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| author | Crozet Sébastien <developer@crozet.re> | 2020-12-03 12:55:06 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2020-12-03 12:55:06 +0100 |
| commit | e562783dcba064d6dade55e926085b544378dafe (patch) | |
| tree | 57e54339fcd2df1b59a8851115fe3f653597e5f1 /src | |
| parent | d1f643e10d2e14a01a974ccee87a73af7b380759 (diff) | |
| download | rapier-e562783dcba064d6dade55e926085b544378dafe.tar.gz rapier-e562783dcba064d6dade55e926085b544378dafe.tar.bz2 rapier-e562783dcba064d6dade55e926085b544378dafe.zip | |
Fix bogus delta computation of ground position constraint solver.
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/solver/position_ground_constraint.rs | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/dynamics/solver/position_ground_constraint.rs b/src/dynamics/solver/position_ground_constraint.rs index 541c649..d6975c3 100644 --- a/src/dynamics/solver/position_ground_constraint.rs +++ b/src/dynamics/solver/position_ground_constraint.rs @@ -42,7 +42,7 @@ impl PositionGroundConstraint { local_n1 = manifold.local_n2; local_n2 = manifold.local_n1; coll_pos1 = &manifold.position2; - delta2 = rb1.position() * manifold.position1; + delta2 = rb1.position().inverse() * manifold.position1; } else { local_n1 = manifold.local_n1; local_n2 = manifold.local_n2; |