Cuboid + Cylinder inconsistency, intersecting, zero distance but no contact


I have a minimal test case of a cylinder + cuboid that have a distance of 0, proximity is “WithinMargin”, but no contact is being generated regardless of prediction.

It’s quite finicky, if I subtract 60.0 off the z translation of both shapes, we get a contact being generated and the inconsistency is gone.

This is a bug. Related github issue: sebcrozet/ncollide#157.