Fix physics queries not filtering out disabled collision shapes

This change allows collide_shape, intersect_shape, cast_motion and
rest_info in both 2D and 3D to ignore disabled shapes and make them
consistent with the physics simulation.

In some other cases, _cull_aabb_for_body is used and filters shapes out
internally, but whenever a physics query uses the broadphase directly
without calling _cull_aabb_for_body, disabled shapes can be returned
and need to be filtered out.

2 files changed, 44 insertions, 4 deletions

diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 05136e2501..1cf45ec0c9 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -84,6 +84,10 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S
 
 		int shape_idx = space->intersection_query_subindex_results[i];
 
+		if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+			continue;
+		}
+
 		Shape2DSW *shape = col_obj->get_shape(shape_idx);
 
 		Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point);
@@ -229,6 +233,10 @@ int PhysicsDirectSpaceState2DSW::intersect_shape(const RID &p_shape, const Trans
 		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
 		int shape_idx = space->intersection_query_subindex_results[i];
 
+		if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+			continue;
+		}
+
 		if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), nullptr, nullptr, nullptr, p_margin)) {
 			continue;
 		}
@@ -272,6 +280,10 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor
 		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
 		int shape_idx = space->intersection_query_subindex_results[i];
 
+		if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+			continue;
+		}
+
 		Transform2D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
 		//test initial overlap, does it collide if going all the way?
 		if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) {
@@ -346,12 +358,17 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D &
 		}
 
 		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
-		int shape_idx = space->intersection_query_subindex_results[i];
 
 		if (p_exclude.has(col_obj->get_self())) {
 			continue;
 		}
 
+		int shape_idx = space->intersection_query_subindex_results[i];
+
+		if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+			continue;
+		}
+
 		cbk.valid_dir = Vector2();
 		cbk.valid_depth = 0;
 
@@ -433,12 +450,17 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
 		}
 
 		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
-		int shape_idx = space->intersection_query_subindex_results[i];
 
 		if (p_exclude.has(col_obj->get_self())) {
 			continue;
 		}
 
+		int shape_idx = space->intersection_query_subindex_results[i];
+
+		if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+			continue;
+		}
+
 		rcd.valid_dir = Vector2();
 		rcd.object = col_obj;
 		rcd.shape = shape_idx;
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index 43cc032120..3f8aac1fb1 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -210,6 +210,10 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
 		const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
 		int shape_idx = space->intersection_query_subindex_results[i];
 
+		if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+			continue;
+		}
+
 		if (!CollisionSolver3DSW::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_margin, 0)) {
 			continue;
 		}
@@ -265,6 +269,10 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
 		const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
 		int shape_idx = space->intersection_query_subindex_results[i];
 
+		if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+			continue;
+		}
+
 		Vector3 point_A, point_B;
 		Vector3 sep_axis = p_motion.normalized();
 
@@ -365,12 +373,17 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform &p_
 		}
 
 		const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
-		int shape_idx = space->intersection_query_subindex_results[i];
 
 		if (p_exclude.has(col_obj->get_self())) {
 			continue;
 		}
 
+		int shape_idx = space->intersection_query_subindex_results[i];
+
+		if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+			continue;
+		}
+
 		if (CollisionSolver3DSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
 			collided = true;
 		}
@@ -432,12 +445,17 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform &p_shap
 		}
 
 		const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
-		int shape_idx = space->intersection_query_subindex_results[i];
 
 		if (p_exclude.has(col_obj->get_self())) {
 			continue;
 		}
 
+		int shape_idx = space->intersection_query_subindex_results[i];
+
+		if (col_obj->is_shape_set_as_disabled(shape_idx)) {
+			continue;
+		}
+
 		rcd.object = col_obj;
 		rcd.shape = shape_idx;
 		bool sc = CollisionSolver3DSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_margin);