contact point in registerOnPhysicsCollide callback

src/Physics/Plugins/ammoJSPlugin.ts

@@ -55,6 +55,7 @@ export class AmmoJSPlugin implements IPhysicsEnginePlugin {
     private _tmpAmmoVectorRCA: any;
     private _tmpAmmoVectorRCB: any;
     private _raycastResult: PhysicsRaycastResult;
+    private _tmpContactPoint = new Vector3();
 
     private static readonly DISABLE_COLLISION_FLAG = 4;
     private static readonly KINEMATIC_FLAG = 2;
@@ -87,7 +88,14 @@ export class AmmoJSPlugin implements IPhysicsEnginePlugin {
         this.world = new this.bjsAMMO.btSoftRigidDynamicsWorld(this._dispatcher, this._overlappingPairCache, this._solver, this._collisionConfiguration, this._softBodySolver);
 
         this._tmpAmmoConcreteContactResultCallback = new this.bjsAMMO.ConcreteContactResultCallback();
-        this._tmpAmmoConcreteContactResultCallback.addSingleResult = () => { this._tmpContactCallbackResult = true; };
+        this._tmpAmmoConcreteContactResultCallback.addSingleResult = (contactPoint: any, colObj0Wrap: any, partId0: any, index0:any ) => {
+            contactPoint = this.bjsAMMO.wrapPointer(contactPoint, Ammo.btManifoldPoint);
+            const worldPoint = contactPoint.getPositionWorldOnA();
+            this._tmpContactPoint.x = worldPoint.x();
+            this._tmpContactPoint.y = worldPoint.y();
+            this._tmpContactPoint.z = worldPoint.z();
+            this._tmpContactCallbackResult = true;
+        };
 
         this._raycastResult = new PhysicsRaycastResult();
 
@@ -219,8 +227,8 @@ export class AmmoJSPlugin implements IPhysicsEnginePlugin {
                         for (var otherImpostor of collideCallback.otherImpostors) {
                             if (mainImpostor.physicsBody.isActive() || otherImpostor.physicsBody.isActive()) {
                                 if (this._isImpostorPairInContact(mainImpostor, otherImpostor)) {
-                                    mainImpostor.onCollide({ body: otherImpostor.physicsBody });
-                                    otherImpostor.onCollide({ body: mainImpostor.physicsBody });
+                                    mainImpostor.onCollide({ body: otherImpostor.physicsBody, point: this._tmpContactPoint });
+                                    otherImpostor.onCollide({ body: mainImpostor.physicsBody, point: this._tmpContactPoint });
                                 }
                             }
                         }

src/Physics/Plugins/oimoJSPlugin.ts

@@ -72,8 +72,8 @@ export class OimoJSPlugin implements IPhysicsEnginePlugin {
                 continue;
             }
 
-            mainImpostor.onCollide({ body: collidingImpostor.physicsBody });
-            collidingImpostor.onCollide({ body: mainImpostor.physicsBody });
+            mainImpostor.onCollide({ body: collidingImpostor.physicsBody, point: null});
+            collidingImpostor.onCollide({ body: mainImpostor.physicsBody, point: null });
             contact = contact.next;
         }
     }

src/Physics/physicsImpostor.ts

@@ -222,7 +222,7 @@ export class PhysicsImpostor {
     private _onBeforePhysicsStepCallbacks = new Array<(impostor: PhysicsImpostor) => void>();
     private _onAfterPhysicsStepCallbacks = new Array<(impostor: PhysicsImpostor) => void>();
     /** @hidden */
-    public _onPhysicsCollideCallbacks: Array<{ callback: (collider: PhysicsImpostor, collidedAgainst: PhysicsImpostor) => void; otherImpostors: Array<PhysicsImpostor> }> = [];
+    public _onPhysicsCollideCallbacks: Array<{ callback: (collider: PhysicsImpostor, collidedAgainst: PhysicsImpostor, point: Nullable<Vector3>) => void; otherImpostors: Array<PhysicsImpostor> }> = [];
 
     private _deltaPosition: Vector3 = Vector3.Zero();
     private _deltaRotation: Quaternion;
@@ -885,7 +885,7 @@ export class PhysicsImpostor {
     /**
      * event and body object due to cannon's event-based architecture.
      */
-    public onCollide = (e: { body: any }) => {
+    public onCollide = (e: { body: any, point: Nullable<Vector3> }) => {
         if (!this._onPhysicsCollideCallbacks.length && !this.onCollideEvent) {
             return;
         }
@@ -904,7 +904,7 @@ export class PhysicsImpostor {
                     return obj.otherImpostors.indexOf(<PhysicsImpostor>otherImpostor) !== -1;
                 })
                 .forEach((obj) => {
-                    obj.callback(this, <PhysicsImpostor>otherImpostor);
+                    obj.callback(this, <PhysicsImpostor>otherImpostor, e.point);
                 });
         }
     };