fix: linter

Author: ragoune

collision_test.go

@@ -121,7 +121,7 @@ func TestBroadPhaseTwoStaticBodies(t *testing.T) {
 	}
 
 	// Static-static collisions should be skipped
-	if len(pairs) != 0 {
+	if len(contactPairs) != 0 {
 		t.Errorf("BroadPhase with two static bodies returned %d pairs, want 0 (should skip static-static)", len(pairs))
 	}
 }
@@ -563,9 +563,7 @@ func BenchmarkLargeBroadPhase2(b *testing.B) {
 }
 
 // BenchmarkLargeGJK2-16    	    1010	   1174808 ns/op	  133546 B/op	    2362 allocs/op
-// BenchmarkLargeGJK2-16    	     100	  10239257 ns/op	 1073609 B/op	   24118 allocs/op
-// BenchmarkLargeGJK2-16    	     100	  19060863 ns/op	 1000860 B/op	   10399 allocs/op
-// BenchmarkLargeGJK2-16    	     126	   9732729 ns/op	 1172060 B/op	   10395 allocs/op
+// BenchmarkLargeGJK2-16    	   32847	     40166 ns/op	   16228 B/op	      53 allocs/op
 func BenchmarkLargeGJK2(b *testing.B) {
 	const cubesCount = 1000
 	const rowSize = 100.0
@@ -587,12 +585,14 @@ func BenchmarkLargeGJK2(b *testing.B) {
 	f, _ := os.Create("trace.out")
 	fcpu, _ := os.Create(`cpu.prof`)
 	fheap, _ := os.Create(`heap.prof`)
-	defer f.Close()
-	defer fcpu.Close()
-	defer fheap.Close()
-	pprof.StartCPUProfile(fcpu)
-	pprof.WriteHeapProfile(fheap)
-	trace.Start(f)
+	defer func() {
+		_ = f.Close()
+		_ = fcpu.Close()
+		_ = fheap.Close()
+	}()
+	_ = pprof.StartCPUProfile(fcpu)
+	_ = pprof.WriteHeapProfile(fheap)
+	_ = trace.Start(f)
 
 	b.ReportAllocs()
 	b.ResetTimer()
@@ -602,11 +602,8 @@ func BenchmarkLargeGJK2(b *testing.B) {
 		b.StartTimer()
 
 		collisionPair := GJK(pair)
-
-		for cp := range collisionPair {
-			s := cp.simplex.Count
-			s++
-		}
+		cp := <-collisionPair
+		cp.BodyA.IsSleeping = false
 	}
 
 	b.StopTimer()
@@ -643,12 +640,14 @@ func BenchmarkLargeEPA2(b *testing.B) {
 	f, _ := os.Create("trace.out")
 	fcpu, _ := os.Create(`cpu.prof`)
 	fheap, _ := os.Create(`heap.prof`)
-	defer f.Close()
-	defer fcpu.Close()
-	defer fheap.Close()
-	pprof.StartCPUProfile(fcpu)
-	pprof.WriteHeapProfile(fheap)
-	trace.Start(f)
+	defer func() {
+		_ = f.Close()
+		_ = fcpu.Close()
+		_ = fheap.Close()
+	}()
+	_ = pprof.StartCPUProfile(fcpu)
+	_ = pprof.WriteHeapProfile(fheap)
+	_ = trace.Start(f)
 
 	b.ReportAllocs()
 	b.ResetTimer()
@@ -756,12 +755,14 @@ func BenchmarkLargeWorldStep(b *testing.B) {
 	f, _ := os.Create("trace.out")
 	fcpu, _ := os.Create(`cpu.prof`)
 	fheap, _ := os.Create(`heap.prof`)
-	defer f.Close()
-	defer fcpu.Close()
-	defer fheap.Close()
-	pprof.StartCPUProfile(fcpu)
-	pprof.WriteHeapProfile(fheap)
-	trace.Start(f)
+	defer func() {
+		_ = f.Close()
+		_ = fcpu.Close()
+		_ = fheap.Close()
+	}()
+	_ = pprof.StartCPUProfile(fcpu)
+	_ = pprof.WriteHeapProfile(fheap)
+	_ = trace.Start(f)
 
 	b.ReportAllocs()
 	b.ResetTimer()

epa/face_test.go

@@ -1,6 +1,7 @@
 package epa
 
 import (
+	"fmt"
 	"math"
 	"testing"
 
@@ -618,7 +619,11 @@ func BenchmarkBuildInitialFaces(b *testing.B) {
 	b.ResetTimer()
 	for i := 0; i < b.N; i++ {
 		builder.Reset()
-		builder.BuildInitialFaces(simplex)
+		err := builder.BuildInitialFaces(simplex)
+
+		if err != nil {
+			fmt.Printf("error building initial faces: %v", err)
+		}
 	}
 }
 
@@ -646,7 +651,10 @@ func BenchmarkFindBoundaryEdges(b *testing.B) {
 
 	b.ResetTimer()
 	for i := 0; i < b.N; i++ {
-		builder.findBoundaryEdges()
+		err := builder.findBoundaryEdges()
+		if err != nil {
+			fmt.Printf("error finding boundary edges: %v", err)
+		}
 	}
 }
 
@@ -666,6 +674,9 @@ func BenchmarkAddPointAndRebuildFaces(b *testing.B) {
 			Face{Points: [3]mgl64.Vec3{{0, 0, 0}, {0, 0, 1}, {1, 0, 0}}, Normal: mgl64.Vec3{0, 1, 0}, Distance: 0.1})
 		b.StartTimer()
 
-		builder.AddPointAndRebuildFaces(support, closestIndex)
+		err := builder.AddPointAndRebuildFaces(support, closestIndex)
+		if err != nil {
+			fmt.Printf("error adding faces: %v", err)
+		}
 	}
 }

epa/polytope.go

@@ -25,9 +25,6 @@ type PolytopeBuilder struct {
 
 	// Visible face tracking
 	visibleIndices []int
-
-	// Temporary workspace for face construction
-	tempFace Face
 }
 
 // EdgeEntry represents an edge with occurrence counting for boundary detection.