1 files changed, 38 insertions, 30 deletions

diff --git a/servers/physics_3d/godot_body_pair_3d.cpp b/servers/physics_3d/godot_body_pair_3d.cpp
index 78e3bed007..ce3da390cb 100644
--- a/servers/physics_3d/godot_body_pair_3d.cpp
+++ b/servers/physics_3d/godot_body_pair_3d.cpp
@@ -364,16 +364,30 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {
 		c.rA = global_A - A->get_center_of_mass();
 		c.rB = global_B - B->get_center_of_mass() - offset_B;
 
+		// Precompute normal mass, tangent mass, and bias.
+		Vector3 inertia_A = inv_inertia_tensor_A.xform(c.rA.cross(c.normal));
+		Vector3 inertia_B = inv_inertia_tensor_B.xform(c.rB.cross(c.normal));
+		real_t kNormal = inv_mass_A + inv_mass_B;
+		kNormal += c.normal.dot(inertia_A.cross(c.rA)) + c.normal.dot(inertia_B.cross(c.rB));
+		c.mass_normal = 1.0f / kNormal;
+
+		c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration);
+		c.depth = depth;
+
+		Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse;
+
+		c.acc_impulse -= j_vec;
+
 		// contact query reporting...
 
 		if (A->can_report_contacts()) {
 			Vector3 crA = A->get_angular_velocity().cross(c.rA) + A->get_linear_velocity();
-			A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crA);
+			A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crA, c.acc_impulse);
 		}
 
 		if (B->can_report_contacts()) {
 			Vector3 crB = B->get_angular_velocity().cross(c.rB) + B->get_linear_velocity();
-			B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB);
+			B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB, -c.acc_impulse);
 		}
 
 		if (report_contacts_only) {
@@ -384,17 +398,6 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {
 		c.active = true;
 		do_process = true;
 
-		// Precompute normal mass, tangent mass, and bias.
-		Vector3 inertia_A = inv_inertia_tensor_A.xform(c.rA.cross(c.normal));
-		Vector3 inertia_B = inv_inertia_tensor_B.xform(c.rB.cross(c.normal));
-		real_t kNormal = inv_mass_A + inv_mass_B;
-		kNormal += c.normal.dot(inertia_A.cross(c.rA)) + c.normal.dot(inertia_B.cross(c.rB));
-		c.mass_normal = 1.0f / kNormal;
-
-		c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration);
-		c.depth = depth;
-
-		Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse;
 		if (collide_A) {
 			A->apply_impulse(-j_vec, c.rA + A->get_center_of_mass());
 		}
@@ -504,6 +507,7 @@ void GodotBodyPair3D::solve(real_t p_step) {
 			if (collide_B) {
 				B->apply_impulse(j, c.rB + B->get_center_of_mass());
 			}
+			c.acc_impulse -= j;
 
 			c.active = true;
 		}
@@ -550,6 +554,7 @@ void GodotBodyPair3D::solve(real_t p_step) {
 			if (collide_B) {
 				B->apply_impulse(jt, c.rB + B->get_center_of_mass());
 			}
+			c.acc_impulse -= jt;
 
 			c.active = true;
 		}
@@ -745,23 +750,6 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
 		c.rA = global_A - transform_A.origin - body->get_center_of_mass();
 		c.rB = global_B;
 
-		if (body->can_report_contacts()) {
-			Vector3 crA = body->get_angular_velocity().cross(c.rA) + body->get_linear_velocity();
-			body->add_contact(global_A, -c.normal, depth, body_shape, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crA);
-		}
-
-		if (report_contacts_only) {
-			collided = false;
-			continue;
-		}
-
-		c.active = true;
-		do_process = true;
-
-		if (body_collides) {
-			body->set_active(true);
-		}
-
 		// Precompute normal mass, tangent mass, and bias.
 		Vector3 inertia_A = body_inv_inertia_tensor.xform(c.rA.cross(c.normal));
 		real_t kNormal = body_inv_mass + node_inv_mass;
@@ -778,6 +766,24 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
 		if (soft_body_collides) {
 			soft_body->apply_node_impulse(c.index_B, j_vec);
 		}
+		c.acc_impulse -= j_vec;
+
+		if (body->can_report_contacts()) {
+			Vector3 crA = body->get_angular_velocity().cross(c.rA) + body->get_linear_velocity();
+			body->add_contact(global_A, -c.normal, depth, body_shape, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crA, c.acc_impulse);
+		}
+
+		if (report_contacts_only) {
+			collided = false;
+			continue;
+		}
+
+		c.active = true;
+		do_process = true;
+
+		if (body_collides) {
+			body->set_active(true);
+		}
 
 		c.bounce = body->get_bounce();
 
@@ -880,6 +886,7 @@ void GodotBodySoftBodyPair3D::solve(real_t p_step) {
 			if (soft_body_collides) {
 				soft_body->apply_node_impulse(c.index_B, j);
 			}
+			c.acc_impulse -= j;
 
 			c.active = true;
 		}
@@ -924,6 +931,7 @@ void GodotBodySoftBodyPair3D::solve(real_t p_step) {
 			if (soft_body_collides) {
 				soft_body->apply_node_impulse(c.index_B, jt);
 			}
+			c.acc_impulse -= jt;
 
 			c.active = true;
 		}