diff options
| -rw-r--r-- | doc/classes/PhysicsDirectBodyState.xml | 9 | ||||
| -rw-r--r-- | modules/bullet/rigid_body_bullet.cpp | 7 | ||||
| -rw-r--r-- | modules/bullet/rigid_body_bullet.h | 4 | ||||
| -rw-r--r-- | modules/bullet/space_bullet.cpp | 5 | ||||
| -rw-r--r-- | servers/physics/body_sw.h | 3 | ||||
| -rw-r--r-- | servers/physics_server.cpp | 1 | ||||
| -rw-r--r-- | servers/physics_server.h | 1 |
7 files changed, 26 insertions, 4 deletions
diff --git a/doc/classes/PhysicsDirectBodyState.xml b/doc/classes/PhysicsDirectBodyState.xml index 486804f196..aa2970b000 100644 --- a/doc/classes/PhysicsDirectBodyState.xml +++ b/doc/classes/PhysicsDirectBodyState.xml @@ -91,6 +91,15 @@ <description> </description> </method> + <method name="get_contact_impulse" qualifiers="const"> + <return type="float"> + </return> + <argument index="0" name="contact_idx" type="int"> + </argument> + <description> + Impulse created by the contact. Only implemented for Bullet physics. + </description> + </method> <method name="get_contact_local_normal" qualifiers="const"> <return type="Vector3"> </return> diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index f2115a5d50..fd7f1ded09 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -146,6 +146,10 @@ 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; } @@ -388,7 +392,7 @@ 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; @@ -399,6 +403,7 @@ 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 eb9417e391..66275d5613 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -121,6 +121,7 @@ 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; @@ -147,6 +148,7 @@ public: Vector3 hitLocalLocation; Vector3 hitWorldLocation; Vector3 hitNormal; + float appliedImpulse; }; struct ForceIntegrationCallback { @@ -245,7 +247,7 @@ 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 d60d8ba0e2..dec8e66c71 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -751,19 +751,20 @@ 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 diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h index e8ea5531e5..ff989ec5bb 100644 --- a/servers/physics/body_sw.h +++ b/servers/physics/body_sw.h @@ -418,6 +418,9 @@ public: ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); return body->contacts[p_contact_idx].local_normal; } + virtual float get_contact_impulse(int p_contact_idx) const { + return 0.0f; // Only implemented for bullet + } virtual int get_contact_local_shape(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1); return body->contacts[p_contact_idx].local_shape; diff --git a/servers/physics_server.cpp b/servers/physics_server.cpp index 9d4807fcf0..d5c687a194 100644 --- a/servers/physics_server.cpp +++ b/servers/physics_server.cpp @@ -103,6 +103,7 @@ void PhysicsDirectBodyState::_bind_methods() { ClassDB::bind_method(D_METHOD("get_contact_local_position", "contact_idx"), &PhysicsDirectBodyState::get_contact_local_position); ClassDB::bind_method(D_METHOD("get_contact_local_normal", "contact_idx"), &PhysicsDirectBodyState::get_contact_local_normal); + ClassDB::bind_method(D_METHOD("get_contact_impulse", "contact_idx"), &PhysicsDirectBodyState::get_contact_impulse); ClassDB::bind_method(D_METHOD("get_contact_local_shape", "contact_idx"), &PhysicsDirectBodyState::get_contact_local_shape); ClassDB::bind_method(D_METHOD("get_contact_collider", "contact_idx"), &PhysicsDirectBodyState::get_contact_collider); ClassDB::bind_method(D_METHOD("get_contact_collider_position", "contact_idx"), &PhysicsDirectBodyState::get_contact_collider_position); diff --git a/servers/physics_server.h b/servers/physics_server.h index 8b8b8f856d..b0f8bc2369 100644 --- a/servers/physics_server.h +++ b/servers/physics_server.h @@ -74,6 +74,7 @@ public: virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0; virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0; + virtual float get_contact_impulse(int p_contact_idx) const = 0; virtual int get_contact_local_shape(int p_contact_idx) const = 0; virtual RID get_contact_collider(int p_contact_idx) const = 0; 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