Module geometry_primitives 

Low-level geometry primitives: Ray, AABB, Sphere, Plane, Triangle, Capsule, OrientedBox, Frustum, convex polyhedron, and barycentric coordinates.

Structs

Aabb3

Axis-aligned bounding box in 3D.

BarycentricCoords

Barycentric coordinate utilities.

Capsule3

A 3D capsule: a swept sphere along a line segment.

Frustum

A view frustum defined by 6 planes: near, far, left, right, top, bottom.

OrientedBox

An oriented bounding box (OBB) defined by center, local axes, and half-extents.

Plane3

An infinite plane in 3D: n·x = d.

PolyhedronConvex

A convex polyhedron defined by vertices and face normals.

Ray3

A 3D ray with origin and (pre-normalized) direction.

Sphere3

A sphere in 3D defined by center and radius.

Triangle3

A 3D triangle with three vertices.

Functions

aabb_from_points

Build an AABB from a collection of points.

closest_point_segment

Find the closest point on a line segment (a → b) to point p.

closest_point_triangle

Find the closest point on a triangle to an external point p.

frustum_from_vp

Build a frustum from a combined view-projection matrix (row-major, 4×4). Extracts the 6 Gribb-Hartmann planes.