Add contact force events generated above a user-defined threshold

src_testbed/harness/mod.rs

@@ -86,10 +86,13 @@ type Callbacks =
 #[allow(dead_code)]
 impl Harness {
     pub fn new_empty() -> Self {
-        let event_channel = crossbeam::channel::unbounded();
-        let event_handler = ChannelEventCollector::new(event_channel.0);
+        let collision_event_channel = crossbeam::channel::unbounded();
+        let contact_force_event_channel = crossbeam::channel::unbounded();
+        let event_handler =
+            ChannelEventCollector::new(collision_event_channel.0, contact_force_event_channel.0);
         let events = PhysicsEvents {
-            events: event_channel.1,
+            collision_events: collision_event_channel.1,
+            contact_force_events: contact_force_event_channel.1,
         };
         let physics = PhysicsState::new();
         let state = RunState::new();

src_testbed/physics/mod.rs

@@ -3,7 +3,7 @@ use rapier::dynamics::{
     CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
     RigidBodySet,
 };
-use rapier::geometry::{BroadPhase, ColliderSet, CollisionEvent, NarrowPhase};
+use rapier::geometry::{BroadPhase, ColliderSet, CollisionEvent, CollisionForceEvent, NarrowPhase};
 use rapier::math::{Real, Vector};
 use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
 
@@ -107,11 +107,13 @@ impl PhysicsState {
 }
 
 pub struct PhysicsEvents {
-    pub events: Receiver<CollisionEvent>,
+    pub collision_events: Receiver<CollisionEvent>,
+    pub contact_force_events: Receiver<CollisionForceEvent>,
 }
 
 impl PhysicsEvents {
     pub fn poll_all(&self) {
-        while let Ok(_) = self.events.try_recv() {}
+        while let Ok(_) = self.collision_events.try_recv() {}
+        while let Ok(_) = self.contact_force_events.try_recv() {}
     }
 }