corrected applyForce() in CannonJSPlugin and made OimoJSPlugin implement IPhysicsEnginePlugin (#1651)

* removed incorrect comment and removed unnecessary similar comment together with it

* CannonJSPlugin applyForce method is corrected to call applyForce of the underlying physics body

* cleaning up obsolete commented out code

* made OimoJSPlugin implement IPhysicsEnginePlugin correctly. Made an adjustment to a method parameter in the interface as needed

src/Physics/Plugins/babylon.cannonJSPlugin.ts

@@ -43,7 +43,7 @@
             var worldPoint = new CANNON.Vec3(contactPoint.x, contactPoint.y, contactPoint.z);
             var impulse = new CANNON.Vec3(force.x, force.y, force.z);
 
-            impostor.physicsBody.applyImpulse(impulse, worldPoint);
+            impostor.physicsBody.applyForce(impulse, worldPoint);
         }
 
         public generatePhysicsBody(impostor: PhysicsImpostor) {
@@ -153,21 +153,6 @@
                 maxForce: jointData.nativeParams.maxForce,
                 collideConnected: !!jointData.collision
             };
-            //Not needed, Cannon has a collideConnected flag
-            /*if (!jointData.collision) {
-                //add 1st body to a collision group of its own, if it is not in 1
-                if (mainBody.collisionFilterGroup === 1) {
-                    mainBody.collisionFilterGroup = this._currentCollisionGroup;
-                    this._currentCollisionGroup <<= 1;
-                }
-                if (connectedBody.collisionFilterGroup === 1) {
-                    connectedBody.collisionFilterGroup = this._currentCollisionGroup;
-                    this._currentCollisionGroup <<= 1;
-                }
-                //add their mask to the collisionFilterMask of each other:
-                connectedBody.collisionFilterMask = connectedBody.collisionFilterMask | ~mainBody.collisionFilterGroup;
-                mainBody.collisionFilterMask = mainBody.collisionFilterMask | ~connectedBody.collisionFilterGroup;
-            }*/
             switch (impostorJoint.joint.type) {
                 case PhysicsJoint.HingeJoint:
                 case PhysicsJoint.Hinge2Joint:
@@ -477,15 +462,6 @@
                 if (maxForce) {
                     this.setLimit(joint, maxForce);
                 }
-                //a hack for force application
-                /*var torque = new CANNON.Vec3();
-                var axis = joint.physicsJoint.axisB;
-                var body = joint.physicsJoint.bodyB;
-                var bodyTorque = body.torque;
-
-                axis.scale(force, torque);
-                body.vectorToWorldFrame(torque, torque);
-                bodyTorque.vadd(torque, bodyTorque);*/
             }
         }
 

src/Physics/Plugins/babylon.oimoJSPlugin.ts

@@ -1,7 +1,7 @@
 module BABYLON {
     declare var OIMO;
 
-    export class OimoJSPlugin {
+    export class OimoJSPlugin implements IPhysicsEnginePlugin {
 
         public world: any;
         public name: string = "OimoJSPlugin";
@@ -365,7 +365,7 @@ module BABYLON {
             impostor.physicsBody.awake();
         }
 
-        public updateDistanceJoint(joint: IMotorEnabledJoint, maxDistance: number, minDistance?: number) {
+        public updateDistanceJoint(joint: PhysicsJoint, maxDistance: number, minDistance?: number) {
             joint.physicsJoint.limitMotor.upperLimit = maxDistance;
             if (minDistance !== void 0) {
                 joint.physicsJoint.limitMotor.lowerLimit = minDistance;

src/Physics/babylon.physicsEngine.ts

@@ -195,7 +195,7 @@
         sleepBody(impostor: PhysicsImpostor);
         wakeUpBody(impostor: PhysicsImpostor);
         //Joint Update
-        updateDistanceJoint(joint: DistanceJoint, maxDistance:number, minDistance?: number);
+        updateDistanceJoint(joint: PhysicsJoint, maxDistance:number, minDistance?: number);
         setMotor(joint: IMotorEnabledJoint, speed: number, maxForce?: number, motorIndex?: number);
         setLimit(joint: IMotorEnabledJoint, upperLimit: number, lowerLimit?: number, motorIndex?: number);
         dispose();

src/Physics/babylon.physicsImpostor.ts

@@ -212,9 +212,6 @@ module BABYLON {
             return this._physicsEngine.getPhysicsPlugin().getLinearVelocity(this);
         }
 
-        /**
-         * Set the body's linear velocity.
-         */
         public setLinearVelocity(velocity: Vector3) {
             this._physicsEngine.getPhysicsPlugin().setLinearVelocity(this, velocity);
         }
@@ -223,9 +220,6 @@ module BABYLON {
             return this._physicsEngine.getPhysicsPlugin().getAngularVelocity(this);
         }
 
-        /**
-         * Set the body's linear velocity.
-         */
         public setAngularVelocity(velocity: Vector3) {
             this._physicsEngine.getPhysicsPlugin().setAngularVelocity(this, velocity);
         }