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Refactors simplex handling in GJK algorithm

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Updates simplex handling to use references for vertex access, avoiding unnecessary copies. This improves performance and clarity within the GJK algorithm.
This commit is contained in:
Orange
2025-11-09 14:40:22 +03:00
parent e7b82f441c
commit ebfdd0b70e
1 changed files with 11 additions and 12 deletions
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23
include/omath/collision/simplex.hpp
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@@ -55,10 +55,11 @@ namespace omath::collision
bool handle_line(Simplex& points, Vector3<float>& direction) bool handle_line(Simplex& points, Vector3<float>& direction)
{ {
Vector3<float> a = points[0]; const Vector3<float>& a = points[0];
const Vector3<float> b = points[1]; 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; const Vector3<float> ao = -a;
if (ab.point_to_same_direction(ao)) if (ab.point_to_same_direction(ao))
@@ -74,15 +75,15 @@ namespace omath::collision
bool handle_triangle(Simplex& points, Vector3<float>& direction) bool handle_triangle(Simplex& points, Vector3<float>& direction)
{ {
Vector3<float> a = points[0]; const Vector3<float>& a = points[0];
Vector3<float> b = points[1]; const Vector3<float>& b = points[1];
Vector3<float> c = points[2]; const Vector3<float>& c = points[2];
Vector3<float> ab = b - a; const Vector3<float> ab = b - a;
Vector3<float> ac = c - a; const Vector3<float> ac = c - a;
Vector3<float> ao = -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)) 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)) if (ab.cross(abc).point_to_same_direction(ao))
return handle_line(points = {a, b}, direction); return handle_line(points = {a, b}, direction);
if (abc.point_to_same_direction(ao)) if (abc.point_to_same_direction(ao))
{ {
direction = abc; direction = abc;
@@ -138,7 +138,6 @@ namespace omath::collision
if (adb.point_to_same_direction(ao)) if (adb.point_to_same_direction(ao))
return handle_triangle(simplex = {a, d, b}, direction); return handle_triangle(simplex = {a, d, b}, direction);
return true; return true;
} }