From c515dc89a915bb69aedd60c0c626a2552ade992c Mon Sep 17 00:00:00 2001
From: Orange <orange-cpp@yandex.ru>
Date: Thu, 13 Nov 2025 13:33:18 +0300
Subject: [PATCH] Adds GjkHitInfo and refactors collision detection

Introduces `GjkHitInfo` to encapsulate collision results, including the simplex.

Refactors `is_collide` to return the `GjkHitInfo` struct, providing more detailed collision data. This prepares the codebase for integrating the EPA algorithm (as per the feature branch) which requires simplex information.
---
 include/omath/collision/gjk_algorithm.hpp | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/include/omath/collision/gjk_algorithm.hpp b/include/omath/collision/gjk_algorithm.hpp
index c115f23..81a648c 100644
--- a/include/omath/collision/gjk_algorithm.hpp
+++ b/include/omath/collision/gjk_algorithm.hpp
@@ -7,6 +7,13 @@
 
 namespace omath::collision
 {
+    template<class VertexType>
+    struct GjkHitInfo final
+    {
+        bool hit{false};
+        Simplex<VertexType> simplex; // valid only if hit == true and size==4
+    };
+
     template<class ColliderType>
     class GjkAlgorithm final
     {
@@ -23,7 +30,13 @@ namespace omath::collision
         [[nodiscard]]
         static bool is_collide(const ColliderType& collider_a, const ColliderType& collider_b)
         {
-            // Get initial support point in any direction
+            return is_collide_with_simplex_info(collider_a, collider_b).hit;
+        }
+
+        [[nodiscard]]
+        static GjkHitInfo<VertexType> is_collide_with_simplex_info(const ColliderType& collider_a,
+                                                                   const ColliderType& collider_b)
+        {
             auto support = find_support_vertex(collider_a, collider_b, {1, 0, 0});
 
             Simplex<VertexType> simplex;
@@ -36,12 +49,12 @@ namespace omath::collision
                 support = find_support_vertex(collider_a, collider_b, direction);
 
                 if (support.dot(direction) <= 0.f)
-                    return false;
+                    return {false, simplex};
 
                 simplex.push_front(support);
 
                 if (simplex.handle(direction))
-                    return true;
+                    return {true, simplex};
             }
         }
     };