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| author | Sébastien Crozet <developer@crozet.re> | 2020-09-01 14:02:59 +0200 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2020-09-01 14:02:59 +0200 |
| commit | 9622827dc6aadb391512b95381edb1efc26b1b90 (patch) | |
| tree | 3b15362d6f7736f8d30bc78b6e33ff51c893751f /src/dynamics/solver/position_constraint.rs | |
| parent | 03b437f278bbcbd391acd23a4d8fa074915eb00c (diff) | |
| download | rapier-9622827dc6aadb391512b95381edb1efc26b1b90.tar.gz rapier-9622827dc6aadb391512b95381edb1efc26b1b90.tar.bz2 rapier-9622827dc6aadb391512b95381edb1efc26b1b90.zip | |
Fix constraints resolution with non-identity relative collider position.
Diffstat (limited to 'src/dynamics/solver/position_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/position_constraint.rs | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/dynamics/solver/position_constraint.rs b/src/dynamics/solver/position_constraint.rs index 608a342..69fcf57 100644 --- a/src/dynamics/solver/position_constraint.rs +++ b/src/dynamics/solver/position_constraint.rs @@ -104,8 +104,8 @@ impl PositionConstraint { let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS]; for l in 0..manifold_points.len() { - local_p1[l] = manifold_points[l].local_p1 + shift1; - local_p2[l] = manifold_points[l].local_p2 + shift2; + local_p1[l] = manifold.delta1 * (manifold_points[l].local_p1 + shift1); + local_p2[l] = manifold.delta2 * (manifold_points[l].local_p2 + shift2); } let constraint = PositionConstraint { |