From 00da4aaa42cc921bbd8c469b45c5c1e304f46260 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 5 Jan 2021 15:34:48 +0100 Subject: Add compound shape support. --- src_testbed/testbed.rs | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) (limited to 'src_testbed/testbed.rs') diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index b1a529f..10b3a0a 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -17,7 +17,7 @@ use kiss3d::planar_camera::PlanarCamera; use kiss3d::post_processing::PostProcessingEffect; use kiss3d::text::Font; use kiss3d::window::{State, Window}; -use na::{self, Point2, Point3, Vector3}; +use na::{self, Isometry3, Point2, Point3, Vector3}; use rapier::dynamics::{ ActivationStatus, IntegrationParameters, JointSet, RigidBodyHandle, RigidBodySet, }; @@ -1525,9 +1525,13 @@ fn draw_contacts(window: &mut Window, nf: &NarrowPhase, colliders: &ColliderSet) }; let pos1 = colliders[pair.pair.collider1].position(); let pos2 = colliders[pair.pair.collider2].position(); - let start = pos1 * pt.local_p1; - let end = pos2 * pt.local_p2; - let n = pos1 * manifold.local_n1; + let start = + pos1 * manifold.subshape_pos1.unwrap_or(Isometry3::identity()) * pt.local_p1; + let end = + pos2 * manifold.subshape_pos2.unwrap_or(Isometry3::identity()) * pt.local_p2; + let n = pos1 + * manifold.subshape_pos1.unwrap_or(Isometry3::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)); -- cgit