diff options
Diffstat (limited to 'src/geometry/narrow_phase.rs')
| -rw-r--r-- | src/geometry/narrow_phase.rs | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index bd2256b..9b0e1d3 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -898,7 +898,7 @@ impl NarrowPhase { let pos12 = co1.pos.inv_mul(&co2.pos); - let collision_skin_sum = co1.collision_skin() + co2.collision_skin(); + let contact_skin_sum = co1.contact_skin() + co2.contact_skin(); let soft_ccd_prediction1 = rb1.map(|rb| rb.soft_ccd_prediction()).unwrap_or(0.0); let soft_ccd_prediction2 = rb2.map(|rb| rb.soft_ccd_prediction()).unwrap_or(0.0); let effective_prediction_distance = if soft_ccd_prediction1 > 0.0 || soft_ccd_prediction2 > 0.0 { @@ -918,9 +918,9 @@ impl NarrowPhase { prediction_distance.max( - dt * (linvel1 - linvel2).norm()) + collision_skin_sum + dt * (linvel1 - linvel2).norm()) + contact_skin_sum } else { - prediction_distance + collision_skin_sum + prediction_distance + contact_skin_sum }; let _ = query_dispatcher.contact_manifolds( @@ -969,7 +969,7 @@ impl NarrowPhase { break; } - let effective_contact_dist = contact.dist - co1.collision_skin() - co2.collision_skin(); + let effective_contact_dist = contact.dist - co1.contact_skin() - co2.contact_skin(); let keep_solver_contact = effective_contact_dist < prediction_distance || { let world_pt1 = world_pos1 * contact.local_p1; |