Add hepler function for building a contact force event from a contact pair

2 files changed, 5 insertions, 34 deletions

diff --git a/src/pipeline/event_handler.rs b/src/pipeline/event_handler.rs
index e491fdf..e0f76a9 100644
--- a/src/pipeline/event_handler.rs
+++ b/src/pipeline/event_handler.rs
@@ -124,36 +124,7 @@ impl EventHandler for ChannelEventCollector {
         contact_pair: &ContactPair,
         total_force_magnitude: Real,
     ) {
-        let mut result = ContactForceEvent {
-            collider1: contact_pair.collider1,
-            collider2: contact_pair.collider2,
-            total_force_magnitude,
-            ..ContactForceEvent::default()
-        };
-
-        for m in &contact_pair.manifolds {
-            let mut total_manifold_impulse = 0.0;
-            for pt in m.contacts() {
-                total_manifold_impulse += pt.data.impulse;
-
-                if pt.data.impulse > result.max_force_magnitude {
-                    result.max_force_magnitude = pt.data.impulse;
-                    result.max_force_direction = m.data.normal;
-                }
-            }
-
-            result.total_force += m.data.normal * total_manifold_impulse;
-        }
-
-        let inv_dt = crate::utils::inv(dt);
-        // NOTE: convert impulses to forces. Note that we
-        //       don’t need to convert the `total_force_magnitude`
-        //       because it’s an input of this function already
-        //       assumed to be a force instead of an impulse.
-        result.total_force *= inv_dt;
-        result.max_force_direction *= inv_dt;
-        result.max_force_magnitude *= inv_dt;
-
+        let result = ContactForceEvent::from_contact_pair(dt, contact_pair, total_force_magnitude);
         let _ = self.contact_force_event_sender.send(result);
     }
 }
diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs
index 586212c..86fa7b6 100644
--- a/src/pipeline/query_pipeline.rs
+++ b/src/pipeline/query_pipeline.rs
@@ -103,16 +103,16 @@ impl QueryFilterFlags {
 /// A filter tha describes what collider should be included or excluded from a scene query.
 #[derive(Copy, Clone, Default)]
 pub struct QueryFilter<'a> {
-    /// Flags indicating what particular type of colliders should be exclude.
+    /// Flags indicating what particular type of colliders should be excluded from the scene query.
     pub flags: QueryFilterFlags,
     /// If set, only colliders with collision groups compatible with this one will
     /// be included in the scene query.
     pub groups: Option<InteractionGroups>,
-    /// If set, this collider will be excluded by the query.
+    /// If set, this collider will be excluded from the scene query.
     pub exclude_collider: Option<ColliderHandle>,
-    /// If set, any collider attached to this rigid-body will be exclude by the query.
+    /// If set, any collider attached to this rigid-body will be excluded from the scene query.
     pub exclude_rigid_body: Option<RigidBodyHandle>,
-    /// If set, any collider for which this closure returns false
+    /// If set, any collider for which this closure returns false will be excluded from the scene query.
     pub predicate: Option<&'a dyn Fn(ColliderHandle, &Collider) -> bool>,
 }