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

include/vde/collision/gjk.h

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+#pragma once
+#include "vde/core/point.h"
+#include <functional>
+#include <optional>
+
+namespace vde::collision {
+
+/// Support function type: given direction, return farthest point on shape
+using SupportFunc = std::function<Point3D(const Vector3D&)>;
+
+struct GJKResult {
+    bool intersect;
+    double distance;
+    Point3D point_a;
+    Point3D point_b;
+};
+
+/// GJK intersection test for convex shapes
+bool gjk_intersect(const SupportFunc& shape_a, const SupportFunc& shape_b);
+
+/// GJK distance between convex shapes
+double gjk_distance(const SupportFunc& shape_a, const SupportFunc& shape_b);
+
+/// Full GJK: intersection + closest points + penetration (with EPA)
+GJKResult gjk_full(const SupportFunc& shape_a, const SupportFunc& shape_b);
+
+}  // namespace vde::collision

include/vde/collision/ray_intersect.h

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+#pragma once
+#include "vde/core/point.h"
+#include "vde/core/line.h"
+#include "vde/core/triangle.h"
+#include <optional>
+
+namespace vde::collision {
+
+struct RayTriResult {
+    double t;      // parameter along ray
+    double u, v;   // barycentric
+    Point3D point;
+};
+
+/// Möller–Trumbore ray-triangle intersection
+std::optional<RayTriResult> ray_triangle_intersect(
+    const Point3D& origin, const Vector3D& dir, const Triangle3D& tri);
+
+inline std::optional<RayTriResult> ray_triangle_intersect(
+    const Ray3Dd& ray, const Triangle3D& tri) {
+    return ray_triangle_intersect(ray.origin(), ray.direction(), tri);
+}
+
+}  // namespace vde::collision

include/vde/collision/sat.h

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+#pragma once
+#include "vde/core/point.h"
+#include <vector>
+#include <array>
+
+namespace vde::collision {
+
+/// SAT (Separating Axis Theorem) for convex polyhedra
+bool sat_intersect(const std::vector<Point3D>& verts_a,
+                   const std::vector<std::array<int,3>>& faces_a,
+                   const std::vector<Point3D>& verts_b,
+                   const std::vector<std::array<int,3>>& faces_b);
+
+}  // namespace vde::collision

include/vde/collision/tri_intersect.h

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+#pragma once
+#include "vde/core/triangle.h"
+
+namespace vde::collision {
+
+/// Triangle-triangle intersection test (Möller)
+bool tri_tri_intersect(const Triangle3D& t1, const Triangle3D& t2);
+
+}  // namespace vde::collision