Script interface improvements for test body motion

-Physics servers test body motion use a class to hold parameters instead
of multiple arguments to make it more readable and flexible since there
are many options
-Improved documentation for test body motion and kinematic collision
-Removed read-only properties for body motion results (not handled in
scripts, so they should be get_ methods only instead)

15 files changed, 296 insertions, 192 deletions

diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp
index 4315b55df4..c2205e33b0 100644
--- a/servers/physics_2d/physics_server_2d_sw.cpp
+++ b/servers/physics_2d/physics_server_2d_sw.cpp
@@ -948,7 +948,7 @@ void PhysicsServer2DSW::body_set_pickable(RID p_body, bool p_pickable) {
 	body->set_pickable(p_pickable);
 }
 
-bool PhysicsServer2DSW::body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, MotionResult *r_result, bool p_collide_separation_ray, const Set<RID> &p_exclude) {
+bool PhysicsServer2DSW::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) {
 	Body2DSW *body = body_owner.get_or_null(p_body);
 	ERR_FAIL_COND_V(!body, false);
 	ERR_FAIL_COND_V(!body->get_space(), false);
@@ -956,7 +956,7 @@ bool PhysicsServer2DSW::body_test_motion(RID p_body, const Transform2D &p_from,
 
 	_update_shapes();
 
-	return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_collide_separation_ray, p_exclude);
+	return body->get_space()->test_body_motion(body, p_parameters, r_result);
 }
 
 PhysicsDirectBodyState2D *PhysicsServer2DSW::body_get_direct_state(RID p_body) {
diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/physics_server_2d_sw.h
index 1f35e83995..b8e375a087 100644
--- a/servers/physics_2d/physics_server_2d_sw.h
+++ b/servers/physics_2d/physics_server_2d_sw.h
@@ -246,7 +246,7 @@ public:
 
 	virtual void body_set_pickable(RID p_body, bool p_pickable) override;
 
-	virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override;
+	virtual bool body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result = nullptr) override;
 
 	// this function only works on physics process, errors and returns null otherwise
 	virtual PhysicsDirectBodyState2D *body_get_direct_state(RID p_body) override;
diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.h b/servers/physics_2d/physics_server_2d_wrap_mt.h
index 7925344d76..8d9e366661 100644
--- a/servers/physics_2d/physics_server_2d_wrap_mt.h
+++ b/servers/physics_2d/physics_server_2d_wrap_mt.h
@@ -254,9 +254,9 @@ public:
 
 	FUNC2(body_set_pickable, RID, bool);
 
-	bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override {
+	bool body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result = nullptr) override {
 		ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
-		return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_collide_separation_ray, p_exclude);
+		return physics_2d_server->body_test_motion(p_body, p_parameters, r_result);
 	}
 
 	// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 5cd9bf3223..5e25d7f7c4 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -525,7 +525,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
 	return amount;
 }
 
-bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_collide_separation_ray, const Set<RID> &p_exclude) {
+bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result) {
 	//give me back regular physics engine logic
 	//this is madness
 	//and most people using this function will think
@@ -557,25 +557,25 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 	if (!shapes_found) {
 		if (r_result) {
 			*r_result = PhysicsServer2D::MotionResult();
-			r_result->travel = p_motion;
+			r_result->travel = p_parameters.motion;
 		}
 		return false;
 	}
 
 	// Undo the currently transform the physics server is aware of and apply the provided one
-	body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb));
-	body_aabb = body_aabb.grow(p_margin);
+	body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb));
+	body_aabb = body_aabb.grow(p_parameters.margin);
 
 	static const int max_excluded_shape_pairs = 32;
 	ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs];
 	int excluded_shape_pair_count = 0;
 
-	real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+	real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
 
-	real_t motion_length = p_motion.length();
-	Vector2 motion_normal = p_motion / motion_length;
+	real_t motion_length = p_parameters.motion.length();
+	Vector2 motion_normal = p_parameters.motion / motion_length;
 
-	Transform2D body_transform = p_from;
+	Transform2D body_transform = p_parameters.from;
 
 	bool recovered = false;
 
@@ -612,7 +612,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 
 				for (int i = 0; i < amount; i++) {
 					const CollisionObject2DSW *col_obj = intersection_query_results[i];
-					if (p_exclude.has(col_obj->get_self())) {
+					if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 						continue;
 					}
 
@@ -624,7 +624,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 						cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
 
 						real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
-						cbk.valid_depth = MAX(owc_margin, p_margin); //user specified, but never less than actual margin or it won't work
+						cbk.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work
 						cbk.invalid_by_dir = 0;
 
 						if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
@@ -649,7 +649,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 					bool did_collide = false;
 
 					Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
-					if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_margin)) {
+					if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_parameters.margin)) {
 						did_collide = cbk.passed > current_passed; //more passed, so collision actually existed
 					}
 
@@ -714,7 +714,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 		// STEP 2 ATTEMPT MOTION
 
