[SFML, Box2d] Piłka przelatuje przez statyczną krawędź (b2EdgeShape)

class SFMLEngine
    : public b2Draw
{
    RenderWindow & win;
public:
    SFMLEngine( RenderWindow & w );
   
    /// Draw a closed polygon provided in CCW order.
    virtual void DrawPolygon( const b2Vec2 * vertices, int32 vertexCount, const b2Color & color );
   
    /// Draw a solid closed polygon provided in CCW order.
    virtual void DrawSolidPolygon( const b2Vec2 * vertices, int32 vertexCount, const b2Color & color );
   
    /// Draw a circle.
    virtual void DrawCircle( const b2Vec2 & center, float32 radius, const b2Color & color );
   
    /// Draw a solid circle.
    virtual void DrawSolidCircle( const b2Vec2 & center, float32 radius, const b2Vec2 & axis, const b2Color & color );
   
    /// Draw a line segment.
    virtual void DrawSegment( const b2Vec2 & p1, const b2Vec2 & p2, const b2Color & color );
   
    /// Draw a transform. Choose your own length scale.
    /// @param xf a transform.
    virtual void DrawTransform( const b2Transform & xf ) { } // tego mi się nie chciało robić, poza tym nie wiem jak rysowanie takiego czegoś miałoby wyglądać...
};
SFMLEngine::SFMLEngine( RenderWindow & w )
    : win( w )
{
}

void SFMLEngine::DrawPolygon( const b2Vec2 * vertices, int32 vertexCount, const b2Color & color )
{
    ConvexShape c( vertexCount );
   
    for( int i = 0; i < vertexCount; i++ )
    {
        c.setPoint( i, B2toSF( vertices[ i ] ) );
    }
   
    c.setOutlineColor( Color::White );
    c.setFillColor( Color::Transparent );
    win.draw( c );
}

void SFMLEngine::DrawSolidPolygon( const b2Vec2 * vertices, int32 vertexCount, const b2Color & color )
{
    ConvexShape c( vertexCount );
   
    for( int i = 0; i < vertexCount; i++ )
    {
        c.setPoint( i, B2toSF( vertices[ i ] ) );
    }
   
    c.setOutlineColor( Color::White );
    c.setFillColor( Color::Red );
    win.draw( c );
}

void SFMLEngine::DrawCircle( const b2Vec2 & center, float32 radius, const b2Color & color )
{
    Vector2f pos = B2toSF( b2Vec2( center.x - radius, center.y - radius ) );
    CircleShape c( B2toSF( radius ) );
    c.setOutlineColor( Color::White );
    c.setFillColor( Color::Transparent );
    win.draw( c );
}

void SFMLEngine::DrawSolidCircle( const b2Vec2 & center, float32 radius, const b2Vec2 & axis, const b2Color & color )
{
    Vector2f pos = B2toSF( b2Vec2( center.x - radius, center.y - radius ) );
    CircleShape c( B2toSF( radius ) );
    c.setPosition( pos );
    c.setOutlineColor( Color::White );
    c.setFillColor( Color::Red );
    win.draw( c );
}

void SFMLEngine::DrawSegment( const b2Vec2 & p1, const b2Vec2 & p2, const b2Color & color )
{
    VertexArray v( sf::Lines, 2 );
    v[ 0 ].position = B2toSF( p1 );
    v[ 0 ].color = Color::White;
    v[ 1 ].position = B2toSF( p2 );
    v[ 1 ].color = Color::White;
   
    win.draw( v );
}