Torque3D/Engine/source/T3D/components/physics/playerControllerComponent.cpp

//-----------------------------------------------------------------------------
// Copyright (c) 2012 GarageGames, LLC
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
//-----------------------------------------------------------------------------

#include "T3D/components/physics/playerControllerComponent.h"
#include "platform/platform.h"
#include "console/consoleTypes.h"
#include "core/util/safeDelete.h"
#include "core/resourceManager.h"
#include "core/stream/fileStream.h"
#include "console/consoleTypes.h"
#include "console/consoleObject.h"
#include "ts/tsShapeInstance.h"
#include "core/stream/bitStream.h"
#include "gfx/gfxTransformSaver.h"
#include "console/engineAPI.h"
#include "lighting/lightQuery.h"
#include "T3D/gameBase/gameConnection.h"
#include "collision/collision.h"
#include "T3D/physics/physicsPlayer.h"
#include "T3D/physics/physicsPlugin.h"
#include "T3D/components/collision/collisionInterfaces.h"
#include "T3D/trigger.h"
#include "T3D/components/collision/collisionTrigger.h"

// Movement constants
static F32 sVerticalStepDot = 0.173f;   // 80
static F32 sMinFaceDistance = 0.01f;
static F32 sTractionDistance = 0.04f;
static F32 sNormalElasticity = 0.01f;
static U32 sMoveRetryCount = 5;
static F32 sMaxImpulseVelocity = 200.0f;

//////////////////////////////////////////////////////////////////////////
// Callbacks
IMPLEMENT_CALLBACK(PlayerControllerComponent, updateMove, void, (PlayerControllerComponent* obj), (obj),
   "Called when the player updates it's movement, only called if object is set to callback in script(doUpdateMove).\n"
   "@param obj the Player object\n");

//////////////////////////////////////////////////////////////////////////
// Constructor/Destructor
//////////////////////////////////////////////////////////////////////////
PlayerControllerComponent::PlayerControllerComponent() : Component()
{
   addComponentField("isStatic", "If enabled, object will not simulate physics", "bool", "0", "");
   addComponentField("gravity", "The direction of gravity affecting this object, as a vector", "vector", "0 0 -9", "");
   addComponentField("drag", "The drag coefficient that constantly affects the object", "float", "0.7", "");
   addComponentField("mass", "The mass of the object", "float", "1", "");

   mBuoyancy = 0.f;
   mFriction = 0.3f;
   mElasticity = 0.4f;
   mMaxVelocity = 3000.f;
   mVelocity = VectorF::Zero;
   mContactTimer = 0;
   mSticky = false;
   
   mFalling = false;
   mSwimming = false;
   mInWater = false;

   mDelta.pos = mDelta.posVec = Point3F::Zero;
   mDelta.warpTicks = mDelta.warpCount = 0;
   mDelta.rot[0].identity(); 
   mDelta.rot[1].identity();
   mDelta.dt = 1;

   mUseDirectMoveInput = false;

   mFriendlyName = "Player Controller";
   mComponentType = "Physics";

   mDescription = getDescriptionText("A general-purpose physics player controller.");

   //mNetFlags.set(Ghostable | ScopeAlways);

   mMass = 9.0f;         // from ShapeBase
   mDrag = 1.0f;         // from ShapeBase

   maxStepHeight = 1.0f;
   moveSurfaceAngle = 60.0f;
   contactSurfaceAngle = 85.0f;

   fallingSpeedThreshold = -10.0f;

   horizMaxSpeed = 80.0f;
   horizMaxAccel = 100.0f;
   horizResistSpeed = 38.0f;
   horizResistFactor = 1.0f;

   upMaxSpeed = 80.0f;
   upMaxAccel = 100.0f;
   upResistSpeed = 38.0f;
   upResistFactor = 1.0f;

   // Air control
   airControl = 0.0f;

   //Grav mod
   mGravityMod = 1;

   mInputVelocity = Point3F(0, 0, 0);

   mPhysicsRep = nullptr;
   mPhysicsWorld = nullptr;

   mOwnerCollisionInterface = nullptr;
   mIntegrationCount = 0;
}

PlayerControllerComponent::~PlayerControllerComponent()
{
   for (S32 i = 0; i < mFields.size(); ++i)
   {
      ComponentField &field = mFields[i];
      SAFE_DELETE_ARRAY(field.mFieldDescription);
   }

