pub fn collide2d<R: Copy, A: SupportMapping<Cartesian<2>>, B: SupportMapping<Cartesian<2>>>(
sa: &A,
sb: &B,
v_ij: &Cartesian<2>,
q_ij: &R,
) -> boolwhere
RotationMatrix<2>: From<R>,Expand description
Detect collision between two convex 2D objects via Minkowski Portal Refinement.