Fix some angular velocity calculations

The angular velocity estimate for kinematic bodies was calculated
incorrectly.  Also, fixes its use in some kinematic/rigid collision
calculations.

This fixes #47029.

servers/physics_3d/body_3d_sw.cpp

@@ -501,20 +501,18 @@ void Body3DSW::integrate_forces(real_t p_step) {
 
 	if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
 		//compute motion, angular and etc. velocities from prev transform
-		linear_velocity = (new_transform.origin - get_transform().origin) / p_step;
+		motion = new_transform.origin - get_transform().origin;
+		do_motion = true;
+		linear_velocity = motion / p_step;
 
 		//compute a FAKE angular velocity, not so easy
-		Basis rot = new_transform.basis.orthonormalized().transposed() * get_transform().basis.orthonormalized();
+		Basis rot = new_transform.basis.orthonormalized() * get_transform().basis.orthonormalized().transposed();
 		Vector3 axis;
 		real_t angle;
 
 		rot.get_axis_angle(axis, angle);
 		axis.normalize();
-		angular_velocity = axis.normalized() * (angle / p_step);
-
-		motion = new_transform.origin - get_transform().origin;
-		do_motion = true;
-
+		angular_velocity = axis * (angle / p_step);
 	} else {
 		if (!omit_force_integration && !first_integration) {
 			//overridden by direct state query

servers/physics_3d/space_3d_sw.cpp

@@ -332,7 +332,8 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
 			best_first = false;
 			if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) {
 				const Body3DSW *body = static_cast<const Body3DSW *>(col_obj);
-				r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B);
+				Vector3 rel_vec = closest_B - (body->get_transform().origin + body->get_center_of_mass());
+				r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
 			}
 		}
 	}
@@ -478,8 +479,8 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform &p_shap
 	r_info->rid = rcd.best_object->get_self();
 	if (rcd.best_object->get_type() == CollisionObject3DSW::TYPE_BODY) {
 		const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_object);
-		r_info->linear_velocity = body->get_linear_velocity() +
-								  (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos);
+		Vector3 rel_vec = rcd.best_contact - (body->get_transform().origin + body->get_center_of_mass());
+		r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
 
 	} else {
 		r_info->linear_velocity = Vector3();
@@ -684,10 +685,8 @@ int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform &p_tra
 									//result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
 									if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) {
 										Body3DSW *body = (Body3DSW *)col_obj;
-
-										Vector3 rel_vec = b - body->get_transform().get_origin();
-										//result.collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
-										result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rel_vec); // * mPos);
+										Vector3 rel_vec = b - (body->get_transform().origin + body->get_center_of_mass());
+										result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
 									}
 								}
 							}
@@ -1009,9 +1008,9 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform &p_from, cons
 				//r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
 
 				const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_object);
-				//Vector3 rel_vec = r_result->collision_point - body->get_transform().get_origin();
-				//				r_result->collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
-				r_result->collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos);
+
+				Vector3 rel_vec = rcd.best_contact - (body->get_transform().origin + body->get_center_of_mass());
+				r_result->collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
 
 				r_result->motion = safe * p_motion;
 				r_result->remainder = p_motion - safe * p_motion;