symtropy-math 0.2.1

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: Apache-2.0 OR MIT
// 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);

    /// Downcast to concrete type for specialized collision dispatch.
    fn as_any(&self) -> &dyn std::any::Any;

    /// Clone this shape into a new box.
    fn clone_box(&self) -> Box<dyn Shape<D>>;
}