   SAFE_DELETE_ARRAY(mDescription);
}

IMPLEMENT_CO_NETOBJECT_V1(PlayerControllerComponent);

//////////////////////////////////////////////////////////////////////////

bool PlayerControllerComponent::onAdd()
{
   if (!Parent::onAdd())
      return false;

   return true;
}

void PlayerControllerComponent::onRemove()
{
   Parent::onRemove();

   SAFE_DELETE(mPhysicsRep);
}

void PlayerControllerComponent::onComponentAdd()
{
   Parent::onComponentAdd();

   updatePhysics();
}

void PlayerControllerComponent::componentAddedToOwner(Component *comp)
{
   if (comp->getId() == getId())
      return;

   //test if this is a shape component!
   CollisionInterface *collisionInterface = dynamic_cast<CollisionInterface*>(comp);
   if (collisionInterface)
   {
      collisionInterface->onCollisionChanged.notify(this, &PlayerControllerComponent::updatePhysics);
      mOwnerCollisionInterface = collisionInterface;
      updatePhysics();
   }
}

void PlayerControllerComponent::componentRemovedFromOwner(Component *comp)
{
   if (comp->getId() == getId()) //?????????
      return;

   //test if this is a shape component!
   CollisionInterface *collisionInterface = dynamic_cast<CollisionInterface*>(comp);
   if (collisionInterface)
   {
      collisionInterface->onCollisionChanged.remove(this, &PlayerControllerComponent::updatePhysics);
      mOwnerCollisionInterface = NULL;
      updatePhysics();
   }
}

void PlayerControllerComponent::updatePhysics(PhysicsCollision *collision)
{
   if (!PHYSICSMGR)
      return;

   mPhysicsWorld = PHYSICSMGR->getWorld(isServerObject() ? "server" : "client");

   //first, clear the old physRep
   SAFE_DELETE(mPhysicsRep);

   mPhysicsRep = PHYSICSMGR->createPlayer();

   F32 runSurfaceCos = mCos(mDegToRad(moveSurfaceAngle));

   Point3F ownerBounds = mOwner->getObjBox().getExtents() * mOwner->getScale();

   mPhysicsRep->init("", ownerBounds, runSurfaceCos, maxStepHeight, mOwner, mPhysicsWorld);

   mPhysicsRep->setTransform(mOwner->getTransform());
}

void PlayerControllerComponent::initPersistFields()
{
   Parent::initPersistFields();

   addField("inputVelocity", TypePoint3F, Offset(mInputVelocity, PlayerControllerComponent), "");
   addField("useDirectMoveInput", TypePoint3F, Offset(mUseDirectMoveInput, PlayerControllerComponent), "");
}

U32 PlayerControllerComponent::packUpdate(NetConnection *con, U32 mask, BitStream *stream)
{
   U32 retMask = Parent::packUpdate(con, mask, stream);

   return retMask;
}

void PlayerControllerComponent::unpackUpdate(NetConnection *con, BitStream *stream)
{
   Parent::unpackUpdate(con, stream);
}

//
void PlayerControllerComponent::processTick()
{
   Parent::processTick();

   if (!isServerObject() || !isActive())
      return;

   // Warp to catch up to server
   if (mDelta.warpCount < mDelta.warpTicks)
   {
      mDelta.warpCount++;

      // Set new pos.
      mDelta.pos = mOwner->getPosition();
      mDelta.pos += mDelta.warpOffset;
      mDelta.rot[0] = mDelta.rot[1];
      mDelta.rot[1].interpolate(mDelta.warpRot[0], mDelta.warpRot[1], F32(mDelta.warpCount) / mDelta.warpTicks);
      
      MatrixF trans;
      mDelta.rot[1].setMatrix(&trans);
      trans.setPosition(mDelta.pos);

      mOwner->setTransform(trans);

