output result object
transform matrix from shape A's local space to shape B's local space
support function for shape A (WITHOUT position/rotation transform)
support function for shape B
direction and distance to move shape A
convergence tolerance for GJK
convex radius of shape A
convex radius of shape B
the max fraction along the sweep
Cast a convex shape against another convex shape using GJK. Shape A is moving in direction
displacement. Shape B is stationary.