output object containing pointA, pointB, squaredDistance, penetrationAxis, and simplex. On output: - squaredDistance = 0: shapes are colliding - squaredDistance > 0 && < Number.MAX_VALUE: shapes separated, penetrationAxis is separating axis - squaredDistance = Number.MAX_VALUE: shapes far apart (exceeded maxDistanceSquared)
pre-configured support function for shape A
pre-configured support function for shape B
minimal distance between A and B before the objects are considered colliding
initial guess for the separating axis
maximum squared distance between A and B before objects are considered infinitely far away. If exceeded, out.squaredDistance will be set to Number.MAX_VALUE
Get closest points between two convex shapes using GJK.