Removed erroneous check, which caused _inv_mass not to be calculated when RigidBody2D or RigidBody3D used both custom center of mass and custom inertia.
Lower threshold for dot was (1.0 - threshold) which is incorrect.
Patch changes it to correct version sqrt(1.0 - threshold * threshold)
Co-authored-by: Ricardo Buring <ricardo.buring@gmail.com>
Resolved a problem with PhysicsDirectBodyState3D sometimes returning incorrect contact positions and added a new get_contact_local_velocity_at_position method to compliment the existing one for the collider.
For example, an axis-aligned box under the influence of gravity landing
on a horizontal triangle could previously tunnel, because only one of
the supports of the box was considered to be the candidate point that
would collide first. Now all supports are considered as candidates.
Also fix CCD always pushing the fast body into the other body, which
works well for convex shapes but not for trimesh/concave shapes.
As many open source projects have started doing it, we're removing the
current year from the copyright notice, so that we don't need to bump
it every year.
It seems like only the first year of publication is technically
relevant for copyright notices, and even that seems to be something
that many companies stopped listing altogether (in a version controlled
codebase, the commits are a much better source of date of publication
than a hardcoded copyright statement).
We also now list Godot Engine contributors first as we're collectively
the current maintainers of the project, and we clarify that the
"exclusive" copyright of the co-founders covers the timespan before
opensourcing (their further contributions are included as part of Godot
Engine contributors).
Also fixed "cf." Frenchism - it's meant as "refer to / see".
Added logically identical fix to the capsule/capsule collision, and verified it now produces correct collision points and normals.
Added analytic_sphere_collision helper function which reports the A and B points directly without using SAT.
Modified _collision_sphere_sphere, _collision_sphere_capsule, and _collision_capsule_capsule to use the new analytic_sphere_collision.
Fix white-space issue
Additional code formatting fixes.
Updated new analytic_sphere_collision to correctly handle null collector callback.
At high velocities `from - motion *.1` is *behind the RB* - not within its collider as the comment suggested - so it could not be used for determining movement length
