Module collision 

Collision detection for 2D polygons.

Algorithms

• SAT (Separating Axis Theorem): Exact overlap test for convex polygons. For concave polygons, it tests the convex hull approximation.
• AABB broad phase: Fast rejection using bounding boxes.

References

• Ericson (2005), “Real-Time Collision Detection”, Ch. 4.4
• Gottschalk, Lin, Manocha (1996), “OBB-Tree: A Hierarchical Structure for Rapid Interference Detection”

Functions

aabb3_overlap

Checks if two 3D AABBs overlap.

aabb3_overlap_with_tolerance

Checks if two 3D AABBs overlap with a tolerance margin.

aabb3_within

Checks if a 3D AABB is fully contained within a boundary AABB.

aabb3_within_with_margin

Checks if a 3D AABB fits within a boundary with a margin.

aabb_overlap

Checks if two AABBs overlap (broad-phase test).

overlap_depth

Computes the overlap depth (penetration) between two convex polygons.

polygons_overlap

Checks if two convex polygons overlap using the Separating Axis Theorem.

polygons_overlap_with_tolerance

SAT overlap test with configurable tolerance.