From 58310bd21dd4f57057a7654acd02cc5571bda03f Mon Sep 17 00:00:00 2001
From: Stephen Sinclair <stephen.sinclair@inria.cl>
Date: Fri, 16 Feb 2018 11:57:16 -0300
Subject: [PATCH] Fix calculation of startPt for perturbed object A.

Fixes #1563.
---
 .../CollisionDispatch/btConvexConvexAlgorithm.cpp               | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index b54bd4893..960861b52 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -259,7 +259,7 @@ struct btPerturbedContactResult : public btManifoldResult
 			btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth;
 			endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg);
 			newDepth = (endPt -  pointInWorld).dot(normalOnBInWorld);
-			startPt = endPt+normalOnBInWorld*newDepth;
+			startPt = endPt - normalOnBInWorld*newDepth;
 		} else
 		{
 			endPt = pointInWorld + normalOnBInWorld*orgDepth;