Storage is three flat number[12] arrays — y, p, q — with point i
living at offsets i*3 .. i*3+2 in each. This keeps the gjk inner loop's
y-read sweep contiguous (one cache line) and avoided the nested-object
pointer chase that a points[i].y[k] layout pays on every access.
Invariant: y[i], p[i], q[i] at the same base offset describe the same
logical support pair — y = p - q.
Simplex used in GJK/EPA algorithms.
Storage is three flat
number[12]arrays —y,p,q— with pointiliving at offsetsi*3 .. i*3+2in each. This keeps the gjk inner loop's y-read sweep contiguous (one cache line) and avoided the nested-object pointer chase that apoints[i].y[k]layout pays on every access.Invariant:
y[i],p[i],q[i]at the same base offset describe the same logical support pair —y = p - q.