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Merge branch 'master' into develop

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Daniel Chappuis 2020-06-17 13:19:03 +02:00
commit c952fcf8c3
1 changed files with 4 additions and 2 deletions
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src/systems/CollisionDetectionSystem.cpp
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@ -379,11 +379,13 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde
convexToConcaveTransform = shape2LocalToWorldTransform.getInverse() * shape1LocalToWorldTransform; convexToConcaveTransform = shape2LocalToWorldTransform.getInverse() * shape1LocalToWorldTransform;
} }
else { // Collision shape 2 is convex, collision shape 1 is concave else { // Collision shape 2 is convex, collision shape 1 is concave
convexShape = static_cast<ConvexShape*>(mCollidersComponents.mCollisionShapes[collider1Index]); convexShape = static_cast<ConvexShape*>(mCollidersComponents.mCollisionShapes[collider2Index]);
concaveShape = static_cast<ConcaveShape*>(mCollidersComponents.mCollisionShapes[collider2Index]); concaveShape = static_cast<ConcaveShape*>(mCollidersComponents.mCollisionShapes[collider1Index]);
convexToConcaveTransform = shape1LocalToWorldTransform.getInverse() * shape2LocalToWorldTransform; convexToConcaveTransform = shape1LocalToWorldTransform.getInverse() * shape2LocalToWorldTransform;
} }
assert(convexShape->isConvex());
assert(!concaveShape->isConvex());
assert(mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex] != NarrowPhaseAlgorithmType::None); assert(mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex] != NarrowPhaseAlgorithmType::None);
// Compute the convex shape AABB in the local-space of the convex shape // Compute the convex shape AABB in the local-space of the convex shape