//
// 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) 2008-2021 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#ifndef GU_PCM_TRIANGLE_CONTACT_GEN_H
#define GU_PCM_TRIANGLE_CONTACT_GEN_H

#include "GuPCMContactGenUtil.h"
#include "GuPersistentContactManifold.h"

namespace physx
{
	struct PxTriangleMeshGeometryLL;
	class PxHeightFieldGeometry;

namespace Gu
{

	bool PCMContactConvexMesh(const Gu::PolygonalData& polyData0, 
						Gu::SupportLocal* polyMap, 
						const Ps::aos::FloatVArg minMargin, 
						const PxBounds3& hullAABB, 
						const PxTriangleMeshGeometryLL& shapeMesh,
						const PxTransform& transform0, const PxTransform& transform1,
						PxReal contactDistance, Gu::ContactBuffer& contactBuffer,
						const Cm::FastVertex2ShapeScaling& convexScaling, const Cm::FastVertex2ShapeScaling& meshScaling,
						bool idtConvexScale, bool idtMeshScale, Gu::MultiplePersistentContactManifold& multiManifold,
						Cm::RenderOutput* renderOutput);

	bool PCMContactConvexHeightfield(const Gu::PolygonalData& polyData0, 
						Gu::SupportLocal* polyMap, 
						const Ps::aos::FloatVArg minMargin, 
						const PxBounds3& hullAABB, 
						const PxHeightFieldGeometry& shapeHeightfield,
						const PxTransform& transform0, const PxTransform& transform1,
						PxReal contactDistance, Gu::ContactBuffer& contactBuffer,
						const Cm::FastVertex2ShapeScaling& convexScaling, bool idtConvexScale, Gu::MultiplePersistentContactManifold& multiManifold,
						Cm::RenderOutput* renderOutput);


}
}

#endif