 		Rect2 motion_aabb = body_aabb;
-		motion_aabb.position += p_motion;
+		motion_aabb.position += p_parameters.motion;
 		motion_aabb = motion_aabb.merge(body_aabb);
 
 		int amount = _cull_aabb_for_body(p_body, motion_aabb);
@@ -728,7 +728,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 
 			// Colliding separation rays allows to properly snap to the ground,
 			// otherwise it's not needed in regular motion.
-			if (!p_collide_separation_ray && (body_shape->get_type() == PhysicsServer2D::SHAPE_SEPARATION_RAY)) {
+			if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer2D::SHAPE_SEPARATION_RAY)) {
 				// When slide on slope is on, separation ray shape acts like a regular shape.
 				if (!static_cast<SeparationRayShape2DSW *>(body_shape)->get_slide_on_slope()) {
 					continue;
@@ -744,9 +744,10 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 
 			for (int i = 0; i < amount; i++) {
 				const CollisionObject2DSW *col_obj = intersection_query_results[i];
-				if (p_exclude.has(col_obj->get_self())) {
+				if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 					continue;
 				}
+
 				int col_shape_idx = intersection_query_subindex_results[i];
 				Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx);
 
@@ -765,7 +766,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 
 				Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(col_shape_idx);
 				//test initial overlap, does it collide if going all the way?
-				if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
+				if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
 					continue;
 				}
 
@@ -790,7 +791,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 					real_t fraction = low + (hi - low) * fraction_coeff;
 
 					Vector2 sep = motion_normal; //important optimization for this to work fast enough
-					bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
+					bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
 
 					if (collided) {
 						hi = fraction;
@@ -827,7 +828,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 					cbk.valid_depth = 10e20;
 
 					Vector2 sep = motion_normal; //important optimization for this to work fast enough
-					bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), PhysicsServer2DSW::_shape_col_cbk, &cbk, &sep, 0);
+					bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), PhysicsServer2DSW::_shape_col_cbk, &cbk, &sep, 0);
 					if (!collided || cbk.amount == 0) {
 						continue;
 					}
@@ -865,7 +866,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 
 		//it collided, let's get the rest info in unsafe advance
 		Transform2D ugt = body_transform;
-		ugt.elements[2] += p_motion * unsafe;
+		ugt.elements[2] += p_parameters.motion * unsafe;
 
 		_RestCallbackData2D rcd;
 		rcd.best_len = 0;
@@ -886,13 +887,13 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 			Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j);
 			Shape2DSW *body_shape = p_body->get_shape(j);
 
-			body_aabb.position += p_motion * unsafe;
+			body_aabb.position += p_parameters.motion * unsafe;
 
 			int amount = _cull_aabb_for_body(p_body, body_aabb);
 
 			for (int i = 0; i < amount; i++) {
 				const CollisionObject2DSW *col_obj = intersection_query_results[i];
-				if (p_exclude.has(col_obj->get_self())) {
+				if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 					continue;
 				}
 
@@ -917,7 +918,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 					rcd.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
 
 					real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
-					rcd.valid_depth = MAX(owc_margin, p_margin); //user specified, but never less than actual margin or it won't work
+					rcd.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work
 
 					if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
 						const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
@@ -939,7 +940,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 				rcd.object = col_obj;
 				rcd.shape = shape_idx;
 				rcd.local_shape = j;
-				bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_margin);
+				bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
 				if (!sc) {
 					continue;
 				}
@@ -962,9 +963,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 				Vector2 rel_vec = r_result->collision_point - (body->get_transform().get_origin() + body->get_center_of_mass());
 				r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
 
-				r_result->travel = safe * p_motion;
-				r_result->remainder = p_motion - safe * p_motion;
-				r_result->travel += (body_transform.get_origin() - p_from.get_origin());
+				r_result->travel = safe * p_parameters.motion;
+				r_result->remainder = p_parameters.motion - safe * p_parameters.motion;
+				r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin());
 			}
 
 			collided = true;
@@ -972,9 +973,9 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 	}
 
 	if (!collided && r_result) {
-		r_result->travel = p_motion;
+		r_result->travel = p_parameters.motion;
 		r_result->remainder = Vector2();
-		r_result->travel += (body_transform.get_origin() - p_from.get_origin());
+		r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin());
 	}
 
 	return collided;
diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h
index a1a8a77ee4..746b5c6c9a 100644
--- a/servers/physics_2d/space_2d_sw.h
+++ b/servers/physics_2d/space_2d_sw.h
@@ -187,7 +187,7 @@ public:
 
 	int get_collision_pairs() const { return collision_pairs; }
 
-	bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>());
+	bool test_body_motion(Body2DSW *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result);
 
 	void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
 	_FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.is_empty(); }
diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp
index 36f81e072d..b16e199a03 100644
--- a/servers/physics_3d/physics_server_3d_sw.cpp
+++ b/servers/physics_3d/physics_server_3d_sw.cpp
@@ -868,7 +868,7 @@ void PhysicsServer3DSW::body_set_ray_pickable(RID p_body, bool p_enable) {
 	body->set_ray_pickable(p_enable);
 }
 
-bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, MotionResult *r_result, int p_max_collisions, bool p_collide_separation_ray, const Set<RID> &p_exclude) {
+bool PhysicsServer3DSW::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) {
 	Body3DSW *body = body_owner.get_or_null(p_body);
 	ERR_FAIL_COND_V(!body, false);
 	ERR_FAIL_COND_V(!body->get_space(), false);
@@ -876,7 +876,7 @@ bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from,
 
 	_update_shapes();
 
-	return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_max_collisions, p_collide_separation_ray, p_exclude);
+	return body->get_space()->test_body_motion(body, p_parameters, r_result);
 }
 
