Fix physics contact point normal (#2512)

* fix: physics contact point normal

packages/core/src/physics/Collision.ts

@@ -29,8 +29,8 @@ export class Collision {
    */
   getContacts(outContacts: ContactPoint[]): number {
     const nativeCollision = this._nativeCollision;
-    const factor = nativeCollision.shape0Id < nativeCollision.shape1Id ? 1 : -1;
-
+    const smallerShapeId = Math.min(nativeCollision.shape0Id, nativeCollision.shape1Id);
+    const factor = this.shape.id === smallerShapeId ? 1 : -1;
     const nativeContactPoints = nativeCollision.getContacts();
     const length = nativeContactPoints.size();
     for (let i = 0; i < length; i++) {

packages/core/src/physics/ContactPoint.ts

@@ -6,7 +6,7 @@ import { Vector3 } from "@galacean/engine-math";
 export class ContactPoint {
   /** The position of the contact point between the shapes, in world space. */
   readonly position = new Vector3();
-  /** The normal of the contacting surfaces at the contact point. The normal direction points from the second shape to the first shape. */
+  /** The normal of the contacting surfaces at the contact point. The normal direction points from the other shape to the self shape. */
   readonly normal = new Vector3();
   /** The impulse applied at the contact point, in world space. Divide by the simulation time step to get a force value. */
   readonly impulse = new Vector3();

packages/physics-physx/src/PhysXPhysics.ts

@@ -90,9 +90,9 @@ export class PhysXPhysics implements IPhysics {
       }
 
       if (runtimeMode == PhysXRuntimeMode.JavaScript) {
-        script.src = `https://mdn.alipayobjects.com/rms/afts/file/A*CfV8RrDQk5oAAAAAAAAAAAAAARQnAQ/physx.release.downgrade.js`;
+        script.src = `https://mdn.alipayobjects.com/rms/afts/file/A*PXxaQrGL0XsAAAAAAAAAAAAAARQnAQ/physx.release.downgrade.js`;
       } else if (runtimeMode == PhysXRuntimeMode.WebAssembly) {
-        script.src = `https://mdn.alipayobjects.com/rms/afts/file/A*ZDDgR4ERdfwAAAAAAAAAAAAAARQnAQ/physx.release.js`;
+        script.src = `https://mdn.alipayobjects.com/rms/afts/file/A*0Qq8Rob3_5oAAAAAAAAAAAAAARQnAQ/physx.release.js`;
       }
     });
 

tests/src/core/physics/CharacterController.test.ts

@@ -283,6 +283,9 @@ describe("CharacterController", function () {
     capsuleColliderShape.contactOffset = 0.1;
     capsuleColliderShape.radius = 0.2;
     capsuleColliderShape.height = 1;
+
+    controller.enabled = true;
+
     expect(capsuleColliderShape.contactOffset).eq(0.1);
     expect(capsuleColliderShape.radius).eq(0.2);
     expect(capsuleColliderShape.height).eq(1);

tests/src/core/physics/Collision.test.ts

@@ -37,24 +37,122 @@ describe("Collision", function () {
     engine.sceneManager.activeScene.physics.gravity = new Vector3(0, -9.81, 0);
   });
 
-  it("collision info", function () {
+  it("collision shape1", function () {
     engine.sceneManager.activeScene.physics.gravity = new Vector3(0, 0, 0);
     const box1 = addBox(new Vector3(1, 1, 1), DynamicCollider, new Vector3(-3, 0, 0));
     const box2 = addBox(new Vector3(1, 1, 1), DynamicCollider, new Vector3(0, 0, 0));
 
