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Fix constraints resolution with non-identity relative collider position.

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This commit is contained in:
Sébastien Crozet
2020-09-01 14:02:59 +02:00
parent 03b437f278
commit 9622827dc6
11 changed files with 118 additions and 75 deletions
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4
src/dynamics/solver/position_constraint.rs
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@@ -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 {