From ec34e7e439ba03218064925942a9a555bcd13e83 Mon Sep 17 00:00:00 2001
From: Erik Onarheim <erik.onarheim@gmail.com>
Date: Sat, 28 Dec 2024 14:55:01 -0600
Subject: [PATCH] fix: CompositeCollider literal edge case

---
 src/engine/Collision/Colliders/CollisionJumpTable.ts  | 4 ++--
 src/engine/Collision/Solver/ContactConstraintPoint.ts | 6 ++++--
 src/engine/Collision/Solver/RealisticSolver.ts        | 6 ++++--
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/src/engine/Collision/Colliders/CollisionJumpTable.ts b/src/engine/Collision/Colliders/CollisionJumpTable.ts
index 3cb34ae7a..d63e6b87a 100644
--- 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
index 198b90939..a160e6191 100644
--- 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
index 8cc157e50..f3c7df939 100644
--- 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);