admin/omath
1
0
Fork 0
mirror of https://github.com/orange-cpp/omath.git synced 2026-02-13 07:03:25 +00:00
Code Issues Packages Projects Releases Wiki Activity

Handles collinear cases in simplex collision

Browse Source 
Adds helper functions to address near-zero vectors and find perpendicular directions.

This prevents potential crashes and improves robustness when the origin lies on the line defined by the simplex edges during GJK collision detection.
This commit is contained in:
Orange
2025-11-09 16:56:38 +03:00
parent afc0720f08
commit 0b663b73d5
1 changed files with 29 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
include/omath/collision/simplex.hpp
View File

@@ -128,7 +128,25 @@ namespace omath::collision
return false;
}
[[nodiscard]] constexpr bool handle_line(VectorType& direction) noexcept
template<class V>
static constexpr bool near_zero(const V& v, float eps = 1e-7f)
{
return v.dot(v) <= eps * eps;
}
template<class V>
static constexpr V any_perp(const V& v)
{
// try cross with axes until non-zero
V d = v.cross(V{1, 0, 0});
if (near_zero(d))
d = v.cross(V{0, 1, 0});
if (near_zero(d))
d = v.cross(V{0, 0, 1});
return d;
}
constexpr bool handle_line(VectorType& direction)
{
const auto& a = m_points[0];
const auto& b = m_points[1];
@@ -138,7 +156,16 @@ namespace omath::collision
if (ab.point_to_same_direction(ao))
{
direction = ab.cross(ao).cross(ab);
auto n = ab.cross(ao);
if (near_zero(n))
{
// collinear: origin lies on ray AB (often on segment), pick any perp to escape
direction = any_perp(ab);
}
else
{
direction = n.cross(ab);
}
}
else
{