diff --git a/doc/classes/PhysicsDirectBodyState2D.xml b/doc/classes/PhysicsDirectBodyState2D.xml
index 0716d71bae8..aedd9373b14 100644
--- a/doc/classes/PhysicsDirectBodyState2D.xml
+++ b/doc/classes/PhysicsDirectBodyState2D.xml
@@ -141,7 +141,7 @@
- Returns the linear velocity vector at the collider's contact point.
+ Returns the velocity vector at the collider's contact point.
@@ -179,6 +179,13 @@
Returns the local shape index of the collision.
+
+
+
+
+ Returns the velocity vector at the body's contact point.
+
+
diff --git a/doc/classes/PhysicsDirectBodyState2DExtension.xml b/doc/classes/PhysicsDirectBodyState2DExtension.xml
index e94d59480ba..b6c0adb91de 100644
--- a/doc/classes/PhysicsDirectBodyState2DExtension.xml
+++ b/doc/classes/PhysicsDirectBodyState2DExtension.xml
@@ -154,6 +154,12 @@
+
+
+
+
+
+
diff --git a/servers/extensions/physics_server_2d_extension.cpp b/servers/extensions/physics_server_2d_extension.cpp
index 2dbb59a3231..96f09a8b1cc 100644
--- a/servers/extensions/physics_server_2d_extension.cpp
+++ b/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");
diff --git a/servers/extensions/physics_server_2d_extension.h b/servers/extensions/physics_server_2d_extension.h
index 0008653f663..253a58d78e5 100644
--- a/servers/extensions/physics_server_2d_extension.h
+++ b/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)
diff --git a/servers/physics_2d/godot_body_2d.h b/servers/physics_2d/godot_body_2d.h
index 71dc8266048..529305dbb2f 100644
--- a/servers/physics_2d/godot_body_2d.h
+++ b/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;
diff --git a/servers/physics_2d/godot_body_direct_state_2d.cpp b/servers/physics_2d/godot_body_direct_state_2d.cpp
index 2fa933ce170..b34c70831d3 100644
--- a/servers/physics_2d/godot_body_direct_state_2d.cpp
+++ b/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;
diff --git a/servers/physics_2d/godot_body_direct_state_2d.h b/servers/physics_2d/godot_body_direct_state_2d.h
index 545d52ad238..90b7c1d369e 100644
--- a/servers/physics_2d/godot_body_direct_state_2d.h
+++ b/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;
diff --git a/servers/physics_2d/godot_body_pair_2d.cpp b/servers/physics_2d/godot_body_pair_2d.cpp
index 40dbb4fcf42..fe617ac965e 100644
--- a/servers/physics_2d/godot_body_pair_2d.cpp
+++ b/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) {
diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp
index fb5092e4981..edd178761af 100644
--- a/servers/physics_server_2d.cpp
+++ b/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);
diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h
index 56ec94ba9fb..f1f6e843215 100644
--- a/servers/physics_server_2d.h
+++ b/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;