Add optimised circle detection

src/main/java/org/cora/maths/collision/CollisionDetector.java

 package org.cora.maths.collision;
 
-import org.cora.maths.FloatA;
-import org.cora.maths.Form;
-import org.cora.maths.Matrix2;
-import org.cora.maths.Vector2D;
+import org.cora.maths.*;
 
 import java.util.ArrayList;
 
 /**
- * Tools to detect collision between two convex polygons
+ * Tools to detect collision between two convex polygons and taking account of velocity
  */
 public class CollisionDetector
 {
     /**
-     *
+     * Detect collision
      * @param A test form A
      * @param B test form B
      * @param VA velocity of object A
@@ -28,6 +25,24 @@ public class CollisionDetector
         return collisionSat(A, B, VA, VB, push, t);
     }
 
+    /**
+     * Detect collision with circle optimisiation detection
+     * @param A test form A
+     * @param B test form B
+     * @param cA circle containing A
+     * @param cB circle containing B
+     * @param VA velocity of object A
+     * @param VB velocity of object B
+     * @param push a blank vector to store the penetration vector
+     * @param t a blank float to store the result of amount of penetration
+     * @return result of collision detection testing
+     */
+    public static boolean isCollidingOptimised(Form A, Form B, Circle cA, Circle cB, Vector2D VA, Vector2D VB,
+                                               Vector2D push, FloatA t)
+    {
+        return collisionSat(cA, cB, VA, VB, push, t) && collisionSat(A, B, VA, VB, push, t);
+    }
+
     private static boolean collisionSat(Form A, Form B, Vector2D VA,
             Vector2D VB, Vector2D push, FloatA t)
     {

src/main/java/org/cora/maths/collision/CollisionDetectorNoT.java

 package org.cora.maths.collision;
 
+import org.cora.maths.Circle;
 import org.cora.maths.Form;
 import org.cora.maths.Matrix2;
 import org.cora.maths.Vector2D;
@@ -9,13 +10,31 @@ import java.util.ArrayList;
 
 public class CollisionDetectorNoT
 {
-    // Collisions detection
+    /**
+     * Detect collision
+     * @param A test form A
+     * @param B test form B
+     * @return result of collision detection testing
+     */
     public static boolean isColliding(Form A, Form B)
     {
-        return collisionSatFree(A, B);
+        return collisionSat(A, B);
+    }
+
+    /**
+     * Detect collision with circle optimisiation detection
+     * @param A test form A
+     * @param B test form B
+     * @param cA circle containing A
+     * @param cB circle containing B
+     * @return result of collision detection testing
+     */
+    public static boolean isCollidingOptimised(Form A, Form B, Circle cA, Circle cB)
+    {
+        return collisionSat(cA, cB) && collisionSat(A, B);
     }
     
-    private static boolean collisionSatFree(Form A, Form B)
+    private static boolean collisionSat(Form A, Form B)
     {
         // Les vecteurs VA et VB sont exprimés dans le repère world
         // Les points PA et PB sont exprimés dans le repères world