+    box1.transform.rotate(45, 45, 0);
+
     return new Promise<void>((done) => {
       box1.addComponent(
         class extends Script {
           onCollisionEnter(other: Collision): void {
             expect(other.shape).toBe(box2.getComponent(DynamicCollider).shapes[0]);
-            expect(other.contactCount).toBe(4);
+            expect(other.contactCount).toBe(3);
             const contacts = [];
             other.getContacts(contacts);
-            expect(contacts.length).toBe(4);
-            expect(formatValue(contacts[0].position.x)).toBe(-0.27778);
-            expect(formatValue(contacts[0].separation)).toBe(-0.22222);
+            expect(contacts.length).toBe(3);
+            expect(formatValue(contacts[0].position.x)).closeTo(-0.5, 0.1);
+            expect(formatValue(contacts[0].separation)).toBe(-0.02022);
             expect(formatValue(contacts[0].normal.x)).toBe(-1);
-            expect(formatValue(contacts[0].impulse.x)).toBe(-2.93748);
+            expect(formatValue(contacts[0].impulse.x)).toBe(-7.38326);
+
+            done();
+          }
+        }
+      );
+
+      box1.getComponent(DynamicCollider).applyForce(new Vector3(1000, 0, 0));
+      // @ts-ignore
+      engine.sceneManager.activeScene.physics._update(1);
+    });
+  });
+
+  it("collision shape1 inv", function () {
+    engine.sceneManager.activeScene.physics.gravity = new Vector3(0, 0, 0);
+    const box2 = addBox(new Vector3(1, 1, 1), DynamicCollider, new Vector3(0, 0, 0));
+    const box1 = addBox(new Vector3(1, 1, 1), DynamicCollider, new Vector3(-3, 0, 0));
+
+    box1.transform.rotate(45, 45, 0);
+
+    return new Promise<void>((done) => {
+      box1.addComponent(
+        class extends Script {
+          onCollisionEnter(other: Collision): void {
+            expect(other.shape).toBe(box2.getComponent(DynamicCollider).shapes[0]);
+            expect(other.contactCount).toBe(3);
+            const contacts = [];
+            other.getContacts(contacts);
+            expect(contacts.length).toBe(3);
+            expect(formatValue(contacts[0].position.x)).closeTo(-0.5, 0.1);
+            expect(formatValue(contacts[0].separation)).toBe(-0.02022);
+            expect(formatValue(contacts[0].normal.x)).toBe(-1);
+            expect(formatValue(contacts[0].impulse.x)).toBe(-7.38326);
+
+            done();
+          }
+        }
+      );
+
+      box1.getComponent(DynamicCollider).applyForce(new Vector3(1000, 0, 0));
+      // @ts-ignore
+      engine.sceneManager.activeScene.physics._update(1);
+    });
+  });
+
+  it("collision shape2", function () {
+    engine.sceneManager.activeScene.physics.gravity = new Vector3(0, 0, 0);
+    const box1 = addBox(new Vector3(1, 1, 1), DynamicCollider, new Vector3(-3, 0, 0));
+    const box2 = addBox(new Vector3(1, 1, 1), DynamicCollider, new Vector3(0, 0, 0));
+
+    box1.transform.rotate(45, 45, 0);
+
+    return new Promise<void>((done) => {
+      box2.addComponent(
+        class extends Script {
+          onCollisionEnter(other: Collision): void {
+            expect(other.shape).toBe(box1.getComponent(DynamicCollider).shapes[0]);
+            expect(other.contactCount).toBe(3);
+            const contacts = [];
+            other.getContacts(contacts);
+            expect(contacts.length).toBe(3);
+            expect(formatValue(contacts[0].position.x)).closeTo(-0.5, 0.1);
+            expect(formatValue(contacts[0].separation)).toBe(-0.02022);
+            expect(formatValue(contacts[0].normal.x)).toBe(1);
+            expect(formatValue(contacts[0].impulse.x)).toBe(7.38326);
+
+            done();
+          }
+        }
+      );
+
+      box1.getComponent(DynamicCollider).applyForce(new Vector3(1000, 0, 0));
+      // @ts-ignore
+      engine.sceneManager.activeScene.physics._update(1);
+    });
+  });
+
+  it("collision shape2 inv", function () {
+    engine.sceneManager.activeScene.physics.gravity = new Vector3(0, 0, 0);
+    const box2 = addBox(new Vector3(1, 1, 1), DynamicCollider, new Vector3(0, 0, 0));
+    const box1 = addBox(new Vector3(1, 1, 1), DynamicCollider, new Vector3(-3, 0, 0));
+
+    box1.transform.rotate(45, 45, 0);
+
+    return new Promise<void>((done) => {
+      box2.addComponent(
+        class extends Script {
+          onCollisionEnter(other: Collision): void {
+            expect(other.shape).toBe(box1.getComponent(DynamicCollider).shapes[0]);
+            expect(other.contactCount).toBe(3);
+            const contacts = [];
+            other.getContacts(contacts);
+            expect(contacts.length).toBe(3);
+            expect(formatValue(contacts[0].position.x)).closeTo(-0.5, 0.1);
+            expect(formatValue(contacts[0].separation)).toBe(-0.02022);
+            expect(formatValue(contacts[0].normal.x)).toBe(1);
+            expect(formatValue(contacts[0].impulse.x)).toBe(7.38326);
 
             done();
           }