RigidBody CylinderShape can temporarily penetrate a KinematicBody BoxShape upon landing

[rogeriodec]

Godot version:
3.1

OS/device including version:
Windows 10 x64

Issue description:

The cylinder CollisionShape is going through the Box CollisionShape.

The cylinder is a RigidBody and the floor is a KinematicBody BoxShape.

I created a project from scratch and did only the scene that is in the image, without any modification other than resizing the CollisionShape cube and moving the cylinder CollisionShape up.

Steps to reproduce:
Run the attached project or just create a new one the follow the steps of the image above.

Minimal reproduction project:
CollisionShape.zip 2019-03-18 134353.zip

[jezv]

BoxAndCylinder.zip
My hunch is this is to do with the cyclinder shape. Not sure how its implemented but using a box collision in the middle seems to result in more stable behaviour (see BoxAndCylinder.zip).

[rogeriodec]

BoxAndCylinder.zip
My hunch is this is to do with the cyclinder shape. Not sure how its implemented but using a box collision in the middle seems to result in more stable behaviour (see BoxAndCylinder.zip).

Interesting approach. However, if the CollisionShape turns sideways, it will not behave like a cylinder, that is, it will not roll...

[rogeriodec]

Studying a little, mainly based on this video, I realized that is not easy to calculate a precise collision.
But I saw that there is a continuous collision detection option, which theoretically might make a difference, but not.
Where this option would be effective?

[jezv]

BoxAndCylinder.zip
My hunch is this is to do with the cyclinder shape. Not sure how its implemented but using a box collision in the middle seems to result in more stable behaviour (see BoxAndCylinder.zip).

Interesting approach. However, if the CollisionShape turns sideways, it will not behave like a cylinder, that is, it will not roll...

The box can be thinner than the cyclinder but slightly longer. See my attached BoxAndCyclinder.zip

[jitspoe]

I've had some rare instances with box-on-box collision penetrating, so even that's not 100% stable. Can't come up with a consistent repro case, though. Here's a clip of it happening: https://clips.twitch.tv/YawningDifferentCocoaTheTarFu

Character is a KinematicBody with a box shape using move_and_collide(). Box in the world is a StaticBody with a box shape.

[Calinou]

Duplicate of #16505.