btManifoldPoint.h: keep track of whether a contact point is predictive

Author: stephengold

src/main/java/com/jme3/bullet/collision/ContactPointFlag.java

@@ -69,6 +69,10 @@ final public class ContactPointFlag {
      * contact is swapped (bodyA is body1 and bodyB is body0)
      */
     final public static int SWAPPED = 0x20;
+    /**
+     * contact is predictive (generated by Continuous Collision Detection)
+     */
+    final public static int PREDICTIVE = 0x40;
     /**
      * message logger for this class
      */

src/main/native/bullet3/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -1158,7 +1158,8 @@ struct btBridgedManifoldResult : public btManifoldResult
 			localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
 		}
 
-		btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth, isSwapped); // stephengold modified 2026-03-21
+		bool isPredictive = false; // stephengold added 2026-03-21
+		btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth, isPredictive, isSwapped); // stephengold modified 2026-03-21
 		newPt.m_positionWorldOnA = pointA;
 		newPt.m_positionWorldOnB = pointInWorld;
 

src/main/native/bullet3/BulletCollision/CollisionDispatch/btManifoldResult.cpp

@@ -148,7 +148,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld, const
 		valid = pShape->isValidContact(localB, m_partId1, m_index1);// stephengold added 2021-10-22
 	}// stephengold added 2021-10-22
 	if (!valid) return;// stephengold added 2021-10-22
-	btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth, isSwapped); // stephengold modified 2026-03-21
+	const bool isPredictive = false;
+	btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth, isPredictive, isSwapped); // stephengold modified 2026-03-21
 	newPt.m_positionWorldOnA = pointA;
 	newPt.m_positionWorldOnB = pointInWorld;
 

src/main/native/bullet3/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

@@ -45,6 +45,7 @@ enum btContactPointFlags
 	BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING = 8,
 	BT_CONTACT_FLAG_FRICTION_ANCHOR = 16,
 	BT_CONTACT_FLAG_SWAPPED = 32, // stephengold added 2026-03-21
+	BT_CONTACT_FLAG_PREDICTIVE = 64, // stephengold added 2026-03-21
 };
 
 /// ManifoldContactPoint collects and maintains persistent contactpoints.
@@ -70,7 +71,7 @@ class btManifoldPoint
 
 	btManifoldPoint(const btVector3& pointA, const btVector3& pointB,
 					const btVector3& normal,
-					btScalar distance, bool isSwapped) : m_localPointA(pointA), // stephengold modified 2026-03-21
+					btScalar distance, bool isPredictive, bool isSwapped) : m_localPointA(pointA), // stephengold modified 2026-03-21
 										 m_localPointB(pointB),
 										 m_positionWorldOnB(0,0,0),
 										 m_positionWorldOnA(0,0,0),
@@ -85,7 +86,7 @@ class btManifoldPoint
 										 m_index0(-1),
 										 m_index1(-1),
 										 m_userPersistentData(0),
-										 m_contactPointFlags(isSwapped ? BT_CONTACT_FLAG_SWAPPED : 0), // stephengold modified 2026-03-21
+										 m_contactPointFlags((isSwapped ? BT_CONTACT_FLAG_SWAPPED : 0)|(isPredictive ? BT_CONTACT_FLAG_PREDICTIVE : 0)), // stephengold modified 2026-03-21
 										 m_appliedImpulse(0.f),
 										 m_prevRHS(0.f),
 										 m_appliedImpulseLateral1(0.f),

src/main/native/bullet3/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -901,10 +901,11 @@ void btDiscreteDynamicsWorld::createPredictiveContactsInternal(btRigidBody** bod
 						btVector3 worldPointB = body->getWorldTransform().getOrigin() + distVec;
 						btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse() * worldPointB;
 
+						bool isPredictive = true; // stephengold added 2026-03-21
 						bool isSwapped = false; // stephengold added 2026-03-21
-						btManifoldPoint newPoint(btVector3(0, 0, 0), localPointB, sweepResults.m_hitNormalWorld, distance, isSwapped); // stephengold modified 2026-03-21
+						btManifoldPoint newPoint(btVector3(0, 0, 0), localPointB, sweepResults.m_hitNormalWorld, distance, isPredictive, isSwapped); // stephengold modified 2026-03-21
 
-						bool isPredictive = true;
+						//bool isPredictive = true; // stephengold commented out 2026-03-21
 						int index = manifold->addManifoldPoint(newPoint, isPredictive);
 						btManifoldPoint& pt = manifold->getContactPoint(index);
 						pt.m_combinedRestitution = 0;