Fixed incorrect edge preference for convex vs convex

Assets/Editor/Editor.SHConfig

@@ -1,4 +1,4 @@
 Start Maximized: true
 Working Scene ID: 92914350
-Window Size: {x: 1920, y: 1080}
+Window Size: {x: 2000, y: 1518}
 Style: 0

Assets/Scenes/PhysicsSandbox.shade

@@ -28,9 +28,9 @@
   NumberOfChildren: 0
   Components:
     Camera Component:
-      Position: {x: 5, y: 5, z: 0}
+      Position: {x: 0, y: 0, z: 7}
       Pitch: 0
-      Yaw: 90
+      Yaw: 0
       Roll: 0
       Width: 1920
       Height: 1080
@@ -45,7 +45,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: 0, y: 7.5, z: 0.75}
+      Translate: {x: 0, y: 7.5, z: 0}
       Rotate: {x: -0, y: 0, z: 0.785398185}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true
@@ -55,7 +55,7 @@
       Mass: 0.52359879
       Drag: 0.00999999978
       Angular Drag: 0
-      Use Gravity: true
+      Use Gravity: false
       Gravity Scale: 1
       Interpolate: true
       Sleeping Enabled: true
@@ -175,4 +175,114 @@
           Position Offset: {x: 0, y: 0, z: 0}
           Rotation Offset: {x: 0, y: 0, z: 0}
       IsActive: true
+  Scripts: ~
+- EID: 7
+  Name: Default
+  IsActive: true
+  NumberOfChildren: 0
+  Components:
+    Transform Component:
+      Translate: {x: 0, y: 0, z: 3}
+      Rotate: {x: 0, y: 0, z: 0}
+      Scale: {x: 1, y: 1, z: 1}
+      IsActive: true
+    Collider Component:
+      DrawColliders: false
+      Colliders:
+        - Is Trigger: false
+          Collision Tag: 1
+          Type: Box
+          Half Extents: {x: 1, y: 1, z: 1}
+          Friction: 0.400000006
+          Bounciness: 0
+          Density: 1
+          Position Offset: {x: 0, y: 0, z: 0}
+          Rotation Offset: {x: 0, y: 0, z: 0}
+      IsActive: true
+  Scripts: ~
+- EID: 8
+  Name: Default
+  IsActive: true
+  NumberOfChildren: 0
+  Components:
+    Transform Component:
+      Translate: {x: -1, y: 7, z: 0}
+      Rotate: {x: 0, y: 0, z: 0.785398185}
+      Scale: {x: 0.999999642, y: 0.999998569, z: 0.999999642}
+      IsActive: true
+    RigidBody Component:
+      Type: Dynamic
+      Auto Mass: false
+      Mass: 1
+      Drag: 0.00999999978
+      Angular Drag: 0.00999999978
+      Use Gravity: true
+      Gravity Scale: 1
+      Interpolate: true
+      Sleeping Enabled: true
+      Freeze Position X: false
+      Freeze Position Y: false
+      Freeze Position Z: false
+      Freeze Rotation X: false
+      Freeze Rotation Y: false
+      Freeze Rotation Z: false
+      IsActive: true
+    Collider Component:
+      DrawColliders: false
+      Colliders:
+        - Is Trigger: false
+          Collision Tag: 1
+          Type: Box
+          Half Extents: {x: 1, y: 1, z: 1}
+          Friction: 0.400000006
+          Bounciness: 0
+          Density: 1
+          Position Offset: {x: 0, y: 0, z: 0}
+          Rotation Offset: {x: 0, y: 0, z: 0}
+      IsActive: true
+  Scripts:
+    - Type: PhysicsTestObj
+      Enabled: true
+      forceAmount: 250
+      torqueAmount: 5
+- EID: 65545
+  Name: Default
+  IsActive: true
+  NumberOfChildren: 0
+  Components:
+    Transform Component:
+      Translate: {x: 2, y: 5, z: 3}
+      Rotate: {x: 0, y: 0, z: 0.785398185}
+      Scale: {x: 0.999999642, y: 0.999998569, z: 0.999999642}
+      IsActive: true
+    RigidBody Component:
+      Type: Dynamic
+      Auto Mass: false
+      Mass: 1
+      Drag: 0.00999999978
+      Angular Drag: 0.00999999978
+      Use Gravity: true
+      Gravity Scale: 1
+      Interpolate: true
+      Sleeping Enabled: true
+      Freeze Position X: false
+      Freeze Position Y: false
+      Freeze Position Z: false
+      Freeze Rotation X: false
+      Freeze Rotation Y: false
+      Freeze Rotation Z: false
+      IsActive: true
+    Collider Component:
+      DrawColliders: false
+      Colliders:
+        - Is Trigger: false
+          Collision Tag: 1
+          Type: Box
+          Half Extents: {x: 1, y: 1, z: 1}
+          Friction: 0.400000006
+          Bounciness: 0
+          Density: 1
+          Position Offset: {x: 0, y: 0, z: 0}
+          Rotation Offset: {x: 0, y: 0, z: 0}
+      IsActive: true
   Scripts: ~

