c2_sys/

lib.rs

#![allow(non_upper_case_globals)]
#![allow(non_camel_case_types)]
#![allow(non_snake_case)]

/* automatically generated by rust-bindgen */

pub const C2_MAX_POLYGON_VERTS: u32 = 8;

#[derive(Debug, Copy, Clone)]
pub struct c2v {
    pub x: f32,
    pub y: f32,
}

#[derive(Debug, Copy, Clone)]
pub struct c2r {
    pub c: f32,
    pub s: f32,
}

#[derive(Debug, Copy, Clone)]
pub struct c2m {
    pub x: c2v,
    pub y: c2v,
}

#[derive(Debug, Copy, Clone)]
pub struct c2x {
    pub p: c2v,
    pub r: c2r,
}

#[derive(Debug, Copy, Clone)]
pub struct c2h {
    pub n: c2v,
    pub d: f32,
}

#[derive(Debug, Copy, Clone)]
pub struct c2Circle {
    pub p: c2v,
    pub r: f32,
}

#[derive(Debug, Copy, Clone)]
pub struct c2AABB {
    pub min: c2v,
    pub max: c2v,
}

#[derive(Debug, Copy, Clone)]
pub struct c2Capsule {
    pub a: c2v,
    pub b: c2v,
    pub r: f32,
}

#[derive(Debug, Copy, Clone)]
pub struct c2Poly {
    pub count: ::std::os::raw::c_int,
    pub verts: [c2v; 8usize],
    pub norms: [c2v; 8usize],
}

#[derive(Debug, Copy, Clone)]
pub struct c2Ray {
    pub p: c2v,
    pub d: c2v,
    pub t: f32,
}

#[derive(Debug, Copy, Clone)]
pub struct c2Raycast {
    pub t: f32,
    pub n: c2v,
}

#[derive(Debug, Copy, Clone)]
pub struct c2Manifold {
    pub count: ::std::os::raw::c_int,
    pub depths: [f32; 2usize],
    pub contact_points: [c2v; 2usize],
    pub n: c2v,
}

fn c2Sub(mut a: c2v, b: c2v) -> c2v {
    a.x -= b.x;
    a.y -= b.y;
    a
}

fn c2Dot(a: c2v, b: c2v) -> f32 {
    a.x * b.x + a.y * b.y
}

pub unsafe fn c2CircletoCircle(A: c2Circle, B: c2Circle) -> ::std::os::raw::c_int {
    let c: c2v = c2Sub(B.p, A.p);
    let d2: f32 = c2Dot(c, c);
    let mut r2: f32 = A.r + B.r;
    r2 = r2 * r2;
    if d2 < r2 {
        1
    } else {
        0
    }
}

fn c2V(x: f32, y: f32) -> c2v {
    c2v { x, y }
}

fn c2Minv(a: c2v, b: c2v) -> c2v {
    c2V(a.x.min(b.x), a.y.min(b.y))
}
fn c2Maxv(a: c2v, b: c2v) -> c2v {
    c2V(a.x.max(b.x), a.y.max(b.y))
}

fn c2Clampv(a: c2v, lo: c2v, hi: c2v) -> c2v {
    c2Maxv(lo, c2Minv(a, hi))
}

pub unsafe fn c2CircletoAABB(A: c2Circle, B: c2AABB) -> ::std::os::raw::c_int {
    let L: c2v = c2Clampv(A.p, B.min, B.max);
    let ab: c2v = c2Sub(A.p, L);
    let d2: f32 = c2Dot(ab, ab);
    let r2: f32 = A.r * A.r;
    if d2 < r2 {
        1
    } else {
        0
    }
}

fn c2Mulvs(mut a: c2v, b: f32) -> c2v {
    a.x *= b;
    a.y *= b;
    a
}

pub unsafe fn c2CircletoCapsule(A: c2Circle, B: c2Capsule) -> ::std::os::raw::c_int {
    let n: c2v = c2Sub(B.b, B.a);
    let ap = c2Sub(A.p, B.a);
    let da = c2Dot(ap, n);
    let d2: f32;

    if da < 0.0 {
        d2 = c2Dot(ap, ap);
    } else {
        let db = c2Dot(c2Sub(A.p, B.b), n);
        if db < 0.0 {
            let e = c2Sub(ap, c2Mulvs(n, da / c2Dot(n, n)));
            d2 = c2Dot(e, e);
        } else {
            let bp = c2Sub(A.p, B.b);
            d2 = c2Dot(bp, bp);
        }
    }

    let r = A.r + B.r;
    if d2 < r * r {
        1
    } else {
        0
    }
}

pub unsafe fn c2AABBtoAABB(A: c2AABB, B: c2AABB) -> ::std::os::raw::c_int {
    let d0 = B.max.x < A.min.x;
    let d1 = A.max.x < B.min.x;
    let d2 = B.max.y < A.min.y;
    let d3 = A.max.y < B.min.y;
    if !(d0 | d1 | d2 | d3) {
        1
    } else {
        0
    }
}

fn c2AABBtoPoint(A: c2AABB, B: c2v) -> ::std::os::raw::c_int {
    let d0 = B.x < A.min.x;
    let d1 = B.y < A.min.y;
    let d2 = B.x > A.max.x;
    let d3 = B.y > A.max.y;
    if !(d0 | d1 | d2 | d3) {
        1
    } else {
        0
    }
}

fn c2CircleToPoint(A: c2Circle, B: c2v) -> ::std::os::raw::c_int {
    let n = c2Sub(A.p, B);
    let d2 = c2Dot(n, n);
    if d2 < A.r * A.r {
        1
    } else {
        0
    }
}

pub unsafe fn c2AABBtoCapsule(A: c2AABB, B: c2Capsule) -> ::std::os::raw::c_int {
    if c2GJK(
        &A as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_AABB,
        std::ptr::null(),
        &B as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_CAPSULE,
        std::ptr::null(),
        std::ptr::null_mut(),
        std::ptr::null_mut(),
        1,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
    ) != 0.0
    {
        return 0;
    }
    return 1;
}

pub unsafe fn c2CapsuletoCapsule(A: c2Capsule, B: c2Capsule) -> ::std::os::raw::c_int {
    if c2GJK(
        &A as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_CAPSULE,
        std::ptr::null(),
        &B as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_CAPSULE,
        std::ptr::null(),
        std::ptr::null_mut(),
        std::ptr::null_mut(),
        1,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
    ) != 0.0
    {
        return 0;
    }
    return 1;
}

pub unsafe fn c2CircletoPoly(
    A: c2Circle,
    B: *const c2Poly,
    bx: *const c2x,
) -> ::std::os::raw::c_int {
    if c2GJK(
        &A as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_CIRCLE,
        std::ptr::null(),
        B as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_POLY,
        bx,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
        1,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
    ) != 0.0
    {
        return 0;
    }
    return 1;
}

pub unsafe fn c2AABBtoPoly(A: c2AABB, B: *const c2Poly, bx: *const c2x) -> ::std::os::raw::c_int {
    if c2GJK(
        &A as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_AABB,
        std::ptr::null(),
        B as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_POLY,
        bx,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
        1,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
    ) != 0.0
    {
        return 0;
    }
    return 1;
}

pub unsafe fn c2CapsuletoPoly(
    A: c2Capsule,
    B: *const c2Poly,
    bx: *const c2x,
) -> ::std::os::raw::c_int {
    if c2GJK(
        &A as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_CAPSULE,
        std::ptr::null(),
        B as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_POLY,
        bx,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
        1,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
    ) != 0.0
    {
        return 0;
    }
    return 1;
}

pub unsafe fn c2PolytoPoly(
    A: *const c2Poly,
    ax: *const c2x,
    B: *const c2Poly,
    bx: *const c2x,
) -> ::std::os::raw::c_int {
    if c2GJK(
        A as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_POLY,
        ax,
        B as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_POLY,
        bx,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
        1,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
    ) != 0.0
    {
        return 0;
    }
    return 1;
}

fn c2Impact(ray: c2Ray, t: f32) -> c2v {
    c2Add(ray.p, c2Mulvs(ray.d, t))
}

pub unsafe fn c2RaytoCircle(A: c2Ray, B: c2Circle, out: *mut c2Raycast) -> ::std::os::raw::c_int {
    let p = B.p;
    let m = c2Sub(A.p, p);
    let c = c2Dot(m, m) - B.r * B.r;
    let b = c2Dot(m, A.d);
    let disc = b * b - c;
    if disc < 0.0 {
        return 0;
    }

    let t = -b - disc.sqrt();
    if t >= 0.0 && t <= A.t {
        (*out).t = t;
        let impact = c2Impact(A, t);
        (*out).n = c2Norm(c2Sub(impact, p));
        return 1;
    }
    return 0;
}

pub unsafe fn c2RaytoAABB(A: c2Ray, B: c2AABB, out: *mut c2Raycast) -> ::std::os::raw::c_int {
    let p0 = A.p;
    let p1 = c2Impact(A, A.t);
    let a_box = c2AABB {
        min: c2Minv(p0, p1),
        max: c2Maxv(p0, p1),
    };