 PhysicsDirectBodyState3D *PhysicsServer3DSW::body_get_direct_state(RID p_body) {
diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h
index 106e260311..54a787198d 100644
--- a/servers/physics_3d/physics_server_3d_sw.h
+++ b/servers/physics_3d/physics_server_3d_sw.h
@@ -242,7 +242,7 @@ public:
 
 	virtual void body_set_ray_pickable(RID p_body, bool p_enable) override;
 
-	virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, int p_max_collisions = 1, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override;
+	virtual bool body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result = nullptr) override;
 
 	// this function only works on physics process, errors and returns null otherwise
 	virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;
diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.h b/servers/physics_3d/physics_server_3d_wrap_mt.h
index a86fb5a3d3..17d02addda 100644
--- a/servers/physics_3d/physics_server_3d_wrap_mt.h
+++ b/servers/physics_3d/physics_server_3d_wrap_mt.h
@@ -253,9 +253,9 @@ public:
 
 	FUNC2(body_set_ray_pickable, RID, bool);
 
-	bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, int p_max_collisions = 1, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) override {
+	bool body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result = nullptr) override {
 		ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
-		return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_max_collisions, p_collide_separation_ray, p_exclude);
+		return physics_3d_server->body_test_motion(p_body, p_parameters, r_result);
 	}
 
 	// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index 369dad45eb..f5f497e167 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -620,7 +620,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
 	return amount;
 }
 
-bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, int p_max_collisions, bool p_collide_separation_ray, const Set<RID> &p_exclude) {
+bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result) {
 	//give me back regular physics engine logic
 	//this is madness
 	//and most people using this function will think
@@ -628,7 +628,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 	//this took about a week to get right..
 	//but is it right? who knows at this point..
 
-	ERR_FAIL_INDEX_V(p_max_collisions, PhysicsServer3D::MotionResult::MAX_COLLISIONS, false);
+	ERR_FAIL_INDEX_V(p_parameters.max_collisions, PhysicsServer3D::MotionResult::MAX_COLLISIONS, false);
 
 	if (r_result) {
 		*r_result = PhysicsServer3D::MotionResult();
@@ -652,22 +652,22 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 
 	if (!shapes_found) {
 		if (r_result) {
-			r_result->travel = p_motion;
+			r_result->travel = p_parameters.motion;
 		}
 
 		return false;
 	}
 
 	// Undo the currently transform the physics server is aware of and apply the provided one
-	body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb));
-	body_aabb = body_aabb.grow(p_margin);
+	body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb));
+	body_aabb = body_aabb.grow(p_parameters.margin);
 
-	real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+	real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
 
-	real_t motion_length = p_motion.length();
-	Vector3 motion_normal = p_motion / motion_length;
+	real_t motion_length = p_parameters.motion.length();
+	Vector3 motion_normal = p_parameters.motion / motion_length;
 
-	Transform3D body_transform = p_from;
+	Transform3D body_transform = p_parameters.from;
 
 	bool recovered = false;
 
@@ -701,13 +701,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 
 				for (int i = 0; i < amount; i++) {
 					const CollisionObject3DSW *col_obj = intersection_query_results[i];
-					if (p_exclude.has(col_obj->get_self())) {
+					if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 						continue;
 					}
 
 					int shape_idx = intersection_query_subindex_results[i];
 
-					if (CollisionSolver3DSW::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
+					if (CollisionSolver3DSW::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_parameters.margin)) {
 						collided = cbk.amount > 0;
 					}
 				}
@@ -757,7 +757,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 		// STEP 2 ATTEMPT MOTION
 
 		AABB motion_aabb = body_aabb;
-		motion_aabb.position += p_motion;
+		motion_aabb.position += p_parameters.motion;
 		motion_aabb = motion_aabb.merge(body_aabb);
 
 		int amount = _cull_aabb_for_body(p_body, motion_aabb);
@@ -771,7 +771,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 
 			// Colliding separation rays allows to properly snap to the ground,
 			// otherwise it's not needed in regular motion.
-			if (!p_collide_separation_ray && (body_shape->get_type() == PhysicsServer3D::SHAPE_SEPARATION_RAY)) {
+			if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer3D::SHAPE_SEPARATION_RAY)) {
 				// When slide on slope is on, separation ray shape acts like a regular shape.
 				if (!static_cast<SeparationRayShape3DSW *>(body_shape)->get_slide_on_slope()) {
 					continue;
@@ -783,7 +783,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 			Transform3D body_shape_xform_inv = body_shape_xform.affine_inverse();
 			MotionShape3DSW mshape;
 			mshape.shape = body_shape;
-			mshape.motion = body_shape_xform_inv.basis.xform(p_motion);
+			mshape.motion = body_shape_xform_inv.basis.xform(p_parameters.motion);
 
 			bool stuck = false;
 
@@ -792,7 +792,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 
 			for (int i = 0; i < amount; i++) {
 				const CollisionObject3DSW *col_obj = intersection_query_results[i];
-				if (p_exclude.has(col_obj->get_self())) {
+				if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 					continue;
 				}
 
@@ -821,7 +821,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 				for (int k = 0; k < 8; k++) { //steps should be customizable..
 					real_t fraction = low + (hi - low) * fraction_coeff;
 
-					mshape.motion = body_shape_xform_inv.basis.xform(p_motion * fraction);
+					mshape.motion = body_shape_xform_inv.basis.xform(p_parameters.motion * fraction);
 
