From 99b90fdd73b237e4dbe04fc8e305041f8e3acfd5 Mon Sep 17 00:00:00 2001
From: Joona Aalto <jondolf.dev@gmail.com>
Date: Fri, 10 Nov 2023 23:20:29 +0200
Subject: [PATCH] Take child collider rotation into account for contact normals

---
 src/plugins/solver.rs | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/plugins/solver.rs b/src/plugins/solver.rs
index ff21cf07..b3047712 100644
--- a/src/plugins/solver.rs
+++ b/src/plugins/solver.rs
@@ -183,6 +183,12 @@ fn penetration_constraints(
                         point2: collider2.transform.map_or(contact.point2, |t| {
                             t.rotation.rotate(contact.point2) + t.translation
                         }),
+                        normal1: collider1
+                            .transform
+                            .map_or(contact.normal1, |t| t.rotation.rotate(contact.normal1)),
+                        normal2: collider2
+                            .transform
+                            .map_or(contact.normal2, |t| t.rotation.rotate(contact.normal2)),
                         ..*contact
                     };