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#ifndef SQ_BOUNDS_H
#define SQ_BOUNDS_H

#include "CmPhysXCommon.h"
#include "foundation/PxBounds3.h"
#include "PsVecMath.h"

namespace physx
{
	namespace Scb
	{
		class Shape;
		class Actor;
	}

namespace Sq
{
	void computeStaticWorldAABB(PxBounds3& bounds, const Scb::Shape& scbShape, const Scb::Actor& scbActor);
	void computeDynamicWorldAABB(PxBounds3& bounds, const Scb::Shape& scbShape, const Scb::Actor& scbActor);

	typedef void(*ComputeBoundsFunc)	(PxBounds3& bounds, const Scb::Shape& scbShape, const Scb::Actor& scbActor);

	extern const ComputeBoundsFunc gComputeBoundsTable[2];

	// PT: TODO: - check that this is compatible with Gu::computeBounds(..., SQ_PRUNER_INFLATION, ...)
	// PT: TODO: - refactor with "inflateBounds" in GuBounds.cpp if possible
	// PT: TODO: - use SQ_PRUNER_INFLATION instead of hardcoding "0.01f"
	PX_FORCE_INLINE void inflateBounds(PxBounds3& dst, const PxBounds3& src)
	{
		using namespace physx::shdfnd::aos;

		const Vec4V minV = V4LoadU(&src.minimum.x);
		const Vec4V maxV = V4LoadU(&src.maximum.x);
		const Vec4V eV = V4Scale(V4Sub(maxV, minV), FLoad(0.5f * 0.01f));

		V4StoreU(V4Sub(minV, eV), &dst.minimum.x);
		PX_ALIGN(16, PxVec4) max4;
		V4StoreA(V4Add(maxV, eV), &max4.x);
		dst.maximum = PxVec3(max4.x, max4.y, max4.z);
	}

	// PT: the PX_MAX_BOUNDS_EXTENTS value is too large and produces INF floats when the box values are squared in
	// some collision routines. Thus, for the SQ subsystem we use this alternative (smaller) value to mark empty bounds.
	// See PX-954 for details.
	#define SQ_EMPTY_BOUNDS_EXTENTS	PxSqrt(0.25f * 1e33f)
}
}

#endif // SQ_BOUNDS_H
