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#ifndef GU_GJKUTIL_H
#define GU_GJKUTIL_H

#include "PsVecMath.h"
#include "CmPhysXCommon.h"

/*
	This file is used to avoid the inner loop cross DLL calls
*/
namespace physx
{
namespace Gu
{

enum GjkStatus
{
	GJK_NON_INTERSECT,	// two shapes doesn't intersect
	GJK_CLOSE,			// two shapes doesn't intersect and gjk algorithm will return closest point information
	GJK_CONTACT,		// two shapes overlap within margin 
	GJK_UNDEFINED,		// undefined status
	GJK_DEGENERATE,		// gjk can't converage

	EPA_CONTACT,		// two shapes intersect
	EPA_DEGENERATE,		// epa can't converage
	EPA_FAIL			// epa fail to construct an initial polygon to work with 
};

struct GjkOutput
{
public:
	GjkOutput()
	{
		using namespace Ps::aos;
		closestA = closestB = normal = V3Zero();
		penDep = FZero();
	}
	Ps::aos::Vec3V closestA;
	Ps::aos::Vec3V closestB;
	Ps::aos::Vec3V normal;
	Ps::aos::Vec3V searchDir;
	Ps::aos::FloatV penDep;
};

}//Gu
}//physx

#endif
