2026-07-23 05:27:51 +00:00
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#pragma once
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#include "vde/core/point.h"
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#include <functional>
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#include <optional>
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namespace vde::collision {
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2026-07-23 08:19:24 +00:00
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using core::Point3D;
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using core::Vector3D;
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2026-07-23 05:27:51 +00:00
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using SupportFunc = std::function<Point3D(const Vector3D&)>;
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struct GJKResult {
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bool intersect;
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double distance;
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Point3D point_a;
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Point3D point_b;
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};
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bool gjk_intersect(const SupportFunc& shape_a, const SupportFunc& shape_b);
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double gjk_distance(const SupportFunc& shape_a, const SupportFunc& shape_b);
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GJKResult gjk_full(const SupportFunc& shape_a, const SupportFunc& shape_b);
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} // namespace vde::collision
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