Shape on composite shape contact fix (#388)

dog-molecule · web-flow · commit 9db68641adf6 · 2025-10-29T20:05:02.000+01:00
diff --git a/src/query/contact/contact_composite_shape_shape.rs b/src/query/contact/contact_composite_shape_shape.rs
@@ -55,7 +55,7 @@ where
     G1: ?Sized + CompositeShape,
 {
     CompositeShapeRef(g1)
-        .contact_with_shape(dispatcher, &pose12.inverse(), g2, prediction)
+        .contact_with_shape(dispatcher, pose12, g2, prediction)
         .map(|c| c.1)
 }
 

Original file line number	Diff line number	Diff line change
`@@ -55,7 +55,7 @@ where`
`55`	`55`	`G1: ?Sized + CompositeShape,`
`56`	`56`	`{`
`57`	`57`	`CompositeShapeRef(g1)`
`58`		`- .contact_with_shape(dispatcher, &pose12.inverse(), g2, prediction)`
	`58`	`+ .contact_with_shape(dispatcher, pose12, g2, prediction)`
`59`	`59`	`.map(\|c\| c.1)`
`60`	`60`	`}`
`61`	`61`