6 files changed, 16 insertions, 8 deletions
diff --git a/servers/physics_2d/body_2d_sw.cpp b/servers/physics_2d/body_2d_sw.cpp
index 856bba78f7..75c9a95739 100644
--- a/servers/physics_2d/body_2d_sw.cpp
+++ b/servers/physics_2d/body_2d_sw.cpp
@@ -468,7 +468,7 @@ void Body2DSW::integrate_forces(real_t p_step) {
 		linear_velocity = motion / p_step;
 
 		real_t rot = new_transform.get_rotation() - get_transform().get_rotation();
-		angular_velocity = rot / p_step;
+		angular_velocity = remainder(rot, 2.0 * Math_PI) / p_step;
 
 		do_motion = true;
 
diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/body_pair_2d_sw.cpp
index 5997959432..2021aab17c 100644
--- a/servers/physics_2d/body_pair_2d_sw.cpp
+++ b/servers/physics_2d/body_pair_2d_sw.cpp
@@ -478,8 +478,8 @@ void BodyPair2DSW::solve(real_t p_step) {
 
 		Vector2 jb = c.normal * (c.acc_bias_impulse - jbnOld);
 
-		A->apply_bias_impulse(c.rA, -jb);
-		B->apply_bias_impulse(c.rB, jb);
+		A->apply_bias_impulse(-jb, c.rA);
+		B->apply_bias_impulse(jb, c.rB);
 
 		real_t jn = -(c.bounce + vn) * c.mass_normal;
 		real_t jnOld = c.acc_normal_impulse;
diff --git a/servers/physics_2d/collision_solver_2d_sw.cpp b/servers/physics_2d/collision_solver_2d_sw.cpp
index beba709807..0e056691c7 100644
--- a/servers/physics_2d/collision_solver_2d_sw.cpp
+++ b/servers/physics_2d/collision_solver_2d_sw.cpp
@@ -47,7 +47,7 @@ bool CollisionSolver2DSW::solve_static_line(const Shape2DSW *p_shape_A, const Tr
 	Vector2 supports[2];
 	int support_count;
 
-	p_shape_B->get_supports(p_transform_A.affine_inverse().basis_xform(-n).normalized(), supports, support_count);
+	p_shape_B->get_supports(p_transform_B.affine_inverse().basis_xform(-n).normalized(), supports, support_count);
 
 	bool found = false;
 
diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp
index 1ed1ba6958..1b396190e9 100644
--- a/servers/physics_2d/physics_server_2d_sw.cpp
+++ b/servers/physics_2d/physics_server_2d_sw.cpp
@@ -821,6 +821,7 @@ void PhysicsServer2DSW::body_apply_torque_impulse(RID p_body, real_t p_torque) {
 	_update_shapes();
 
 	body->apply_torque_impulse(p_torque);
+	body->wakeup();
 }
 
 void PhysicsServer2DSW::body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position) {
@@ -1341,6 +1342,10 @@ PhysicsServer2DSW::PhysicsServer2DSW() {
 	island_count = 0;
 	active_objects = 0;
 	collision_pairs = 0;
+#ifdef NO_THREADS
+	using_threads = false;
+#else
 	using_threads = int(ProjectSettings::get_singleton()->get("physics/2d/thread_model")) == 2;
+#endif
 	flushing_queries = false;
 };
diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.h b/servers/physics_2d/physics_server_2d_wrap_mt.h
index bc918b20f4..586dbe9e12 100644
--- a/servers/physics_2d/physics_server_2d_wrap_mt.h
+++ b/servers/physics_2d/physics_server_2d_wrap_mt.h
@@ -317,6 +317,9 @@ public:
 
 	template <class T>
 	static PhysicsServer2D *init_server() {
+#ifdef NO_THREADS
+		return memnew(T); // Always single unsafe when no threads are available.
+#else
 		int tm = GLOBAL_DEF("physics/2d/thread_model", 1);
 		if (tm == 0) { // single unsafe
 			return memnew(T);
@@ -325,6 +328,7 @@ public:
 		} else { // multi threaded
 			return memnew(PhysicsServer2DWrapMT(memnew(T), true));
 		}
+#endif
 	}
 
 #undef ServerNameWrapMT
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 2083caf4c3..966dcbd651 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -34,9 +34,8 @@
 #include "core/os/os.h"
 #include "core/pair.h"
 #include "physics_server_2d_sw.h"
-
-_FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_ignore_layers = false) {
-	if (!p_ignore_layers && !(p_object->get_collision_layer() & p_collision_mask)) {
+_FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+	if (!(p_object->get_collision_layer() & p_collision_mask)) {
 		return false;
 	}
 
@@ -65,7 +64,7 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S
 	int cc = 0;
 
 	for (int i = 0; i < amount; i++) {
-		if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_filter_by_canvas)) {
+		if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) {
 			continue;
 		}