symtropy-math 0.1.0

N-dimensional geometric algebra: const-generic points, bivectors, rotors, and collision shapes (2D/3D/4D+). Stack-allocated, zero-heap physics primitives.
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// Copyright (C) 2024-2026 Tristan Stoltz / Luminous Dynamics
// SPDX-License-Identifier: AGPL-3.0-or-later
// Commercial licensing: see COMMERCIAL_LICENSE.md at repository root
use crate::point::Point;
use nalgebra::SVector;

/// Trait for D-dimensional convex shapes compatible with GJK collision detection.
///
/// The support function is the only requirement for GJK — given a direction,
/// return the point on the shape's boundary furthest in that direction.
/// This generalizes naturally to any dimension.
pub trait Shape<const D: usize>: Send + Sync {
    /// Support function: furthest point on the boundary in the given direction.
    fn support(&self, direction: &SVector<f64, D>) -> SVector<f64, D>;

    /// Bounding sphere: (center, radius).
    fn bounding_sphere(&self) -> (Point<D>, f64);
}