3 files changed, 12 insertions, 4 deletions
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index b449c44..a2b0331 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -184,7 +184,8 @@ fn nphysics_collider_from_rapier_collider(
     } else if let Some(ball) = shape.as_ball() {
         ShapeHandle::new(Ball::new(ball.radius - margin))
     } else if let Some(capsule) = shape.as_capsule() {
-        ShapeHandle::new(Capsule::new(capsule.half_height, capsule.radius))
+        pos *= capsule.transform_wrt_y();
+        ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius))
     } else if let Some(heightfield) = shape.as_heightfield() {
         ShapeHandle::new(heightfield.clone())
     } else {
diff --git a/src_testbed/objects/capsule.rs b/src_testbed/objects/capsule.rs
index f285b81..23160be 100644
--- a/src_testbed/objects/capsule.rs
+++ b/src_testbed/objects/capsule.rs
@@ -19,7 +19,7 @@ impl Capsule {
         window: &mut window::Window,
     ) -> Capsule {
         let r = capsule.radius;
-        let h = capsule.half_height * 2.0;
+        let h = capsule.half_height() * 2.0;
         #[cfg(feature = "dim2")]
         let node = window.add_planar_capsule(r, h);
         #[cfg(feature = "dim3")]
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 822ad08..7db3c4c 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -433,8 +433,15 @@ fn physx_collider_from_rapier_collider(
     } else if let Some(ball) = shape.as_ball() {
         ColliderDesc::Sphere(ball.radius)
     } else if let Some(capsule) = shape.as_capsule() {
-        let rot = UnitQuaternion::rotation_between(&Vector3::x(), &Vector3::y());
-        local_pose *= rot.unwrap_or(UnitQuaternion::identity());
+        let center = capsule.center();
+        let mut dir = capsule.segment.b - capsule.segment.a;
+
+        if dir.x < 0.0 {
+            dir = -dir;
+        }
+
+        let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir);
+        local_pose *= Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity());
         ColliderDesc::Capsule(capsule.radius, capsule.height())
     } else if let Some(trimesh) = shape.as_trimesh() {
         ColliderDesc::TriMesh {