4 files changed, 9 insertions, 11 deletions
diff --git a/servers/physics_3d/godot_collision_solver_3d_sat.cpp b/servers/physics_3d/godot_collision_solver_3d_sat.cpp
index 96253cb452..8c78957789 100644
--- a/servers/physics_3d/godot_collision_solver_3d_sat.cpp
+++ b/servers/physics_3d/godot_collision_solver_3d_sat.cpp
@@ -1908,7 +1908,7 @@ static void _collision_cylinder_cylinder(const GodotShape3D *p_a, const Transfor
 	}
 
 	// Cylinder B end caps.
-	if (!separator.test_axis(cylinder_A_axis.normalized())) {
+	if (!separator.test_axis(cylinder_B_axis.normalized())) {
 		return;
 	}
 
diff --git a/servers/physics_3d/godot_shape_3d.cpp b/servers/physics_3d/godot_shape_3d.cpp
index 1443cd166b..22553bd3d8 100644
--- a/servers/physics_3d/godot_shape_3d.cpp
+++ b/servers/physics_3d/godot_shape_3d.cpp
@@ -521,8 +521,9 @@ void GodotCapsuleShape3D::get_supports(const Vector3 &p_normal, int p_max, Vecto
 	Vector3 n = p_normal;
 
 	real_t d = n.y;
+	real_t h = height * 0.5 - radius; // half-height of the cylinder part
 
-	if (Math::abs(d) < edge_support_threshold) {
+	if (h > 0 && Math::abs(d) < edge_support_threshold) {
 		// make it flat
 		n.y = 0.0;
 		n.normalize();
@@ -531,13 +532,10 @@ void GodotCapsuleShape3D::get_supports(const Vector3 &p_normal, int p_max, Vecto
 		r_amount = 2;
 		r_type = FEATURE_EDGE;
 		r_supports[0] = n;
-		r_supports[0].y += height * 0.5 - radius;
+		r_supports[0].y += h;
 		r_supports[1] = n;
-		r_supports[1].y -= height * 0.5 - radius;
-
+		r_supports[1].y -= h;
 	} else {
-		real_t h = height * 0.5 - radius;
-
 		n *= radius;
 		n.y += (d > 0) ? h : -h;
 		r_amount = 1;
diff --git a/servers/physics_3d/godot_step_3d.cpp b/servers/physics_3d/godot_step_3d.cpp
index bfedcd29c0..634523d0b9 100644
--- a/servers/physics_3d/godot_step_3d.cpp
+++ b/servers/physics_3d/godot_step_3d.cpp
@@ -111,7 +111,7 @@ void GodotStep3D::_populate_island_soft_body(GodotSoftBody3D *p_soft_body, Local
 	}
 }
 
-void GodotStep3D::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
+void GodotStep3D::_setup_constraint(uint32_t p_constraint_index, void *p_userdata) {
 	GodotConstraint3D *constraint = all_constraints[p_constraint_index];
 	constraint->setup(delta);
 }
@@ -342,8 +342,8 @@ void GodotStep3D::step(GodotSpace3D *p_space, real_t p_delta) {
 
 	/* SETUP CONSTRAINTS / PROCESS COLLISIONS */
 
-	uint32_t total_contraint_count = all_constraints.size();
-	WorkerThreadPool::GroupID group_task = WorkerThreadPool::get_singleton()->add_template_group_task(this, &GodotStep3D::_setup_contraint, nullptr, total_contraint_count, -1, true, SNAME("Physics3DConstraintSetup"));
+	uint32_t total_constraint_count = all_constraints.size();
+	WorkerThreadPool::GroupID group_task = WorkerThreadPool::get_singleton()->add_template_group_task(this, &GodotStep3D::_setup_constraint, nullptr, total_constraint_count, -1, true, SNAME("Physics3DConstraintSetup"));
 	WorkerThreadPool::get_singleton()->wait_for_group_task_completion(group_task);
 
 	{ //profile
diff --git a/servers/physics_3d/godot_step_3d.h b/servers/physics_3d/godot_step_3d.h
index 189487757f..a0854a720c 100644
--- a/servers/physics_3d/godot_step_3d.h
+++ b/servers/physics_3d/godot_step_3d.h
@@ -48,7 +48,7 @@ class GodotStep3D {
 
 	void _populate_island(GodotBody3D *p_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island);
 	void _populate_island_soft_body(GodotSoftBody3D *p_soft_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island);
-	void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
+	void _setup_constraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
 	void _pre_solve_island(LocalVector<GodotConstraint3D *> &p_constraint_island) const;
 	void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr);
 	void _check_suspend(const LocalVector<GodotBody3D *> &p_body_island) const;