    // Test B's axes.
    if c2AABBtoAABB(a_box, B) == 0 {
        return 0;
    }

    // Test the ray's axes (along the segment's normal).
    let ab = c2Sub(p1, p0);
    let n = c2Skew(ab);
    let abs_n = c2Absv(n);
    let half_extents = c2Mulvs(c2Sub(B.max, B.min), 0.5);
    let center_of_b_box = c2Mulvs(c2Add(B.min, B.max), 0.5);
    let d = c2Dot(n, c2Sub(p0, center_of_b_box)).abs() - c2Dot(abs_n, half_extents);
    if d > 0.0 {
        return 0;
    }

    // Calculate intermediate values up-front.
    // This should play well with superscalar architecture.
    let da0 = c2SignedDistPointToPlane_OneDimensional(p0.x, -1.0, B.min.x);
    let db0 = c2SignedDistPointToPlane_OneDimensional(p1.x, -1.0, B.min.x);
    let da1 = c2SignedDistPointToPlane_OneDimensional(p0.x, 1.0, B.max.x);
    let db1 = c2SignedDistPointToPlane_OneDimensional(p1.x, 1.0, B.max.x);
    let da2 = c2SignedDistPointToPlane_OneDimensional(p0.y, -1.0, B.min.y);
    let db2 = c2SignedDistPointToPlane_OneDimensional(p1.y, -1.0, B.min.y);
    let da3 = c2SignedDistPointToPlane_OneDimensional(p0.y, 1.0, B.max.y);
    let db3 = c2SignedDistPointToPlane_OneDimensional(p1.y, 1.0, B.max.y);
    let mut t0 = c2RayToPlane_OneDimensional(da0, db0);
    let mut t1 = c2RayToPlane_OneDimensional(da1, db1);
    let mut t2 = c2RayToPlane_OneDimensional(da2, db2);
    let mut t3 = c2RayToPlane_OneDimensional(da3, db3);

    // Calculate hit predicate, no branching.
    let hit0 = t0 < 1.0;
    let hit1 = t1 < 1.0;
    let hit2 = t2 < 1.0;
    let hit3 = t3 < 1.0;
    let hit = hit0 | hit1 | hit2 | hit3;

    if hit {
        // Remap t's within 0-1 range, where >= 1 is treated as 0.
        t0 = hit0 as i32 as f32 * t0;
        t1 = hit1 as i32 as f32 * t1;
        t2 = hit2 as i32 as f32 * t2;
        t3 = hit3 as i32 as f32 * t3;

        // Sort output by finding largest t to deduce the normal.
        if t0 >= t1 && t0 >= t2 && t0 >= t3 {
            (*out).t = t0 * A.t;
            (*out).n = c2V(-1.0, 0.0);
        } else if t1 >= t0 && t1 >= t2 && t1 >= t3 {
            (*out).t = t1 * A.t;
            (*out).n = c2V(1.0, 0.0);
        } else if t2 >= t0 && t2 >= t1 && t2 >= t3 {
            (*out).t = t2 * A.t;
            (*out).n = c2V(0.0, -1.0);
        } else {
            (*out).t = t3 * A.t;
            (*out).n = c2V(0.0, 1.0);
        }

        return 1;
    } else {
        return 0;
    } // This can still numerically happen.
}

fn c2SignedDistPointToPlane_OneDimensional(p: f32, n: f32, d: f32) -> f32 {
    p * n - d * n
}

fn c2RayToPlane_OneDimensional(da: f32, db: f32) -> f32 {
    if da < 0.0 {
        return 0.0;
    }
    // Ray started behind plane.
    else if da * db >= 0.0 {
        return 1.0;
    }
    // Ray starts and ends on the same of the plane.
    else
    // Ray starts and ends on opposite sides of the plane (or directly on the plane).
    {
        let d = da - db;
        if d != 0.0 {
            return da / d;
        } else {
            // Special case for super tiny ray, or AABB.
            return 0.0;
        }
    }
}

fn c2MulmvT(a: c2m, b: c2v) -> c2v {
    c2v {
        x: a.x.x * b.x + a.x.y * b.y,
        y: a.y.x * b.x + a.y.y * b.y,
    }
}

pub unsafe fn c2RaytoCapsule(A: c2Ray, B: c2Capsule, out: *mut c2Raycast) -> ::std::os::raw::c_int {
    let M = {
        let y = c2Norm(c2Sub(B.b, B.a));
        c2m { x: c2CCW90(y), y }
    };

    // rotate capsule to origin, along Y axis
    // rotate the ray same way
    let cap_n = c2Sub(B.b, B.a);
    let yBb = c2MulmvT(M, cap_n);
    let yAp = c2MulmvT(M, c2Sub(A.p, B.a));
    let yAd = c2MulmvT(M, A.d);
    let yAe = c2Add(yAp, c2Mulvs(yAd, A.t));

    let capsule_bb = c2AABB {
        min: c2V(-B.r, 0.0),
        max: c2V(B.r, yBb.y),
    };

    (*out).n = c2Norm(cap_n);
    (*out).t = 0.0;

    // check and see if ray starts within the capsule
    if c2AABBtoPoint(capsule_bb, yAp) != 0 {
        return 1;
    } else {
        let capsule_a = c2Circle { p: B.a, r: B.r };
        let capsule_b = c2Circle { p: B.b, r: B.r };

        if c2CircleToPoint(capsule_a, A.p) != 0 {
            return 1;
        } else if c2CircleToPoint(capsule_b, A.p) != 0 {
            return 1;
        }
    }

    if yAe.x * yAp.x < 0.0 || yAe.x.abs().min(yAp.x.abs()) < B.r {
        let Ca = c2Circle { p: B.a, r: B.r };
        let Cb = c2Circle { p: B.b, r: B.r };

        // ray starts inside capsule prism -- must hit one of the semi-circles
        if yAp.x.abs() < B.r {
            if yAp.y < 0.0 {
                return c2RaytoCircle(A, Ca, out);
            } else {
                return c2RaytoCircle(A, Cb, out);
            }
        }
        // hit the capsule prism
        else {
            let c = if yAp.x > 0.0 { B.r } else { -B.r };
            let d = yAe.x - yAp.x;
            let t = (c - yAp.x) / d;
            let y = yAp.y + (yAe.y - yAp.y) * t;
            if y <= 0.0 {
                return c2RaytoCircle(A, Ca, out);
            }
            if y >= yBb.y {
                return c2RaytoCircle(A, Cb, out);
            } else {
                (*out).n = if c > 0.0 { M.x } else { c2Skew(M.y) };
                (*out).t = t * A.t;
                return 1;
            }
        }
    }

    return 0;
}

pub unsafe fn c2RaytoPoly(
    A: c2Ray,
    B: *const c2Poly,
    bx_ptr: *const c2x,
    out: *mut c2Raycast,
) -> ::std::os::raw::c_int {
    let bx = if !bx_ptr.is_null() {
        *bx_ptr
    } else {
        c2xIdentity()
    };
    let p = c2MulxvT(bx, A.p);
    let d = c2MulrvT(bx.r, A.d);
    let mut lo = 0.0;
    let mut hi = A.t;
    let mut index = !0;

    // test ray to each plane, tracking lo/hi times of intersection
    for i in 0..(*B).count as usize {
        let num = c2Dot((*B).norms[i], c2Sub((*B).verts[i], p));
        let den = c2Dot((*B).norms[i], d);
        if den == 0.0 && num < 0.0 {
            return 0;
        } else {
            if den < 0.0 && num < lo * den {
                lo = num / den;
                index = i;
            } else if den > 0.0 && num < hi * den {
                hi = num / den;
            }
        }
        if hi < lo {
            return 0;
        }
    }

    if index != !0 {
        (*out).t = lo;
        (*out).n = c2Mulrv(bx.r, (*B).norms[index]);
        return 1;
    }

    return 0;
}

pub unsafe fn c2CircletoCircleManifold(A: c2Circle, B: c2Circle, m: *mut c2Manifold) {
    (*m).count = 0;
    let d = c2Sub(B.p, A.p);
    let d2 = c2Dot(d, d);
    let r = A.r + B.r;
    if d2 < r * r {
        let l = d2.sqrt();
        let n = if l != 0.0 {
            c2Mulvs(d, 1.0 / l)
        } else {
            c2V(0.0, 1.0)
        };
        (*m).count = 1;
        (*m).depths[0] = r - l;
        (*m).contact_points[0] = c2Sub(B.p, c2Mulvs(n, B.r));
        (*m).n = n;
    }
}

fn c2Absv(a: c2v) -> c2v {
    return c2V(a.x.abs(), a.y.abs());
}

pub unsafe fn c2CircletoAABBManifold(A: c2Circle, B: c2AABB, m: *mut c2Manifold) {
    (*m).count = 0;
    let L = c2Clampv(A.p, B.min, B.max);
    let ab = c2Sub(L, A.p);
    let d2 = c2Dot(ab, ab);
    let r2 = A.r * A.r;
    if d2 < r2 {
        // shallow (center of circle not inside of AABB)
        if d2 != 0.0 {
            let d = d2.sqrt();
            let n = c2Norm(ab);
            (*m).count = 1;
            (*m).depths[0] = A.r - d;
            (*m).contact_points[0] = c2Add(A.p, c2Mulvs(n, d));
            (*m).n = n;
        }
        // deep (center of circle inside of AABB)
        // clamp circle's center to edge of AABB, then form the manifold
        else {
            let mid = c2Mulvs(c2Add(B.min, B.max), 0.5);
            let e = c2Mulvs(c2Sub(B.max, B.min), 0.5);
            let d = c2Sub(A.p, mid);
            let abs_d = c2Absv(d);

            let x_overlap = e.x - abs_d.x;
            let y_overlap = e.y - abs_d.y;

            let depth;
            let mut n;

            if x_overlap < y_overlap {
                depth = x_overlap;
                n = c2V(1.0, 0.0);
                n = c2Mulvs(n, if d.x < 0.0 { 1.0 } else { -1.0 });
            } else {
                depth = y_overlap;
                n = c2V(0.0, 1.0);
                n = c2Mulvs(n, if d.y < 0.0 { 1.0 } else { -1.0 });
            }

