PhysicsDirectBodyState2D: add get_contact_local_velocity_at_position

doc/classes/PhysicsDirectBodyState2D.xml

@@ -141,7 +141,7 @@
 			<return type="Vector2" />
 			<param index="0" name="contact_idx" type="int" />
 			<description>
-				Returns the linear velocity vector at the collider's contact point.
+				Returns the velocity vector at the collider's contact point.
 			</description>
 		</method>
 		<method name="get_contact_count" qualifiers="const">
@@ -179,6 +179,13 @@
 				Returns the local shape index of the collision.
 			</description>
 		</method>
+		<method name="get_contact_local_velocity_at_position" qualifiers="const">
+			<return type="Vector2" />
+			<param index="0" name="contact_idx" type="int" />
+			<description>
+				Returns the velocity vector at the body's contact point.
+			</description>
+		</method>
 		<method name="get_space_state">
 			<return type="PhysicsDirectSpaceState2D" />
 			<description>

doc/classes/PhysicsDirectBodyState2DExtension.xml

@@ -154,6 +154,12 @@
 			<description>
 			</description>
 		</method>
+		<method name="_get_contact_local_velocity_at_position" qualifiers="virtual const">
+			<return type="Vector2" />
+			<param index="0" name="contact_idx" type="int" />
+			<description>
+			</description>
+		</method>
 		<method name="_get_inverse_inertia" qualifiers="virtual const">
 			<return type="float" />
 			<description>

servers/extensions/physics_server_2d_extension.cpp

@@ -97,6 +97,7 @@ void PhysicsDirectBodyState2DExtension::_bind_methods() {
 	GDVIRTUAL_BIND(_get_contact_local_position, "contact_idx");
 	GDVIRTUAL_BIND(_get_contact_local_normal, "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");

servers/extensions/physics_server_2d_extension.h

@@ -93,6 +93,7 @@ public:
 
 	EXBIND1RC(Vector2, get_contact_local_position, int)
 	EXBIND1RC(Vector2, get_contact_local_normal, int)
+	EXBIND1RC(Vector2, get_contact_local_velocity_at_position, int)
 	EXBIND1RC(int, get_contact_local_shape, int)
 	EXBIND1RC(RID, get_contact_collider, int)
 	EXBIND1RC(Vector2, get_contact_collider_position, int)

servers/physics_2d/godot_body_2d.h

@@ -125,6 +125,7 @@ class GodotBody2D : public GodotCollisionObject2D {
 	struct Contact {
 		Vector2 local_pos;
 		Vector2 local_normal;
+		Vector2 local_velocity_at_pos;
 		real_t depth = 0.0;
 		int local_shape = 0;
 		Vector2 collider_pos;
@@ -191,7 +192,7 @@ 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 Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &p_impulse);
+	_FORCE_INLINE_ void add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_local_velocity_at_pos, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &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); }
@@ -341,7 +342,7 @@ public:
 
 //add contact inline
 
-void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &p_impulse) {
+void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_local_velocity_at_pos, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &p_impulse) {
 	int c_max = contacts.size();
 
 	if (c_max == 0) {
@@ -374,6 +375,7 @@ void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &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;

servers/physics_2d/godot_body_direct_state_2d.cpp

@@ -186,6 +186,11 @@ int GodotPhysicsDirectBodyState2D::get_contact_local_shape(int p_contact_idx) co
 	return body->contacts[p_contact_idx].local_shape;
 }
 
+Vector2 GodotPhysicsDirectBodyState2D::get_contact_local_velocity_at_position(int p_contact_idx) const {
+	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
+	return body->contacts[p_contact_idx].local_velocity_at_pos;
+}
+
 RID GodotPhysicsDirectBodyState2D::get_contact_collider(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
 	return body->contacts[p_contact_idx].collider;

servers/physics_2d/godot_body_direct_state_2d.h

@@ -87,6 +87,7 @@ public:
 	virtual Vector2 get_contact_local_position(int p_contact_idx) const override;
 	virtual Vector2 get_contact_local_normal(int p_contact_idx) const override;
 	virtual int get_contact_local_shape(int p_contact_idx) const override;
+	virtual Vector2 get_contact_local_velocity_at_position(int p_contact_idx) const override;
 
 	virtual RID get_contact_collider(int p_contact_idx) const override;
 	virtual Vector2 get_contact_collider_position(int p_contact_idx) const override;

servers/physics_2d/godot_body_pair_2d.cpp

@@ -455,14 +455,15 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
 
 		c.acc_impulse -= P;
 
-		if (A->can_report_contacts()) {
-			Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
-			A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity(), c.acc_impulse);
-		}
-
-		if (B->can_report_contacts()) {
-			Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
-			B->add_contact(global_B + offset_A, c.normal, depth, shape_B, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity(), c.acc_impulse);
+		if (A->can_report_contacts() || B->can_report_contacts()) {
+			Vector2 crB = Vector2(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x) + B->get_linear_velocity();
+			Vector2 crA = Vector2(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x) + A->get_linear_velocity();
+			if (A->can_report_contacts()) {
+				A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, crA, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB, c.acc_impulse);
+			}
+			if (B->can_report_contacts()) {
+				B->add_contact(global_B + offset_A, c.normal, depth, shape_B, crB, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA, c.acc_impulse);
+			}
 		}
 
 		if (report_contacts_only) {

servers/physics_server_2d.cpp

@@ -120,6 +120,7 @@ void PhysicsDirectBodyState2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_contact_local_position", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_local_position);
 	ClassDB::bind_method(D_METHOD("get_contact_local_normal", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_local_normal);
 	ClassDB::bind_method(D_METHOD("get_contact_local_shape", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_local_shape);
+	ClassDB::bind_method(D_METHOD("get_contact_local_velocity_at_position", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_local_velocity_at_position);
 	ClassDB::bind_method(D_METHOD("get_contact_collider", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_collider);
 	ClassDB::bind_method(D_METHOD("get_contact_collider_position", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_collider_position);
 	ClassDB::bind_method(D_METHOD("get_contact_collider_id", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_collider_id);

servers/physics_server_2d.h

@@ -92,6 +92,7 @@ public:
 	virtual Vector2 get_contact_local_position(int p_contact_idx) const = 0;
 	virtual Vector2 get_contact_local_normal(int p_contact_idx) const = 0;
 	virtual int get_contact_local_shape(int p_contact_idx) const = 0;
+	virtual Vector2 get_contact_local_velocity_at_position(int p_contact_idx) const = 0;
 
 	virtual RID get_contact_collider(int p_contact_idx) const = 0;
 	virtual Vector2 get_contact_collider_position(int p_contact_idx) const = 0;