v0.1.0: 初始工程骨架 — 7模块 40头文件 32源文件 17文档 Apache-2.0

examples/06_collision/CMakeLists.txt

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+add_executable(collision main.cpp)
+target_link_libraries(collision PRIVATE vde)

examples/06_collision/main.cpp

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+#include <iostream>
+#include "vde/collision/gjk.h"
+#include "vde/collision/ray_intersect.h"
+
+int main() {
+    using namespace vde::collision;
+    // Sphere support
+    auto sphere = [](const Point3D& c, double r) -> SupportFunc {
+        return [=](const Vector3D& d) { return c + d.normalized() * r; };
+    };
+
+    auto a = sphere({0,0,0}, 1.0);
+    auto b = sphere({2,0,0}, 1.0);
+    std::cout << "Spheres intersect: " << (gjk_intersect(a, b) ? "yes" : "no") << "\n";
+
+    auto c = sphere({0,0,0}, 1.0);
+    auto d = sphere({0.5,0,0}, 1.0);
+    std::cout << "Overlapping spheres intersect: " << (gjk_intersect(c, d) ? "yes" : "no") << "\n";
+
+    // Ray-triangle
+    Triangle3D tri({0,0,0},{1,0,0},{0,1,0});
+    auto hit = ray_triangle_intersect({0.25,0.25,-1}, Vector3D(0,0,1), tri);
+    std::cout << "Ray hits triangle: " << (hit.has_value() ? "yes" : "no") << "\n";
+    if (hit) std::cout << "  at (" << hit->point.transpose() << "), t=" << hit->t << "\n";
+
+    return 0;
+}