From a30b6d60595d2b655f2d02e5f934026924cc7b76 Mon Sep 17 00:00:00 2001
From: Vectozavr <60608292+vectozavr@users.noreply.github.com>
Date: Wed, 13 Oct 2021 00:25:28 +0700
Subject: [PATCH] Remove redundant iterations counter in GJK & EPA

---
 engine/Consts.h              |  1 -
 engine/physics/RigidBody.cpp | 13 ++-----------
 2 files changed, 2 insertions(+), 12 deletions(-)

diff --git a/engine/Consts.h b/engine/Consts.h
index 2415018..5714dc1 100644
--- a/engine/Consts.h
+++ b/engine/Consts.h
@@ -9,7 +9,6 @@ namespace Consts {
     const double PI = 3.14159265358979323846264338327950288;
     const double EPS = 0.000001;
 
-    const int GJK_MAX_ITERATIONS = 50;
     const double EPA_EPS = 0.0001;
 
     const double RAY_CAST_MAX_DISTANCE = 10000;
diff --git a/engine/physics/RigidBody.cpp b/engine/physics/RigidBody.cpp
index 4bb3351..a7b0664 100644
--- a/engine/physics/RigidBody.cpp
+++ b/engine/physics/RigidBody.cpp
@@ -144,9 +144,7 @@ std::pair<bool, Simplex> RigidBody::checkGJKCollision(std::shared_ptr<RigidBody>
     // New direction is towards the origin
     std::unique_ptr<Vec3D> direction = std::make_unique<Vec3D>(-*support);
 
-    int iterations = 0;
-
-    while (iterations < Consts::GJK_MAX_ITERATIONS) {
+    while (true) {
         support = std::make_unique<Vec3D>(_support(obj, *direction));
 
         if (support->dot(*direction) <= 0)
@@ -164,11 +162,7 @@ std::pair<bool, Simplex> RigidBody::checkGJKCollision(std::shared_ptr<RigidBody>
                 _inCollision = true;
             return std::make_pair(true, *points);
         }
-
-        iterations++;
     }
-
-    return std::make_pair(false, *points); // no collision
 }
 
 CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj) {
@@ -187,9 +181,7 @@ CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody>
     std::shared_ptr<Vec3D> minNormal{};
     double minDistance = std::numeric_limits<double>::max();
 
-    int iterations = 0;
-
-    while ((minDistance == std::numeric_limits<double>::max()) && (iterations < Consts::GJK_MAX_ITERATIONS)) {
+    while (minDistance == std::numeric_limits<double>::max()) {
         minNormal = std::make_shared<Vec3D>(normals[minFace]->normal);
         minDistance = normals[minFace]->distance;
 
@@ -244,7 +236,6 @@ CollisionPoint RigidBody::EPA(const Simplex& simplex, std::shared_ptr<RigidBody>
             faces  .insert(faces  .end(), newFaces  .begin(), newFaces  .end());
             normals.insert(normals.end(), newNormals.begin(), newNormals.end());
         }
-        iterations++;
     }
 
     _collisionNormal = minNormal;