Open BenjaminSchaaf opened 2 years ago
Possible related issue: https://github.com/dimforge/parry/issues/70
I've narrowed this down to the GJK implementation returning the wrong normal here: https://github.com/dimforge/parry/blob/c3f28389e762cf93d8a1a62337fb806450852017/src/query/gjk/gjk.rs#L131. From the examples most collisions don't hit this code. Passing in exact_dir=false
from https://github.com/dimforge/parry/blob/c3f28389e762cf93d8a1a62337fb806450852017/src/query/contact/contact_support_map_support_map.rs#L64 resolves the issue, but I'm not familiar enough with GJK to know what the correct fix is. Maybe it's obvious to @sebcrozet ?
Putting 4 cylinders into a compound collider has some very odd collision behavior:
https://user-images.githubusercontent.com/2748981/160272665-44df6ac1-6935-4393-b9c2-6520e2230d87.mp4
It also happens in other orientations:
https://user-images.githubusercontent.com/2748981/160272672-b79e51eb-29b1-4690-832d-af3222e2112d.mp4
But not for other shapes:
https://user-images.githubusercontent.com/2748981/160272675-494237e3-81dd-472b-93cb-6d51ae7cbf1b.mp4
I've made an easily reproducible example: