@ brief return whether two halfspace intersect if the separation planes of the two halfspaces are parallel return code 1, if two halfspaces' normal ar

@ brief Init the number of bins in the hash table

find all the intersection points between the 2D rectangle with vertices at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]), (p[2]

reorder collision results in the order the call has been made.

@brief OBB merge method when the centers of two smaller OBB are far away

@brief OBB merge method when the centers of two smaller OBB are close

@brief compute 60 bit morton code

@brief returns 1 if the intervals overlap, and 0 otherwise

@brief Whether a point's projection is in a triangle

@brief remove the key-value pair from the table

Recurse function for self collision * Make sure node is set correctly so that the first and second tree are the same */

@brief the number of objects managed by the manager

@brief the number of objects managed by the manager

@brief Creating an AABB at position v with zero size

@brief Maintain the average of a specific value

check the update, only return collision or not

TODO: randomly still have some runtime error

@brief Constructing an empty BVH