 					Vector3 lA, lB;
 					Vector3 sep = motion_normal; //important optimization for this to work fast enough
@@ -883,13 +883,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 
 		//it collided, let's get the rest info in unsafe advance
 		Transform3D ugt = body_transform;
-		ugt.origin += p_motion * unsafe;
+		ugt.origin += p_parameters.motion * unsafe;
 
 		_RestResultData results[PhysicsServer3D::MotionResult::MAX_COLLISIONS];
 
 		_RestCallbackData rcd;
-		if (p_max_collisions > 1) {
-			rcd.max_results = p_max_collisions;
+		if (p_parameters.max_collisions > 1) {
+			rcd.max_results = p_parameters.max_collisions;
 			rcd.other_results = results;
 		}
 
@@ -907,20 +907,20 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 			Transform3D body_shape_xform = ugt * p_body->get_shape_transform(j);
 			Shape3DSW *body_shape = p_body->get_shape(j);
 
-			body_aabb.position += p_motion * unsafe;
+			body_aabb.position += p_parameters.motion * unsafe;
 
 			int amount = _cull_aabb_for_body(p_body, body_aabb);
 
 			for (int i = 0; i < amount; i++) {
 				const CollisionObject3DSW *col_obj = intersection_query_results[i];
-				if (p_exclude.has(col_obj->get_self())) {
+				if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 					continue;
 				}
 				int shape_idx = intersection_query_subindex_results[i];
 
 				rcd.object = col_obj;
 				rcd.shape = shape_idx;
-				bool sc = CollisionSolver3DSW::solve_static(body_shape, body_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);
+				bool sc = CollisionSolver3DSW::solve_static(body_shape, body_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_parameters.margin);
 				if (!sc) {
 					continue;
 				}
@@ -948,12 +948,12 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 					collision.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
 				}
 
-				r_result->travel = safe * p_motion;
-				r_result->remainder = p_motion - safe * p_motion;
-				r_result->travel += (body_transform.get_origin() - p_from.get_origin());
+				r_result->travel = safe * p_parameters.motion;
+				r_result->remainder = p_parameters.motion - safe * p_parameters.motion;
+				r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin());
 
-				r_result->safe_fraction = safe;
-				r_result->unsafe_fraction = unsafe;
+				r_result->collision_safe_fraction = safe;
+				r_result->collision_unsafe_fraction = unsafe;
 
 				r_result->collision_count = rcd.result_count;
 			}
@@ -963,12 +963,12 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 	}
 
 	if (!collided && r_result) {
-		r_result->travel = p_motion;
+		r_result->travel = p_parameters.motion;
 		r_result->remainder = Vector3();
-		r_result->travel += (body_transform.get_origin() - p_from.get_origin());
+		r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin());
 
-		r_result->safe_fraction = 1.0;
-		r_result->unsafe_fraction = 1.0;
+		r_result->collision_safe_fraction = 1.0;
+		r_result->collision_unsafe_fraction = 1.0;
 	}
 
 	return collided;
diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h
index daa1244bf8..69cc3c4bbd 100644
--- a/servers/physics_3d/space_3d_sw.h
+++ b/servers/physics_3d/space_3d_sw.h
@@ -207,7 +207,7 @@ public:
 	void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; }
 	uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
 
-	bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, int p_max_collisions = 1, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>());
+	bool test_body_motion(Body3DSW *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result);
 
 	Space3DSW();
 	~Space3DSW();
diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp
index 2a4240baee..ad53f9ed20 100644
--- a/servers/physics_server_2d.cpp
+++ b/servers/physics_server_2d.cpp
@@ -412,6 +412,49 @@ void PhysicsDirectSpaceState2D::_bind_methods() {
 
 ///////////////////////////////
 
+Vector<RID> PhysicsTestMotionParameters2D::get_exclude_bodies() const {
+	Vector<RID> exclude;
+	exclude.resize(parameters.exclude_bodies.size());
+
+	int body_index = 0;
+	for (RID body : parameters.exclude_bodies) {
+		exclude.write[body_index++] = body;
+	}
+
+	return exclude;
+}
+
+void PhysicsTestMotionParameters2D::set_exclude_bodies(const Vector<RID> &p_exclude) {
+	for (RID body : p_exclude) {
+		parameters.exclude_bodies.insert(body);
+	}
+}
+
+void PhysicsTestMotionParameters2D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("get_from"), &PhysicsTestMotionParameters2D::get_from);
+	ClassDB::bind_method(D_METHOD("set_from"), &PhysicsTestMotionParameters2D::set_from);
+
+	ClassDB::bind_method(D_METHOD("get_motion"), &PhysicsTestMotionParameters2D::get_motion);
+	ClassDB::bind_method(D_METHOD("set_motion"), &PhysicsTestMotionParameters2D::set_motion);
+
+	ClassDB::bind_method(D_METHOD("get_margin"), &PhysicsTestMotionParameters2D::get_margin);
+	ClassDB::bind_method(D_METHOD("set_margin"), &PhysicsTestMotionParameters2D::set_margin);
+
+	ClassDB::bind_method(D_METHOD("is_collide_separation_ray_enabled"), &PhysicsTestMotionParameters2D::is_collide_separation_ray_enabled);
+	ClassDB::bind_method(D_METHOD("set_collide_separation_ray_enabled"), &PhysicsTestMotionParameters2D::set_collide_separation_ray_enabled);
+
+	ClassDB::bind_method(D_METHOD("get_exclude_bodies"), &PhysicsTestMotionParameters2D::get_exclude_bodies);
+	ClassDB::bind_method(D_METHOD("set_exclude_bodies"), &PhysicsTestMotionParameters2D::set_exclude_bodies);
+
+	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM2D, "from"), "set_from", "get_from");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "motion"), "set_motion", "get_motion");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "margin"), "set_margin", "get_margin");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_separation_ray"), "set_collide_separation_ray_enabled", "is_collide_separation_ray_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "exclude_bodies"), "set_exclude_bodies", "get_exclude_bodies");
+}
+
+///////////////////////////////
+
 Vector2 PhysicsTestMotionResult2D::get_travel() const {
 	return result.travel;
 }
@@ -448,6 +491,10 @@ int PhysicsTestMotionResult2D::get_collider_shape() const {
 	return result.collider_shape;
 }
 
