From 1e540862a0e5fdf4c72e9369d1d31e299aa3c421 Mon Sep 17 00:00:00 2001
From: Orange <orange-cpp@yandex.ru>
Date: Sun, 9 Nov 2025 14:15:32 +0300
Subject: [PATCH] Refactors GJK tetrahedron handling

Updates the `handle_tetrahedron` function to use const references for simplex points, improving efficiency and readability.

Corrects a potential bug where the `simplex` variable wasn't being correctly updated when recursively calling `handle_triangle`.

Also, const-qualifies `point_to_same_direction` for better safety.
---
 include/omath/collision/simplex.hpp      | 30 ++++++++++++------------
 include/omath/linear_algebra/vector3.hpp |  2 +-
 include/omath/utility/color.hpp          |  2 +-
 3 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/include/omath/collision/simplex.hpp b/include/omath/collision/simplex.hpp
index 20ca8de..46d7e1e 100644
--- a/include/omath/collision/simplex.hpp
+++ b/include/omath/collision/simplex.hpp
@@ -113,30 +113,30 @@ namespace omath::collision
         return false;
     }
 
-    bool handle_tetrahedron(Simplex& points, Vector3<float>& direction)
+    bool handle_tetrahedron(Simplex& simplex, Vector3<float>& direction)
     {
-        Vector3<float> a = points[0];
-        Vector3<float> b = points[1];
-        Vector3<float> c = points[2];
-        Vector3<float> d = points[3];
+        const auto& a = simplex[0];
+        const auto& b = simplex[1];
+        const auto& c = simplex[2];
+        const auto& d = simplex[3];
 
-        Vector3<float> ab = b - a;
-        Vector3<float> ac = c - a;
-        Vector3<float> ad = d - a;
-        Vector3<float> ao = -a;
+        const Vector3<float> ab = b - a;
+        const Vector3<float> ac = c - a;
+        const Vector3<float> ad = d - a;
+        const Vector3<float> ao = -a;
 
-        Vector3<float> abc = ab.cross(ac);
-        Vector3<float> acd = ac.cross(ad);
-        Vector3<float> adb = ad.cross(ab);
+        const Vector3<float> abc = ab.cross(ac);
+        const Vector3<float> acd = ac.cross(ad);
+        const Vector3<float> adb = ad.cross(ab);
 
         if (abc.point_to_same_direction(ao))
-            return handle_triangle(points = {a, b, c}, direction);
+            return handle_triangle(simplex = {a, b, c}, direction);
 
         if (acd.point_to_same_direction(ao))
-            return handle_triangle(points = {a, c, d}, direction);
+            return handle_triangle(simplex = {a, c, d}, direction);
 
         if (adb.point_to_same_direction(ao))
-            return handle_triangle(points = {a, d, b}, direction);
+            return handle_triangle(simplex = {a, d, b}, direction);
 
 
         return true;
diff --git a/include/omath/linear_algebra/vector3.hpp b/include/omath/linear_algebra/vector3.hpp
index 5432bb0..4b1d381 100644
--- a/include/omath/linear_algebra/vector3.hpp
+++ b/include/omath/linear_algebra/vector3.hpp
@@ -217,7 +217,7 @@ namespace omath
         }
 
         [[nodiscard]]
-        bool point_to_same_direction(const Vector3& other)
+        bool point_to_same_direction(const Vector3& other) const
         {
             return dot(other) > static_cast<Type>(0);
         }
diff --git a/include/omath/utility/color.hpp b/include/omath/utility/color.hpp
index cfacee8..fd73451 100644
--- a/include/omath/utility/color.hpp
+++ b/include/omath/utility/color.hpp
@@ -9,7 +9,7 @@
 
 namespace omath
 {
-    struct Hsv
+    struct Hsv final
     {
         float hue{};
         float saturation{};