Soft bodies don't seem to work with scaled compound shapes

[mihe]

This is a strange issue that I haven't been able to reproduce with just a simple scaled shape, but I have a snapshot that should hopefully suffice: jolt_snapshot_2024-02-02_21-18-30_63008.zip

The scene structure is essentially this:

• Body (Kinematic)
  • SphereShape (unimportant empty-shaped sensor, using the sphere placeholder)
• Body (Static)
  • ScaledShape (1.25x)
    • StaticCompoundShape
      • BoxShape (Floor)
      • BoxShape (Wall)
      • BoxShape (Wall)
      • BoxShape (Wall)
      • BoxShape (Wall)

If you add any soft body to LoadSnapshotTest::Initialize, like this one:

mBodyInterface->CreateAndAddSoftBody(SoftBodyCreationSettings(SoftBodyCreator::CreateCube(), RVec3(0.0f, 10.0f, 0.0f), Quat::sIdentity(), Layers::MOVING), EActivation::Activate);

You should see something like this:

https://github.com/jrouwe/JoltPhysics/assets/4884246/f215a02a-e3fa-4e0e-a8b9-946a20886e30

[jrouwe]

Thanks for the good repro! It failed to properly take the center of mass into account.