maxmustermann/armory
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

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

Browse source 
Allow Multiple Contact Points Between Two Physics Objects
This commit is contained in:
Lubos Lenco 2019-01-03 21:06:31 +01:00 committed by GitHub
parent 0a0998bce2 b5e9152800
commit a34c72446e
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 25 additions and 21 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

46
Sources/armory/trait/physics/bullet/PhysicsWorld.hx
View file

@ -13,8 +13,9 @@ class ContactPair {
public var b:Int; public var b:Int;
public var posA:Vec4; public var posA:Vec4;
public var posB:Vec4; public var posB:Vec4;
public var nor:Vec4; public var normOnB:Vec4;
public var impulse:Float; public var impulse:Float;
public var distance:Float;
public function new(a:Int, b:Int) { public function new(a:Int, b:Int) {
this.a = a; this.a = a;
this.b = b; this.b = b;
@ -263,33 +264,36 @@ class PhysicsWorld extends Trait {
#if js #if js
var body0 = untyped bullet.Bt.Ammo.btRigidBody.prototype.upcast(contactManifold.getBody0()); var body0 = untyped bullet.Bt.Ammo.btRigidBody.prototype.upcast(contactManifold.getBody0());
var body1 = untyped bullet.Bt.Ammo.btRigidBody.prototype.upcast(contactManifold.getBody1()); var body1 = untyped bullet.Bt.Ammo.btRigidBody.prototype.upcast(contactManifold.getBody1());
var cp = new ContactPair(untyped body0.userIndex, untyped body1.userIndex);
#else #else
var body0:bullet.Bt.CollisionObject = contactManifold.getBody0(); var body0:bullet.Bt.CollisionObject = contactManifold.getBody0();
var body1:bullet.Bt.CollisionObject = contactManifold.getBody1(); var body1:bullet.Bt.CollisionObject = contactManifold.getBody1();
var cp = new ContactPair(body0.getUserIndex(), body1.getUserIndex());
#end #end
var numContacts = contactManifold.getNumContacts(); 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) { for (j in 0...numContacts) {
var pt:bullet.Bt.ManifoldPoint = contactManifold.getContactPoint(j); pt = contactManifold.getContactPoint(j);
if (pt.getDistance() < 0) { #if js
#if js posA = pt.get_m_positionWorldOnA();
var posA = pt.get_m_positionWorldOnA(); posB = pt.get_m_positionWorldOnB();
var posB = pt.get_m_positionWorldOnB(); nor = pt.get_m_normalWorldOnB();
var nor = pt.get_m_normalWorldOnB(); cp = new ContactPair(untyped body0.userIndex, untyped body1.userIndex);
#else #else
var posA = pt.m_positionWorldOnA; posA = pt.m_positionWorldOnA;
var posB = pt.m_positionWorldOnB; posB = pt.m_positionWorldOnB;
var nor = pt.m_normalWorldOnB; nor = pt.m_normalWorldOnB;
#end cp = new ContactPair(body0.getUserIndex(), body1.getUserIndex());
cp.posA = new Vec4(posA.x(), posA.y(), posA.z()); #end
cp.posB = new Vec4(posB.x(), posB.y(), posB.z()); cp.posA = new Vec4(posA.x(), posA.y(), posA.z());
cp.nor = new Vec4(nor.x(), nor.y(), nor.z()); cp.posB = new Vec4(posB.x(), posB.y(), posB.z());
cp.impulse = pt.getAppliedImpulse(); cp.normOnB = new Vec4(nor.x(), nor.y(), nor.z());
contacts.push(cp); cp.impulse = pt.getAppliedImpulse();
break; // TODO: only one contact point for now cp.distance = pt.getDistance();
} contacts.push(cp);
} }
} }
} }