Fixed KinematicCollision.get_local_shape() - the local shape id was never set during move_and_collide()

Fixes #31144

modules/bullet/space_bullet.cpp

@@ -1234,7 +1234,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
 				ERR_FAIL_COND_V(shape_idx < 0 || shape_idx >= cs->getNumChildShapes(), false);
 
 				if (cs->getChildShape(shape_idx)->isConvex()) {
-					if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
+					if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
 
 						penetration = true;
 					}
@@ -1245,7 +1245,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
 					}
 				}
 			} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
-				if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
+				if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
 
 					penetration = true;
 				}
@@ -1261,7 +1261,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
 	return penetration;
 }
 
-bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
+bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
 
 	// Initialize GJK input
 	btGjkPairDetector::ClosestPointInput gjk_input;
@@ -1279,6 +1279,7 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
 		if (r_recover_result) {
 			if (result.m_distance < r_recover_result->penetration_distance) {
 				r_recover_result->hasPenetration = true;
+				r_recover_result->local_shape_most_recovered = p_shapeId_A;
 				r_recover_result->other_collision_object = p_objectB;
 				r_recover_result->other_compound_shape_index = p_shapeId_B;
 				r_recover_result->penetration_distance = result.m_distance;
@@ -1314,6 +1315,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
 			if (r_recover_result) {
 				if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
 					r_recover_result->hasPenetration = true;
+					r_recover_result->local_shape_most_recovered = p_shapeId_A;
 					r_recover_result->other_collision_object = p_objectB;
 					r_recover_result->other_compound_shape_index = p_shapeId_B;
 					r_recover_result->penetration_distance = contactPointResult.m_penetration_distance;

modules/bullet/space_bullet.h

@@ -208,7 +208,7 @@ private:
 	bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
 	/// This is an API that recover a kinematic object from penetration
 	/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
-	bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
+	bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
 	/// This is an API that recover a kinematic object from penetration
 	/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
 	bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);