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Merge pull request #15643 from organicpencil/bullet_contact_impulse

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Expose PhysicsDirectBodyState.get_contact_impulse
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Rémi Verschelde 2018-07-26 15:36:37 +02:00 committed by GitHub
commit ef93fec789
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7 changed files with 26 additions and 4 deletions
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9
doc/classes/PhysicsDirectBodyState.xml
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@ -115,6 +115,15 @@
<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>

7
modules/bullet/rigid_body_bullet.cpp
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@ -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;

4
modules/bullet/rigid_body_bullet.h
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@ -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();

5
modules/bullet/space_bullet.cpp
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@ -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

3
servers/physics/body_sw.h
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@ -442,6 +442,9 @@ 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;

1
servers/physics_server.cpp
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@ -106,6 +106,7 @@ 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);

1
servers/physics_server.h
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@ -77,6 +77,7 @@ 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;