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Merge pull request #15643 from organicpencil/bullet_contact_impulse

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Expose PhysicsDirectBodyState.get_contact_impulse
This commit is contained in:
Rémi Verschelde
2018-07-26 15:36:37 +02:00
committed by GitHub
parent 96d37769d9 ac26bf0fb4
commit ef93fec789
7 changed files with 26 additions and 4 deletions
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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