fix: CompositeCollider literal edge case

excaliburjs · Dec 28, 2024 · ec34e7e · ec34e7e
1 parent 1827afb
commit ec34e7e
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Showing 3 changed files with 10 additions and 6 deletions.
diff --git a/src/engine/Collision/Colliders/CollisionJumpTable.ts b/src/engine/Collision/Colliders/CollisionJumpTable.ts
@@ -318,13 +318,13 @@ export const CollisionJumpTable = {
             txA.apply(contact.info.localSide.begin).add(shapeA.offset),
             txA.apply(contact.info.localSide.end).add(shapeA.offset)
           );
-          worldPoint = txB.apply(localPoint);
+          worldPoint = txB.apply(localPoint).add(shapeB.offset);
         } else {
           side = new LineSegment(
             txB.apply(contact.info.localSide.begin).add(shapeB.offset),
             txB.apply(contact.info.localSide.end).add(shapeB.offset)
           );
-          worldPoint = txA.apply(localPoint);
+          worldPoint = txA.apply(localPoint).add(shapeA.offset);
         }
 
         return side.distanceToPoint(worldPoint, true);

diff --git a/src/engine/Collision/Solver/ContactConstraintPoint.ts b/src/engine/Collision/Solver/ContactConstraintPoint.ts
@@ -18,14 +18,16 @@ export class ContactConstraintPoint {
    */
   update() {
     const bodyA = this.contact.bodyA;
+    const colliderA = this.contact.colliderA;
     const bodyB = this.contact.bodyB;
+    const colliderB = this.contact.colliderB;
 
     if (bodyA && bodyB) {
       const normal = this.contact.normal;
       const tangent = this.contact.tangent;
 
-      this.aToContact = this.point.sub(bodyA.globalPos);
-      this.bToContact = this.point.sub(bodyB.globalPos);
+      this.aToContact = this.point.sub(colliderA.center);
+      this.bToContact = this.point.sub(colliderB.center);
 
       const aToContactNormal = this.aToContact.cross(normal);
       const bToContactNormal = this.bToContact.cross(normal);

diff --git a/src/engine/Collision/Solver/RealisticSolver.ts b/src/engine/Collision/Solver/RealisticSolver.ts
@@ -85,15 +85,17 @@ export class RealisticSolver implements CollisionSolver {
 
       let pointIndex = 0;
       const bodyA = contact.bodyA;
+      const colliderA = contact.colliderA;
       const bodyB = contact.bodyB;
+      const colliderB = contact.colliderB;
       if (bodyA && bodyB) {
         for (let j = 0; j < contact.points.length; j++) {
           const point = contact.points[j];
           const normal = contact.normal;
           const tangent = contact.tangent;
 
-          const aToContact = point.sub(bodyA.globalPos);
-          const bToContact = point.sub(bodyB.globalPos);
+          const aToContact = point.sub(colliderA.center);
+          const bToContact = point.sub(colliderB.center);
 
           const aToContactNormal = aToContact.cross(normal);
           const bToContactNormal = bToContact.cross(normal);