< Real > box, Real depth, TManifold< Real > &m)

template<typename Real>
DYN_FUNC void	dyno::setupContactTets (Real boundary1, Real boundary2, const Vector< Real, 3 > axisNormal, Tet3D tet, Capsule3D cap, Real sMax, TManifold< Real > &m)

template<typename Real>
DYN_FUNC void	dyno::setupContactTetTri (Real boundary1, Real boundary2, const Vector< Real, 3 > axisNormal, Tet3D tet, Triangle3D triangle, Real sMax, TManifold< Real > &m)

template<typename Real>
DYN_FUNC bool	dyno::checkOverlap (Real lowerBoundary1, Real upperBoundary1, Real lowerBoundary2, Real upperBoundary2, Real &intersectionDistance, Real &boundary1, Real &boundary2)

template<typename Real>
DYN_FUNC bool	dyno::checkOverlapAxis (Real &lowerBoundary1, Real &upperBoundary1, Real &lowerBoundary2, Real &upperBoundary2, Real &intersectionDistance, Real &boundary1, Real &boundary2, const Vector< Real, 3 > axisNormal, Tet3D tet1, Tet3D tet2)

template<typename Real>
DYN_FUNC bool	dyno::checkOverlapAxis (Real &lowerBoundary1, Real &upperBoundary1, Real &lowerBoundary2, Real &upperBoundary2, Real &intersectionDistance, Real &boundary1, Real &boundary2, const Vector< Real, 3 > axisNormal, Tet3D tet, Triangle3D tri)

template<typename Real>
DYN_FUNC bool	dyno::checkOverlapAxis (Real &lowerBoundary1, Real &upperBoundary1, Real &lowerBoundary2, Real &upperBoundary2, Real &intersectionDistance, Real &boundary1, Real &boundary2, const Vector< Real, 3 > axisNormal, Tet3D tet, OrientedBox3D box)

template<typename Real>
DYN_FUNC void	dyno::setupContactTets (Real boundary1, Real boundary2, const Vector< Real, 3 > axisNormal, Tet3D tet1, Tet3D tet2, Real sMax, TManifold< Real > &m)

template<typename Real>
DYN_FUNC void	dyno::setupContactTets (Real boundary1, Real boundary2, const Vector< Real, 3 > axisNormal, Tet3D tet, TOrientedBox3D< Real > box, Real sMax, TManifold< Real > &m)