From 6d3b543648894eaa89746929841f60d1a11d41f9 Mon Sep 17 00:00:00 2001
From: Orange <orange-cpp@yandex.ru>
Date: Thu, 13 Nov 2025 15:29:10 +0300
Subject: [PATCH] Refactors triangle calculations for generic vectors

Updates the `Triangle` class to use a generic `Vector` type instead of `Vector3`, enhancing flexibility and reusability.

Changes include updating relevant function return types to use `Vector::ContainedType` and adapting length and distance calculations accordingly.

This refactoring supports the ongoing work on the EPA algorithm (feature/epa_algorithm) by providing a more adaptable foundation for geometric calculations.
---
 include/omath/linear_algebra/triangle.hpp | 20 ++++++++++----------
 include/omath/linear_algebra/vector2.hpp  |  1 +
 include/omath/linear_algebra/vector3.hpp  |  1 +
 include/omath/linear_algebra/vector4.hpp  |  1 +
 4 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/include/omath/linear_algebra/triangle.hpp b/include/omath/linear_algebra/triangle.hpp
index b8a877c..1d8e68c 100644
--- a/include/omath/linear_algebra/triangle.hpp
+++ b/include/omath/linear_algebra/triangle.hpp
@@ -26,12 +26,12 @@ namespace omath
         {
         }
 
-        Vector3<float> m_vertex1;
-        Vector3<float> m_vertex2;
-        Vector3<float> m_vertex3;
+        Vector m_vertex1;
+        Vector m_vertex2;
+        Vector m_vertex3;
 
         [[nodiscard]]
-        constexpr Vector3<float> calculate_normal() const
+        constexpr Vector calculate_normal() const
         {
             const auto b = side_b_vector();
             const auto a = side_a_vector();
@@ -40,25 +40,25 @@ namespace omath
         }
 
         [[nodiscard]]
-        float side_a_length() const
+        Vector::ContainedType side_a_length() const
         {
             return m_vertex1.distance_to(m_vertex2);
         }
 
         [[nodiscard]]
-        float side_b_length() const
+        Vector::ContainedType side_b_length() const
         {
             return m_vertex3.distance_to(m_vertex2);
         }
 
         [[nodiscard]]
-        constexpr Vector3<float> side_a_vector() const
+        constexpr Vector side_a_vector() const
         {
             return m_vertex1 - m_vertex2;
         }
 
         [[nodiscard]]
-        constexpr float hypot() const
+        constexpr Vector::ContainedType hypot() const
         {
             return m_vertex1.distance_to(m_vertex3);
         }
@@ -72,12 +72,12 @@ namespace omath
             return std::abs(side_a * side_a + side_b * side_b - hypot_value * hypot_value) <= 0.0001f;
         }
         [[nodiscard]]
-        constexpr Vector3<float> side_b_vector() const
+        constexpr Vector side_b_vector() const
         {
             return m_vertex3 - m_vertex2;
         }
         [[nodiscard]]
-        constexpr Vector3<float> mid_point() const
+        constexpr Vector mid_point() const
         {
             return (m_vertex1 + m_vertex2 + m_vertex3) / 3;
         }
diff --git a/include/omath/linear_algebra/vector2.hpp b/include/omath/linear_algebra/vector2.hpp
index 7f16173..2ee3750 100644
--- a/include/omath/linear_algebra/vector2.hpp
+++ b/include/omath/linear_algebra/vector2.hpp
@@ -19,6 +19,7 @@ namespace omath
     class Vector2
     {
     public:
+        using ContainedType = Type;
         Type x = static_cast<Type>(0);
         Type y = static_cast<Type>(0);
 
diff --git a/include/omath/linear_algebra/vector3.hpp b/include/omath/linear_algebra/vector3.hpp
index 4b1d381..1aaec5a 100644
--- a/include/omath/linear_algebra/vector3.hpp
+++ b/include/omath/linear_algebra/vector3.hpp
@@ -23,6 +23,7 @@ namespace omath
     class Vector3 : public Vector2<Type>
     {
     public:
+        using ContainedType = Type;
         Type z = static_cast<Type>(0);
         constexpr Vector3(const Type& x, const Type& y, const Type& z) noexcept: Vector2<Type>(x, y), z(z)
         {
diff --git a/include/omath/linear_algebra/vector4.hpp b/include/omath/linear_algebra/vector4.hpp
index 48b0278..f045df9 100644
--- a/include/omath/linear_algebra/vector4.hpp
+++ b/include/omath/linear_algebra/vector4.hpp
@@ -13,6 +13,7 @@ namespace omath
     class Vector4 : public Vector3<Type>
     {
     public:
+        using ContainedType = Type;
         Type w;
 
         constexpr Vector4(const Type& x, const Type& y, const Type& z, const Type& w): Vector3<Type>(x, y, z), w(w)