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Refactors Simplex class for GJK algorithm

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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.
This commit is contained in:
Orange
2025-11-09 17:29:50 +03:00
parent ca3dab855b
commit e2378bfa8b
1 changed files with 4 additions and 6 deletions
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10
include/omath/collision/simplex.hpp
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@@ -20,7 +20,7 @@ namespace omath::collision
template<GjkVector VectorType = Vector3<float>> template<GjkVector VectorType = Vector3<float>>
class Simplex final class Simplex final
{ {
std::array<VectorType, 4> m_points{}; // value-initialized std::array<VectorType, 4> m_points{};
std::size_t m_size{0}; std::size_t m_size{0};
public: public:
@@ -28,7 +28,6 @@ namespace omath::collision
constexpr Simplex() = default; constexpr Simplex() = default;
// Keep your convenient "{a, b, c}" assignments, but guard size.
constexpr Simplex& operator=(std::initializer_list<VectorType> list) noexcept constexpr Simplex& operator=(std::initializer_list<VectorType> list) noexcept
{ {
assert(list.size() <= capacity && "Simplex can have at most 4 points"); assert(list.size() <= capacity && "Simplex can have at most 4 points");
@@ -38,7 +37,6 @@ namespace omath::collision
return *this; return *this;
} }
// Safe push_front: only shifts the valid range; no reads from uninitialized slots.
constexpr void push_front(const VectorType& p) noexcept constexpr void push_front(const VectorType& p) noexcept
{ {
const std::size_t limit = (m_size < capacity) ? m_size : capacity - 1; const std::size_t limit = (m_size < capacity) ? m_size : capacity - 1;
@@ -49,7 +47,6 @@ namespace omath::collision
++m_size; ++m_size;
} }
// Accessors
constexpr const VectorType& operator[](std::size_t i) const noexcept constexpr const VectorType& operator[](std::size_t i) const noexcept
{ {
return m_points[i]; return m_points[i];
@@ -129,7 +126,7 @@ namespace omath::collision
} }
template<class V> 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; return v.dot(v) <= eps * eps;
} }
@@ -156,7 +153,8 @@ namespace omath::collision
if (ab.point_to_same_direction(ao)) 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)) if (near_zero(n))
{ {
// collinear: origin lies on ray AB (often on segment), pick any perp to escape // collinear: origin lies on ray AB (often on segment), pick any perp to escape