From 38945b429587cbbe77a5c50b519954d7c9c4a43e Mon Sep 17 00:00:00 2001
From: Joona Aalto <jondolf.dev@gmail.com>
Date: Fri, 22 Mar 2024 18:58:23 +0200
Subject: [PATCH] Fix normal direction for GJK ray casting inside non-solid
 shapes

---
 src/query/ray/ray_support_map.rs | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/query/ray/ray_support_map.rs b/src/query/ray/ray_support_map.rs
index 21d6c720..8db3e8bd 100644
--- a/src/query/ray/ray_support_map.rs
+++ b/src/query/ray/ray_support_map.rs
@@ -47,10 +47,14 @@ where
                 simplex.reset(CSOPoint::single_point(supp - new_ray.origin.coords));
 
                 gjk::cast_local_ray(shape, simplex, &new_ray, shift + eps).and_then(
-                    |(toi, normal)| {
+                    |(toi, outward_normal)| {
                         let toi = shift - toi;
                         if toi <= max_toi {
-                            Some(RayIntersection::new(toi, normal, FeatureId::Unknown))
+                            Some(RayIntersection::new(
+                                toi,
+                                -outward_normal,
+                                FeatureId::Unknown,
+                            ))
                         } else {
                             None
                         }