Shape casting returns incorrect normals

[sweglord227]

Coming from bevy_xpbd, normals are very imprecise when using shape casts via bevy_xpbd's spacial query's shape_hits function. i am creating a kinematic character controller, and it gives incorrect values when moving almost orthogonal to colliders, even when they are completely aligned to grid. it isn't by a ton, but it's enough to clip through colliders. after discussing it with the creator of bevy_xpbd and a mod of the bevy discord, i was told it was likely a parry issue and to report it here.

i've also noticed that normals are almost never returned normalized. there tends to be a bit of fluff in one axis or the other, even when colliding head on.

if you need anything else from me, please let me know.

in the image i was clipping into a 10x5x0.1 (bevy coordinates) meter wall aligned to grid. collisions work fine when pushing directly against the wall, but fail when moving into it at a shallow angle.