diff options
Diffstat (limited to 'src_testbed/nphysics_backend.rs')
| -rw-r--r-- | src_testbed/nphysics_backend.rs | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs index 43f3bf9..c9ff2d1 100644 --- a/src_testbed/nphysics_backend.rs +++ b/src_testbed/nphysics_backend.rs @@ -13,7 +13,7 @@ use rapier::dynamics::{ IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet, }; use rapier::geometry::{Collider, ColliderSet, Shape}; -use rapier::math::{Isometry, Vector}; +use rapier::math::Vector; use std::collections::HashMap; #[cfg(feature = "dim3")] use {ncollide::shape::TriMesh, nphysics::joint::BallConstraint}; @@ -165,7 +165,7 @@ impl NPhysicsWorld { for coll_handle in rb.colliders() { let collider = &mut colliders[*coll_handle]; - collider.set_position_debug(pos * collider.delta()); + collider.set_position_debug(pos * collider.position_wrt_parent()); } } } @@ -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()), |