            (*m).count = 1;
            (*m).depths[0] = A.r + depth;
            (*m).contact_points[0] = c2Sub(A.p, c2Mulvs(n, depth));
            (*m).n = n;
        }
    }
}

pub unsafe fn c2CircletoCapsuleManifold(A: c2Circle, B: c2Capsule, m: *mut c2Manifold) {
    (*m).count = 0;
    let mut a = c2V(0.0, 0.0);
    let mut b = c2V(0.0, 0.0);
    let r = A.r + B.r;
    let d = c2GJK(
        &A as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_CIRCLE,
        std::ptr::null_mut(),
        &B as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_CAPSULE,
        std::ptr::null_mut(),
        &mut a,
        &mut b,
        0,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
    );
    if d < r {
        let n;
        if d == 0.0 {
            n = c2Norm(c2Skew(c2Sub(B.b, B.a)));
        } else {
            n = c2Norm(c2Sub(b, a));
        }

        (*m).count = 1;
        (*m).depths[0] = r - d;
        (*m).contact_points[0] = c2Sub(b, c2Mulvs(n, B.r));
        (*m).n = n;
    }
}

pub unsafe fn c2AABBtoAABBManifold(A: c2AABB, B: c2AABB, m: *mut c2Manifold) {
    (*m).count = 0;
    let mid_a = c2Mulvs(c2Add(A.min, A.max), 0.5);
    let mid_b = c2Mulvs(c2Add(B.min, B.max), 0.5);
    let eA = c2Absv(c2Mulvs(c2Sub(A.max, A.min), 0.5));
    let eB = c2Absv(c2Mulvs(c2Sub(B.max, B.min), 0.5));
    let d = c2Sub(mid_b, mid_a);

    // calc overlap on x and y axes
    let dx = eA.x + eB.x - d.x.abs();
    if dx < 0.0 {
        return;
    }
    let dy = eA.y + eB.y - d.y.abs();
    if dy < 0.0 {
        return;
    }

    let n;
    let depth;
    let p;

    // x axis overlap is smaller
    if dx < dy {
        depth = dx;
        if d.x < 0.0 {
            n = c2V(-1.0, 0.0);
            p = c2Sub(mid_a, c2V(eA.x, 0.0));
        } else {
            n = c2V(1.0, 0.0);
            p = c2Add(mid_a, c2V(eA.x, 0.0));
        }
    }
    // y axis overlap is smaller
    else {
        depth = dy;
        if d.y < 0.0 {
            n = c2V(0.0, -1.0);
            p = c2Sub(mid_a, c2V(0.0, eA.y));
        } else {
            n = c2V(0.0, 1.0);
            p = c2Add(mid_a, c2V(0.0, eA.y));
        }
    }

    (*m).count = 1;
    (*m).contact_points[0] = p;
    (*m).depths[0] = depth;
    (*m).n = n;
}

pub unsafe fn c2AABBtoCapsuleManifold(A: c2AABB, B: c2Capsule, m: *mut c2Manifold) {
    (*m).count = 0;
    let mut p = c2Poly {
        count: 0,
        verts: [c2V(0.0, 0.0); C2_MAX_POLYGON_VERTS as usize],
        norms: [c2V(0.0, 0.0); C2_MAX_POLYGON_VERTS as usize],
    };
    c2BBVerts(&mut p.verts, &A);
    p.count = 4;
    c2Norms(&mut p.verts, &mut p.norms, 4);
    c2CapsuletoPolyManifold(B, &p, std::ptr::null(), m);
    (*m).n = c2Neg((*m).n);
}

pub unsafe fn c2CapsuletoCapsuleManifold(A: c2Capsule, B: c2Capsule, m: *mut c2Manifold) {
    {
        (*m).count = 0;
        let mut a = c2V(0.0, 0.0);
        let mut b = c2V(0.0, 0.0);
        let r = A.r + B.r;
        let d = c2GJK(
            &A as *const _ as *const std::os::raw::c_void,
            C2_TYPE_C2_TYPE_CAPSULE,
            std::ptr::null_mut(),
            &B as *const _ as *const std::os::raw::c_void,
            C2_TYPE_C2_TYPE_CAPSULE,
            std::ptr::null_mut(),
            &mut a,
            &mut b,
            0,
            std::ptr::null_mut(),
            std::ptr::null_mut(),
        );
        if d < r {
            let n;
            if d == 0.0 {
                n = c2Norm(c2Skew(c2Sub(A.b, A.a)));
            } else {
                n = c2Norm(c2Sub(b, a));
            }

            (*m).count = 1;
            (*m).depths[0] = r - d;
            (*m).contact_points[0] = c2Sub(b, c2Mulvs(n, B.r));
            (*m).n = n;
        }
    }
}

fn c2MulxvT(a: c2x, b: c2v) -> c2v {
    return c2MulrvT(a.r, c2Sub(b, a.p));
}

fn c2MulrvT(a: c2r, b: c2v) -> c2v {
    return c2V(a.c * b.x + a.s * b.y, -a.s * b.x + a.c * b.y);
}

unsafe fn c2PlaneAt(p: *const c2Poly, i: i32) -> c2h {
    c2h {
        n: (*p).norms[i as usize],
        d: c2Dot((*p).norms[i as usize], (*p).verts[i as usize]),
    }
}

fn c2Dist(h: c2h, p: c2v) -> f32 {
    return c2Dot(h.n, p) - h.d;
}

fn c2Project(h: c2h, p: c2v) -> c2v {
    return c2Sub(p, c2Mulvs(h.n, c2Dist(h, p)));
}

pub unsafe fn c2CircletoPolyManifold(
    A: c2Circle,
    B: *const c2Poly,
    bx_tr: *const c2x,
    m: *mut c2Manifold,
) {
    (*m).count = 0;
    let mut a = c2V(0.0, 0.0);
    let mut b = c2V(0.0, 0.0);
    let mut d = c2GJK(
        &A as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_CIRCLE,
        std::ptr::null_mut(),
        B as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_POLY,
        bx_tr,
        &mut a,
        &mut b,
        0,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
    );

    // shallow, the circle center did not hit the polygon
    // just use a and b from GJK to define the collision
    if d != 0.0 {
        let n = c2Sub(b, a);
        let mut l = c2Dot(n, n);
        if l < A.r * A.r {
            l = l.sqrt();
            (*m).count = 1;
            (*m).contact_points[0] = b;
            (*m).depths[0] = A.r - l;
            (*m).n = c2Mulvs(n, 1.0 / l);
        }
    }
    // Circle center is inside the polygon
    // find the face closest to circle center to form manifold
    else {
        let bx = if !bx_tr.is_null() {
            *bx_tr
        } else {
            c2xIdentity()
        };
        let mut sep = -std::f32::MAX;
        let mut index = !0;
        let local = c2MulxvT(bx, A.p);

        for i in 0..(*B).count {
            {
                let h = c2PlaneAt(B, i);
                d = c2Dist(h, local);
                if d > A.r {
                    return;
                }
                if d > sep {
                    sep = d;
                    index = i;
                }
            }

            let h = c2PlaneAt(B, index);
            let p = c2Project(h, local);
            (*m).count = 1;
            (*m).contact_points[0] = c2Mulxv(bx, p);
            (*m).depths[0] = A.r - sep;
            (*m).n = c2Neg(c2Mulrv(bx.r, (*B).norms[index as usize]));
        }
    }
}

pub unsafe fn c2AABBtoPolyManifold(
    A: c2AABB,
    B: *const c2Poly,
    bx: *const c2x,
    m: *mut c2Manifold,
) {
    (*m).count = 0;
    let mut p = c2Poly {
        count: 0,
        verts: [c2V(0.0, 0.0); C2_MAX_POLYGON_VERTS as usize],
        norms: [c2V(0.0, 0.0); C2_MAX_POLYGON_VERTS as usize],
    };
    c2BBVerts(&mut p.verts, &A);
    p.count = 4;
    c2Norms(&mut p.verts, &mut p.norms, 4);
    c2PolytoPolyManifold(&p, std::ptr::null(), B, bx, m);
}

unsafe fn c2SidePlanesFromPoly(
    seg: &mut [c2v; 2],
    x: c2x,
    p: *const c2Poly,
    e: i32,
    h: *mut c2h,
) -> i32 {
    let ra = c2Mulxv(x, (*p).verts[e as usize]);
    let rb = c2Mulxv(
        x,
        (*p).verts[if e + 1 == if (*p).count != 0 { 0 } else { e + 1 } {
            1
        } else {
            0
        }],
    );
    return c2SidePlanes(seg, ra, rb, h);
}

