Use swept AABBs for collider AABBs #188
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Instead of always adding a uniform padding that scales with angular velocity, it now uses swept AABBs with the end position predicted based on the velocity. This way, the shape affects the padding, so e.g. rotating balls aren't expanded.
Jondolf
added
C-Enhancement
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Objective
Collider AABBs are expanded based on the velocities of bodies. This is only done in the direction of linear velocity, but for angular velocity, AABBs are expanded uniformly in all directions. This means that e.g. rotating balls will unnecessarily have their AABBs expanded, which leads to extra overlaps.
Solution
Use
compute_swept_aabbinstead ofcompute_aabbfor computing the AABBs. The end position of the sweep is predicted using the linear and angular velocity. It takes the shape into account, so e.g. rotating balls won't be expanded, but long rotating planks will.