pub fn intersects(
mesh_a: &Mesh,
bvh_a: &Bvh,
mesh_b: &Mesh,
bvh_b: &Bvh,
xf: &Rigid,
) -> Result<bool>Expand description
Whether any alive triangle of A intersects or touches any alive triangle
of B, with B placed in A’s space by xf.
The test is closed and exact for B’s vertices as transformed by xf in
f64: touching at a single point counts, a gap of one f64 ulp does not.
The search stops at the first intersecting pair found.
Passing the same mesh and BVH as both A and B means two coincident copies
of it, not one mesh tested against itself: with Rigid::IDENTITY every
triangle intersects its own copy, so the result is true for any mesh with
a triangle.
§Errors
QueryError::InvalidInput when xf is not a finite proper rotation plus
translation (see Rigid); then QueryError::MeshMismatch or
QueryError::StaleBvh when bvh_a or bvh_b does not match its current
mesh.