Help How to get collision impulse properly

[Qriva0]

Forces are refined over multiple iterations per substep, but they're calculated from scratch for each substep. Callbacks are called at the end of the step after all substeps have taken place, so they only contain data for the most recent substep. This applies to contact impulses as well as all constraint lambda multipliers in Obi.

As a result you won't get the same results with 4 and 8 substeps. This is something I'm actively working to improve in Obi 7.2, by returning the max/average over all substeps.

Ok, so that make sense. So in short this is expected result currently and the value should be divided by substep squared.

Should be set if you're using a collision material with friction greater than zero. Otherwise it's not set, since there's no force being applied in the tangent direction.

I am going to double check if there is anything that might cause this, but I think contact.tangentImpulse and bitangent is always 0 and there are materials with friction for both actor and collider. I read them on simulation end, instead of oncollide, but I guess there should be no difference.