Fix issue in convex vs concave mesh collision

src/collision/narrowphase/ConcaveVsConvexAlgorithm.cpp

@@ -73,10 +73,9 @@ bool ConcaveVsConvexAlgorithm::testCollision(const CollisionShapeInfo& shape1Inf
     mConvexVsTriangleCallback.setProxyShapes(convexProxyShape, concaveProxyShape);
     mConvexVsTriangleCallback.setOverlappingPair(shape1Info.overlappingPair);
 
-    // Compute the convex shape AABB in the local-space of the concave shape
+    // Compute the convex shape AABB in the local-space of the convex shape
     AABB aabb;
     convexShape->computeAABB(aabb, convexProxyShape->getLocalToWorldTransform());
-    concaveShape->computeAABB(aabb, concaveProxyShape->getLocalToWorldTransform().getInverse());
 
     // Call the convex vs triangle callback for each triangle of the concave shape
     concaveShape->testAllTriangles(mConvexVsTriangleCallback, aabb);

src/collision/shapes/ConcaveMeshShape.cpp

@@ -25,7 +25,6 @@
 
 // Libraries
 #include "ConcaveMeshShape.h"
-#include <iostream>
 
 using namespace reactphysics3d;
 

src/collision/shapes/ConcaveMeshShape.h

@@ -30,6 +30,7 @@
 #include "ConcaveShape.h"
 #include "collision/broadphase/DynamicAABBTree.h"
 #include "collision/TriangleMesh.h"
+#include <iostream>
 
 namespace reactphysics3d {
 
@@ -212,6 +213,9 @@ inline void ConvexTriangleAABBOverlapCallback::notifyOverlappingNode(int nodeId)
 
     // Call the callback to test narrow-phase collision with this triangle
     mTriangleTestCallback.testTriangle(trianglePoints);
+
+    // TODO : Delete this
+    std::cout << "Notify triangle test" << std::endl;
 }
 
 }