Function could_overlap 

pub fn could_overlap<S: Scalar, const N: usize>(
    a: &[Vector<S, N>],
    b: &[Vector<S, N>],
) -> bool

GJK overlap test: true if the convex hulls of point sets a and b could intersect or touch.

Both a and b must be non-empty. The convex hull of each set is not computed explicitly; GJK works directly off the support function of the point sets.