From f215fad0d0612c7ef8666fbf5bfeda3b1b578816 Mon Sep 17 00:00:00 2001
From: notgiven688 <notgiven688@users.noreply.github.com>
Date: Mon, 1 Apr 2024 13:47:14 +0200
Subject: [PATCH] Skip origin enclosed checks if origin had been enclosed
 before

---
 src/GJKEPA.cs | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/GJKEPA.cs b/src/GJKEPA.cs
index ff783d3..a979778 100644
--- a/src/GJKEPA.cs
+++ b/src/GJKEPA.cs
@@ -310,6 +310,8 @@ public bool Solve(out JVector point1, out JVector point2, out JVector normal, ou
                     // search for the closest triangle and check if the origin is enclosed
                     int closestIndex = -1;
                     double currentMin = double.MaxValue;
+                    bool skipTest = originEnclosed;
+
                     originEnclosed = true;
 
                     for (int i = 0; i < tCount; i++)
@@ -320,7 +322,7 @@ public bool Solve(out JVector point1, out JVector point2, out JVector normal, ou
                             closestIndex = i;
                         }
 
-                        if(!Triangles[i].FacingOrigin) originEnclosed = false;
+                        if(!Triangles[i].FacingOrigin) originEnclosed = skipTest;
                     }
 
                     ctri = Triangles[closestIndex];