      // Pos backstepping
      mDelta.posVec.x = -mDelta.warpOffset.x;
      mDelta.posVec.y = -mDelta.warpOffset.y;
      mDelta.posVec.z = -mDelta.warpOffset.z;
   }
   else
   {
      // Save current rigid state interpolation
      mDelta.posVec = mOwner->getPosition();
      mDelta.rot[0] = mOwner->getTransform();

      updateMove();
      updatePos(TickSec);

      // Wrap up interpolation info
      mDelta.pos = mOwner->getPosition();
      mDelta.posVec -= mOwner->getPosition();
      mDelta.rot[1]  = mOwner->getTransform();

      // Update container database
      setTransform(mOwner->getTransform());
      
      setMaskBits(VelocityMask);
      setMaskBits(PositionMask);
   }
}

void PlayerControllerComponent::interpolateTick(F32 dt)
{
}

void PlayerControllerComponent::ownerTransformSet(MatrixF *mat)
{
   if (mPhysicsRep)
      mPhysicsRep->setTransform(mOwner->getTransform());
}

void PlayerControllerComponent::setTransform(const MatrixF& mat)
{
   mOwner->setTransform(mat);

   setMaskBits(UpdateMask);
}

//
void PlayerControllerComponent::updateMove()
{
   if (!PHYSICSMGR)
      return;

   Move *move = &mOwner->lastMove;

   //If we're not set to use mUseDirectMoveInput, then we allow for an override in the form of mInputVelocity
   if (!mUseDirectMoveInput)
   {
      move->x = mInputVelocity.x;
      move->y = mInputVelocity.y;
      move->z = mInputVelocity.z;
   }

   // Is waterCoverage high enough to be 'swimming'?
   {
      bool swimming = mOwner->getContainerInfo().waterCoverage > 0.65f/* && canSwim()*/;

      if (swimming != mSwimming)
      {
         mSwimming = swimming;
      }
   }

   // Update current orientation
   bool doStandardMove = true;
   GameConnection* con = mOwner->getControllingClient();

   MatrixF zRot;
   zRot.set(EulerF(0.0f, 0.0f, mOwner->getRotation().asEulerF().z));

   // Desired move direction & speed
   VectorF moveVec;
   F32 moveSpeed = mInputVelocity.len();

   zRot.getColumn(0, &moveVec);
   moveVec *= move->x;
   VectorF tv;
   zRot.getColumn(1, &tv);
   moveVec += tv * move->y;

   // Acceleration due to gravity
   VectorF acc(mPhysicsWorld->getGravity() * mGravityMod * TickSec);

   // Determine ground contact normal. Only look for contacts if
   // we can move and aren't mounted.
   mContactInfo.contactNormal = VectorF::Zero;
   mContactInfo.jump = false;
   mContactInfo.run = false;

   bool jumpSurface = false, runSurface = false;
   if (!mOwner->isMounted())
      findContact(&mContactInfo.run, &mContactInfo.jump, &mContactInfo.contactNormal);
   if (mContactInfo.jump)
      mJumpSurfaceNormal = mContactInfo.contactNormal;

   // If we don't have a runSurface but we do have a contactNormal,
   // then we are standing on something that is too steep.
   // Deflect the force of gravity by the normal so we slide.
   // We could also try aligning it to the runSurface instead,
   // but this seems to work well.
   if (!mContactInfo.run && !mContactInfo.contactNormal.isZero())
      acc = (acc - 2 * mContactInfo.contactNormal * mDot(acc, mContactInfo.contactNormal));

   // Acceleration on run surface
   if (mContactInfo.run && !mSwimming)
   {
      mContactTimer = 0;

      VectorF pv = moveVec;

      // Adjust the player's requested dir. to be parallel
      // to the contact surface.
      F32 pvl = pv.len();

      // Convert to acceleration
      if (pvl)
         pv *= moveSpeed / pvl;
      VectorF runAcc = pv - (mVelocity + acc);
      F32 runSpeed = runAcc.len();

