GCollision: What Did I Do?

I researched and created a collision detection library for low-level collision detection. I created it using test-driven development using previously created math libraries: GVector and GMatrix. I did closest point to a shape for points, lines, rays, triangles, plane, spheres, capsules, AABBs, and OBBs. I implemented testing whether or not two shapes collide between those previously mentioned for the closest point queries. I also provided extended collision detection information such as minimal translation distance for shapes I deemed would be the most sought.