#include "cute_c2.h"
/**
 * Current version of C2 has no calculation for contact point and normal
 * for TOI calculation.
 * However, a discussion by Tyler Glaiel:
 * https://github.com/RandyGaul/cute_headers/issues/155
 *
 * resulted in specfic functions to do so.
 * These are shamelessly copied over with almost no modification.
 * Thank you, Tyler!
 */
double PointToSegmentTOI(c2v p, c2v v, c2v a, c2v b);

double PointToCircleTOI(c2v p, c2v v, c2v circ_p, double r);

double PolyToPolyTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, const c2Poly* pB, const c2x* bx_ptr, c2v vB, c2v* out_normal, c2v* out_contact_point);


double PolyToCircleTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, c2Circle cB, c2v vB, c2v* out_normal, c2v* out_contact_point);



double CircleToPolyTOI(c2Circle cA, c2v vA, const c2Poly* pB, const c2x* bx_ptr, c2v vB, c2v* out_normal, c2v* out_contact_point);

double CircleToCircleTOI(c2Circle cA, c2v vA, c2Circle cB, c2v vB, c2v* out_normal, c2v* out_contact_point);


double PolyToCapsuleTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, c2Capsule cB, c2v vB, c2v* out_normal, c2v* out_contact_point);

double CapsuleToPolyTOI(c2Capsule cA, c2v vA, const c2Poly* pB, const c2x* bx_ptr, c2v vB, c2v* out_normal, c2v* out_contact_point);

double CapsuleToCapsuleTOI(c2Capsule cA, c2v vA, c2Capsule cB, c2v vB, c2v* out_normal, c2v* out_contact_point);

double CapsuleToCircleTOI(c2Capsule cA, c2v vA, c2Circle cB, c2v vB, c2v* out_normal, c2v* out_contact_point);
double CircleToCapsuleTOI(c2Circle cA, c2v vA, c2Capsule cB, c2v vB, c2v* out_normal, c2v* out_contact_point);

//AABB stuff
double PolyToAABBTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, c2AABB bB, c2v vB, c2v* out_normal, c2v* out_contact_point);
double CircleToAABBTOI(c2Circle cA, c2v vA, c2AABB bB, c2v vB, c2v* out_normal, c2v* out_contact_point);
double CapsuleToAABBTOI(c2Capsule cA, c2v vA, c2AABB bB, c2v vB, c2v* out_normal, c2v* out_contact_point);

double AABBToPolyTOI(c2AABB bA, c2v vA, const c2Poly* pB, const c2x* bx_ptr, c2v vB, c2v* out_normal, c2v* out_contact_point);
double AABBToCircleTOI(c2AABB bA, c2v vA, c2Circle cB, c2v vB, c2v* out_normal, c2v* out_contact_point);
double AABBToCapsuleTOI(c2AABB bA, c2v vA, c2Capsule cB, c2v vB, c2v* out_normal, c2v* out_contact_point);
double AABBToAABBTOI(c2AABB bA, c2v vA, c2AABB bB, c2v vB, c2v* out_normal, c2v* out_contact_point);