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extracted to methdod

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Orange
2025-12-14 10:42:23 +03:00
parent a94c78f834
commit 257b06c552
1 changed files with 14 additions and 4 deletions
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18
include/omath/collision/epa_algorithm.hpp
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@@ -52,10 +52,7 @@ namespace omath::collision
std::pmr::memory_resource& mem_resource = *std::pmr::get_default_resource())
{
// --- Build initial polytope from simplex (4 points) ---
std::pmr::vector<VectorType> vertexes{&mem_resource};
vertexes.reserve(simplex.size());
for (std::size_t i = 0; i < simplex.size(); ++i)
vertexes.emplace_back(simplex[i]);
std::pmr::vector<VectorType> vertexes = build_initial_polytope_from_simplex(simplex, mem_resource);
// Initial tetra faces (windings corrected in make_face)
std::pmr::vector<Face> faces = create_initial_tetra_faces(mem_resource, vertexes);
@@ -279,5 +276,18 @@ namespace omath::collision
faces.emplace_back(make_face(vertexes, 1, 3, 2));
return faces;
}
[[nodiscard]]
static std::pmr::vector<VectorType> build_initial_polytope_from_simplex(const Simplex<VectorType>& simplex,
std::pmr::memory_resource& mem_resource)
{
std::pmr::vector<VectorType> vertexes{&mem_resource};
vertexes.reserve(simplex.size());
for (std::size_t i = 0; i < simplex.size(); ++i)
vertexes.emplace_back(simplex[i]);
return vertexes;
}
};
} // namespace omath::collision