Fix issue done during Capsule vs Capsule collision refactoring

Author: DanielChappuis

CHANGELOG.md

@@ -7,8 +7,8 @@
 - Issue [#377](https://github.com/DanielChappuis/reactphysics3d/issues/377) Assert when destroying an empty PhysicsWorld
 - Issue [#378](https://github.com/DanielChappuis/reactphysics3d/issues/378) Wrong raycasting result against the HeightFieldShape
 - Issue [#387](https://github.com/DanielChappuis/reactphysics3d/issues/387) Fix memory allocation issue when destroying a ConvexMesh
+- Issue [#381](https://github.com/DanielChappuis/reactphysics3d/issues/381) Fix robustness issue with CapsuleShape vs CapsuleShape collision
 - Fix crash within testbed application in raycasting scene
-- Fix robustness issue with CapsuleShape vs CapsuleShape collision
 
 ## [0.10.0] - 2024-03-10
 

src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp

@@ -197,9 +197,6 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI
 
                         // Create the contact info object
                         narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, contactPointCapsule1Local, contactPointCapsule2Local);
-
-                        narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true;
-                        isCollisionFound = true;
                     }
                 }
                 else if (sumRadius > 0){ // The segment are overlapping (degenerate case)
@@ -239,11 +236,11 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI
                         // Create the contact info object
                         narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, sumRadius, contactPointCapsule1Local, contactPointCapsule2Local);
                     }
-
-                    narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true;
-                    isCollisionFound = true;
                 }
             }
+
+            narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true;
+            isCollisionFound = true;
         }
     }