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decomposed into method

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Orange
2025-12-14 10:26:36 +03:00
parent f3b74fe433
commit b6ac0a1d61
1 changed files with 12 additions and 7 deletions
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19
include/omath/collision/epa_algorithm.hpp
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@@ -45,7 +45,6 @@ namespace omath::collision
int max_iterations{64}; int max_iterations{64};
float tolerance{1e-4f}; // absolute tolerance on distance growth float tolerance{1e-4f}; // absolute tolerance on distance growth
}; };
// Precondition: simplex.size()==4 and contains the origin. // Precondition: simplex.size()==4 and contains the origin.
[[nodiscard]] [[nodiscard]]
static std::optional<Result> solve(const ColliderInterfaceType& a, const ColliderInterfaceType& b, static std::optional<Result> solve(const ColliderInterfaceType& a, const ColliderInterfaceType& b,
@@ -59,12 +58,7 @@ namespace omath::collision
vertexes.emplace_back(simplex[i]); vertexes.emplace_back(simplex[i]);
// Initial tetra faces (windings corrected in make_face) // Initial tetra faces (windings corrected in make_face)
std::pmr::vector<Face> faces{&mem_resource}; std::pmr::vector<Face> faces = create_initial_tetra_faces(mem_resource, vertexes);
faces.reserve(4);
faces.emplace_back(make_face(vertexes, 0, 1, 2));
faces.emplace_back(make_face(vertexes, 0, 2, 3));
faces.emplace_back(make_face(vertexes, 0, 3, 1));
faces.emplace_back(make_face(vertexes, 1, 3, 2));
auto heap = rebuild_heap(faces, mem_resource); auto heap = rebuild_heap(faces, mem_resource);
@@ -272,5 +266,16 @@ namespace omath::collision
return d; return d;
return V{1, 0, 0}; return V{1, 0, 0};
} }
static std::pmr::vector<Face> create_initial_tetra_faces(std::pmr::memory_resource& mem_resource,
const std::pmr::vector<VectorType>& vertexes)
{
std::pmr::vector<Face> faces{&mem_resource};
faces.reserve(4);
faces.emplace_back(make_face(vertexes, 0, 1, 2));
faces.emplace_back(make_face(vertexes, 0, 2, 3));
faces.emplace_back(make_face(vertexes, 0, 3, 1));
faces.emplace_back(make_face(vertexes, 1, 3, 2));
return faces;
}
}; };
} // namespace omath::collision } // namespace omath::collision