diff options
Diffstat (limited to 'src_testbed')
| -rw-r--r-- | src_testbed/nphysics_backend.rs | 4 | ||||
| -rw-r--r-- | src_testbed/physx_backend.rs | 4 |
2 files changed, 4 insertions, 4 deletions
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs index 43f3bf9..a2a9bfc 100644 --- a/src_testbed/nphysics_backend.rs +++ b/src_testbed/nphysics_backend.rs @@ -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()), diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs index 9ae7bb8..045e697 100644 --- a/src_testbed/physx_backend.rs +++ b/src_testbed/physx_backend.rs @@ -399,7 +399,7 @@ impl PhysxWorld { fn physx_collider_from_rapier_collider( collider: &Collider, ) -> Option<(ColliderDesc, Isometry3<f32>)> { - let mut local_pose = Isometry3::identity(); + let mut local_pose = *collider.position_wrt_parent(); let desc = match collider.shape() { Shape::Cuboid(cuboid) => ColliderDesc::Box( cuboid.half_extents.x, @@ -416,7 +416,7 @@ fn physx_collider_from_rapier_collider( } let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir); - local_pose = + local_pose *= Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity()); ColliderDesc::Capsule(capsule.radius, capsule.height()) } |