fix: collision better

src/debug_render.rs

@@ -146,7 +146,7 @@ pub fn render_xpbd_bodies(backend: &mut BevyLinesRenderBackend,
           | xpbd::constraint::impl_::Constraint::Contact(contact) => {
             let b = bodies.get(body.handles[contact.idx]).unwrap();
             let t = b.translation();
-            vec![(color.contact, vec![*t, contact.contact_point])]
+            vec![(color.contact, vec![*t, t + contact.normal.into_inner()])]
           },
         })
         .for_each(|(color, positions)| {

src/xpbd/constraint/impl_.rs

@@ -157,20 +157,20 @@ pub mod contact {
   impl Constraint for Contact {
     fn apply(&mut self, step: &mut crate::xpbd::step::Step) {
       let b = &mut step.bodies[self.idx];
-      let vmax = 10.0; // m/s
+      let vmax = 0.1; // m/s
       let signed_dist = (b.next.p - self.contact_point).dot(&self.normal.into_inner());
       if signed_dist <= 0.0 {
         return;
       }
 
-      let depth = (b.next.p - self.contact_point).magnitude();
+      let depth = (b.next.p - self.contact_point).magnitude() * 0.9;
       let depth = depth.min(vmax * step.dt);
       let correction = self.normal.into_inner() * depth;
       b.next.p += correction;
     }
 
     fn priority(&self) -> isize {
-      -100
+      100
     }
 
     fn body_idxs(&self) -> Vec<usize> {