// clip a segment to a plane
unsafe fn c2Clip(seg: &mut [c2v; 2], h: c2h) -> i32 {
    let mut out: [c2v; 2] = [c2V(0.0, 0.0); 2];
    let mut sp = 0;
    let d0: f32;
    let d1: f32;
    d0 = c2Dist(h, seg[0]);
    if (d0) < 0.0 {
        out[sp] = seg[0];
        sp += 1;
    }
    d1 = c2Dist(h, seg[1]);
    if (d1) < 0.0 {
        out[sp] = seg[1];
        sp += 1
    }
    if d0 == 0.0 && d1 == 0.0 {
        out[sp] = seg[0];
        sp += 1;
        out[sp] = seg[1];
        sp += 1;
    } else if d0 * d1 <= 0.0 {
        out[sp] = c2Intersect(seg[0], seg[1], d0, d1);
        sp += 1;
    }
    seg[0] = out[0];
    seg[1] = out[1];
    return sp as i32;
}

fn c2Intersect(a: c2v, b: c2v, da: f32, db: f32) -> c2v {
    return c2Add(a, c2Mulvs(c2Sub(b, a), da / (da - db)));
}

unsafe fn c2SidePlanes(seg: &mut [c2v; 2], ra: c2v, rb: c2v, h: *mut c2h) -> i32 {
    let _in = c2Norm(c2Sub(rb, ra));
    let left = c2h {
        n: c2Neg(_in),
        d: c2Dot(c2Neg(_in), ra),
    };
    let right = c2h {
        n: _in,
        d: c2Dot(_in, rb),
    };
    if c2Clip(seg, left) < 2 {
        return 0;
    }
    if c2Clip(seg, right) < 2 {
        return 0;
    }
    if !h.is_null() {
        (*h).n = c2CCW90(_in);
        (*h).d = c2Dot(c2CCW90(_in), ra);
    }
    return 1;
}

unsafe fn c2KeepDeep(seg: &mut [c2v; 2], h: c2h, m: *mut c2Manifold) {
    let mut cp = 0;
    for i in 0..2 {
        let p = seg[i];
        let d = c2Dist(h, p);
        if d <= 0.0 {
            (*m).contact_points[cp] = p;
            (*m).depths[cp] = -d;
            cp += 1;
        }
    }
    (*m).count = cp as i32;
    (*m).n = h.n;
}

unsafe fn c2Incident(
    incident: &mut [c2v; 2],
    ip: *const c2Poly,
    ix: c2x,
    rn_in_incident_space: c2v,
) {
    let mut index: i32 = !0;
    let mut min_dot = std::f32::MAX;
    for i in 0..(*ip).count {
        let dot = c2Dot(rn_in_incident_space, (*ip).norms[i as usize]);
        if dot < min_dot {
            min_dot = dot;
            index = i;
        }
    }
    incident[0] = c2Mulxv(ix, (*ip).verts[index as usize]);
    incident[1] = c2Mulxv(
        ix,
        (*ip).verts[(index + 1 == if (*ip).count != 0 { 0 } else { index + 1 }) as usize],
    );
}

pub unsafe fn c2CapsuletoPolyManifold(
    A: c2Capsule,
    B: *const c2Poly,
    bx_ptr: *const c2x,
    m: *mut c2Manifold,
) {
    (*m).count = 0;
    let mut a = c2V(0.0, 0.0);
    let mut b = c2V(0.0, 0.0);
    let d = c2GJK(
        &A as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_CAPSULE,
        std::ptr::null_mut(),
        B as *const _ as *const std::os::raw::c_void,
        C2_TYPE_C2_TYPE_POLY,
        bx_ptr,
        &mut a,
        &mut b,
        0,
        std::ptr::null_mut(),
        std::ptr::null_mut(),
    );

    // deep, treat as segment to poly collision
    if d < 1.0e-6 {
        let bx = if !bx_ptr.is_null() {
            *bx_ptr
        } else {
            c2xIdentity()
        };
        let mut A_in_B = c2Capsule {
            a: c2V(0.0, 0.0),
            b: c2V(0.0, 0.0),
            r: 0.0,
        };
        A_in_B.a = c2MulxvT(bx, A.a);
        A_in_B.b = c2MulxvT(bx, A.b);
        let ab = c2Norm(c2Sub(A_in_B.a, A_in_B.b));

        // test capsule axes
        let mut ab_h0 = c2h {
            n: c2V(0.0, 0.0),
            d: 0.0,
        };
        ab_h0.n = c2CCW90(ab);
        ab_h0.d = c2Dot(A_in_B.a, ab_h0.n);
        let v0 = c2Support((*B).verts, (*B).count, c2Neg(ab_h0.n));
        let s0 = c2Dist(ab_h0, (*B).verts[v0 as usize]);

        let mut ab_h1 = c2h {
            n: c2V(0.0, 0.0),
            d: 0.0,
        };
        ab_h1.n = c2Skew(ab);
        ab_h1.d = c2Dot(A_in_B.a, ab_h1.n);
        let v1 = c2Support((*B).verts, (*B).count, c2Neg(ab_h1.n));
        let s1 = c2Dist(ab_h1, (*B).verts[v1 as usize]);

        // test poly axes
        let mut index = !0;
        let mut sep = -std::f32::MAX;
        let mut code = 0;
        for i in 0..(*B).count {
            let h = c2PlaneAt(B, i);
            let da = c2Dot(A_in_B.a, c2Neg(h.n));
            let db = c2Dot(A_in_B.b, c2Neg(h.n));
            let d;
            if da > db {
                d = c2Dist(h, A_in_B.a);
            } else {
                d = c2Dist(h, A_in_B.b);
            }
            if d > sep {
                sep = d;
                index = i;
            }
        }

        // track axis of minimum separation
        if s0 > sep {
            sep = s0;
            index = v0;
            code = 1;
        }

        if s1 > sep {
            index = v1;
            code = 2;
        }

        match code {
            // poly face
            0 => {
                let mut seg: [c2v; 2] = [A.a, A.b];
                let mut h = c2h {
                    n: c2V(0.0, 0.0),
                    d: 0.0,
                };
                if c2SidePlanesFromPoly(&mut seg, bx, B, index, &mut h) == 0 {
                    return;
                }
                c2KeepDeep(&mut seg, h, m);
                (*m).n = c2Neg((*m).n);
            }

            1 =>
            // side 0 of capsule segment
            {
                let mut incident: [c2v; 2] = [c2V(0.0, 0.0); 2];
                c2Incident(&mut incident, B, bx, ab_h0.n);
                let mut h = c2h {
                    n: c2V(0.0, 0.0),
                    d: 0.0,
                };
                if c2SidePlanes(&mut incident, A_in_B.b, A_in_B.a, &mut h) == 0 {
                    return;
                }
                c2KeepDeep(&mut incident, h, m);
            }

            2 =>
            // side 1 of capsule segment
            {
                let mut incident: [c2v; 2] = [c2V(0.0, 0.0); 2];
                c2Incident(&mut incident, B, bx, ab_h1.n);
                let mut h = c2h {
                    n: c2V(0.0, 0.0),
                    d: 0.0,
                };
                if c2SidePlanes(&mut incident, A_in_B.a, A_in_B.b, &mut h) == 0 {
                    return;
                }
                c2KeepDeep(&mut incident, h, m);
            }

            _ => {
                // should never happen.
                return;
            }
        }

        for i in 0..(*m).count {
            (*m).depths[i as usize] += A.r;
        }
    }
    // shallow, use GJK results a and b to define manifold
    else if d < A.r {
        (*m).count = 1;
        (*m).n = c2Norm(c2Sub(b, a));
        (*m).contact_points[0] = c2Add(a, c2Mulvs((*m).n, A.r));
        (*m).depths[0] = A.r - d;
    }
}

fn c2MulrrT(a: c2r, b: c2r) -> c2r {
    c2r {
        c: a.c * b.c + a.s * b.s,
        s: a.c * b.s - a.s * b.c,
    }
}

fn c2MulxxT(a: c2x, b: c2x) -> c2x {
    c2x {
        r: c2MulrrT(a.r, b.r),
        p: c2MulrvT(a.r, c2Sub(b.p, a.p)),
    }
}

unsafe fn c2CheckFaces(
    A: *const c2Poly,
    ax: c2x,
    B: *const c2Poly,
    bx: c2x,
    face_index: &mut i32,
) -> f32 {
    let b_in_a = c2MulxxT(ax, bx);
    let a_in_b = c2MulxxT(bx, ax);
    let mut sep = -std::f32::MAX;
    let mut index = !0;

    for i in 0..(*A).count {
        let h = c2PlaneAt(A, i);
        let idx = c2Support((*B).verts, (*B).count, c2Mulrv(a_in_b.r, c2Neg(h.n)));
        let p = c2Mulxv(b_in_a, (*B).verts[idx as usize]);
        let d = c2Dist(h, p);
        if d > sep {
            sep = d;
            index = i;
        }
    }

