Merge pull request #527 from Aceeri/debug-render-com

Calculate world center of mass from local com in debug renderer
dimforge · Jan 24, 2024 · d84aa82 · d84aa82
2 parents 51f5bd6 + 2ac1898
commit d84aa82
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
@@ -264,7 +264,10 @@ impl DebugRenderPipeline {
                     [120.0 * coeff[0], 1.0 * coeff[1], 0.1 * coeff[2], coeff[3]],
                     [240.0 * coeff[0], 1.0 * coeff[1], 0.2 * coeff[2], coeff[3]],
                 ];
-                let com = rb.mprops.world_com;
+
+                let com = rb
+                    .position()
+                    .transform_point(&rb.mprops.local_mprops.local_com);
 
                 for k in 0..DIM {
                     let axis = basis.column(k) * self.style.rigid_body_axes_length;