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Refactors GJK tetrahedron handling

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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.
This commit is contained in:
Orange
2025-11-09 14:15:32 +03:00
parent 31cc1116ae
commit 1e540862a0
3 changed files with 17 additions and 17 deletions
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30
include/omath/collision/simplex.hpp
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@@ -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;