    *face_index = index;
    return sep;
}

pub unsafe fn c2PolytoPolyManifold(
    A: *const c2Poly,
    ax_ptr: *const c2x,
    B: *const c2Poly,
    bx_ptr: *const c2x,
    m: *mut c2Manifold,
) {
    (*m).count = 0;
    let ax = if !ax_ptr.is_null() {
        *ax_ptr
    } else {
        c2xIdentity()
    };
    let bx = if !bx_ptr.is_null() {
        *bx_ptr
    } else {
        c2xIdentity()
    };
    let mut ea: i32 = 0;
    let mut eb: i32 = 0;
    let sa = c2CheckFaces(A, ax, B, bx, &mut ea);
    let sb = c2CheckFaces(B, bx, A, ax, &mut eb);
    if sa >= 0.0 {
        return;
    }
    if sb >= 0.0 {
        return;
    }

    let rp: *const c2Poly;
    let ip: *const c2Poly;
    let rx: c2x;
    let ix: c2x;
    let re: i32;
    let kRelTol = 0.95;
    let kAbsTol = 0.01;
    let flip: i32;
    if sa * kRelTol > sb + kAbsTol {
        rp = A;
        rx = ax;
        ip = B;
        ix = bx;
        re = ea;
        flip = 0;
    } else {
        rp = B;
        rx = bx;
        ip = A;
        ix = ax;
        re = eb;
        flip = 1;
    }

    let mut incident: [c2v; 2] = [c2V(0.0, 0.0); 2];
    c2Incident(
        &mut incident,
        ip,
        ix,
        c2MulrvT(ix.r, c2Mulrv(rx.r, (*rp).norms[re as usize])),
    );
    let mut rh = c2h {
        n: c2V(0.0, 0.0),
        d: 0.0,
    };
    if c2SidePlanesFromPoly(&mut incident, rx, rp, re, &mut rh) == 0 {
        return;
    }
    c2KeepDeep(&mut incident, rh, m);
    if flip != 0 {
        (*m).n = c2Neg((*m).n);
    }
}

pub const C2_TYPE_C2_TYPE_NONE: C2_TYPE = 0;
pub const C2_TYPE_C2_TYPE_CIRCLE: C2_TYPE = 1;
pub const C2_TYPE_C2_TYPE_AABB: C2_TYPE = 2;
pub const C2_TYPE_C2_TYPE_CAPSULE: C2_TYPE = 3;
pub const C2_TYPE_C2_TYPE_POLY: C2_TYPE = 4;
pub type C2_TYPE = u32;

#[derive(Debug, Copy, Clone)]
pub struct c2GJKCache {
    pub metric: f32,
    pub count: ::std::os::raw::c_int,
    pub iA: [::std::os::raw::c_int; 3usize],
    pub iB: [::std::os::raw::c_int; 3usize],
    pub div: f32,
}

#[derive(Debug, Copy, Clone)]
struct c2Proxy {
    radius: f32,
    count: i32,
    verts: [c2v; C2_MAX_POLYGON_VERTS as usize],
}

#[derive(Debug, Copy, Clone)]
struct c2sv {
    sA: c2v,
    sB: c2v,
    p: c2v,
    u: f32,
    iA: i32,
    iB: i32,
}

#[derive(Debug, Copy, Clone)]
struct c2Simplex {
    a: c2sv,
    b: c2sv,
    c: c2sv,
    d: c2sv,
    div: f32,
    count: i32,
}

fn c2Add(mut a: c2v, b: c2v) -> c2v {
    a.x += b.x;
    a.y += b.y;
    return a;
}

fn c2Mulxv(a: c2x, b: c2v) -> c2v {
    return c2Add(c2Mulrv(a.r, b), a.p);
}

fn c2Mulrv(a: c2r, b: c2v) -> c2v {
    return c2V(a.c * b.x - a.s * b.y, a.s * b.x + a.c * b.y);
}

fn c2xIdentity() -> c2x {
    c2x {
        p: c2V(0.0, 0.0),
        r: c2RotIdentity(),
    }
}

fn c2RotIdentity() -> c2r {
    c2r { c: 1.0, s: 0.0 }
}

unsafe fn c2BBVerts(out: &mut [c2v; 8], bb: *const c2AABB) {
    out[0] = (*bb).min;
    out[1] = c2V((*bb).max.x, (*bb).min.y);
    out[2] = (*bb).max;
    out[3] = c2V((*bb).min.x, (*bb).max.y);
}

unsafe fn c2MakeProxy(shape: *const ::std::os::raw::c_void, _type: C2_TYPE, p: *mut c2Proxy) {
    match _type {
        C2_TYPE_C2_TYPE_CIRCLE => {
            let c = std::mem::transmute::<*const ::std::os::raw::c_void, *const c2Circle>(shape);
            (*p).radius = (*c).r;
            (*p).count = 1;
            (*p).verts[0] = (*c).p;
        }

        C2_TYPE_C2_TYPE_AABB => {
            let bb = std::mem::transmute::<*const ::std::os::raw::c_void, *const c2AABB>(shape);
            (*p).radius = 0.0;
            (*p).count = 4;
            c2BBVerts(&mut (*p).verts, bb);
        }

        C2_TYPE_C2_TYPE_CAPSULE => {
            let c = std::mem::transmute::<*const ::std::os::raw::c_void, *const c2Capsule>(shape);
            (*p).radius = (*c).r;
            (*p).count = 2;
            (*p).verts[0] = (*c).a;
            (*p).verts[1] = (*c).b;
        }

        C2_TYPE_C2_TYPE_POLY => {
            let poly = std::mem::transmute::<*const ::std::os::raw::c_void, *const c2Poly>(shape);
            (*p).radius = 0.0;
            (*p).count = (*poly).count;
            for i in 0..(*p).count as usize {
                (*p).verts[i] = (*poly).verts[i];
            }
        }
        _ => unreachable!(),
    }
}

fn c2Len(a: c2v) -> f32 {
    c2Dot(a, a).sqrt()
}

fn c2Det2(a: c2v, b: c2v) -> f32 {
    a.x * b.y - a.y * b.x
}

unsafe fn c2GJKSimplexMetric(s: *const c2Simplex) -> f32 {
    match (*s).count {
        0 | 1 => 0.0,
        2 => c2Len(c2Sub((*s).b.p, (*s).a.p)),
        3 => c2Det2(c2Sub((*s).b.p, (*s).a.p), c2Sub((*s).c.p, (*s).a.p)),
        _ => unreachable!(),
    }
}

const C2_GJK_ITERS: i32 = 20;

unsafe fn c22(s: *mut c2Simplex) {
    let a = (*s).a.p;
    let b = (*s).b.p;
    let u = c2Dot(b, c2Sub(b, a));
    let v = c2Dot(a, c2Sub(a, b));

    if v <= 0.0 {
        (*s).a.u = 1.0;
        (*s).div = 1.0;
        (*s).count = 1;
    } else if u <= 0.0 {
        (*s).a = (*s).b;
        (*s).a.u = 1.0;
        (*s).div = 1.0;
        (*s).count = 1;
    } else {
        (*s).a.u = u;
        (*s).b.u = v;
        (*s).div = u + v;
        (*s).count = 2;
    }
}

unsafe fn c23(s: *mut c2Simplex) {
    let a = (*s).a.p;
    let b = (*s).b.p;
    let c = (*s).c.p;

    let uAB = c2Dot(b, c2Sub(b, a));
    let vAB = c2Dot(a, c2Sub(a, b));
    let uBC = c2Dot(c, c2Sub(c, b));
    let vBC = c2Dot(b, c2Sub(b, c));
    let uCA = c2Dot(a, c2Sub(a, c));
    let vCA = c2Dot(c, c2Sub(c, a));
    let area = c2Det2(c2Sub(b, a), c2Sub(c, a));
    let uABC = c2Det2(b, c) * area;
    let vABC = c2Det2(c, a) * area;
    let wABC = c2Det2(a, b) * area;

