gjk.h

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#pragma once
#include "vde/core/point.h"
#include <functional>
#include <optional>
 
namespace vde::collision {
using core::Point3D;
using core::Vector3D;
 
using SupportFunc = std::function<Point3D(const Vector3D&)>;
 
struct GJKResult {
    bool intersect;    
    double distance;   
    Point3D point_a;   
    Point3D point_b;   
};
 
bool gjk_intersect(const SupportFunc& shape_a, const SupportFunc& shape_b);
 
double gjk_distance(const SupportFunc& shape_a, const SupportFunc& shape_b);
 
GJKResult gjk_full(const SupportFunc& shape_a, const SupportFunc& shape_b);
 
}  // namespace vde::collision