CollisionDetectionSystem::createSnapshotContacts assertion problem

[darktemplar216]

CollisionDetectionSystem.txt
`void CollisionDetectionSystem::createSnapshotContacts(Array& contactPairs,
Array& contactManifolds,
Array& contactPoints,
Array& potentialContactManifolds,
Array& potentialContactPoints) {

RP3D_PROFILE("CollisionDetectionSystem::createSnapshotContacts()", mProfiler);

contactManifolds.reserve(contactPairs.size());
contactPoints.reserve(contactManifolds.size());

// For each contact pair
const uint32 nbContactPairs = static_cast<uint32>(contactPairs.size());
for (uint32 p=0; p < nbContactPairs; p++) {

    ContactPair& contactPair = contactPairs[p];

    // add this continue --------------------------------------------------------------------------
    if(contactPair.isTrigger) continue;
    // add this continue --------------------------------------------------------------------------
    assert(contactPair.nbPotentialContactManifolds > 0);

	contactPair.contactManifoldsIndex = static_cast<uint32>(contactManifolds.size());
	contactPair.nbContactManifolds = contactPair.nbPotentialContactManifolds;
	contactPair.contactPointsIndex = static_cast<uint32>(contactPoints.size());

	// For each potential contact manifold of the pair
	for (uint32 m = 0; m < contactPair.nbPotentialContactManifolds; m++) {

		ContactManifoldInfo& potentialManifold = potentialContactManifolds[contactPair.potentialContactManifoldsIndices[m]];
		assert(potentialManifold.nbPotentialContactPoints > 0);

		// Start index and number of contact points for this manifold
		const uint32 contactPointsIndex = static_cast<uint32>(contactPoints.size());
		const uint8 nbContactPoints = potentialManifold.nbPotentialContactPoints;
		contactPair.nbToTalContactPoints += nbContactPoints;

		// Create and add the contact manifold
		contactManifolds.emplace(contactPair.body1Entity, contactPair.body2Entity, contactPair.collider1Entity,
			contactPair.collider2Entity, contactPointsIndex, nbContactPoints);

		assert(potentialManifold.nbPotentialContactPoints > 0);

		// For each contact point of the manifold
		for (uint32 c = 0; c < potentialManifold.nbPotentialContactPoints; c++) {

			ContactPointInfo& potentialContactPoint = potentialContactPoints[potentialManifold.potentialContactPointsIndices[c]];

			// Create a new contact point
			ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig.persistentContactDistanceThreshold);

			// Add the contact point
			contactPoints.add(contactPoint);
		}
	}
}

}`

When using PhysicsWorld::testCollision on an ordinary capsule collider, I found a static concave trigger collider in the scene could cause this assertion to fail "assert(contactPair.nbPotentialContactManifolds > 0);" So I add a continue. Does it make any sense?

[darktemplar216]

oh btw I commented this assertion due to the same reason

assert((isTrigger && narrowPhaseInfoBatch.narrowPhaseInfos[i].nbContactPoints == 0) ||
(!isTrigger && narrowPhaseInfoBatch.narrowPhaseInfos[i].nbContactPoints > 0));

in

CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo,
Array& potentialContactPoints,
Array& potentialContactManifolds,
Map<uint64, uint>& mapPairIdToContactPairIndex,
Array* contactPairs) {

[darktemplar216]

And @DanielChappuis, I heard you are working on a Character Controller. I would like to offer my game project as a test bed if you are interested. It's a unity PVP (mobile/pc) MOBA like game and I got your engine compiled on Android/iOS/Windows10. Give me your email address if you are in. I give full access.

[DanielChappuis]

Thanks a lot for reporting this. I will investigate that. I think it might be the same kind of issue as issue #364 that was fixed some time ago.

Concerning the Character Controller. I am not currently working on that but I plan to do it. I don't really know when yet.

[darktemplar216]

@DanielChappuis It's ok, Count me in if you were about to do it. I went through the code of CharacterController in PhysX. I think ReactPhysic3d is only missing such APIs: SphereSweep/BoxSweep/CapsuleSweep. In my game (using your engine), I move a capsule step by step to approximate the result. Bad for the performance but working.

Full support for your awesome work.