pub fn collide3d<R: Rotation, A: SupportMapping<Cartesian<3>>, B: SupportMapping<Cartesian<3>>>(
sa: &A,
sb: &B,
v_ij: &Cartesian<3>,
q_ij: &R,
) -> boolwhere
RotationMatrix<3>: From<R>,Expand description
Detect collision between two convex 3D objects via Minkowski Portal Refinement.