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query - owned query handle manifold - one-based manifold index point - one-based point index within the manifold |
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Returns the raw copied native totalNormalImpulse solve accumulator, in newton-seconds. The pinned solver adds the accumulated impulse in both bias and relaxation passes, plus restitution contributions. This is not net physical impulse, momentum change, force times the time step, or an average contact force. In the stationary load regression it is approximately twice mass × gravity × full-step duration. Use it as a native interaction/solve diagnostic; PhysicsQueryContactImpulse reads the final-substep normal impulse. Query results are copied and survive stepping, other queries and deletion until this query runs successfully again or is freed. Generation-checked identity getters return zero for deleted objects; copied tags and numerical fields survive. Failed runs retain the complete previous payload. Freeing the owning world frees its queries. Invalid/stale/wrong-kind handles, invalid indices or unavailable payload fields raise runtime errors. See also: QueryPhysicsBodyContacts, QueryPhysicsShapeContacts, QueryPhysicsSensor, CountPhysicsQueryManifolds, PhysicsBodyEvents. |
; PhysicsQueryContactTotalImpulse Example
; ---------------------------------------
Graphics3D 640,480,0,2
SetBuffer BackBuffer()
Const PHYSICS_STATIC=0
Const PHYSICS_DYNAMIC=2
camera=CreateCamera()
PositionEntity camera,0,3,-7
RotateEntity camera,20,0,0
light=CreateLight()
RotateEntity light,45,-30,0
AmbientLight 60,60,60
; An independent Box3D world with standard gravity
world=CreatePhysicsWorld()
; Blue static floor
ground=CreateCube()
ScaleEntity ground,6,0.5,6
PositionEntity ground,0,-0.5,0
EntityColor ground,80,160,255
ground_body=CreatePhysicsBody(world,ground,PHYSICS_STATIC)
ground_shape=PhysicsBodyBox(ground_body,12,1,12)
; An orange crate on the floor, with a green crate resting on top
crate=CreateCube()
ScaleEntity crate,0.6,0.6,0.6
EntityColor crate,255,120,70
crate_body=CreatePhysicsBody(world,crate,PHYSICS_DYNAMIC)
crate_shape=PhysicsBodyBox(crate_body,1.2,1.2,1.2)
top=CreateCube()
ScaleEntity top,0.4,0.4,0.4
EntityColor top,120,200,140
top_body=CreatePhysicsBody(world,top,PHYSICS_DYNAMIC)
top_shape=PhysicsBodyBox(top_body,0.8,0.8,0.8)
ResetPhysicsBody crate_body,0,0.6,0,0,0,0
ResetPhysicsBody top_body,0,1.6,0,0,0,0
; A query object keeps a copy of the contacts it finds
query=CreatePhysicsQuery(world)
While Not KeyDown(1)
; Space shoves the orange crate along the floor, R stacks the crates again
If KeyHit(57) Then PhysicsBodyImpulse crate_body,4,0,0
If KeyHit(19)
ResetPhysicsBody crate_body,0,0.6,0,0,0,0
ResetPhysicsBody top_body,0,1.6,0,0,0,0
EndIf
StepPhysics world,1.0/60.0,4
; Copy the orange crate's contacts: one manifold for each shape it touches
manifolds=QueryPhysicsBodyContacts(query,crate_body)
; Arrow keys move the camera
If KeyDown(200) Then MoveEntity camera,0,0,0.1
If KeyDown(208) Then MoveEntity camera,0,0,-0.1
If KeyDown(203) Then TurnEntity camera,0,1,0
If KeyDown(205) Then TurnEntity camera,0,-1,0
RenderWorld
; Ring every contact point
For m=1 To manifolds
For p=1 To PhysicsQueryContactPoints(query,m)
CameraProject camera,PhysicsQueryContactX(query,m,p),PhysicsQueryContactY(query,m,p),PhysicsQueryContactZ(query,m,p)
Oval ProjectedX()-3,ProjectedY()-3,7,7,False
Next
Next
Text 0,0,"Arrow keys: move camera Space: shove R: reset Esc: exit"
If manifolds>0
Text 0,20+0,"PhysicsQueryContactTotalImpulse(query,1,1) = "+PhysicsQueryContactTotalImpulse(query,1,1)
Text 0,20+20,"(the solver's running total; compare PhysicsQueryContactImpulse "+PhysicsQueryContactImpulse(query,1,1)+")"
EndIf
Flip
Wend
FreePhysicsWorld world
End