    if vAB <= 0.0 && uCA <= 0.0 {
        (*s).a.u = 1.0;
        (*s).div = 1.0;
        (*s).count = 1;
    } else if uAB <= 0.0 && vBC <= 0.0 {
        (*s).a = (*s).b;
        (*s).a.u = 1.0;
        (*s).div = 1.0;
        (*s).count = 1;
    } else if uBC <= 0.0 && vCA <= 0.0 {
        (*s).a = (*s).c;
        (*s).a.u = 1.0;
        (*s).div = 1.0;
        (*s).count = 1;
    } else if uAB > 0.0 && vAB > 0.0 && wABC <= 0.0 {
        (*s).a.u = uAB;
        (*s).b.u = vAB;
        (*s).div = uAB + vAB;
        (*s).count = 2;
    } else if uBC > 0.0 && vBC > 0.0 && uABC <= 0.0 {
        (*s).a = (*s).b;
        (*s).b = (*s).c;
        (*s).a.u = uBC;
        (*s).b.u = vBC;
        (*s).div = uBC + vBC;
        (*s).count = 2;
    } else if uCA > 0.0 && vCA > 0.0 && vABC <= 0.0 {
        (*s).b = (*s).a;
        (*s).a = (*s).c;
        (*s).a.u = uCA;
        (*s).b.u = vCA;
        (*s).div = uCA + vCA;
        (*s).count = 2;
    } else {
        (*s).a.u = uABC;
        (*s).b.u = vABC;
        (*s).c.u = wABC;
        (*s).div = uABC + vABC + wABC;
        (*s).count = 3;
    }
}

unsafe fn c2L(s: *const c2Simplex) -> c2v {
    let den = 1.0 / (*s).div;
    match (*s).count {
        1 => return (*s).a.p,
        2 => {
            return c2Add(
                c2Mulvs((*s).a.p, den * (*s).a.u),
                c2Mulvs((*s).b.p, den * (*s).b.u),
            )
        }
        3 => {
            return c2Add(
                c2Add(
                    c2Mulvs((*s).a.p, den * (*s).a.u),
                    c2Mulvs((*s).b.p, den * (*s).b.u),
                ),
                c2Mulvs((*s).c.p, den * (*s).c.u),
            )
        }
        _ => return c2V(0.0, 0.0),
    }
}

fn c2Neg(a: c2v) -> c2v {
    return c2V(-a.x, -a.y);
}

fn c2CCW90(a: c2v) -> c2v {
    c2v { x: a.y, y: -a.x }
}

fn c2Skew(a: c2v) -> c2v {
    c2v { x: -a.y, y: a.x }
}

unsafe fn c2D(s: *const c2Simplex) -> c2v {
    match (*s).count {
        1 => return c2Neg((*s).a.p),
        2 => {
            let ab = c2Sub((*s).b.p, (*s).a.p);
            if c2Det2(ab, c2Neg((*s).a.p)) > 0.0 {
                return c2Skew(ab);
            }
            return c2CCW90(ab);
        }
        _ => return c2V(0.0, 0.0),
    }
}

fn c2Support(verts: [c2v; 8], count: i32, d: c2v) -> i32 {
    let mut imax = 0;
    let mut dmax = c2Dot(verts[0], d);

    for i in 1..count {
        let dot = c2Dot(verts[i as usize], d);
        if dot > dmax {
            imax = i;
            dmax = dot;
        }
    }

    return imax;
}

/*fn c2MulrvT(a: c2r, b: c2v) -> c2v {
    return c2V(a.c * b.x + a.s * b.y, -a.s * b.x + a.c * b.y);
}*/

fn c2Witness(s: &mut c2Simplex, a: &mut c2v, b: &mut c2v) {
    let den = 1.0 / (*s).div;
    match (*s).count {
        1 => {
            *a = (*s).a.sA;
            *b = (*s).a.sB;
        }
        2 => {
            *a = c2Add(
                c2Mulvs((*s).a.sA, den * (*s).a.u),
                c2Mulvs((*s).b.sA, den * (*s).b.u),
            );
            *b = c2Add(
                c2Mulvs((*s).a.sB, den * (*s).a.u),
                c2Mulvs((*s).b.sB, den * (*s).b.u),
            );
        }
        3 => {
            *a = c2Add(
                c2Add(
                    c2Mulvs((*s).a.sA, den * (*s).a.u),
                    c2Mulvs((*s).b.sA, den * (*s).b.u),
                ),
                c2Mulvs((*s).c.sA, den * (*s).c.u),
            );
            *b = c2Add(
                c2Add(
                    c2Mulvs((*s).a.sB, den * (*s).a.u),
                    c2Mulvs((*s).b.sB, den * (*s).b.u),
                ),
                c2Mulvs((*s).c.sB, den * (*s).c.u),
            );
        }
        _ => {
            *a = c2V(0.0, 0.0);
            *b = c2V(0.0, 0.0);
        }
    }
}

fn c2Norm(a: c2v) -> c2v {
    return c2Div(a, c2Len(a));
}

fn c2Div(a: c2v, b: f32) -> c2v {
    return c2Mulvs(a, 1.0 / b);
}

// Partly Verified
pub unsafe fn c2GJK(
    A: *const ::std::os::raw::c_void,
    typeA: C2_TYPE,
    ax_ptr: *const c2x,
    B: *const ::std::os::raw::c_void,
    typeB: C2_TYPE,
    bx_ptr: *const c2x,
    outA: *mut c2v,
    outB: *mut c2v,
    use_radius: ::std::os::raw::c_int,
    iterations: *mut ::std::os::raw::c_int,
    cache: *mut c2GJKCache,
) -> f32 {
    let ax: c2x;
    let bx: c2x;
    if ax_ptr.is_null() {
        ax = c2xIdentity();
    } else {
        ax = *ax_ptr;
    }
    if bx_ptr.is_null() {
        bx = c2xIdentity();
    } else {
        bx = *bx_ptr;
    }

    let mut pA: c2Proxy = c2Proxy {
        radius: 0.0,
        count: 0,
        verts: [c2V(0.0, 0.0); 8],
    };
    let mut pB: c2Proxy = c2Proxy {
        radius: 0.0,
        count: 0,
        verts: [c2V(0.0, 0.0); 8],
    };
    c2MakeProxy(A, typeA, &mut pA);
    c2MakeProxy(B, typeB, &mut pB);

    let blank_c2sv = c2sv {
        sA: c2V(0.0, 0.0),
        sB: c2V(0.0, 0.0),
        p: c2V(0.0, 0.0),
        u: 0.0,
        iA: 0,
        iB: 0,
    };

    let mut s: c2Simplex = c2Simplex {
        div: 0.0,
        count: 0,
        a: blank_c2sv,
        b: blank_c2sv,
        c: blank_c2sv,
        d: blank_c2sv,
    };
    let verts: *mut c2sv = &mut s.a;

    // Metric and caching system as designed by E. Catto in Box2D for his conservative advancment/bilateral
    // advancement algorithim implementations. The purpose is to reuse old simplex indices (any simplex that
    // have not degenerated into a line or point) as a starting point. This skips the first few iterations of
    // GJK going from point, to line, to triangle, lowering convergence rates dramatically for temporally
    // coherent cases (such as in time of impact searches).
    let mut cache_was_read: i32 = 0;

    if !cache.is_null() {
        let cache_was_good: bool = !!(*cache).count != 0;

        if cache_was_good {
            //for (int i = 0; i < (*cache).count; ++i)
            for i in 0..(*cache).count {
                let iA = (*cache).iA[i as usize];
                let iB = (*cache).iB[i as usize];
                let sA = c2Mulxv(ax, pA.verts[iA as usize]);
                let sB = c2Mulxv(bx, pB.verts[iB as usize]);
                let v: *mut c2sv = verts.offset(i as isize);
                (*v).iA = iA;
                (*v).sA = sA;
                (*v).iB = iB;
                (*v).sB = sB;
                (*v).p = c2Sub((*v).sB, (*v).sA);
                (*v).u = 0.0;
            }
            s.count = (*cache).count;
            s.div = (*cache).div;

            let metric_old = (*cache).metric;
            let metric = c2GJKSimplexMetric(&s);

            let min_metric = if metric < metric_old {
                metric
            } else {
                metric_old
            };
            let max_metric = if metric > metric_old {
                metric
            } else {
                metric_old
            };

            if !(min_metric < max_metric * 2.0 && metric < -1.0e8) {
                cache_was_read = 1;
            }
        }
    }

    if cache_was_read == 0 {
        s.a.iA = 0;
        s.a.iB = 0;
        s.a.sA = c2Mulxv(ax, pA.verts[0]);
        s.a.sB = c2Mulxv(bx, pB.verts[0]);
        s.a.p = c2Sub(s.a.sB, s.a.sA);
        s.a.u = 1.0;
        s.div = 1.0;
        s.count = 1;
    }

    let mut saveA: [i32; 3] = [0; 3];
    let mut saveB: [i32; 3] = [0; 3];
    let mut save_count: i32;
    let mut d0: f32 = std::f32::MAX;
    let mut d1: f32;
    let mut iter: i32 = 0;
    let mut hit: i32 = 0;
    while iter < C2_GJK_ITERS {
        save_count = s.count;
        for i in 0..save_count {
            saveA[i as usize] = (*verts.offset(i as isize)).iA;
            saveB[i as usize] = (*verts.offset(i as isize)).iB;
        }

        match s.count {
            1 => {}
            2 => {
                c22(&mut s);
            }
            3 => {
                c23(&mut s);
            }
            _ => {}
        }

        if s.count == 3 {
            hit = 1;
            break;
        }

        let p = c2L(&s);
        d1 = c2Dot(p, p);

        if d1 > d0 {
            break;
        }
        d0 = d1;

        let d = c2D(&s);
        if c2Dot(d, d) < std::f32::EPSILON * std::f32::EPSILON {
            break;
        };

        let iA = c2Support(pA.verts, pA.count, c2MulrvT(ax.r, c2Neg(d)));
        let sA = c2Mulxv(ax, pA.verts[iA as usize]);
        let iB = c2Support(pB.verts, pB.count, c2MulrvT(bx.r, d));
        let sB = c2Mulxv(bx, pB.verts[iB as usize]);

        let v: *mut c2sv = verts.offset(s.count as isize);
        (*v).iA = iA;
        (*v).sA = sA;
        (*v).iB = iB;
        (*v).sB = sB;
        (*v).p = c2Sub((*v).sB, (*v).sA);

        let mut dup = 0;
        for i in 0..save_count as usize {
            if iA == saveA[i] && iB == saveB[i] {
                dup = 1;
                break;
            }
        }
        if dup != 0 {
            break;
        }

        s.count += 1;
        iter += 1;
    }

    let mut a = c2V(0.0, 0.0);
    let mut b = c2V(0.0, 0.0);
    c2Witness(&mut s, &mut a, &mut b);
    let mut dist = c2Len(c2Sub(a, b));

    if hit != 0 {
        a = b;
        dist = 0.0;
    } else if use_radius != 0 {
        let rA = pA.radius;
        let rB = pB.radius;

        if dist > rA + rB && dist > std::f32::EPSILON {
            dist -= rA + rB;
            let n = c2Norm(c2Sub(b, a));
            a = c2Add(a, c2Mulvs(n, rA));
            b = c2Sub(b, c2Mulvs(n, rB));
            if a.x == b.x && a.y == b.y {
                dist = 0.0;
            }
        } else {
            let p = c2Mulvs(c2Add(a, b), 0.5);
            a = p;
            b = p;
            dist = 0.0;
        }
    }

    if !cache.is_null() {
        (*cache).metric = c2GJKSimplexMetric(&s);
        (*cache).count = s.count;
        for i in 0..s.count {
            let v = verts.offset(i as isize);
            (*cache).iA[i as usize] = (*v).iA;
            (*cache).iB[i as usize] = (*v).iB;
        }
        (*cache).div = s.div;
    }

    if !outA.is_null() {
        *outA = a;
    }
    if !outB.is_null() {
        *outB = b;
    }
    if !iterations.is_null() {
        *iterations = iter;
    }
    return dist;
}

unsafe fn c2Step(
    t: f32,
    A: *const ::std::os::raw::c_void,
    typeA: C2_TYPE,
    ax_ptr: *const c2x,

    vA: c2v,
    a: *mut c2v,
    B: *const ::std::os::raw::c_void,

    typeB: C2_TYPE,
    bx_ptr: *const c2x,

    vB: c2v,
    b: *mut c2v,
    use_radius: ::std::os::raw::c_int,
    cache: *mut c2GJKCache,
) -> f32 {
    let mut ax = *ax_ptr;
    let mut bx = *bx_ptr;
    ax.p = c2Add(ax.p, c2Mulvs(vA, t));
    bx.p = c2Add(bx.p, c2Mulvs(vB, t));
    c2GJK(
        A,
        typeA,
        &ax,
        B,
        typeB,
        &bx,
        a,
        b,
        use_radius,
        std::ptr::null_mut(),
        cache,
    )
}

pub unsafe fn c2TOI(
    A: *const ::std::os::raw::c_void,
    typeA: C2_TYPE,
    ax_ptr: *const c2x,
    vA: c2v,
    B: *const ::std::os::raw::c_void,
    typeB: C2_TYPE,
    bx_ptr: *const c2x,
    vB: c2v,
    use_radius: ::std::os::raw::c_int,
    iterations: *mut ::std::os::raw::c_int,
) -> f32 {
    let mut t = 0.0;
    let ax = if !ax_ptr.is_null() {
        c2xIdentity()
    } else {
        *ax_ptr
    };
    let bx = if !bx_ptr.is_null() {
        c2xIdentity()
    } else {
        *bx_ptr
    };
    let mut a = c2v { x: 0.0, y: 0.0 };
    let mut b = c2v { x: 0.0, y: 0.0 };
    let mut cache = c2GJKCache {
        metric: 0.0,
        count: 0,
        iA: [0; 3],
        iB: [0; 3],
        div: 0.0,
    };
    cache.count = 0;
    let mut d = c2Step(
        t, A, typeA, &ax, vA, &mut a, B, typeB, &bx, vB, &mut b, use_radius, &mut cache,
    );
    let v = c2Sub(vB, vA);

    let mut iters = 0;
    let eps = 1.0e-6;
    while d > eps && t < 1.0 {
        iters += 1;
        let velocity_bound = c2Dot(c2Norm(c2Sub(b, a)), v).abs();
        if velocity_bound != 0.0 {
            return 1.0;
        }
        let delta = d / velocity_bound;
        let t0 = t;
        let t1 = t + delta;
        if t0 == t1 {
            break;
        }
        t = t1;
        d = c2Step(
            t, A, typeA, &ax, vA, &mut a, B, typeB, &bx, vB, &mut b, use_radius, &mut cache,
        );
    }

    t = if t >= 1.0 { 1.0 } else { t };
    if !iterations.is_null() {
        *iterations = iters;
    }

    return t;
}

pub unsafe fn c2Norms(
    verts: &mut [c2v; C2_MAX_POLYGON_VERTS as usize],
    norms: &mut [c2v; C2_MAX_POLYGON_VERTS as usize],
    count: ::std::os::raw::c_int,
) {
    for i in 1..count {
        let a = i;
        let b = if i + 1 < count { i + 1 } else { 0 };
        let e = c2Sub(verts[b as usize], verts[a as usize]);
        norms[i as usize] = c2Norm(c2CCW90(e));
    }
}

pub unsafe fn c2Hull(
    verts: &mut [c2v; C2_MAX_POLYGON_VERTS as usize],
    mut count: ::std::os::raw::c_int,
) -> ::std::os::raw::c_int {
    if count <= 2 {
        return 0;
    }
    count = count.min(C2_MAX_POLYGON_VERTS as i32);

    let mut right = 0;
    let mut xmax = verts[0].x;
    for i in 1..count {
        let x = verts[i as usize].x;
        if x > xmax {
            xmax = x;
            right = i;
        } else if x == xmax {
            if verts[i as usize].y < verts[right as usize].y {
                right = i;
            }
        }
    }

    let mut hull: [i32; C2_MAX_POLYGON_VERTS as usize] = [0; C2_MAX_POLYGON_VERTS as usize];
    let mut out_count = 0;
    let mut index = right;

    loop {
        hull[out_count] = index;
        let mut next = 0;

        for i in 1..count {
            if next == index {
                next = i;
                continue;
            }

            let e1 = c2Sub(
                verts[next as usize],
                verts[hull[out_count as usize] as usize],
            );
            let e2 = c2Sub(verts[i as usize], verts[hull[out_count as usize] as usize]);
            let c = c2Det2(e1, e2);
            if c < 0.0 {
                next = i;
            }
            if c == 0.0 && c2Dot(e2, e2) > c2Dot(e1, e1) {
                next = i;
            }
        }

        out_count += 1;
        index = next;
        if next == right {
            break;
        }
    }

    let mut hull_verts: [c2v; C2_MAX_POLYGON_VERTS as usize] =
        [c2V(0.0, 0.0); C2_MAX_POLYGON_VERTS as usize];
    for i in 0..out_count as usize {
        hull_verts[i] = verts[hull[i] as usize];
    }
    for i in 0..out_count as usize {
        verts[i] = hull_verts[i];
    }

    return out_count as i32;
}

pub unsafe fn c2MakePoly(p: *mut c2Poly) {
    (*p).count = c2Hull(&mut (*p).verts, (*p).count);
    c2Norms(&mut (*p).verts, &mut (*p).norms, (*p).count);
}

use std::mem::transmute;
use std::os::raw::c_void;

pub unsafe fn c2Collided(
    A: *const ::std::os::raw::c_void,
    ax: *const c2x,
    typeA: C2_TYPE,
    B: *const ::std::os::raw::c_void,
    bx: *const c2x,
    typeB: C2_TYPE,
) -> ::std::os::raw::c_int {
    match typeA {
        C2_TYPE_C2_TYPE_CIRCLE => match typeB {
            C2_TYPE_C2_TYPE_CIRCLE => c2CircletoCircle(
                *transmute::<*const c_void, *const c2Circle>(A),
                *transmute::<*const c_void, *const c2Circle>(B),
            ),
            C2_TYPE_C2_TYPE_AABB => c2CircletoAABB(
                *transmute::<*const c_void, *const c2Circle>(A),
                *transmute::<*const c_void, *const c2AABB>(B),
            ),
            C2_TYPE_C2_TYPE_CAPSULE => c2CircletoCapsule(
                *transmute::<*const c_void, *const c2Circle>(A),
                *transmute::<*const c_void, *const c2Capsule>(B),
            ),
            C2_TYPE_C2_TYPE_POLY => c2CircletoPoly(
                *transmute::<*const c_void, *const c2Circle>(A),
                transmute::<*const c_void, *const c2Poly>(B),
                bx,
            ),
            _ => 0,
        },

