From 8f330b2a00610e5b68c1acd9208120e8f750c7aa Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Thu, 21 Jan 2021 14:58:40 +0100
Subject: Rotation locking: apply filter only to the world inertia properties
 to fix the multi-collider case.

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

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

diff --git a/src/dynamics/solver/position_ground_constraint.rs b/src/dynamics/solver/position_ground_constraint.rs
index a8523f5..4ab07eb 100644
--- a/src/dynamics/solver/position_ground_constraint.rs
+++ b/src/dynamics/solver/position_ground_constraint.rs
@@ -63,8 +63,8 @@ impl PositionGroundConstraint {
                 local_p2,
                 n1,
                 dists,
-                im2: rb2.mass_properties.inv_mass,
-                ii2: rb2.world_inv_inertia_sqrt.squared(),
+                im2: rb2.effective_inv_mass,
+                ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
                 num_contacts: manifold_contacts.len() as u8,
                 erp: params.erp,
                 max_linear_correction: params.max_linear_correction,
-- 
cgit