removed nesting

include/omath/collision/epa_algorithm.hpp

@@ -115,9 +115,9 @@ namespace omath::collision
                 out.iterations = it + 1;
             }
 
-            // Fallback: pick closest face as best-effort answer
-            if (!faces.empty())
-            {
+            if (faces.empty())
+                return std::nullopt;
+
             const auto best = *std::ranges::min_element(faces, [](const auto& first, const auto& second)
                                                         { return first.d < second.d; });
             out.normal = best.n;
@@ -129,8 +129,6 @@ namespace omath::collision
 
             return out;
         }
-            return std::nullopt;
-        }
 
     private:
         struct Face final