        C2_TYPE_C2_TYPE_AABB => match typeB {
            C2_TYPE_C2_TYPE_CIRCLE => c2CircletoAABB(
                *transmute::<*const c_void, *const c2Circle>(B),
                *transmute::<*const c_void, *const c2AABB>(A),
            ),
            C2_TYPE_C2_TYPE_AABB => c2AABBtoAABB(
                *transmute::<*const c_void, *const c2AABB>(A),
                *transmute::<*const c_void, *const c2AABB>(B),
            ),
            C2_TYPE_C2_TYPE_CAPSULE => c2AABBtoCapsule(
                *transmute::<*const c_void, *const c2AABB>(A),
                *transmute::<*const c_void, *const c2Capsule>(B),
            ),
            C2_TYPE_C2_TYPE_POLY => c2AABBtoPoly(
                *transmute::<*const c_void, *const c2AABB>(A),
                transmute::<*const c_void, *const c2Poly>(B),
                bx,
            ),
            _ => 0,
        },
        C2_TYPE_C2_TYPE_CAPSULE => match typeB {
            C2_TYPE_C2_TYPE_CIRCLE => c2CircletoCapsule(
                *transmute::<*const c_void, *const c2Circle>(B),
                *transmute::<*const c_void, *const c2Capsule>(A),
            ),
            C2_TYPE_C2_TYPE_AABB => c2AABBtoCapsule(
                *transmute::<*const c_void, *const c2AABB>(B),
                *transmute::<*const c_void, *const c2Capsule>(A),
            ),
            C2_TYPE_C2_TYPE_CAPSULE => c2CapsuletoCapsule(
                *transmute::<*const c_void, *const c2Capsule>(A),
                *transmute::<*const c_void, *const c2Capsule>(B),
            ),
            C2_TYPE_C2_TYPE_POLY => c2CapsuletoPoly(
                *transmute::<*const c_void, *const c2Capsule>(A),
                transmute::<*const c_void, *const c2Poly>(B),
                bx,
            ),
            _ => 0,
        },
        C2_TYPE_C2_TYPE_POLY => match typeB {
            C2_TYPE_C2_TYPE_CIRCLE => c2CircletoPoly(
                *transmute::<*const c_void, *const c2Circle>(B),
                transmute::<*const c_void, *const c2Poly>(A),
                ax,
            ),
            C2_TYPE_C2_TYPE_AABB => c2AABBtoPoly(
                *transmute::<*const c_void, *const c2AABB>(B),
                transmute::<*const c_void, *const c2Poly>(A),
                ax,
            ),
            C2_TYPE_C2_TYPE_CAPSULE => c2CapsuletoPoly(
                *transmute::<*const c_void, *const c2Capsule>(B),
                transmute::<*const c_void, *const c2Poly>(A),
                ax,
            ),
            C2_TYPE_C2_TYPE_POLY => c2PolytoPoly(
                transmute::<*const c_void, *const c2Poly>(A),
                ax,
                transmute::<*const c_void, *const c2Poly>(B),
                bx,
            ),
            _ => 0,
        },

        _ => 0,
    }
}

pub unsafe fn c2Collide(
    A: *const ::std::os::raw::c_void,
    ax: *const c2x,
    typeA: C2_TYPE,
    B: *const ::std::os::raw::c_void,
    bx: *const c2x,
    typeB: C2_TYPE,
    m: *mut c2Manifold,
) {
    (*m).count = 0;

    match typeA {
        C2_TYPE_C2_TYPE_CIRCLE => match typeB {
            C2_TYPE_C2_TYPE_CIRCLE => c2CircletoCircleManifold(
                *transmute::<*const c_void, *const c2Circle>(A),
                *transmute::<*const c_void, *const c2Circle>(B),
                m,
            ),
            C2_TYPE_C2_TYPE_AABB => c2CircletoAABBManifold(
                *transmute::<*const c_void, *const c2Circle>(A),
                *transmute::<*const c_void, *const c2AABB>(B),
                m,
            ),
            C2_TYPE_C2_TYPE_CAPSULE => c2CircletoCapsuleManifold(
                *transmute::<*const c_void, *const c2Circle>(A),
                *transmute::<*const c_void, *const c2Capsule>(B),
                m,
            ),
            C2_TYPE_C2_TYPE_POLY => c2CircletoPolyManifold(
                *transmute::<*const c_void, *const c2Circle>(A),
                transmute::<*const c_void, *const c2Poly>(B),
                bx,
                m,
            ),
            _ => return,
        },

        C2_TYPE_C2_TYPE_AABB => match typeB {
            C2_TYPE_C2_TYPE_CIRCLE => c2CircletoAABBManifold(
                *transmute::<*const c_void, *const c2Circle>(B),
                *transmute::<*const c_void, *const c2AABB>(A),
                m,
            ),
            C2_TYPE_C2_TYPE_AABB => c2AABBtoAABBManifold(
                *transmute::<*const c_void, *const c2AABB>(A),
                *transmute::<*const c_void, *const c2AABB>(B),
                m,
            ),
            C2_TYPE_C2_TYPE_CAPSULE => c2AABBtoCapsuleManifold(
                *transmute::<*const c_void, *const c2AABB>(A),
                *transmute::<*const c_void, *const c2Capsule>(B),
                m,
            ),
            C2_TYPE_C2_TYPE_POLY => c2AABBtoPolyManifold(
                *transmute::<*const c_void, *const c2AABB>(A),
                transmute::<*const c_void, *const c2Poly>(B),
                bx,
                m,
            ),
            _ => return,
        },
        C2_TYPE_C2_TYPE_CAPSULE => match typeB {
            C2_TYPE_C2_TYPE_CIRCLE => c2CircletoCapsuleManifold(
                *transmute::<*const c_void, *const c2Circle>(B),
                *transmute::<*const c_void, *const c2Capsule>(A),
                m,
            ),
            C2_TYPE_C2_TYPE_AABB => c2AABBtoCapsuleManifold(
                *transmute::<*const c_void, *const c2AABB>(B),
                *transmute::<*const c_void, *const c2Capsule>(A),
                m,
            ),
            C2_TYPE_C2_TYPE_CAPSULE => c2CapsuletoCapsuleManifold(
                *transmute::<*const c_void, *const c2Capsule>(A),
                *transmute::<*const c_void, *const c2Capsule>(B),
                m,
            ),
            C2_TYPE_C2_TYPE_POLY => c2CapsuletoPolyManifold(
                *transmute::<*const c_void, *const c2Capsule>(A),
                transmute::<*const c_void, *const c2Poly>(B),
                bx,
                m,
            ),
            _ => return,
        },
        C2_TYPE_C2_TYPE_POLY => match typeB {
            C2_TYPE_C2_TYPE_CIRCLE => c2CircletoPolyManifold(
                *transmute::<*const c_void, *const c2Circle>(B),
                transmute::<*const c_void, *const c2Poly>(A),
                ax,
                m,
            ),
            C2_TYPE_C2_TYPE_AABB => c2AABBtoPolyManifold(
                *transmute::<*const c_void, *const c2AABB>(B),
                transmute::<*const c_void, *const c2Poly>(A),
                ax,
                m,
            ),
            C2_TYPE_C2_TYPE_CAPSULE => c2CapsuletoPolyManifold(
                *transmute::<*const c_void, *const c2Capsule>(B),
                transmute::<*const c_void, *const c2Poly>(A),
                ax,
                m,
            ),
            C2_TYPE_C2_TYPE_POLY => c2PolytoPolyManifold(
                transmute::<*const c_void, *const c2Poly>(A),
                ax,
                transmute::<*const c_void, *const c2Poly>(B),
                bx,
                m,
            ),
            _ => return,
        },

        _ => return,
    }
}

pub unsafe fn c2CastRay(
    A: c2Ray,
    B: *const ::std::os::raw::c_void,
    bx: *const c2x,
    typeB: C2_TYPE,
    out: *mut c2Raycast,
) -> ::std::os::raw::c_int {
    match typeB {
        C2_TYPE_C2_TYPE_CIRCLE => {
            c2RaytoCircle(A, *transmute::<*const c_void, *const c2Circle>(B), out)
        }
        C2_TYPE_C2_TYPE_AABB => c2RaytoAABB(A, *transmute::<*const c_void, *const c2AABB>(B), out),
        C2_TYPE_C2_TYPE_CAPSULE => {
            c2RaytoCapsule(A, *transmute::<*const c_void, *const c2Capsule>(B), out)
        }
        C2_TYPE_C2_TYPE_POLY => {
            c2RaytoPoly(A, transmute::<*const c_void, *const c2Poly>(B), bx, out)
        }
        _ => 0,
    }
}