Provides algorithms for collision detection.
A collision algorithm computes contact information or closest-point information for collision objects with certain shapes.
This collision algorithm combines 2 other algorithms: One is used for penetrating objects, the other is used for closest-point queries of separated objects.
The Gilbert-Johnson-Keerthi (GJK) algorithm for computing closest points of convex objects.
A dummy collision algorithm which always reports a collision but no contact points or closest-points. This is the opposite of the NoCollisionAlgorithm.
Computes collision queries between LineShapes and other primitives.
The Minkowski Portal Refinement (MPR) algorithm for computing contacts between convex objects.
A dummy collision algorithm which always reports NO collision and NO closest points.
Computes contact or closest-point information for two SphereShapes.