1 files changed, 20 insertions, 2 deletions

diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp
index bc60c9cb6..cbf30c8a2 100644
--- a/modules/bullet/godot_result_callbacks.cpp
+++ b/modules/bullet/godot_result_callbacks.cpp
@@ -77,7 +77,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo
 
 	PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
 
-	result.shape = convexResult.m_localShapeInfo->m_shapePart;
+	result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
 	result.rid = gObj->get_self();
 	result.collider_id = gObj->get_instance_id();
 	result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
@@ -122,7 +122,7 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0)
 
 btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
 	btScalar res = btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
-	m_shapePart = convexResult.m_localShapeInfo->m_shapePart;
+	m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
 	return res;
 }
 
@@ -242,3 +242,21 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
 
 	return cp.getDistance();
 }
+
+void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
+
+	if (depth < 0) {
+		// Has penetration
+		if (m_most_penetrated_distance > depth) {
+
+			bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
+
+			m_most_penetrated_distance = depth;
+			m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject();
+			m_other_compound_shape_index = isSwapped ? m_index1 : m_index0;
+			m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
+			m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB;
+			m_penetration_distance = depth;
+		}
+	}
+}