+int PhysicsTestMotionResult2D::get_collision_local_shape() const {
+	return result.collision_local_shape;
+}
+
 real_t PhysicsTestMotionResult2D::get_collision_depth() const {
 	return result.collision_depth;
 }
@@ -470,36 +517,23 @@ void PhysicsTestMotionResult2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_collider_rid"), &PhysicsTestMotionResult2D::get_collider_rid);
 	ClassDB::bind_method(D_METHOD("get_collider"), &PhysicsTestMotionResult2D::get_collider);
 	ClassDB::bind_method(D_METHOD("get_collider_shape"), &PhysicsTestMotionResult2D::get_collider_shape);
+	ClassDB::bind_method(D_METHOD("get_collision_local_shape"), &PhysicsTestMotionResult2D::get_collision_local_shape);
 	ClassDB::bind_method(D_METHOD("get_collision_depth"), &PhysicsTestMotionResult2D::get_collision_depth);
 	ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &PhysicsTestMotionResult2D::get_collision_safe_fraction);
 	ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &PhysicsTestMotionResult2D::get_collision_unsafe_fraction);
-
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "travel"), "", "get_travel");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "remainder"), "", "get_remainder");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "collision_point"), "", "get_collision_point");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "collision_normal"), "", "get_collision_normal");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "collider_velocity"), "", "get_collider_velocity");
-	ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_id", PROPERTY_HINT_OBJECT_ID), "", "get_collider_id");
-	ADD_PROPERTY(PropertyInfo(Variant::RID, "collider_rid"), "", "get_collider_rid");
-	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider");
-	ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_collider_shape");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_depth"), "", "get_collision_depth");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_safe_fraction"), "", "get_collision_safe_fraction");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_unsafe_fraction"), "", "get_collision_unsafe_fraction");
 }
 
 ///////////////////////////////////////
 
-bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, const Ref<PhysicsTestMotionResult2D> &p_result, bool p_collide_separation_ray, const Vector<RID> &p_exclude) {
-	MotionResult *r = nullptr;
+bool PhysicsServer2D::_body_test_motion(RID p_body, const Ref<PhysicsTestMotionParameters2D> &p_parameters, const Ref<PhysicsTestMotionResult2D> &p_result) {
+	ERR_FAIL_COND_V(!p_parameters.is_valid(), false);
+
+	MotionResult *result_ptr = nullptr;
 	if (p_result.is_valid()) {
-		r = p_result->get_result_ptr();
-	}
-	Set<RID> exclude;
-	for (int i = 0; i < p_exclude.size(); i++) {
-		exclude.insert(p_exclude[i]);
+		result_ptr = p_result->get_result_ptr();
 	}
-	return body_test_motion(p_body, p_from, p_motion, p_margin, r, p_collide_separation_ray, exclude);
+
+	return body_test_motion(p_body, p_parameters->get_parameters(), result_ptr);
 }
 
 void PhysicsServer2D::_bind_methods() {
@@ -626,7 +660,7 @@ void PhysicsServer2D::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("body_set_force_integration_callback", "body", "callable", "userdata"), &PhysicsServer2D::body_set_force_integration_callback, DEFVAL(Variant()));
 
-	ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "margin", "result", "collide_separation_ray", "exclude"), &PhysicsServer2D::_body_test_motion, DEFVAL(0.08), DEFVAL(Variant()), DEFVAL(false), DEFVAL(Array()));
+	ClassDB::bind_method(D_METHOD("body_test_motion", "body", "parameters", "result"), &PhysicsServer2D::_body_test_motion, DEFVAL(Variant()));
 
 	ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &PhysicsServer2D::body_get_direct_state);
 
diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h
index ed0584aaa6..1028be05b7 100644
--- a/servers/physics_server_2d.h
+++ b/servers/physics_server_2d.h
@@ -198,6 +198,7 @@ public:
 	PhysicsDirectSpaceState2D();
 };
 
+class PhysicsTestMotionParameters2D;
 class PhysicsTestMotionResult2D;
 
 class PhysicsServer2D : public Object {
@@ -205,7 +206,7 @@ class PhysicsServer2D : public Object {
 
 	static PhysicsServer2D *singleton;
 
