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use crate::math::{Isometry, Real};
use crate::shape::HalfSpace;
use crate::shape::SupportMap;
use na;

/// Distance between a halfspace and a support-mapped shape.
pub fn distance_halfspace_support_map<G: ?Sized + SupportMap>(
    pos12: &Isometry<Real>,
    halfspace: &HalfSpace,
    other: &G,
) -> Real {
    let deepest = other.support_point_toward(pos12, &-halfspace.normal);
    halfspace.normal.dot(&deepest.coords).max(na::zero())
}

/// Distance between a support-mapped shape and a halfspace.
pub fn distance_support_map_halfspace<G: ?Sized + SupportMap>(
    pos12: &Isometry<Real>,
    other: &G,
    halfspace: &HalfSpace,
) -> Real {
    distance_halfspace_support_map(&pos12.inverse(), halfspace, other)
}