Add compound demo.

2 files changed, 4 insertions, 4 deletions

diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index 43f3bf9..a2a9bfc 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -176,7 +176,7 @@ fn nphysics_collider_from_rapier_collider(
     is_dynamic: bool,
 ) -> Option<ColliderDesc<f32>> {
     let margin = ColliderDesc::<f32>::default_margin();
-    let mut pos = Isometry::identity();
+    let mut pos = *collider.position_wrt_parent();
 
     let shape = match collider.shape() {
         Shape::Cuboid(cuboid) => {
@@ -184,7 +184,7 @@ fn nphysics_collider_from_rapier_collider(
         }
         Shape::Ball(ball) => ShapeHandle::new(Ball::new(ball.radius - margin)),
         Shape::Capsule(capsule) => {
-            pos = capsule.transform_wrt_y();
+            pos *= capsule.transform_wrt_y();
             ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius))
         }
         Shape::HeightField(heightfield) => ShapeHandle::new(heightfield.clone()),
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 9ae7bb8..045e697 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -399,7 +399,7 @@ impl PhysxWorld {
 fn physx_collider_from_rapier_collider(
     collider: &Collider,
 ) -> Option<(ColliderDesc, Isometry3<f32>)> {
-    let mut local_pose = Isometry3::identity();
+    let mut local_pose = *collider.position_wrt_parent();
     let desc = match collider.shape() {
         Shape::Cuboid(cuboid) => ColliderDesc::Box(
             cuboid.half_extents.x,
@@ -416,7 +416,7 @@ fn physx_collider_from_rapier_collider(
             }
 
             let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir);
-            local_pose =
+            local_pose *=
                 Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity());
             ColliderDesc::Capsule(capsule.radius, capsule.height())
         }