-	virtual bool _body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin = 0.08, const Ref<PhysicsTestMotionResult2D> &p_result = Ref<PhysicsTestMotionResult2D>(), bool p_collide_separation_ray = false, const Vector<RID> &p_exclude = Vector<RID>());
+	virtual bool _body_test_motion(RID p_body, const Ref<PhysicsTestMotionParameters2D> &p_parameters, const Ref<PhysicsTestMotionResult2D> &p_result = Ref<PhysicsTestMotionResult2D>());
 
 protected:
 	static void _bind_methods();
@@ -465,6 +466,21 @@ public:
 	// this function only works on physics process, errors and returns null otherwise
 	virtual PhysicsDirectBodyState2D *body_get_direct_state(RID p_body) = 0;
 
+	struct MotionParameters {
+		Transform2D from;
+		Vector2 motion;
+		real_t margin = 0.08;
+		bool collide_separation_ray = false;
+		Set<RID> exclude_bodies;
+
+		MotionParameters() {}
+
+		MotionParameters(const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin = 0.08) :
+				from(p_from),
+				motion(p_motion),
+				margin(p_margin) {}
+	};
+
 	struct MotionResult {
 		Vector2 travel;
 		Vector2 remainder;
@@ -485,18 +501,7 @@ public:
 		}
 	};
 
-	virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) = 0;
-
-	struct SeparationResult {
-		real_t collision_depth;
-		Vector2 collision_point;
-		Vector2 collision_normal;
-		Vector2 collider_velocity;
-		int collision_local_shape;
-		ObjectID collider_id;
-		RID collider;
-		int collider_shape;
-	};
+	virtual bool body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result = nullptr) = 0;
 
 	/* JOINT API */
 
@@ -579,11 +584,37 @@ public:
 	~PhysicsServer2D();
 };
 
+class PhysicsTestMotionParameters2D : public RefCounted {
+	GDCLASS(PhysicsTestMotionParameters2D, RefCounted);
+
+	PhysicsServer2D::MotionParameters parameters;
+
+protected:
+	static void _bind_methods();
+
+public:
+	const PhysicsServer2D::MotionParameters &get_parameters() const { return parameters; }
+
+	const Transform2D &get_from() const { return parameters.from; }
+	void set_from(const Transform2D &p_from) { parameters.from = p_from; }
+
+	const Vector2 &get_motion() const { return parameters.motion; }
+	void set_motion(const Vector2 &p_motion) { parameters.motion = p_motion; }
+
+	real_t get_margin() const { return parameters.margin; }
+	void set_margin(real_t p_margin) { parameters.margin = p_margin; }
+
+	bool is_collide_separation_ray_enabled() const { return parameters.collide_separation_ray; }
+	void set_collide_separation_ray_enabled(bool p_enabled) { parameters.collide_separation_ray = p_enabled; }
+
+	Vector<RID> get_exclude_bodies() const;
+	void set_exclude_bodies(const Vector<RID> &p_exclude);
+};
+
 class PhysicsTestMotionResult2D : public RefCounted {
 	GDCLASS(PhysicsTestMotionResult2D, RefCounted);
 
 	PhysicsServer2D::MotionResult result;
-	friend class PhysicsServer2D;
 
 protected:
 	static void _bind_methods();
@@ -601,6 +632,7 @@ public:
 	RID get_collider_rid() const;
 	Object *get_collider() const;
 	int get_collider_shape() const;
+	int get_collision_local_shape() const;
 	real_t get_collision_depth() const;
 	real_t get_collision_safe_fraction() const;
 	real_t get_collision_unsafe_fraction() const;
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index f444c2883d..1b47eba134 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -362,6 +362,53 @@ void PhysicsDirectSpaceState3D::_bind_methods() {
 
 ///////////////////////////////
 
+Vector<RID> PhysicsTestMotionParameters3D::get_exclude_bodies() const {
+	Vector<RID> exclude;
+	exclude.resize(parameters.exclude_bodies.size());
+
+	int body_index = 0;
+	for (RID body : parameters.exclude_bodies) {
+		exclude.write[body_index++] = body;
+	}
+
+	return exclude;
+}
+
+void PhysicsTestMotionParameters3D::set_exclude_bodies(const Vector<RID> &p_exclude) {
+	for (RID body : p_exclude) {
+		parameters.exclude_bodies.insert(body);
+	}
+}
+
+void PhysicsTestMotionParameters3D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("get_from"), &PhysicsTestMotionParameters3D::get_from);
+	ClassDB::bind_method(D_METHOD("set_from"), &PhysicsTestMotionParameters3D::set_from);
+
+	ClassDB::bind_method(D_METHOD("get_motion"), &PhysicsTestMotionParameters3D::get_motion);
+	ClassDB::bind_method(D_METHOD("set_motion"), &PhysicsTestMotionParameters3D::set_motion);
+
+	ClassDB::bind_method(D_METHOD("get_margin"), &PhysicsTestMotionParameters3D::get_margin);
+	ClassDB::bind_method(D_METHOD("set_margin"), &PhysicsTestMotionParameters3D::set_margin);
+
+	ClassDB::bind_method(D_METHOD("get_max_collisions"), &PhysicsTestMotionParameters3D::get_max_collisions);
+	ClassDB::bind_method(D_METHOD("set_max_collisions"), &PhysicsTestMotionParameters3D::set_max_collisions);
+
+	ClassDB::bind_method(D_METHOD("is_collide_separation_ray_enabled"), &PhysicsTestMotionParameters3D::is_collide_separation_ray_enabled);
+	ClassDB::bind_method(D_METHOD("set_collide_separation_ray_enabled"), &PhysicsTestMotionParameters3D::set_collide_separation_ray_enabled);
+
+	ClassDB::bind_method(D_METHOD("get_exclude_bodies"), &PhysicsTestMotionParameters3D::get_exclude_bodies);
+	ClassDB::bind_method(D_METHOD("set_exclude_bodies"), &PhysicsTestMotionParameters3D::set_exclude_bodies);
+
+	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "from"), "set_from", "get_from");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "motion"), "set_motion", "get_motion");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "margin"), "set_margin", "get_margin");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "max_collisions"), "set_max_collisions", "get_max_collisions");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_separation_ray"), "set_collide_separation_ray_enabled", "is_collide_separation_ray_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "exclude_bodies"), "set_exclude_bodies", "get_exclude_bodies");
+}
+
+///////////////////////////////
+
 Vector3 PhysicsTestMotionResult3D::get_travel() const {
 	return result.travel;
 }
@@ -370,12 +417,12 @@ Vector3 PhysicsTestMotionResult3D::get_remainder() const {
 	return result.remainder;
 }
 
