From 9622827dc6aadb391512b95381edb1efc26b1b90 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Tue, 1 Sep 2020 14:02:59 +0200
Subject: Fix constraints resolution with non-identity relative collider
 position.

---
 src/dynamics/solver/position_constraint.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/dynamics/solver/position_constraint.rs')

diff --git a/src/dynamics/solver/position_constraint.rs b/src/dynamics/solver/position_constraint.rs
index 608a342..69fcf57 100644
--- a/src/dynamics/solver/position_constraint.rs
+++ b/src/dynamics/solver/position_constraint.rs
@@ -104,8 +104,8 @@ impl PositionConstraint {
             let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS];
 
             for l in 0..manifold_points.len() {
-                local_p1[l] = manifold_points[l].local_p1 + shift1;
-                local_p2[l] = manifold_points[l].local_p2 + shift2;
+                local_p1[l] = manifold.delta1 * (manifold_points[l].local_p1 + shift1);
+                local_p2[l] = manifold.delta2 * (manifold_points[l].local_p2 + shift2);
             }
 
             let constraint = PositionConstraint {
-- 
cgit