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Contacts and PhysicsDirectBodyState3D #58880

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Apr 13, 2023
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Contacts and PhysicsDirectBodyState3D #58880

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7 changes: 7 additions & 0 deletions doc/classes/PhysicsDirectBodyState3D.xml
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Expand Up @@ -179,6 +179,13 @@
Returns the local shape index of the collision.
</description>
</method>
<method name="get_contact_local_velocity_at_position" qualifiers="const">
<return type="Vector3" />
<param index="0" name="contact_idx" type="int" />
<description>
Returns the linear velocity vector at the body's contact point.
</description>
</method>
<method name="get_space_state">
<return type="PhysicsDirectSpaceState3D" />
<description>
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6 changes: 6 additions & 0 deletions doc/classes/PhysicsDirectBodyState3DExtension.xml
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Expand Up @@ -154,6 +154,12 @@
<description>
</description>
</method>
<method name="_get_contact_local_velocity_at_position" qualifiers="virtual const">
<return type="Vector3" />
<param index="0" name="contact_idx" type="int" />
<description>
</description>
</method>
<method name="_get_inverse_inertia" qualifiers="virtual const">
<return type="Vector3" />
<description>
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1 change: 1 addition & 0 deletions servers/extensions/physics_server_3d_extension.cpp
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Expand Up @@ -102,6 +102,7 @@ void PhysicsDirectBodyState3DExtension::_bind_methods() {
GDVIRTUAL_BIND(_get_contact_local_normal, "contact_idx");
GDVIRTUAL_BIND(_get_contact_impulse, "contact_idx");
GDVIRTUAL_BIND(_get_contact_local_shape, "contact_idx");
GDVIRTUAL_BIND(_get_contact_local_velocity_at_position, "contact_idx");
GDVIRTUAL_BIND(_get_contact_collider, "contact_idx");
GDVIRTUAL_BIND(_get_contact_collider_position, "contact_idx");
GDVIRTUAL_BIND(_get_contact_collider_id, "contact_idx");
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1 change: 1 addition & 0 deletions servers/extensions/physics_server_3d_extension.h
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Expand Up @@ -96,6 +96,7 @@ class PhysicsDirectBodyState3DExtension : public PhysicsDirectBodyState3D {
EXBIND1RC(Vector3, get_contact_local_normal, int)
EXBIND1RC(Vector3, get_contact_impulse, int)
EXBIND1RC(int, get_contact_local_shape, int)
EXBIND1RC(Vector3, get_contact_local_velocity_at_position, int)
EXBIND1RC(RID, get_contact_collider, int)
EXBIND1RC(Vector3, get_contact_collider_position, int)
EXBIND1RC(ObjectID, get_contact_collider_id, int)
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6 changes: 4 additions & 2 deletions servers/physics_3d/godot_body_3d.h
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Expand Up @@ -119,6 +119,7 @@ class GodotBody3D : public GodotCollisionObject3D {
struct Contact {
Vector3 local_pos;
Vector3 local_normal;
Vector3 local_velocity_at_pos;
real_t depth = 0.0;
int local_shape = 0;
Vector3 collider_pos;
Expand Down Expand Up @@ -184,7 +185,7 @@ class GodotBody3D : public GodotCollisionObject3D {
_FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }

_FORCE_INLINE_ bool can_report_contacts() const { return !contacts.is_empty(); }
_FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse);
_FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_local_velocity_at_pos, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse);

_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
_FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
Expand Down Expand Up @@ -348,7 +349,7 @@ class GodotBody3D : public GodotCollisionObject3D {

//add contact inline

void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse) {
void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_local_velocity_at_pos, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse) {
int c_max = contacts.size();

if (c_max == 0) {
Expand Down Expand Up @@ -381,6 +382,7 @@ void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local

c[idx].local_pos = p_local_pos;
c[idx].local_normal = p_local_normal;
c[idx].local_velocity_at_pos = p_local_velocity_at_pos;
c[idx].depth = p_depth;
c[idx].local_shape = p_local_shape;
c[idx].collider_pos = p_collider_pos;
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5 changes: 5 additions & 0 deletions servers/physics_3d/godot_body_direct_state_3d.cpp
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Expand Up @@ -193,6 +193,11 @@ Vector3 GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) co
return body->contacts[p_contact_idx].impulse;
}

Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_velocity_at_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].local_velocity_at_pos;
}

int GodotPhysicsDirectBodyState3D::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;
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1 change: 1 addition & 0 deletions servers/physics_3d/godot_body_direct_state_3d.h
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Expand Up @@ -91,6 +91,7 @@ class GodotPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D {
virtual Vector3 get_contact_local_normal(int p_contact_idx) const override;
virtual Vector3 get_contact_impulse(int p_contact_idx) const override;
virtual int get_contact_local_shape(int p_contact_idx) const override;
virtual Vector3 get_contact_local_velocity_at_position(int p_contact_idx) const override;

virtual RID get_contact_collider(int p_contact_idx) const override;
virtual Vector3 get_contact_collider_position(int p_contact_idx) const override;
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20 changes: 12 additions & 8 deletions servers/physics_3d/godot_body_pair_3d.cpp
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Expand Up @@ -407,14 +407,18 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {

// contact query reporting...

if (A->can_report_contacts()) {
if (A->can_report_contacts() || B->can_report_contacts()) {
Vector3 crB = B->get_angular_velocity().cross(c.rB) + B->get_linear_velocity();
Vector3 crA = A->get_angular_velocity().cross(c.rA) + A->get_linear_velocity();
A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crA, c.acc_impulse);
}
Vector3 wlB = global_B - offset_B;

if (B->can_report_contacts()) {
Vector3 crB = B->get_angular_velocity().cross(c.rB) + B->get_linear_velocity();
B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB, -c.acc_impulse);
if (A->can_report_contacts()) {
A->add_contact(global_A, -c.normal, depth, shape_A, crA, wlB, shape_B, B->get_instance_id(), B->get_self(), crB, c.acc_impulse);
}

if (B->can_report_contacts()) {
B->add_contact(wlB, c.normal, depth, shape_B, crB, global_A, shape_A, A->get_instance_id(), A->get_self(), crA, -c.acc_impulse);
}
}

if (report_contacts_only) {
Expand Down Expand Up @@ -797,9 +801,9 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {

if (body->can_report_contacts()) {
Vector3 crA = body->get_angular_velocity().cross(c.rA) + body->get_linear_velocity();
body->add_contact(global_A, -c.normal, depth, body_shape, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crA, c.acc_impulse);
Vector3 crB = soft_body->get_node_velocity(c.index_B);
body->add_contact(global_A, -c.normal, depth, body_shape, crA, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crB, c.acc_impulse);
}

if (report_contacts_only) {
collided = false;
continue;
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1 change: 1 addition & 0 deletions servers/physics_server_3d.cpp
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Expand Up @@ -139,6 +139,7 @@ void PhysicsDirectBodyState3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_contact_local_normal", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_normal);
ClassDB::bind_method(D_METHOD("get_contact_impulse", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_impulse);
ClassDB::bind_method(D_METHOD("get_contact_local_shape", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_shape);
ClassDB::bind_method(D_METHOD("get_contact_local_velocity_at_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_velocity_at_position);
ClassDB::bind_method(D_METHOD("get_contact_collider", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider);
ClassDB::bind_method(D_METHOD("get_contact_collider_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_position);
ClassDB::bind_method(D_METHOD("get_contact_collider_id", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_id);
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1 change: 1 addition & 0 deletions servers/physics_server_3d.h
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Expand Up @@ -97,6 +97,7 @@ class PhysicsDirectBodyState3D : public Object {
virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0;
virtual Vector3 get_contact_impulse(int p_contact_idx) const = 0;
virtual int get_contact_local_shape(int p_contact_idx) const = 0;
virtual Vector3 get_contact_local_velocity_at_position(int p_contact_idx) const = 0;

virtual RID get_contact_collider(int p_contact_idx) const = 0;
virtual Vector3 get_contact_collider_position(int p_contact_idx) const = 0;
Expand Down