-real_t PhysicsTestMotionResult3D::get_safe_fraction() const {
-	return result.safe_fraction;
+real_t PhysicsTestMotionResult3D::get_collision_safe_fraction() const {
+	return result.collision_safe_fraction;
 }
 
-real_t PhysicsTestMotionResult3D::get_unsafe_fraction() const {
-	return result.unsafe_fraction;
+real_t PhysicsTestMotionResult3D::get_collision_unsafe_fraction() const {
+	return result.collision_unsafe_fraction;
 }
 
 int PhysicsTestMotionResult3D::get_collision_count() const {
@@ -417,48 +464,21 @@ int PhysicsTestMotionResult3D::get_collider_shape(int p_collision_index) const {
 	return result.collisions[p_collision_index].collider_shape;
 }
 
+int PhysicsTestMotionResult3D::get_collision_local_shape(int p_collision_index) const {
+	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0);
+	return result.collisions[p_collision_index].local_shape;
+}
+
 real_t PhysicsTestMotionResult3D::get_collision_depth(int p_collision_index) const {
 	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0.0);
 	return result.collisions[p_collision_index].depth;
 }
 
-Vector3 PhysicsTestMotionResult3D::get_best_collision_point() const {
-	return result.collision_count ? get_collision_point() : Vector3();
-}
-
-Vector3 PhysicsTestMotionResult3D::get_best_collision_normal() const {
-	return result.collision_count ? get_collision_normal() : Vector3();
-}
-
-Vector3 PhysicsTestMotionResult3D::get_best_collider_velocity() const {
-	return result.collision_count ? get_collider_velocity() : Vector3();
-}
-
-ObjectID PhysicsTestMotionResult3D::get_best_collider_id() const {
-	return result.collision_count ? get_collider_id() : ObjectID();
-}
-
-RID PhysicsTestMotionResult3D::get_best_collider_rid() const {
-	return result.collision_count ? get_collider_rid() : RID();
-}
-
-Object *PhysicsTestMotionResult3D::get_best_collider() const {
-	return result.collision_count ? get_collider() : nullptr;
-}
-
-int PhysicsTestMotionResult3D::get_best_collider_shape() const {
-	return result.collision_count ? get_collider_shape() : 0;
-}
-
-real_t PhysicsTestMotionResult3D::get_best_collision_depth() const {
-	return result.collision_count ? get_collision_depth() : 0.0;
-}
-
 void PhysicsTestMotionResult3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_travel"), &PhysicsTestMotionResult3D::get_travel);
 	ClassDB::bind_method(D_METHOD("get_remainder"), &PhysicsTestMotionResult3D::get_remainder);
-	ClassDB::bind_method(D_METHOD("get_safe_fraction"), &PhysicsTestMotionResult3D::get_safe_fraction);
-	ClassDB::bind_method(D_METHOD("get_unsafe_fraction"), &PhysicsTestMotionResult3D::get_unsafe_fraction);
+	ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &PhysicsTestMotionResult3D::get_collision_safe_fraction);
+	ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &PhysicsTestMotionResult3D::get_collision_unsafe_fraction);
 	ClassDB::bind_method(D_METHOD("get_collision_count"), &PhysicsTestMotionResult3D::get_collision_count);
 	ClassDB::bind_method(D_METHOD("get_collision_point", "collision_index"), &PhysicsTestMotionResult3D::get_collision_point, DEFVAL(0));
 	ClassDB::bind_method(D_METHOD("get_collision_normal", "collision_index"), &PhysicsTestMotionResult3D::get_collision_normal, DEFVAL(0));
@@ -467,44 +487,21 @@ void PhysicsTestMotionResult3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_collider_rid", "collision_index"), &PhysicsTestMotionResult3D::get_collider_rid, DEFVAL(0));
 	ClassDB::bind_method(D_METHOD("get_collider", "collision_index"), &PhysicsTestMotionResult3D::get_collider, DEFVAL(0));
 	ClassDB::bind_method(D_METHOD("get_collider_shape", "collision_index"), &PhysicsTestMotionResult3D::get_collider_shape, DEFVAL(0));
+	ClassDB::bind_method(D_METHOD("get_collision_local_shape", "collision_index"), &PhysicsTestMotionResult3D::get_collision_local_shape, DEFVAL(0));
 	ClassDB::bind_method(D_METHOD("get_collision_depth", "collision_index"), &PhysicsTestMotionResult3D::get_collision_depth, DEFVAL(0));
-
-	ClassDB::bind_method(D_METHOD("get_best_collision_point"), &PhysicsTestMotionResult3D::get_best_collision_point);
-	ClassDB::bind_method(D_METHOD("get_best_collision_normal"), &PhysicsTestMotionResult3D::get_best_collision_normal);
-	ClassDB::bind_method(D_METHOD("get_best_collider_velocity"), &PhysicsTestMotionResult3D::get_best_collider_velocity);
-	ClassDB::bind_method(D_METHOD("get_best_collider_id"), &PhysicsTestMotionResult3D::get_best_collider_id);
-	ClassDB::bind_method(D_METHOD("get_best_collider_rid"), &PhysicsTestMotionResult3D::get_best_collider_rid);
-	ClassDB::bind_method(D_METHOD("get_best_collider"), &PhysicsTestMotionResult3D::get_best_collider);
-	ClassDB::bind_method(D_METHOD("get_best_collider_shape"), &PhysicsTestMotionResult3D::get_best_collider_shape);
-	ClassDB::bind_method(D_METHOD("get_best_collision_depth"), &PhysicsTestMotionResult3D::get_best_collision_depth);
-
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "travel"), "", "get_travel");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "remainder"), "", "get_remainder");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "safe_fraction"), "", "get_safe_fraction");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "unsafe_fraction"), "", "get_unsafe_fraction");
-	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_count"), "", "get_collision_count");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collision_point"), "", "get_best_collision_point");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collision_normal"), "", "get_best_collision_normal");
-	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collider_velocity"), "", "get_best_collider_velocity");
-	ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_id", PROPERTY_HINT_OBJECT_ID), "", "get_best_collider_id");
-	ADD_PROPERTY(PropertyInfo(Variant::RID, "collider_rid"), "", "get_best_collider_rid");
-	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_best_collider");
-	ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_best_collider_shape");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_depth"), "", "get_best_collision_depth");
 }
 
