Rigidbody several regressions in godot 4.0

[yosoyfreeman]

Godot version

4.0 alpha 3, alpha 4, alpha 5

System information

Linux mint

Issue description

Under certain circunstances, the body teleports upwards. Mostly noticiable when the body stop making contact with the floor and the wall. Is hard to replicate, but i made a project that i think it shows it well

RigidBody.Bug.mp4

.

Steps to reproduce

Create a platform with a collisionbody (Static, kinematic or Rigidbody dont alter the result) and a wall.
move a sphere towards the corner.

Minimal reproduction project

BugPhysics.zip

[Calinou]

4.0 alpha 3

Please test this on 4.0alpha5. In the future, do not report issues on older alphas unless you've confirmed them on the latest alpha first. (If you do reproduce the issue in both alphas, mention it in the issue text.)

[yosoyfreeman]

4.0 alpha 3

Please test this on 4.0alpha5. In the future, do not report issues on older alphas unless you've confirmed them on the latest alpha first. (If you do reproduce the issue in both alphas, mention it in the issue text.)

Sorry, i didn't knew there was a new alpha. I will check and tell you if is reproducible in the new one.

[yosoyfreeman]

I can confirm that this bug is still reproducible in Godot alpha 5

[yosoyfreeman]

Can confirm that this is still reproducible in the last Godot 4.0 alpha 9. Maybe it should be marked as a milestone cause right now the jumps are measurable in meters.

[Calinou]

Can confirm that this is still reproducible in the last Godot 4.0 alpha 9. Maybe it should be marked as a milestone cause right now the jumps are measurable in meters.

This issue already has the 4.0 milestone 🙂

[yosoyfreeman]

This issue already has the 4.0 milestone 🙂

Ouch. Sorry, still learning this things u.u

[rburing]

Thanks for the clear minimal reproduction project. The bug in the MRP seems to be specific to a capsule shape with height == 2.0 * radius, so that it degenerates to a sphere, and GodotCapsuleShape3D::get_supports does not handle this case well, returning a segment of length zero instead of a point. I'll submit a PR to fix that (hence fixing the bug in the MRP). Can you reproduce this in any other cases?

[yosoyfreeman]

Thanks for the clear minimal reproduction project. The bug in the MRP seems to be specific to a capsule shape with height == 2.0 * radius, so that it degenerates to a sphere, and GodotCapsuleShape3D::get_supports does not handle this case well, returning a segment of length zero instead of a point. I'll submit a PR to fix that (hence fixing the bug in the MRP). Can you reproduce this in any other cases?

Hi Rburing. Thanks for looking on it. I will try with other shapes and intersection angles in the last beta and post the results here if i notice it under other circumstances.