mirror of
https://github.com/orange-cpp/omath.git
synced 2026-06-09 00:34:34 +00:00
orange
f41a4596fd
Adds `penetration_vector` to the `epa_result` struct to represent the direction and magnitude of penetration. This allows for more accurate collision response calculations and simplifies access to penetration information. Updates both the early-exit and iterative EPA calculations within `epa_algorithm.hpp` to compute and store the penetration vector, factoring in the relative origin of the colliding meshes.