diff --git a/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp b/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp
index e8a8c21459..4fb6c58c18 100644
--- a/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp
+++ b/thirdparty/jolt_physics/Jolt/Physics/Collision/CastConvexVsTriangles.cpp
@@ -92,11 +92,14 @@ void CastConvexVsTriangles::Cast(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2, uint8
static_cast<const ConvexShape *>(mShapeCast.mShape)->GetSupportingFace(SubShapeID(), transform_1_to_2.Multiply3x3Transposed(-contact_normal), mShapeCast.mScale, mCenterOfMassTransform2 * transform_1_to_2, result.mShape1Face);
// Get face of the triangle
- triangle.GetSupportingFace(contact_normal, result.mShape2Face);
+ result.mShape2Face.resize(3);
+ result.mShape2Face[0] = mCenterOfMassTransform2 * v0;
+ result.mShape2Face[1] = mCenterOfMassTransform2 * v1;
+ result.mShape2Face[2] = mCenterOfMassTransform2 * v2;
- // Convert to world space
- for (Vec3 &p : result.mShape2Face)
- p = mCenterOfMassTransform2 * p;
+ // When inside out, we need to swap the triangle winding
+ if (mScaleSign < 0.0f)
+ std::swap(result.mShape2Face[1], result.mShape2Face[2]);
}
JPH_IF_TRACK_NARROWPHASE_STATS(TrackNarrowPhaseCollector track;)
diff --git a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp
index e03659454d..05c21eebfa 100644
--- a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp
+++ b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideConvexVsTriangles.cpp
@@ -145,6 +145,10 @@ void CollideConvexVsTriangles::Collide(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2,
result.mShape2Face[0] = mTransform1 * v0;
result.mShape2Face[1] = mTransform1 * v1;
result.mShape2Face[2] = mTransform1 * v2;
+
+ // When inside out, we need to swap the triangle winding
+ if (mScaleSign2 < 0.0f)
+ std::swap(result.mShape2Face[1], result.mShape2Face[2]);
}
// Notify the collector
diff --git a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp
index 18441ea73b..566efb38ae 100644
--- a/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp
+++ b/thirdparty/jolt_physics/Jolt/Physics/Collision/CollideSphereVsTriangles.cpp
@@ -111,6 +111,10 @@ void CollideSphereVsTriangles::Collide(Vec3Arg inV0, Vec3Arg inV1, Vec3Arg inV2,
result.mShape2Face[0] = mTransform2 * (mSphereCenterIn2 + v0);
result.mShape2Face[1] = mTransform2 * (mSphereCenterIn2 + v1);
result.mShape2Face[2] = mTransform2 * (mSphereCenterIn2 + v2);
+
+ // When inside out, we need to swap the triangle winding
+ if (mScaleSign2 < 0.0f)
+ std::swap(result.mShape2Face[1], result.mShape2Face[2]);
}
// Notify the collector