diff options
Diffstat (limited to 'src/dynamics/rigid_body.rs')
| -rw-r--r-- | src/dynamics/rigid_body.rs | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index d9cddd1..a2fcacc 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -139,7 +139,9 @@ impl RigidBody { /// Adds a collider to this rigid-body. pub(crate) fn add_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) { - let mass_properties = coll.mass_properties(); + let mass_properties = coll + .mass_properties() + .transform_by(coll.position_wrt_parent()); self.colliders.push(handle); self.mass_properties += mass_properties; self.update_world_mass_properties(); @@ -149,7 +151,9 @@ impl RigidBody { pub(crate) fn remove_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) { if let Some(i) = self.colliders.iter().position(|e| *e == handle) { self.colliders.swap_remove(i); - let mass_properties = coll.mass_properties(); + let mass_properties = coll + .mass_properties() + .transform_by(coll.position_wrt_parent()); self.mass_properties -= mass_properties; self.update_world_mass_properties(); } @@ -189,7 +193,7 @@ impl RigidBody { } fn integrate_velocity(&self, dt: f32) -> Isometry<f32> { - let com = &self.position * self.mass_properties.local_com; // FIXME: use non-origin center of masses. + let com = &self.position * self.mass_properties.local_com; let shift = Translation::from(com.coords); shift * Isometry::new(self.linvel * dt, self.angvel * dt) * shift.inverse() } |