Roughly Perpendicular Collisions with Concave Polygon are not detected and stick

[cuppajoeman]

Godot version

4.0.stable

System information

Windows 10

Issue description

When you launch (apply_impulse) a RigidBody3D (sphere_shape) in a line which is roughly perpendicular to a wall (StaticBody), it collides with the wall, on_body_entered is never called and the RigidBody3D sticks to the wall.

I noticed this after updating to godot 4 stable, I don't think the issue exited in the RCs or betas.

Video showing it: https://streamable.com/lr0ydn

Steps to reproduce

Launch the minimal reproduction project, then aim at a wall in so that a raycast coming out of the center of your screen would be roughly perpendicular to the wall or floor, upon firing, the projectile simply just sticks onto the wall and on_body_entered is never called.

Minimal reproduction project

projectile-collision.zip

[rburing]

This is likely due to my change to trimesh CCD which was part of #72917, sorry about that. I'll investigate.

[cuppajoeman]

Just FYI, I found this bug when I launched my fps game in godot 4 stable for the first, time. I noticed it because in general rockets were sticking to the ground and walls. Pretty much I think this would affect anyone who has an fps using a projectile
which is a RigidBody3D and a map which has a Concave Polygon.

[cuppajoeman]

I'm not too familiar with the timeline or how regressions work, I'm guessing this fix wouldn't be available until the next version of godot 4 (4.1) releases?

[Calinou]

I'm not too familiar with the timeline or how regressions work, I'm guessing this fix wouldn't be available until the next version of godot 4 (4.1) releases?

The fix can be cherry-picked to a future 4.0.x release.