Assets/Scenes/SS_Playground.shade

@@ -4,7 +4,7 @@
   NumberOfChildren: 0
   Components:
     Camera Component:
-      Position: {x: 0, y: 1, z: 3}
+      Position: {x: 0, y: 1, z: 5}
       Pitch: 0
       Yaw: 0
       Roll: 0
@@ -22,8 +22,8 @@
   Components:
     Transform Component:
       Translate: {x: 0, y: 0, z: 0}
-      Rotate: {x: 0, y: 0, z: 0}
+      Rotate: {x: -0, y: 0, z: -0}
-      Scale: {x: 1, y: 1, z: 1}
+      Scale: {x: 5, y: 0.999998808, z: 5}
       IsActive: true
     Collider Component:
       DrawColliders: false
@@ -45,7 +45,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: 0, y: 2, z: 0}
+      Translate: {x: 1.5, y: 2, z: 1.5}
       Rotate: {x: 0, y: 0.785398185, z: 0}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true
@@ -79,4 +79,8 @@
           Position Offset: {x: 0, y: 0, z: 0}
           Rotation Offset: {x: 0, y: 0, z: 0}
       IsActive: true
-  Scripts: ~
+  Scripts:
+    - Type: PhysicsTestObj
+      Enabled: true
+      forceAmount: 50
+      torqueAmount: 500

SHADE_Engine/src/Physics/Collision/Narrowphase/SHConvexVsConvex.cpp

@@ -153,6 +153,7 @@ namespace SHADE
       cachedInfo.info.refFace = minFaceQuery.closestFace;
     }
 
+    minFaceQuery.bestDistance = std::max(FACE_QUERY_A.bestDistance, FACE_QUERY_B.bestDistance);
 
     // If an edge pair contains the closest distance,vwe ignore any face queries and find the closest points on
     // each edge and use that as the contact point.
@@ -516,10 +517,10 @@ namespace SHADE
         SHContact contact;
         contact.penetration = -DIST;
 
-        // A: Incident, B: Reference
+        // A: Reference, B: Incident
-        // Project the clipped point onto the reference place for localPointB
+        // Project the clipped point onto the reference place for localPointA
-        contact.localPointA = INV_TF_INC * (TF_REF * POS);
+        contact.localPointA = POS + LOCAL_REF_NORMAL * SHVec3::Dot(LOCAL_REF_NORMAL, POS - LOCAL_REF_POINT);
-        contact.localPointB = POS + LOCAL_REF_NORMAL * SHVec3::Dot(LOCAL_REF_NORMAL, POS - LOCAL_REF_POINT);
+        contact.localPointB = INV_TF_INC * (TF_REF * POS);
 
         if (flip)
         {

SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp

@@ -247,6 +247,8 @@ namespace SHADE
 
   void SHContactSolver::solve() noexcept
   {
+    static const float TEMP_INF = std::numeric_limits<float>::infinity();
+
     for (auto& [key, constraint] : contactConstraints)
     {
       SHVelocityState& velocityStateA = velocityStates.find(key.GetEntityA())->second;