Collider in a bundle with KinematicPositionBased component has a velocity-based Lag

[CaptainPhilipp]

I can't use Colliders in inherited Bundles because collider position is updating with lag relative to this bundle transform, meshes etc.

Bundle Alisa is a parent with RigidBody::Dynamic component, ExternalForces applied to it in Update schedule creates a large velocity, for example 100m/s.
Bundle Bob is a child of Alisa, with RigidBody::KinematicPositionBased and KinematicCharacterController components.
Bob has no relative movement to it's parent Alisa,
Bob has Mesh in his Bundle(Tuple), that stays where it's supposed to be "sticked" to parent correctly,
Bob has Collider::capsule in his Bundle, that has HUGE velocity-based lag from his mesh, parent mesh, parent collider.
In this moment there is no interaction with those objects.

child_id = commands
        .spawn(ChildTag::default())
        .insert(RigidBody::Dynamic)
        .insert(Collider::capsule(Vec2::new(0., capsule_half_height), Vec2::new(0., -capsule_half_height), capsule_radius))
        .insert(MaterialMesh2dBundle {
            mesh: bevy::sprite::Mesh2dHandle(meshes.add(spec.capsule_form(false))),
            material: materials.add(Color::rgb(0.3, 0.3, 0.3)),
            transform: Transform { translation: Vec3::new(0., 0., 0.2), ..default() },
            ..default()
        })
        .insert(AdditionalMassProperties::MassProperties(
            MassProperties {
                mass: 75.,
                principal_inertia: rectangle_inertia(75., Vec2::new(0.5, 1.75)),
                ..Default::default()
            }
        ))
        .insert(Sleeping { linear_threshold: -1., angular_threshold: -1., sleeping: false })
        .insert(SolverGroups::new(GROUP_CHILD, Group::ALL ^ GROUP_PARENT))
        .id();

    if let Ok(parent_id) = parents_query.get_single() {
        commands.entity(parent_id).add_child(child_id);
    }

commands.spawn((
        ParentTag::default(),
        RigidBody::Dynamic,
        Collider::compound(vec![
            (Vect::new(-spec.half.x + 1., -1.), 0., Collider::cuboid(1., spec.half.y - 3.)),
            (Vect::new( spec.half.x - 1., -1.), 0., Collider::cuboid(1., spec.half.y - 3.)),
            (Vect::new(0.,  spec.half.y - 2.), 0., Collider::cuboid(spec.half.x, 2.)),
            (Vect::new(0., -spec.half.y + 1.), 0., Collider::cuboid(spec.half.x, 1.)),
        ]),
        Velocity::default(),
        MaterialMesh2dBundle {
            mesh: bevy::sprite::Mesh2dHandle(meshes.add(Rectangle::new(spec.dim.x, spec.dim.y))),
            material: materials.add(Color::rgb(0.5, 0.5, 0.5)),
            ..default()
        },
        AdditionalMassProperties::MassProperties(
            MassProperties {
                mass: spec.mass,
                principal_inertia: spec.inertia,
                local_center_of_mass: spec.center_mass,
            }
        ),
        ExternalForce::default(),
        Sleeping { linear_threshold: -1., angular_threshold: -1., sleeping: false },
        SolverGroups::new(GROUP_PARENT, Group::ALL)
    ))

app.add_systems(Update, apply_forces.run_if(in_state(crate::commons::AppState::Game)));

pub fn apply_forces(mut query: Query<(&Forces, &Spec, &Transform, &mut ExternalForce), With<ParentTag>>) {
    for (forces, spec, transform, mut ext) in query.iter_mut() {
        ...
        ext.force = (transform.rotation * forces.force).truncate();
        ext.torque = forces.torque * spec.torque_rate;
    }
}

this is with velocity

this is without the velocity

Capsule Mesh and capsule Collider is in the same Bundle/Tuple