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Merge pull request #1057 from katharostech/objects-multiple-contacts 

Allow Multiple Contact Points Between Two Physics Objects
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Lubos Lenco 2019-01-03 21:06:31 +01:00 committed by GitHub
parent 0a0998bce2 b5e9152800
commit a34c72446e
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1 changed files with 25 additions and 21 deletions
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46
Sources/armory/trait/physics/bullet/PhysicsWorld.hx
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@ -13,8 +13,9 @@ class ContactPair {
public var b:Int;
public var posA:Vec4;
public var posB:Vec4;
public var nor:Vec4;
public var normOnB:Vec4;
public var impulse:Float;
public var distance:Float;
public function new(a:Int, b:Int) {
this.a = a;
this.b = b;
@ -263,33 +264,36 @@ class PhysicsWorld extends Trait {
#if js
var body0 = untyped bullet.Bt.Ammo.btRigidBody.prototype.upcast(contactManifold.getBody0());
var body1 = untyped bullet.Bt.Ammo.btRigidBody.prototype.upcast(contactManifold.getBody1());
var cp = new ContactPair(untyped body0.userIndex, untyped body1.userIndex);
#else
var body0:bullet.Bt.CollisionObject = contactManifold.getBody0();
var body1:bullet.Bt.CollisionObject = contactManifold.getBody1();
var cp = new ContactPair(body0.getUserIndex(), body1.getUserIndex());
#end
var numContacts = contactManifold.getNumContacts();
var pt:bullet.Bt.ManifoldPoint = null;
var posA:bullet.Bt.Vector3 = null;
var posB:bullet.Bt.Vector3 = null;
var nor:bullet.Bt.Vector3 = null;
var cp:ContactPair = null;
for (j in 0...numContacts) {
var pt:bullet.Bt.ManifoldPoint = contactManifold.getContactPoint(j);
if (pt.getDistance() < 0) {
#if js
var posA = pt.get_m_positionWorldOnA();
var posB = pt.get_m_positionWorldOnB();
var nor = pt.get_m_normalWorldOnB();
#else
var posA = pt.m_positionWorldOnA;
var posB = pt.m_positionWorldOnB;
var nor = pt.m_normalWorldOnB;
#end
cp.posA = new Vec4(posA.x(), posA.y(), posA.z());
cp.posB = new Vec4(posB.x(), posB.y(), posB.z());
cp.nor = new Vec4(nor.x(), nor.y(), nor.z());
cp.impulse = pt.getAppliedImpulse();
contacts.push(cp);
break; // TODO: only one contact point for now
}
pt = contactManifold.getContactPoint(j);
#if js
posA = pt.get_m_positionWorldOnA();
posB = pt.get_m_positionWorldOnB();
nor = pt.get_m_normalWorldOnB();
cp = new ContactPair(untyped body0.userIndex, untyped body1.userIndex);
#else
posA = pt.m_positionWorldOnA;
posB = pt.m_positionWorldOnB;
nor = pt.m_normalWorldOnB;
cp = new ContactPair(body0.getUserIndex(), body1.getUserIndex());
#end
cp.posA = new Vec4(posA.x(), posA.y(), posA.z());
cp.posB = new Vec4(posB.x(), posB.y(), posB.z());
cp.normOnB = new Vec4(nor.x(), nor.y(), nor.z());
cp.impulse = pt.getAppliedImpulse();
cp.distance = pt.getDistance();
contacts.push(cp);
}
}
}