diff options
Diffstat (limited to 'src/geometry/narrow_phase.rs')
| -rw-r--r-- | src/geometry/narrow_phase.rs | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index 4500284..8b5f0c9 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -927,6 +927,7 @@ impl NarrowPhase { for manifold in &mut pair.manifolds { let world_pos1 = manifold.subshape_pos1.prepend_to(&co1.pos); + let world_pos2 = manifold.subshape_pos2.prepend_to(&co2.pos); manifold.data.solver_contacts.clear(); manifold.data.rigid_body1 = co1.parent.map(|p| p.handle); manifold.data.rigid_body2 = co2.parent.map(|p| p.handle); @@ -944,10 +945,13 @@ impl NarrowPhase { if contact.dist < prediction_distance { // Generate the solver contact. + let world_pt1 = world_pos1 * contact.local_p1; + let world_pt2 = world_pos2 * contact.local_p2; + let effective_point = na::center(&world_pt1, &world_pt2); + let solver_contact = SolverContact { contact_id: contact_id as u8, - point: world_pos1 * contact.local_p1 - + manifold.data.normal * contact.dist / 2.0, + point: effective_point, dist: contact.dist, friction, restitution, |