diff options
Diffstat (limited to 'modules/bullet')
| -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 |
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 |