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added std::optional

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Orange
2025-11-13 21:25:45 +03:00
parent 12f888b8d4
commit 0283935918
2 changed files with 24 additions and 25 deletions
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11
include/omath/collision/epa_algorithm.hpp
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@@ -29,7 +29,6 @@ namespace omath::collision
struct Result final
{
bool success{false};
Vertex normal{}; // outward normal (from B to A)
Vertex penetration_vector;
float depth{0.0f};
@@ -46,8 +45,8 @@ namespace omath::collision
// Precondition: simplex.size()==4 and contains the origin.
[[nodiscard]]
static Result solve(const ColliderType& a, const ColliderType& b, const Simplex<Vertex>& simplex,
const Params params = {})
static std::optional<Result> solve(const ColliderType& a, const ColliderType& b, const Simplex<Vertex>& simplex,
const Params params = {})
{
// --- Build initial polytope from simplex (4 points) ---
std::vector<Vertex> vertexes;
@@ -91,7 +90,6 @@ namespace omath::collision
// Converged if we can’t push the face closer than tolerance
if (p_dist - f.d <= params.tolerance)
{
out.success = true;
out.normal = f.n;
out.depth = f.d; // along unit normal
out.iterations = it + 1;
@@ -155,7 +153,6 @@ namespace omath::collision
for (const auto& f : faces)
if (f.d < best.d)
best = f;
out.success = true;
out.normal = best.n;
out.depth = best.d;
out.num_vertices = static_cast<int>(vertexes.size());
@@ -165,8 +162,10 @@ namespace omath::collision
const auto sign = out.normal.dot(centers) >= 0 ? 1 : -1;
out.penetration_vector = out.normal * out.depth * sign;
return out;
}
return out;
return std::nullopt;
}
private: