From 0d28de4d5a4a380c26771f9d1e104f89761a3e92 Mon Sep 17 00:00:00 2001
From: Cedric Guillemet <cedric.guillemet@gmail.com>
Date: Thu, 15 Sep 2022 18:19:25 +0200
Subject: [PATCH] distance and normal in collision callback for ammojs

---
 .../core/src/Physics/Plugins/ammoJSPlugin.ts  | 25 +++++++++++++++++--
 .../core/src/Physics/Plugins/oimoJSPlugin.ts  |  4 +--
 .../dev/core/src/Physics/physicsImpostor.ts   |  9 ++++---
 3 files changed, 31 insertions(+), 7 deletions(-)

diff --git a/packages/dev/core/src/Physics/Plugins/ammoJSPlugin.ts b/packages/dev/core/src/Physics/Plugins/ammoJSPlugin.ts
index b623ee53705..bccac254c65 100644
--- a/packages/dev/core/src/Physics/Plugins/ammoJSPlugin.ts
+++ b/packages/dev/core/src/Physics/Plugins/ammoJSPlugin.ts
@@ -60,6 +60,9 @@ export class AmmoJSPlugin implements IPhysicsEnginePlugin {
     private _tmpAmmoVectorRCB: any;
     private _raycastResult: PhysicsRaycastResult;
     private _tmpContactPoint = new Vector3();
+    private _tmpContactNormal = new Vector3();
+    private _tmpContactDistance: number;
+    private _tmpContactImpulse: number;
     private _tmpVec3 = new Vector3();
 
     private static readonly _DISABLE_COLLISION_FLAG = 4;
@@ -97,9 +100,15 @@ export class AmmoJSPlugin implements IPhysicsEnginePlugin {
         this._tmpAmmoConcreteContactResultCallback.addSingleResult = (contactPoint: any) => {
             contactPoint = this.bjsAMMO.wrapPointer(contactPoint, this.bjsAMMO.btManifoldPoint);
             const worldPoint = contactPoint.getPositionWorldOnA();
+            const worldNormal = contactPoint.m_normalWorldOnB;
             this._tmpContactPoint.x = worldPoint.x();
             this._tmpContactPoint.y = worldPoint.y();
             this._tmpContactPoint.z = worldPoint.z();
+            this._tmpContactNormal.x = worldNormal.x();
+            this._tmpContactNormal.y = worldNormal.y();
+            this._tmpContactNormal.z = worldNormal.z();
+            this._tmpContactImpulse = contactPoint.getAppliedImpulse();
+            this._tmpContactDistance = contactPoint.getDistance();
             this._tmpContactCallbackResult = true;
         };
 
@@ -242,8 +251,20 @@ export class AmmoJSPlugin implements IPhysicsEnginePlugin {
                         for (const otherImpostor of collideCallback.otherImpostors) {
                             if (mainImpostor.physicsBody.isActive() || otherImpostor.physicsBody.isActive()) {
                                 if (this._isImpostorPairInContact(mainImpostor, otherImpostor)) {
-                                    mainImpostor.onCollide({ body: otherImpostor.physicsBody, point: this._tmpContactPoint });
-                                    otherImpostor.onCollide({ body: mainImpostor.physicsBody, point: this._tmpContactPoint });
+                                    mainImpostor.onCollide({
+                                        body: otherImpostor.physicsBody,
+                                        point: this._tmpContactPoint,
+                                        distance: this._tmpContactDistance,
+                                        impulse: this._tmpContactImpulse,
+                                        normal: this._tmpContactNormal,
+                                    });
+                                    otherImpostor.onCollide({
+                                        body: mainImpostor.physicsBody,
+                                        point: this._tmpContactPoint,
+                                        distance: this._tmpContactDistance,
+                                        impulse: this._tmpContactImpulse,
+                                        normal: this._tmpContactNormal,
+                                    });
                                 }
                             }
                         }
diff --git a/packages/dev/core/src/Physics/Plugins/oimoJSPlugin.ts b/packages/dev/core/src/Physics/Plugins/oimoJSPlugin.ts
index 72edbbc524a..a7edbfb70ad 100644
--- a/packages/dev/core/src/Physics/Plugins/oimoJSPlugin.ts
+++ b/packages/dev/core/src/Physics/Plugins/oimoJSPlugin.ts
@@ -75,8 +75,8 @@ export class OimoJSPlugin implements IPhysicsEnginePlugin {
                 continue;
             }
 
-            mainImpostor.onCollide({ body: collidingImpostor.physicsBody, point: null });
-            collidingImpostor.onCollide({ body: mainImpostor.physicsBody, point: null });
+            mainImpostor.onCollide({ body: collidingImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });
+            collidingImpostor.onCollide({ body: mainImpostor.physicsBody, point: null, distance: 0, impulse: 0, normal: null });
             contact = contact.next;
         }
     }
diff --git a/packages/dev/core/src/Physics/physicsImpostor.ts b/packages/dev/core/src/Physics/physicsImpostor.ts
index 76be1274ca1..728016bf0a5 100644
--- a/packages/dev/core/src/Physics/physicsImpostor.ts
+++ b/packages/dev/core/src/Physics/physicsImpostor.ts
@@ -225,7 +225,7 @@ export class PhysicsImpostor {
     private _onAfterPhysicsStepCallbacks = new Array<(impostor: PhysicsImpostor) => void>();
     /** @hidden */
     public _onPhysicsCollideCallbacks: Array<{
-        callback: (collider: PhysicsImpostor, collidedAgainst: PhysicsImpostor, point: Nullable<Vector3>) => void;
+        callback: (collider: PhysicsImpostor, collidedAgainst: PhysicsImpostor, point: Nullable<Vector3>, distance: number, impulse: number, normal: Nullable<Vector3>) => void;
         otherImpostors: Array<PhysicsImpostor>;
     }> = [];
 
@@ -913,8 +913,11 @@ export class PhysicsImpostor {
      * @param e
      * @param e.body
      * @param e.point
+     * @param e.distance
+     * @param e.impulse
+     * @param e.normal
      */
-    public onCollide = (e: { body: any; point: Nullable<Vector3> }) => {
+    public onCollide = (e: { body: any; point: Nullable<Vector3>; distance: number; impulse: number; normal: Nullable<Vector3> }) => {
         if (!this._onPhysicsCollideCallbacks.length && !this.onCollideEvent) {
             return;
         }
@@ -933,7 +936,7 @@ export class PhysicsImpostor {
                     return obj.otherImpostors.indexOf(<PhysicsImpostor>otherImpostor) !== -1;
                 })
                 .forEach((obj) => {
-                    obj.callback(this, <PhysicsImpostor>otherImpostor, e.point);
+                    obj.callback(this, <PhysicsImpostor>otherImpostor, e.point, e.distance, e.impulse, e.normal);
                 });
         }
     };