From ebfdd0b70e8749efbcf361597125b5959bd62eff Mon Sep 17 00:00:00 2001
From: Orange <orange-cpp@yandex.ru>
Date: Sun, 9 Nov 2025 14:40:22 +0300
Subject: [PATCH] Refactors simplex handling in GJK algorithm

Updates simplex handling to use references for vertex access, avoiding unnecessary copies. This improves performance and clarity within the GJK algorithm.
---
 include/omath/collision/simplex.hpp | 23 +++++++++++------------
 1 file changed, 11 insertions(+), 12 deletions(-)

diff --git a/include/omath/collision/simplex.hpp b/include/omath/collision/simplex.hpp
index 46d7e1e..703afb4 100644
--- a/include/omath/collision/simplex.hpp
+++ b/include/omath/collision/simplex.hpp
@@ -55,10 +55,11 @@ namespace omath::collision
 
     bool handle_line(Simplex& points, Vector3<float>& direction)
     {
-        Vector3<float> a = points[0];
-        const Vector3<float> b = points[1];
+        const Vector3<float>& a = points[0];
+        const Vector3<float>& b = points[1];
 
-        Vector3<float> ab = b - a;
+        const Vector3<float> ab = b - a;
+        // ReSharper disable once CppTooWideScopeInitStatement
         const Vector3<float> ao = -a;
 
         if (ab.point_to_same_direction(ao))
@@ -74,15 +75,15 @@ namespace omath::collision
 
     bool handle_triangle(Simplex& points, Vector3<float>& direction)
     {
-        Vector3<float> a = points[0];
-        Vector3<float> b = points[1];
-        Vector3<float> c = points[2];
+        const Vector3<float>& a = points[0];
+        const Vector3<float>& b = points[1];
+        const Vector3<float>& c = points[2];
 
-        Vector3<float> ab = b - a;
-        Vector3<float> ac = c - a;
-        Vector3<float> ao = -a;
+        const Vector3<float> ab = b - a;
+        const Vector3<float> ac = c - a;
+        const Vector3<float> ao = -a;
 
-        Vector3<float> abc = ab.cross(ac);
+        const Vector3<float> abc = ab.cross(ac);
 
         if (abc.cross(ac).point_to_same_direction(ao))
         {
@@ -99,7 +100,6 @@ namespace omath::collision
         if (ab.cross(abc).point_to_same_direction(ao))
             return handle_line(points = {a, b}, direction);
 
-
         if (abc.point_to_same_direction(ao))
         {
             direction = abc;
@@ -138,7 +138,6 @@ namespace omath::collision
         if (adb.point_to_same_direction(ao))
             return handle_triangle(simplex = {a, d, b}, direction);
 
-
         return true;
     }