Over-penetration bug

[OandO]

Hi, somewhere in my game a bug has been introduced that causes shapes to penetrate far too much into one another, to the extent that they are sometimes passing right through. It doesn't affect every shape though, and I'm having no luck tracking down the cause. Changing the masses of the bodies, changing gravity's acceleration and changing the number iterations all have no effect, and I am not forcibly setting the position, velocity, angle etc. of any of the bodies affected.

If it helps at all, here's a video to better illustrate the problem. The physics shapes are generated by the same code that produces the renderable shapes, and the character has no such problems colliding with other shapes. The ground body is static, obviously the other two rectangles and the bodies making up the character are not.

http://www.youtube.com/watch?v=BkM-zd1UxDw

[OandO]

Nevermind, I'm an idiot. I made a small mistake in the rotation matrix when drawing to the screen...

[slembcke]

Ah, that might do it.

Glad you found the issue, I wasn't really sure from looking at the video.