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fix getContactPoint issue in case of swapped link indices, thanks to Jonas Gehring for the report

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This commit is contained in:
Erwin Coumans
2020-04-23 14:04:53 -07:00
parent cbb459f5d4
commit ba5f8db0cf
1 changed files with 12 additions and 3 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+12 -3
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@@ -7708,9 +7708,18 @@ 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;