1 files changed, 1 insertions, 1 deletions
diff --git a/src/dynamics/solver/generic_velocity_ground_constraint.rs b/src/dynamics/solver/generic_velocity_ground_constraint.rs
index 044bd48..76e2e51 100644
--- a/src/dynamics/solver/generic_velocity_ground_constraint.rs
+++ b/src/dynamics/solver/generic_velocity_ground_constraint.rs
@@ -148,7 +148,7 @@ impl GenericVelocityGroundConstraint {
                     rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt;
                     rhs_wo_bias *= is_bouncy + is_resting;
                     let rhs_bias =
-                        /* is_resting * */ erp_inv_dt * manifold_point.dist.min(0.0);
+                        /* is_resting * */ erp_inv_dt * manifold_point.dist.clamp(-params.max_penetration_correction, 0.0);
 
                     constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart {
                         gcross2: na::zero(), // Unused for generic constraints.