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godotengine
GitHub Repository: godotengine/godot
 Path: blob/master/thirdparty/jolt_physics/patches/0001-backport-upstream-commit-ee3725250.patch
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diff --git a/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp b/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp

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index e8a8c21459..4fb6c58c18 100644

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--- a/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp

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+++ b/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp

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@@ -92,11 +92,14 @@ void CastConvexVsTriangles::Cast(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2, uint8

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 			static_cast<const ConvexShape *>(mShapeCast.mShape)->GetSupportingFace(SubShapeID(), transform_1_to_2.Multiply3x3Transposed(-contact_normal), mShapeCast.mScale, mCenterOfMassTransform2 * transform_1_to_2, result.mShape1Face);

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 			// Get face of the triangle

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-			triangle.GetSupportingFace(contact_normal, result.mShape2Face);

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+			result.mShape2Face.resize(3);

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+			result.mShape2Face[0] = mCenterOfMassTransform2 * v0;

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+			result.mShape2Face[1] = mCenterOfMassTransform2 * v1;

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+			result.mShape2Face[2] = mCenterOfMassTransform2 * v2;

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-			// Convert to world space

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-			for (Vec3 &p : result.mShape2Face)

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-				p = mCenterOfMassTransform2 * p;

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+			// When inside out, we need to swap the triangle winding

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+			if (mScaleSign < 0.0f)

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+				std::swap(result.mShape2Face[1], result.mShape2Face[2]);

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 		}

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 		JPH_IF_TRACK_NARROWPHASE_STATS(TrackNarrowPhaseCollector track;)

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diff --git a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp

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index e03659454d..05c21eebfa 100644

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--- a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp

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+++ b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp

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@@ -145,6 +145,10 @@ void CollideConvexVsTriangles::Collide(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2,

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 		result.mShape2Face[0] = mTransform1 * v0;

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 		result.mShape2Face[1] = mTransform1 * v1;

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 		result.mShape2Face[2] = mTransform1 * v2;

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+

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+		// When inside out, we need to swap the triangle winding

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+		if (mScaleSign2 < 0.0f)

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+			std::swap(result.mShape2Face[1], result.mShape2Face[2]);

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 	}

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 	// Notify the collector

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diff --git a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp

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index 18441ea73b..566efb38ae 100644

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--- a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp

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+++ b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp

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@@ -111,6 +111,10 @@ void CollideSphereVsTriangles::Collide(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2,

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 		result.mShape2Face[0] = mTransform2 * (mSphereCenterIn2 + v0);

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 		result.mShape2Face[1] = mTransform2 * (mSphereCenterIn2 + v1);

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 		result.mShape2Face[2] = mTransform2 * (mSphereCenterIn2 + v2);

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+

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+		// When inside out, we need to swap the triangle winding

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+		if (mScaleSign2 < 0.0f)

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+			std::swap(result.mShape2Face[1], result.mShape2Face[2]);

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 	}

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 	// Notify the collector

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