diff --git a/doc/classes/PhysicsDirectBodyState3D.xml b/doc/classes/PhysicsDirectBodyState3D.xml
index b257cbc1edb..def9ca7a503 100644
--- a/doc/classes/PhysicsDirectBodyState3D.xml
+++ b/doc/classes/PhysicsDirectBodyState3D.xml
@@ -179,6 +179,13 @@
Returns the local shape index of the collision.
+
+
+
+
+ Returns the linear velocity vector at the body's contact point.
+
+
diff --git a/doc/classes/PhysicsDirectBodyState3DExtension.xml b/doc/classes/PhysicsDirectBodyState3DExtension.xml
index 6b0c50f6603..3220733d234 100644
--- a/doc/classes/PhysicsDirectBodyState3DExtension.xml
+++ b/doc/classes/PhysicsDirectBodyState3DExtension.xml
@@ -154,6 +154,12 @@
+
+
+
+
+
+
diff --git a/servers/extensions/physics_server_3d_extension.cpp b/servers/extensions/physics_server_3d_extension.cpp
index 997daaa9f2a..0937021c641 100644
--- a/servers/extensions/physics_server_3d_extension.cpp
+++ b/servers/extensions/physics_server_3d_extension.cpp
@@ -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");
diff --git a/servers/extensions/physics_server_3d_extension.h b/servers/extensions/physics_server_3d_extension.h
index a9d04b1f057..eb8b6272458 100644
--- a/servers/extensions/physics_server_3d_extension.h
+++ b/servers/extensions/physics_server_3d_extension.h
@@ -96,6 +96,7 @@ public:
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)
diff --git a/servers/physics_3d/godot_body_3d.h b/servers/physics_3d/godot_body_3d.h
index 51b360d7050..81b668122a6 100644
--- a/servers/physics_3d/godot_body_3d.h
+++ b/servers/physics_3d/godot_body_3d.h
@@ -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;
@@ -184,7 +185,7 @@ public:
_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); }
@@ -348,7 +349,7 @@ public:
//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) {
@@ -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;
diff --git a/servers/physics_3d/godot_body_direct_state_3d.cpp b/servers/physics_3d/godot_body_direct_state_3d.cpp
index 9f28f3809a5..0af746c68d9 100644
--- a/servers/physics_3d/godot_body_direct_state_3d.cpp
+++ b/servers/physics_3d/godot_body_direct_state_3d.cpp
@@ -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;
diff --git a/servers/physics_3d/godot_body_direct_state_3d.h b/servers/physics_3d/godot_body_direct_state_3d.h
index be2e851b4d2..8066050c9f5 100644
--- a/servers/physics_3d/godot_body_direct_state_3d.h
+++ b/servers/physics_3d/godot_body_direct_state_3d.h
@@ -91,6 +91,7 @@ public:
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;
diff --git a/servers/physics_3d/godot_body_pair_3d.cpp b/servers/physics_3d/godot_body_pair_3d.cpp
index 292563b6ab5..c467a583ba0 100644
--- a/servers/physics_3d/godot_body_pair_3d.cpp
+++ b/servers/physics_3d/godot_body_pair_3d.cpp
@@ -407,14 +407,18 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {
// contact query reporting...
- if (A->can_report_contacts()) {
- 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);
- }
-
- if (B->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();
- 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);
+ Vector3 crA = A->get_angular_velocity().cross(c.rA) + A->get_linear_velocity();
+ Vector3 wlB = global_B - offset_B;
+
+ 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) {
@@ -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;
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index ee749de1c63..34c364d9603 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -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);
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index 0275aee8188..33e9f8a7c9e 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -97,6 +97,7 @@ public:
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;