Merge pull request #86 from Jondolf/global-contact-position

src/collision.rs

@@ -24,8 +24,12 @@ pub struct Contact {
     /// Second entity in the contact.
     pub entity2: Entity,
     /// Contact point on the first entity in local coordinates.
-    pub point1: Vector,
+    pub local_point1: Vector,
     /// Contact point on the second entity in local coordinates.
+    pub local_point2: Vector,
+    /// Contact point on the first entity in global coordinates.
+    pub point1: Vector,
+    /// Contact point on the second entity in global coordinates.
     pub point2: Vector,
     /// Contact normal from contact point 1 to 2 in world coordinates.
     pub normal: Vector,
@@ -58,8 +62,10 @@ pub(crate) fn compute_contact(
         return Some(Contact {
             entity1,
             entity2,
-            point1: contact.point1.into(),
-            point2: contact.point2.into(),
+            local_point1: contact.point1.into(),
+            local_point2: contact.point2.into(),
+            point1: position1 + rotation1.rotate(contact.point1.into()),
+            point2: position2 + rotation2.rotate(contact.point2.into()),
             normal: rotation1.rotate(contact.normal1.into()),
             penetration: -contact.dist,
         });

src/constraints/penetration.rs

@@ -55,8 +55,8 @@ impl XpbdConstraint<2> for PenetrationConstraint {
 impl PenetrationConstraint {
     /// Creates a new [`PenetrationConstraint`] with the given bodies and contact data.
     pub fn new(body1: &RigidBodyQueryItem, body2: &RigidBodyQueryItem, contact: Contact) -> Self {
-        let local_r1 = contact.point1 - body1.center_of_mass.0;
-        let local_r2 = contact.point2 - body2.center_of_mass.0;
+        let local_r1 = contact.local_point1 - body1.center_of_mass.0;
+        let local_r2 = contact.local_point2 - body2.center_of_mass.0;
 
         let world_r1 = body1.rotation.rotate(local_r1);
         let world_r2 = body2.rotation.rotate(local_r2);