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Merge pull request #2766 from erwincoumans/master

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fix getContactPoint issue in case of swapped link indices, thanks to …
This commit is contained in:
erwincoumans
2020-04-23 15:05:03 -07:00
committed by GitHub
parent 5ac86c5f68 ba5f8db0cf
commit 3dbe5426bf
1 changed files with 12 additions and 3 deletions
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15
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7709,9 +7709,18 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
pt.m_linkIndexB = linkIndexB;
for (int j = 0; j < 3; j++)
{
pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j];
pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j];
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
if (swap)
{
pt.m_contactNormalOnBInWS[j] = -srcPt.m_normalWorldOnB[j];
pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnB()[j];
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnA()[j];
}
else
{
pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j];
pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j];
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
}
}
pt.m_normalForce = srcPt.getAppliedImpulse() / m_data->m_physicsDeltaTime;
pt.m_linearFrictionForce1 = srcPt.m_appliedImpulseLateral1 / m_data->m_physicsDeltaTime;