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Code Releases Wiki Activity

Expose PhysicsDirectBodyState.get_contact_impulse

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This commit is contained in:
Lee Pugh
2018-01-12 15:27:45 -06:00
parent 702e28f265
commit ac26bf0fb4
7 changed files with 26 additions and 4 deletions
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9
doc/classes/PhysicsDirectBodyState.xml
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@@ -91,6 +91,15 @@
<description> <description>
</description> </description>
</method> </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"> <method name="get_contact_local_normal" qualifiers="const">
<return type="Vector3"> <return type="Vector3">
</return> </return>

7
modules/bullet/rigid_body_bullet.cpp
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@@ -146,6 +146,10 @@ Vector3 BulletPhysicsDirectBodyState::get_contact_local_normal(int p_contact_idx
return body->collisions[p_contact_idx].hitNormal; 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 { int BulletPhysicsDirectBodyState::get_contact_local_shape(int p_contact_idx) const {
return body->collisions[p_contact_idx].local_shape; return body->collisions[p_contact_idx].local_shape;
} }
@@ -388,7 +392,7 @@ void RigidBodyBullet::on_collision_checker_start() {
collisionsCount = 0; 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) { if (collisionsCount >= maxCollisionsDetection) {
return false; return false;
@@ -399,6 +403,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
cd.otherObject = p_otherObject; cd.otherObject = p_otherObject;
cd.hitWorldLocation = p_hitWorldLocation; cd.hitWorldLocation = p_hitWorldLocation;
cd.hitNormal = p_hitNormal; cd.hitNormal = p_hitNormal;
cd.appliedImpulse = p_appliedImpulse;
cd.other_object_shape = p_other_shape_index; cd.other_object_shape = p_other_shape_index;
cd.local_shape = p_local_shape_index; cd.local_shape = p_local_shape_index;

4
modules/bullet/rigid_body_bullet.h
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@@ -121,6 +121,7 @@ public:
virtual Vector3 get_contact_local_position(int p_contact_idx) const; virtual Vector3 get_contact_local_position(int p_contact_idx) const;
virtual Vector3 get_contact_local_normal(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 int get_contact_local_shape(int p_contact_idx) const;
virtual RID get_contact_collider(int p_contact_idx) const; virtual RID get_contact_collider(int p_contact_idx) const;
@@ -147,6 +148,7 @@ public:
Vector3 hitLocalLocation; Vector3 hitLocalLocation;
Vector3 hitWorldLocation; Vector3 hitWorldLocation;
Vector3 hitNormal; Vector3 hitNormal;
float appliedImpulse;
}; };
struct ForceIntegrationCallback { struct ForceIntegrationCallback {
@@ -245,7 +247,7 @@ public:
} }
bool can_add_collision() { return collisionsCount < maxCollisionsDetection; } 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(); void assert_no_constraints();

5
modules/bullet/space_bullet.cpp
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@@ -751,19 +751,20 @@ void SpaceBullet::check_body_collision() {
Vector3 collisionWorldPosition; Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition; Vector3 collisionLocalPosition;
Vector3 normalOnB; Vector3 normalOnB;
float appliedImpulse = pt.m_appliedImpulse;
B_TO_G(pt.m_normalWorldOnB, normalOnB); B_TO_G(pt.m_normalWorldOnB, normalOnB);
if (bodyA->can_add_collision()) { if (bodyA->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition); B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition);
/// pt.m_localPointB Doesn't report the exact point in local space /// pt.m_localPointB Doesn't report the exact point in local space
B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition); 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()) { if (bodyB->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition); B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition);
/// pt.m_localPointA Doesn't report the exact point in local space /// pt.m_localPointA Doesn't report the exact point in local space
B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition); 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 #ifdef DEBUG_ENABLED

3
servers/physics/body_sw.h
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@@ -418,6 +418,9 @@ public:
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].local_normal; 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 { virtual int get_contact_local_shape(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1); ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
return body->contacts[p_contact_idx].local_shape; return body->contacts[p_contact_idx].local_shape;

1
servers/physics_server.cpp
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@@ -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_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_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_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", "contact_idx"), &PhysicsDirectBodyState::get_contact_collider);
ClassDB::bind_method(D_METHOD("get_contact_collider_position", "contact_idx"), &PhysicsDirectBodyState::get_contact_collider_position); 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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@@ -74,6 +74,7 @@ public:
virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0; 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 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 int get_contact_local_shape(int p_contact_idx) const = 0;
virtual RID get_contact_collider(int p_contact_idx) const = 0; virtual RID get_contact_collider(int p_contact_idx) const = 0;