      // Clamp acceleration, player also accelerates faster when
      // in his hard landing recover state.
      F32 maxAcc;

      maxAcc = (horizMaxAccel / mMass) * TickSec;

      if (runSpeed > maxAcc)
         runAcc *= maxAcc / runSpeed;

      acc += runAcc;
   }
   else if (!mSwimming && airControl > 0.0f)
   {
      VectorF pv;
      pv = moveVec;
      F32 pvl = pv.len();

      if (pvl)
         pv *= moveSpeed / pvl;

      VectorF runAcc = pv - (mVelocity + acc);
      runAcc.z = 0;
      runAcc.x = runAcc.x * airControl;
      runAcc.y = runAcc.y * airControl;
      F32 runSpeed = runAcc.len();

      // We don't test for sprinting when performing air control
      F32 maxAcc = (horizMaxAccel / mMass) * TickSec * 0.3f;

      if (runSpeed > maxAcc)
         runAcc *= maxAcc / runSpeed;

      acc += runAcc;

      // There are no special air control animations 
      // so... increment this unless you really want to 
      // play the run anims in the air.
      mContactTimer++;
   }
   else if (mSwimming)
   {
      // Remove acc into contact surface (should only be gravity)
      // Clear out floating point acc errors, this will allow
      // the player to "rest" on the ground.
      F32 vd = -mDot(acc, mContactInfo.contactNormal);
      if (vd > 0.0f) 
      {
         VectorF dv = mContactInfo.contactNormal * (vd + 0.002f);
         acc += dv;
         if (acc.len() < 0.0001f)
            acc.set(0.0f, 0.0f, 0.0f);
      }

      // get the head pitch and add it to the moveVec
      // This more accurate swim vector calc comes from Matt Fairfax
      MatrixF xRot;
      xRot.set(EulerF(mOwner->getRotation().asEulerF().x, 0, 0));
      zRot.set(EulerF(0, 0, mOwner->getRotation().asEulerF().z));//reset prior uses
      MatrixF rot;
      rot.mul(zRot, xRot);
      rot.getColumn(0, &moveVec);

      moveVec *= move->x;
      rot.getColumn(1, &tv);//reset prior uses
      moveVec += tv * move->y;
      rot.getColumn(2, &tv);
      moveVec += tv * move->z;

      // Force a 0 move if there is no energy, and only drain
      // move energy if we're moving.
      VectorF swimVec = moveVec;

      // If we are swimming but close enough to the shore/ground
      // we can still have a surface-normal. In this case align the
      // velocity to the normal to make getting out of water easier.

      moveVec.normalize();
      F32 isSwimUp = mDot(moveVec, mContactInfo.contactNormal);

      if (!mContactInfo.contactNormal.isZero() && isSwimUp < 0.1f)
      {
         F32 pvl = swimVec.len();

         if (pvl)
         {
            VectorF nn;
            mCross(swimVec, VectorF(0.0f, 0.0f, 1.0f), &nn);
            nn *= 1.0f / pvl;
            VectorF cv = mContactInfo.contactNormal;
            cv -= nn * mDot(nn, cv);
            swimVec -= cv * mDot(swimVec, cv);
         }
      }

      F32 swimVecLen = swimVec.len();

      // Convert to acceleration.
      if (swimVecLen)
         swimVec *= moveSpeed / swimVecLen;
      VectorF swimAcc = swimVec - (mVelocity + acc);
      F32 swimSpeed = swimAcc.len();

      // Clamp acceleration.
      F32 maxAcc = (horizMaxAccel / mMass) * TickSec;
      if (swimSpeed > maxAcc)
         swimAcc *= maxAcc / swimSpeed;

      acc += swimAcc;

      mContactTimer++;
   }
   else
      mContactTimer++;

   // Add in force from physical zones...
   acc += (mOwner->getContainerInfo().appliedForce / mMass) * TickSec;

   // Adjust velocity with all the move & gravity acceleration
   // TG: I forgot why doesn't the TickSec multiply happen here...
   mVelocity += acc;

