BUG: Fix collision data during brute-force CD, changing from triangle-vertex to vertex-triangle

Source/Collision/CollisionDetection/imstkMeshToMeshBruteforceCD.cpp

@@ -80,7 +80,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
                                        m_proximityTolerance,
                                        m_proximityTolerance))
                 {
-                    m_colData->TVColData.safeAppend({ static_cast<unsigned int>(j), static_cast<unsigned int>(i), 0.0 });
+                    m_colData->VTColData.safeAppend({ static_cast<unsigned int>(i), static_cast<unsigned int>(j), 0.0 });
                 }
             }
         }
@@ -167,7 +167,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
                     p1[0], p1[1], p1[2],
                     p2[0], p2[1], p2[2], m_proximityTolerance, m_proximityTolerance))
                 {
-                    m_colData->TVColData.safeAppend({ static_cast<unsigned int>(j), static_cast<unsigned int>(i), 0.0 });
+                    m_colData->VTColData.safeAppend({ static_cast<unsigned int>(i), static_cast<unsigned int>(j), 0.0 });
                 }
             }
         }
@@ -195,7 +195,7 @@ MeshToMeshBruteForceCD::computeCollisionData()
                     p1[0], p1[1], p1[2],
                     p2[0], p2[1], p2[2], m_proximityTolerance, m_proximityTolerance))
                 {
-                    m_colData->TVColData.safeAppend({ static_cast<unsigned int>(j), static_cast<unsigned int>(i), 0.0 });
+                    m_colData->VTColData.safeAppend({ static_cast<unsigned int>(i), static_cast<unsigned int>(j), 0.0 });
                 }
             }
         }

Source/Collision/CollisionHandling/imstkPBDCollisionHandling.cpp

@@ -113,10 +113,10 @@ PBDCollisionHandling::generatePBDConstraints()
         m_PBDConstraints.push_back(c);
     }
 
-    // Generate triangle-vertex pbd constraints
-    for (size_t i = 0; i < m_colData->TVColData.getSize(); ++i)
+    // Generate vertex-triangle pbd constraints
+    for (size_t i = 0; i < m_colData->VTColData.getSize(); ++i)
     {
-        const auto& colData  = m_colData->TVColData[i];
+        const auto& colData  = m_colData->VTColData[i];
         const auto& triVerts = colGeo2->getTrianglesVertices()[colData.triIdx];
 
         const auto c = std::make_shared<PbdPointTriangleConstraint>();
@@ -144,6 +144,7 @@ PBDCollisionHandling::generatePBDConstraints()
 
         m_PBDConstraints.push_back(c);
     }
+
     //TODO: generating PbdPointTriangleConstraint from the VTColData should be added
 }
 }