admin/omath
1
0
Fork 0
mirror of https://github.com/orange-cpp/omath.git synced 2026-04-19 11:23:27 +00:00
Code Issues Packages Projects Releases Wiki Activity

fixed potential deadlock

Browse Source
This commit is contained in:
orange
2026-02-27 08:47:28 +03:00
parent 52687a70c7
commit 646a920e4c
1 changed files with 10 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
include/omath/collision/gjk_algorithm.hpp
View File

@@ -14,11 +14,15 @@ namespace omath::collision
Simplex<VertexType> simplex; // valid only if hit == true and size==4 Simplex<VertexType> simplex; // valid only if hit == true and size==4
}; };
struct GjkSettings final
{
float epsilon = 1e-6f;
std::size_t max_iterations = 64;
};
template<class ColliderInterfaceType> template<class ColliderInterfaceType>
class GjkAlgorithm final class GjkAlgorithm final
{ {
using VectorType = ColliderInterfaceType::VectorType; using VectorType = ColliderInterfaceType::VectorType;
public: public:
[[nodiscard]] [[nodiscard]]
static VectorType find_support_vertex(const ColliderInterfaceType& collider_a, static VectorType find_support_vertex(const ColliderInterfaceType& collider_a,
@@ -36,7 +40,8 @@ namespace omath::collision
[[nodiscard]] [[nodiscard]]
static GjkHitInfo<VectorType> is_collide_with_simplex_info(const ColliderInterfaceType& collider_a, static GjkHitInfo<VectorType> is_collide_with_simplex_info(const ColliderInterfaceType& collider_a,
const ColliderInterfaceType& collider_b) const ColliderInterfaceType& collider_b,
const GjkSettings& settings = {})
{ {
auto support = find_support_vertex(collider_a, collider_b, VectorType{1, 0, 0}); auto support = find_support_vertex(collider_a, collider_b, VectorType{1, 0, 0});
@@ -45,11 +50,11 @@ namespace omath::collision
auto direction = -support; auto direction = -support;
while (true) for (std::size_t iteration = 0; iteration < settings.max_iterations; ++iteration)
{ {
support = find_support_vertex(collider_a, collider_b, direction); support = find_support_vertex(collider_a, collider_b, direction);
if (support.dot(direction) <= 0.f) if (support.dot(direction) <= settings.epsilon)
return {false, simplex}; return {false, simplex};
simplex.push_front(support); simplex.push_front(support);
@@ -57,6 +62,7 @@ namespace omath::collision
if (simplex.handle(direction)) if (simplex.handle(direction))
return {true, simplex}; return {true, simplex};
} }
return {false, simplex};
} }
}; };
} // namespace omath::collision } // namespace omath::collision