Merge pull request #15643 from organicpencil/bullet_contact_impulse

Expose PhysicsDirectBodyState.get_contact_impulse

3 files changed, 12 insertions, 4 deletions

diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 52453eae17..81a62edba6 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -158,6 +158,10 @@ Vector3 BulletPhysicsDirectBodyState::get_contact_local_normal(int p_contact_idx
 	return body->collisions[p_contact_idx].hitNormal;
 }
 
+float BulletPhysicsDirectBodyState::get_contact_impulse(int p_contact_idx) const {
+	return body->collisions[p_contact_idx].appliedImpulse;
+}
+
 int BulletPhysicsDirectBodyState::get_contact_local_shape(int p_contact_idx) const {
 	return body->collisions[p_contact_idx].local_shape;
 }
@@ -407,7 +411,7 @@ void RigidBodyBullet::on_collision_checker_start() {
 	collisionsCount = 0;
 }
 
-bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, int p_other_shape_index, int p_local_shape_index) {
+bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) {
 
 	if (collisionsCount >= maxCollisionsDetection) {
 		return false;
@@ -418,6 +422,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
 	cd.otherObject = p_otherObject;
 	cd.hitWorldLocation = p_hitWorldLocation;
 	cd.hitNormal = p_hitNormal;
+	cd.appliedImpulse = p_appliedImpulse;
 	cd.other_object_shape = p_other_shape_index;
 	cd.local_shape = p_local_shape_index;
 
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 7dbb5cf870..35af3b90d8 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -124,6 +124,7 @@ public:
 
 	virtual Vector3 get_contact_local_position(int p_contact_idx) const;
 	virtual Vector3 get_contact_local_normal(int p_contact_idx) const;
+	virtual float get_contact_impulse(int p_contact_idx) const;
 	virtual int get_contact_local_shape(int p_contact_idx) const;
 
 	virtual RID get_contact_collider(int p_contact_idx) const;
@@ -150,6 +151,7 @@ public:
 		Vector3 hitLocalLocation;
 		Vector3 hitWorldLocation;
 		Vector3 hitNormal;
+		float appliedImpulse;
 	};
 
 	struct ForceIntegrationCallback {
@@ -252,7 +254,7 @@ public:
 	}
 
 	bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
-	bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, int p_other_shape_index, int p_local_shape_index);
+	bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
 
 	void assert_no_constraints();
 
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index 1ef631c916..8454bea4eb 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -795,19 +795,20 @@ void SpaceBullet::check_body_collision() {
 				Vector3 collisionWorldPosition;
 				Vector3 collisionLocalPosition;
 				Vector3 normalOnB;
+				float appliedImpulse = pt.m_appliedImpulse;
 				B_TO_G(pt.m_normalWorldOnB, normalOnB);
 
 				if (bodyA->can_add_collision()) {
 					B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition);
 					/// pt.m_localPointB Doesn't report the exact point in local space
 					B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition);
-					bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, pt.m_index1, pt.m_index0);
+					bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, appliedImpulse, pt.m_index1, pt.m_index0);
 				}
 				if (bodyB->can_add_collision()) {
 					B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition);
 					/// pt.m_localPointA Doesn't report the exact point in local space
 					B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition);
-					bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, pt.m_index0, pt.m_index1);
+					bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, appliedImpulse * -1, pt.m_index0, pt.m_index1);
 				}
 
 #ifdef DEBUG_ENABLED