   // apply horizontal air resistance

   F32 hvel = mSqrt(mVelocity.x * mVelocity.x + mVelocity.y * mVelocity.y);

   if (hvel > horizResistSpeed)
   {
      F32 speedCap = hvel;
      if (speedCap > horizMaxSpeed)
         speedCap = horizMaxSpeed;
      speedCap -= horizResistFactor * TickSec * (speedCap - horizResistSpeed);
      F32 scale = speedCap / hvel;
      mVelocity.x *= scale;
      mVelocity.y *= scale;
   }
   if (mVelocity.z > upResistSpeed)
   {
      if (mVelocity.z > upMaxSpeed)
         mVelocity.z = upMaxSpeed;
      mVelocity.z -= upResistFactor * TickSec * (mVelocity.z - upResistSpeed);
   }

   // Apply drag
   mVelocity -= mVelocity * mDrag * TickSec;

   // Clamp very small velocity to zero
   if (mVelocity.isZero())
      mVelocity = Point3F::Zero;

   // If we are not touching anything and have sufficient -z vel,
   // we are falling.
   if (mContactInfo.run)
   {
      mFalling = false;
   }
   else
   {
      VectorF vel;
      mOwner->getWorldToObj().mulV(mVelocity, &vel);
      mFalling = vel.z < fallingSpeedThreshold;
   }

   // Enter/Leave Liquid
   if (!mInWater && mOwner->getContainerInfo().waterCoverage > 0.0f)
   {
      mInWater = true;
   }
   else if (mInWater && mOwner->getContainerInfo().waterCoverage <= 0.0f)
   {
      mInWater = false;
   }
}

void PlayerControllerComponent::updatePos(const F32 travelTime)
{
   if (!PHYSICSMGR)
      return;

   PROFILE_SCOPE(PlayerControllerComponent_UpdatePos);

   Point3F newPos;

   Collision col;
   dMemset(&col, 0, sizeof(col));

   static CollisionList collisionList;
   collisionList.clear();

   newPos = mPhysicsRep->move(mVelocity * travelTime, collisionList);

   bool haveCollisions = false;
   bool wasFalling = mFalling;
   if (collisionList.getCount() > 0)
   {
      mFalling = false;
      haveCollisions = true;

      //TODO: clean this up so the phys component doesn't have to tell the col interface to do this
      CollisionInterface* colInterface = mOwner->getComponent<CollisionInterface>();
      if (colInterface)
      {
         colInterface->handleCollisionList(collisionList, mVelocity);
      }
   }

   if (haveCollisions)
   {
      // Pick the collision that most closely matches our direction
      VectorF velNormal = mVelocity;
      velNormal.normalizeSafe();
      const Collision *collision = &collisionList[0];
      F32 collisionDot = mDot(velNormal, collision->normal);
      const Collision *cp = collision + 1;
      const Collision *ep = collision + collisionList.getCount();
      for (; cp != ep; cp++)
      {
         F32 dp = mDot(velNormal, cp->normal);
         if (dp < collisionDot)
         {
            collisionDot = dp;
            collision = cp;
         }
      }

      // Modify our velocity based on collisions
      for (U32 i = 0; i<collisionList.getCount(); ++i)
      {
         F32 bd = -mDot(mVelocity, collisionList[i].normal);
         VectorF dv = collisionList[i].normal * (bd + sNormalElasticity);
         mVelocity += dv;
      }

      // Store the last collision for use later on.  The handle collision
      // code only expects a single collision object.
      if (collisionList.getCount() > 0)
         col = collisionList[collisionList.getCount() - 1];

      // We'll handle any player-to-player collision, and the last collision
      // with other obejct types.
      for (U32 i = 0; i<collisionList.getCount(); ++i)
      {
         Collision& colCheck = collisionList[i];
         if (colCheck.object)
         {
            col = colCheck;
         }
      }
   }
   
   MatrixF newMat;
   newMat.setPosition(newPos);
   mPhysicsRep->setTransform(newMat);

   mOwner->setPosition(newPos);
}

//
void PlayerControllerComponent::setVelocity(const VectorF& vel)
{
   mVelocity = vel;

   // Clamp against the maximum velocity.
   if (mMaxVelocity > 0)
   {
      F32 len = mVelocity.magnitudeSafe();
      if (len > mMaxVelocity)
      {
         Point3F excess = mVelocity * (1.0f - (mMaxVelocity / len));
         mVelocity -= excess;
      }
   }

   setMaskBits(VelocityMask);
}

void PlayerControllerComponent::findContact(bool *run, bool *jump, VectorF *contactNormal)
{
   SceneObject *contactObject = NULL;

