Collision Box-Box Produces incorrect contact point

[Oleh Derevenko]

Hello

 

Does anyone know how to fix this?

When two cubes are collided (upper-right Y-axis edge of bottom cube penetrates upper box), contact normal looks correct, but contact point is generated with Z positive, while it is evident that Z must be less than zero.

The locations, orientations and dimensions of boxes along with dCollide() invocation parameters are given below.

 

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516                             int iCollisionCount = dCollide(idFirstGeom, idSecondGeom, 1 | CONTACTS_UNIMPORTANT, &cgCollisionInfo, sizeof(dContactGeom));
(gdb) n
517                             ASSERTE(IN_RANGE(iCollisionCount, 0, 2));
(gdb) p cgCollisionInfo
$1 = {pos = {1.70887256, 1.51961505, 1.32111371, -1.54864812}, normal = {0.98480773, 0, 0.173648179, 1.62065773e-39}, depth = 0.509440064, g1 = 0x8589b18,
  g2 = 0x8521d00, side1 = 136585673, side2 = 139570980}
(gdb) p idFirstGeom[0].final_posr[0]
$2 = {pos = {2.96757913, 0, 0, 0}, R = {0.98480773, 0, -0.173648179, 0, 0, 1, 0, 0, 0.173648179, 0, 0.98480773, 0}}
(gdb) p ({dxBox}idFirstGeom).side
$3 = {3.03923011, 3.03923011, 3.03923011, 0}
(gdb) p idSecondGeom[0].final_posr[0]
$4 = {pos = {0, 0, 0, 0}, R = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0}}
(gdb) p ({dxBox}idSecondGeom).side
$5 = {3.41774511, 11.9242125, 11.9242125, 6.31030347e-34}

Oleh Derevenko
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