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removed nesting

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Orange
2025-12-14 11:08:06 +03:00
parent e10cbf9356
commit 90c4ea2036
1 changed files with 11 additions and 13 deletions
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24
include/omath/collision/epa_algorithm.hpp
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@@ -115,21 +115,19 @@ namespace omath::collision
out.iterations = it + 1;
}
// Fallback: pick closest face as best-effort answer
if (!faces.empty())
{
const auto best = *std::ranges::min_element(faces, [](const auto& first, const auto& second)
{ return first.d < second.d; });
out.normal = best.n;
out.depth = best.d;
out.num_vertices = static_cast<int>(vertexes.size());
out.num_faces = static_cast<int>(faces.size());
if (faces.empty())
return std::nullopt;
out.penetration_vector = out.normal * out.depth;
const auto best = *std::ranges::min_element(faces, [](const auto& first, const auto& second)
{ return first.d < second.d; });
out.normal = best.n;
out.depth = best.d;
out.num_vertices = static_cast<int>(vertexes.size());
out.num_faces = static_cast<int>(faces.size());
return out;
}
return std::nullopt;
out.penetration_vector = out.normal * out.depth;
return out;
}
private: