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Fix issue with the shape order in concave vs convex middle-phase collision detection

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This commit is contained in:
Daniel Chappuis 2017-11-08 21:28:00 +01:00
parent 8bfa6dd137
commit de95e15147
1 changed files with 11 additions and 4 deletions
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15
src/collision/MiddlePhaseTriangleCallback.cpp
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@ -38,12 +38,19 @@ void MiddlePhaseTriangleCallback::testTriangle(uint meshSubPart, uint triangleIn
TriangleShape(trianglePoints[0], trianglePoints[1], trianglePoints[2],
verticesNormals, meshSubPart, triangleIndex);
bool isShape1Convex = mOverlappingPair->getShape1()->getCollisionShape()->isConvex();
ProxyShape* shape1 = isShape1Convex ? mConvexProxyShape : mConcaveProxyShape;
ProxyShape* shape2 = isShape1Convex ? mConcaveProxyShape : mConvexProxyShape;
// Create a narrow phase info for the narrow-phase collision detection
NarrowPhaseInfo* firstNarrowPhaseInfo = narrowPhaseInfoList;
narrowPhaseInfoList = new (mAllocator.allocate(sizeof(NarrowPhaseInfo)))
NarrowPhaseInfo(mOverlappingPair, mConvexProxyShape->getCollisionShape(),
triangleShape, mConvexProxyShape->getLocalToWorldTransform(),
mConcaveProxyShape->getLocalToWorldTransform(), mConvexProxyShape->getCachedCollisionData(),
mConcaveProxyShape->getCachedCollisionData(), mAllocator);
NarrowPhaseInfo(mOverlappingPair,
isShape1Convex ? mConvexProxyShape->getCollisionShape() : triangleShape,
isShape1Convex ? triangleShape : mConvexProxyShape->getCollisionShape(),
shape1->getLocalToWorldTransform(),
shape2->getLocalToWorldTransform(),
shape1->getCachedCollisionData(),
shape2->getCachedCollisionData(), mAllocator);
narrowPhaseInfoList->next = firstNarrowPhaseInfo;
}