CCD Bug when Geometries are Flipped
At the moment you can do something along the lines of:
SphereToCapsuleCD cd;
cd.setInputA(sphere);
cd.setInputB(capsule);
cd.update();
SphereToCapsuleCD cd;
cd.setInputA(capsule);
cd.setInputB(sphere);
cd.update();
When flipping you get the output flipped. This makes it easy for user code to not have to guarantee orders for each CD method. Then the callee can simply ask for outputA and get the relevant output.
The CCD in PbdObjectCollision does this:
pbdCCD->updatePreviousTimestepGeometry(pbdCCD->getInput(0), pbdCCD->getInput(1));
This does not handle reversible inputs. If SphereToCapsuleCCD where to be created. Input0 would have to be sphere. Input1 would have to be capsule. If reversed failure would occur.
In most instances we use it for self collision, there it's a non-issue. There's a possibility using it for two separate line meshes in the reversed order would fail.