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optimized

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orange
2026-03-02 19:40:45 +03:00
parent ea2c7c3d7f
commit a79ad6948c
2 changed files with 72 additions and 87 deletions
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15
include/omath/collision/gjk_algorithm.hpp
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@@ -43,7 +43,20 @@ namespace omath::collision
const ColliderInterfaceType& collider_b,
const GjkSettings& settings = {})
{
auto support = find_support_vertex(collider_a, collider_b, VectorType{1, 0, 0});
// Use centroid difference as initial direction — greatly reduces iterations for separated shapes.
VectorType initial_dir;
if constexpr (requires { collider_b.get_origin() - collider_a.get_origin(); })
{
initial_dir = collider_b.get_origin() - collider_a.get_origin();
if (initial_dir.dot(initial_dir) < settings.epsilon * settings.epsilon)
initial_dir = VectorType{1, 0, 0};
}
else
{
initial_dir = VectorType{1, 0, 0};
}
auto support = find_support_vertex(collider_a, collider_b, initial_dir);
Simplex<VectorType> simplex;
simplex.push_front(support);