1 files changed, 16 insertions, 9 deletions
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index fd6b9a0..ae73929 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -24,7 +24,8 @@ use rapier::dynamics::{
 use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
 #[cfg(feature = "dim3")]
 use rapier::geometry::{InteractionGroups, Ray};
-use rapier::math::Vector;
+use rapier::math::{Isometry, Vector};
+use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
 
 #[cfg(all(feature = "dim2", feature = "other-backends"))]
 use crate::box2d_backend::Box2dWorld;
@@ -692,7 +693,7 @@ impl Testbed {
                             .unwrap()
                             .position();
                         let attach1 = self.cursor_pos;
-                        let attach2 = body_pos.inverse() * attach1;
+                        let attach2 = body_pos.inv_mul(&attach1);
 
                         if let Some(ground) = self.ground_handle {
                             let joint = MouseConstraint::new(
@@ -980,10 +981,12 @@ impl Testbed {
             &physics.colliders,
             &ray,
             f32::MAX,
+            true,
             InteractionGroups::all(),
         );
 
-        if let Some((_, collider, _)) = hit {
+        if let Some((handle, _)) = hit {
+            let collider = &self.physics.colliders[handle];
             if physics.bodies[collider.parent()].is_dynamic() {
                 self.state.highlighted_body = Some(collider.parent());
                 for node in self.graphics.body_nodes_mut(collider.parent()).unwrap() {
@@ -1422,17 +1425,21 @@ Hashes at frame: {}
 fn draw_contacts(window: &mut Window, nf: &NarrowPhase, colliders: &ColliderSet) {
     for pair in nf.contact_pairs() {
         for manifold in &pair.manifolds {
-            for pt in manifold.all_contacts() {
+            for pt in manifold.contacts() {
                 let color = if pt.dist > 0.0 {
                     Point3::new(0.0, 0.0, 1.0)
                 } else {
                     Point3::new(1.0, 0.0, 0.0)
                 };
-                let pos1 = colliders[manifold.pair.collider1].position();
-                let pos2 = colliders[manifold.pair.collider2].position();
-                let start = pos1 * pt.local_p1;
-                let end = pos2 * pt.local_p2;
-                let n = pos1 * manifold.local_n1;
+                let pos1 = colliders[pair.pair.collider1].position();
+                let pos2 = colliders[pair.pair.collider2].position();
+                let start =
+                    pos1 * manifold.subshape_pos1.unwrap_or(Isometry::identity()) * pt.local_p1;
+                let end =
+                    pos2 * manifold.subshape_pos2.unwrap_or(Isometry::identity()) * pt.local_p2;
+                let n = pos1
+                    * manifold.subshape_pos1.unwrap_or(Isometry::identity())
+                    * manifold.local_n1;
 
                 use crate::engine::GraphicsWindow;
                 window.draw_graphics_line(&start, &(start + n * 0.4), &Point3::new(0.5, 1.0, 0.5));