From e2378bfa8b6a0ef98de3d8e2148a3ad35bfa803c Mon Sep 17 00:00:00 2001
From: Orange <orange-cpp@yandex.ru>
Date: Sun, 9 Nov 2025 17:29:50 +0300
Subject: [PATCH] Refactors Simplex class for GJK algorithm

Simplifies Simplex initialization and accessors.

Ensures correct handling of collinearity within the simplex calculation, preventing issues when colliders share the same origin. This improves stability and reliability of the GJK algorithm.
---
 include/omath/collision/simplex.hpp | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/include/omath/collision/simplex.hpp b/include/omath/collision/simplex.hpp
index 5400afc..9ff5c4f 100644
--- a/include/omath/collision/simplex.hpp
+++ b/include/omath/collision/simplex.hpp
@@ -20,7 +20,7 @@ namespace omath::collision
     template<GjkVector VectorType = Vector3<float>>
     class Simplex final
     {
-        std::array<VectorType, 4> m_points{}; // value-initialized
+        std::array<VectorType, 4> m_points{};
         std::size_t m_size{0};
 
     public:
@@ -28,7 +28,6 @@ namespace omath::collision
 
         constexpr Simplex() = default;
 
-        // Keep your convenient "{a, b, c}" assignments, but guard size.
         constexpr Simplex& operator=(std::initializer_list<VectorType> list) noexcept
         {
             assert(list.size() <= capacity && "Simplex can have at most 4 points");
@@ -38,7 +37,6 @@ namespace omath::collision
             return *this;
         }
 
-        // Safe push_front: only shifts the valid range; no reads from uninitialized slots.
         constexpr void push_front(const VectorType& p) noexcept
         {
             const std::size_t limit = (m_size < capacity) ? m_size : capacity - 1;
@@ -49,7 +47,6 @@ namespace omath::collision
                 ++m_size;
         }
 
-        // Accessors
         constexpr const VectorType& operator[](std::size_t i) const noexcept
         {
             return m_points[i];
@@ -129,7 +126,7 @@ namespace omath::collision
         }
 
         template<class V>
-        static constexpr bool near_zero(const V& v, float eps = 1e-7f)
+        static constexpr bool near_zero(const V& v, const float eps = 1e-7f)
         {
             return v.dot(v) <= eps * eps;
         }
@@ -156,7 +153,8 @@ namespace omath::collision
 
             if (ab.point_to_same_direction(ao))
             {
-                auto n = ab.cross(ao);
+                // ReSharper disable once CppTooWideScopeInitStatement
+                auto n = ab.cross(ao); // Needed to valid handle collision if colliders placed at same origin pos
                 if (near_zero(n))
                 {
                     // collinear: origin lies on ray AB (often on segment), pick any perp to escape