Sara/behaviour-tree-test
1
0
Fork 0
Code Issues Pull requests Projects Releases 2 Packages Wiki Activity Actions

Merge pull request #115089 from jrouwe/115009

Browse source 
Jolt Physics: Swapping vertices of triangle if it is scaled inside out
This commit is contained in:
Thaddeus Crews 2026-01-26 13:14:15 -06:00
commit 0eee432358
No known key found for this signature in database
GPG key ID: 8C6E5FEB5FC03CCC
3 changed files with 15 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

11
thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp vendored
View file

@ -92,11 +92,14 @@ void CastConvexVsTriangles::Cast(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2, uint8
static_cast<const ConvexShape *>(mShapeCast.mShape)->GetSupportingFace(SubShapeID(), transform_1_to_2.Multiply3x3Transposed(-contact_normal), mShapeCast.mScale, mCenterOfMassTransform2 * transform_1_to_2, result.mShape1Face);
// Get face of the triangle
triangle.GetSupportingFace(contact_normal, result.mShape2Face);
result.mShape2Face.resize(3);
result.mShape2Face[0] = mCenterOfMassTransform2 * v0;
result.mShape2Face[1] = mCenterOfMassTransform2 * v1;
result.mShape2Face[2] = mCenterOfMassTransform2 * v2;
// Convert to world space
for (Vec3 &p : result.mShape2Face)
p = mCenterOfMassTransform2 * p;
// When inside out, we need to swap the triangle winding
if (mScaleSign < 0.0f)
std::swap(result.mShape2Face[1], result.mShape2Face[2]);
}
JPH_IF_TRACK_NARROWPHASE_STATS(TrackNarrowPhaseCollector track;)

4
thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp vendored
View file

@ -145,6 +145,10 @@ void CollideConvexVsTriangles::Collide(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2,
result.mShape2Face[0] = mTransform1 * v0;
result.mShape2Face[1] = mTransform1 * v1;
result.mShape2Face[2] = mTransform1 * v2;
// When inside out, we need to swap the triangle winding
if (mScaleSign2 < 0.0f)
std::swap(result.mShape2Face[1], result.mShape2Face[2]);
}
// Notify the collector

4
thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp vendored
View file

@ -111,6 +111,10 @@ void CollideSphereVsTriangles::Collide(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2,
result.mShape2Face[0] = mTransform2 * (mSphereCenterIn2 + v0);
result.mShape2Face[1] = mTransform2 * (mSphereCenterIn2 + v1);
result.mShape2Face[2] = mTransform2 * (mSphereCenterIn2 + v2);
// When inside out, we need to swap the triangle winding
if (mScaleSign2 < 0.0f)
std::swap(result.mShape2Face[1], result.mShape2Face[2]);
}
// Notify the collector