@woosh/meep-engine 2.143.0 → 2.144.0

package/src/engine/physics/solver/solve_contacts.js

@@ -286,25 +286,11 @@ function inv_mass_of(rb) {
     return rb.mass > 0 ? 1 / rb.mass : 0;
 }
 
-/**
- * Combine two friction coefficients (geometric mean — Bullet / PhysX default).
- * @param {number} a
- * @param {number} b
- * @returns {number}
- */
-function combine_friction(a, b) {
-    return Math.sqrt(a * b);
-}
-
-/**
- * Combine two restitution coefficients (maximum — Unity / common default).
- * @param {number} a
- * @param {number} b
- * @returns {number}
- */
-function combine_restitution(a, b) {
-    return a > b ? a : b;
-}
+// Friction / restitution are no longer combined here: the narrowphase combines
+// the specific source-collider pair's coefficients per contact (so compound
+// bodies with mixed-material colliders are honoured) and stores the result in
+// the manifold (CONTACT_STRIDE offsets 14 / 15). prepare_contacts reads them
+// per contact. See engine/physics/contact/combine_material.js.
 
 const scratch_clamp = new Float64Array(2);
 const scratch_inertia_a = new Float64Array(3);
@@ -520,8 +506,6 @@ export function prepare_contacts(manifolds, system, dt_sub) {
 
         const cc = manifolds.contact_count(slot);
         const slot_off = manifolds.slot_data_offset(slot);
-        const restitution_combined = combine_restitution(colA.restitution, colB.restitution);
-        const friction_combined = combine_friction(colA.friction, colB.friction);
 
         const pAx = trA.position.x, pAy = trA.position.y, pAz = trA.position.z;
         const pBx = trB.position.x, pBy = trB.position.y, pBz = trB.position.z;
@@ -530,6 +514,11 @@ export function prepare_contacts(manifolds, system, dt_sub) {
         for (let k = 0; k < cc; k++) {
             const off = slot_off + k * CONTACT_STRIDE;
 
+            // Per-contact combined materials (stamped by the narrowphase from
+            // this contact's specific source-collider pair).
+            const friction_combined = data[off + 14];
+            const restitution_combined = data[off + 15];
+
             const wax = data[off],     way = data[off + 1], waz = data[off + 2];
             const wbx = data[off + 3], wby = data[off + 4], wbz = data[off + 5];
             const nx  = data[off + 6], ny  = data[off + 7], nz  = data[off + 8];