[3.x] Improved logic for KinematicBody collision recovery depth #53451
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Allows more flexible collision detection with different safe margin values. Kinematic body motion changes in 2D and 3D: -Recovery only for depth > min contact depth to help with collision detection consistency (rest info could be lost if recovery was too much) -Adaptive min contact depth (based on margin) instead of space parameter
akien-mga
approved these changes
Oct 6, 2021
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Partial backport of #52953 to fix the same issues in 3.x, without the changes specific to the new CharacterBody node.
The main change is to make collision detection more flexible with different safe margin values.
Kinematic body motion changes in 2D and 3D physics servers:
-Recovery only for depth > min contact depth to help with collision detection consistency (rest info could be lost if recovery was more than min contact depth, which is the threshold for detecting rest info)
-Adaptive min contact depth based on margin, instead of physics space parameter (this is following up from #45259 (comment))
Tested in multiple use cases, no regression found in usual test cases from physics test projects and previous issues.
(similar regression tests as in #52953, but using 3.x projects)
Fixes #36432
Fixes #45259 (now still works when setting a lower safe margin in 2D)
Fixes #50287