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distance and normal in collision callback for ammojs #12986

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Sep 15, 2022
Merged

distance and normal in collision callback for ammojs #12986

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25 changes: 23 additions & 2 deletions packages/dev/core/src/Physics/Plugins/ammoJSPlugin.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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;
};

Expand Down Expand Up @@ -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,
});
}
}
}
Expand Down
4 changes: 2 additions & 2 deletions packages/dev/core/src/Physics/Plugins/oimoJSPlugin.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
}
}
Expand Down
9 changes: 6 additions & 3 deletions packages/dev/core/src/Physics/physicsImpostor.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -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>;
}> = [];

Expand Down Expand Up @@ -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;
}
Expand All @@ -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);
});
}
};
Expand Down