Module collision 

Collision detection primitives: GJK/EPA narrowphase, SAT, sphere/capsule tests, BVH broadphase, and contact manifold generation.

All geometry is represented with [f64; 3] arrays to avoid nalgebra dependencies inside this module.

Structs

AabbRaw

Axis-aligned bounding box, stored as (min, max).

Box3

An axis-aligned box centred at center with half_extents.

Bvh

A simple axis-aligned BVH built with a median-split strategy.

BvhLeaf

A leaf entry in the BVH.

Capsule

A capsule: the Minkowski sum of a line segment and a sphere.

Contact

A collision contact point.

ContactManifold

A contact manifold: up to 4 persistent contact points between two bodies.

ConvexPointCloud

A convex shape defined by a set of points.

EpaResult

Result of an EPA penetration-depth query.

GjkResult

Result of a GJK query.

Obb

An oriented bounding box.

RayAabbHit

Result of a ray–AABB intersection test.

Sphere

A sphere centred at center with radius.

SphereSphereContact

Result of a sphere–sphere intersection test.

Triangle

A triangle as a convex shape (degenerate 2-D polyhedron).

Traits

ConvexShape

Trait for convex shapes defined by a support function.

Functions

epa

Run EPA to compute the penetration depth between two overlapping convex shapes.

gjk

Run the GJK algorithm to determine if two convex shapes intersect and, if not, compute their minimum distance.

minkowski_sum_support

Support function of the Minkowski sum of two shapes.

obb_obb_sat

Test two OBBs using the Separating Axis Theorem. Returns None if separated, or Some(depth, axis) with penetration info.

point_segment_closest

Signed distance from point p to the line segment (a→b), and the closest point on the segment.

ray_aabb

Intersect a ray (origin, dir) with an AABB.

ray_sphere

Intersect a ray with a sphere. Returns parameter t at first hit or None.

shape_cast_sphere_vs_aabb

Cast a sphere along velocity against an AABB. Returns t ∈ [0, max_t] or None.

shape_cast_sphere_vs_sphere

Cast a moving sphere along velocity direction (magnitude = max travel distance) against a static sphere. Returns the first time of contact t ∈ [0, max_t] or None if no contact.

sphere_capsule

Test a sphere and capsule for intersection. Returns (overlapping, depth, normal, point).

sphere_sphere

Test two spheres for intersection and compute the contact manifold.