   Vector<SceneObject*> overlapObjects;

   mPhysicsRep->findContact(&contactObject, contactNormal, &overlapObjects);

   F32 vd = (*contactNormal).z;
   *run = vd > mCos(mDegToRad(moveSurfaceAngle));
   *jump = vd > mCos(mDegToRad(contactSurfaceAngle));

   // Check for triggers
   for (U32 i = 0; i < overlapObjects.size(); i++)
   {
      SceneObject *obj = overlapObjects[i];
      U32 objectMask = obj->getTypeMask();

      // Check: triggers, corpses and items...
      //
      if (objectMask & TriggerObjectType)
      {
         if (Trigger* pTrigger = dynamic_cast<Trigger*>(obj))
         {
            pTrigger->potentialEnterObject(mOwner);
         }
         else if (CollisionTrigger* pTriggerEx = dynamic_cast<CollisionTrigger*>(obj))
         {
            if (pTriggerEx)
               pTriggerEx->potentialEnterObject(mOwner);
         }
         //Add any other custom classes and the sort here that should be filtered against
         /*else if (TriggerExample* pTriggerEx = dynamic_cast<TriggerExample*>(obj))
         {
            if (pTriggerEx)
               pTriggerEx->potentialEnterObject(mOwner);
         }*/
      }
   }

   mContactInfo.contacted = contactObject != NULL;
   mContactInfo.contactObject = contactObject;

   if (mContactInfo.contacted)
      mContactInfo.contactNormal = *contactNormal;
}

void PlayerControllerComponent::applyImpulse(const Point3F &pos, const VectorF &vec)
{

   AssertFatal(!mIsNaN(vec), "Player::applyImpulse() - The vector is NaN!");

   // Players ignore angular velocity
   VectorF vel;
   vel.x = vec.x / getMass();
   vel.y = vec.y / getMass();
   vel.z = vec.z / getMass();

   // Make sure the impulse isn't too bigg
   F32 len = vel.magnitudeSafe();
   if (len > sMaxImpulseVelocity)
   {
      Point3F excess = vel * (1.0f - (sMaxImpulseVelocity / len));
      vel -= excess;
   }

   setVelocity(mVelocity + vel);
}

DefineEngineMethod(PlayerControllerComponent, applyImpulse, bool, (Point3F pos, VectorF vel), ,
   "@brief Apply an impulse to this object as defined by a world position and velocity vector.\n\n"

   "@param pos impulse world position\n"
   "@param vel impulse velocity (impulse force F = m * v)\n"
   "@return Always true\n"

   "@note Not all objects that derrive from GameBase have this defined.\n")
{
   object->applyImpulse(pos, vel);
   return true;
}

DefineEngineMethod(PlayerControllerComponent, getContactNormal, Point3F, (), ,
   "@brief Apply an impulse to this object as defined by a world position and velocity vector.\n\n"

   "@param pos impulse world position\n"
   "@param vel impulse velocity (impulse force F = m * v)\n"
   "@return Always true\n"

   "@note Not all objects that derrive from GameBase have this defined.\n")
{
   return object->getContactNormal();
}

DefineEngineMethod(PlayerControllerComponent, getContactObject, SceneObject*, (), ,
   "@brief Apply an impulse to this object as defined by a world position and velocity vector.\n\n"

   "@param pos impulse world position\n"
   "@param vel impulse velocity (impulse force F = m * v)\n"
   "@return Always true\n"

   "@note Not all objects that derrive from GameBase have this defined.\n")
{
   return object->getContactObject();
}

DefineEngineMethod(PlayerControllerComponent, isContacted, bool, (), ,
   "@brief Apply an impulse to this object as defined by a world position and velocity vector.\n\n"

   "@param pos impulse world position\n"
   "@param vel impulse velocity (impulse force F = m * v)\n"
   "@return Always true\n"

   "@note Not all objects that derrive from GameBase have this defined.\n")
{
   return object->isContacted();
}