Improve performance of intersection test on composite shapes

dimforge / parry

2D and 3D collision-detection library for Rust.

https://parry.rs

Apache License 2.0

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Improve performance of intersection test on composite shapes #133

Closed sebcrozet closed 1 year ago

sebcrozet commented 1 year ago

The intersection check was using a distance-based best-first search that could degenerate in a complete tree traversal if there is no intersection. This PR switches to simple intersection-based depth-first search.