Function bgjk::bgjk

pub fn bgjk(hull1: &[Vec3], hull2: &[Vec3]) -> bool

The BGJK algorithm

The Boolean-GJK algorithm gives us the answer to the question: "do these convex hulls intersect?" This algorithm takes two hulls. The ordering of the points is not important. All points are assumed to be on the surface of the hull. Having interior points should not affect the qualitative result of the algorithm, but may cause slight (very minor) degradation in performance. The algorithm is O(n+m), where n and m are the amount of points in hull1 and hull2 respectively.