 ///////////////////////////////////////
 
-bool PhysicsServer3D::_body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, const Ref<PhysicsTestMotionResult3D> &p_result, bool p_collide_separation_ray, const Vector<RID> &p_exclude, int p_max_collisions) {
-	MotionResult *r = nullptr;
+bool PhysicsServer3D::_body_test_motion(RID p_body, const Ref<PhysicsTestMotionParameters3D> &p_parameters, const Ref<PhysicsTestMotionResult3D> &p_result) {
+	ERR_FAIL_COND_V(!p_parameters.is_valid(), false);
+
+	MotionResult *result_ptr = nullptr;
 	if (p_result.is_valid()) {
-		r = p_result->get_result_ptr();
+		result_ptr = p_result->get_result_ptr();
 	}
-	Set<RID> exclude;
-	for (int i = 0; i < p_exclude.size(); i++) {
-		exclude.insert(p_exclude[i]);
-	}
-	return body_test_motion(p_body, p_from, p_motion, p_margin, r, p_max_collisions, p_collide_separation_ray, exclude);
+
+	return body_test_motion(p_body, p_parameters->get_parameters(), result_ptr);
 }
 
 RID PhysicsServer3D::shape_create(ShapeType p_shape) {
@@ -662,7 +659,7 @@ void PhysicsServer3D::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("body_set_ray_pickable", "body", "enable"), &PhysicsServer3D::body_set_ray_pickable);
 
-	ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "margin", "result", "collide_separation_ray", "exclude", "max_collisions"), &PhysicsServer3D::_body_test_motion, DEFVAL(0.001), DEFVAL(Variant()), DEFVAL(false), DEFVAL(Array()), DEFVAL(1));
+	ClassDB::bind_method(D_METHOD("body_test_motion", "body", "parameters", "result"), &PhysicsServer3D::_body_test_motion, DEFVAL(Variant()));
 
 	ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &PhysicsServer3D::body_get_direct_state);
 
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index dbd734ba32..3d884de095 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -203,6 +203,7 @@ public:
 	virtual ~RenderingServerHandler() {}
 };
 
+class PhysicsTestMotionParameters3D;
 class PhysicsTestMotionResult3D;
 
 class PhysicsServer3D : public Object {
@@ -210,7 +211,7 @@ class PhysicsServer3D : public Object {
 
 	static PhysicsServer3D *singleton;
 
-	virtual bool _body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, const Ref<PhysicsTestMotionResult3D> &p_result = Ref<PhysicsTestMotionResult3D>(), bool p_collide_separation_ray = false, const Vector<RID> &p_exclude = Vector<RID>(), int p_max_collisions = 1);
+	virtual bool _body_test_motion(RID p_body, const Ref<PhysicsTestMotionParameters3D> &p_parameters, const Ref<PhysicsTestMotionResult3D> &p_result = Ref<PhysicsTestMotionResult3D>());
 
 protected:
 	static void _bind_methods();
@@ -483,6 +484,22 @@ public:
 	// this function only works on physics process, errors and returns null otherwise
 	virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) = 0;
 
+	struct MotionParameters {
+		Transform3D from;
+		Vector3 motion;
+		real_t margin = 0.001;
+		int max_collisions = 1;
+		bool collide_separation_ray = false;
+		Set<RID> exclude_bodies;
+
+		MotionParameters() {}
+
+		MotionParameters(const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001) :
+				from(p_from),
+				motion(p_motion),
+				margin(p_margin) {}
+	};
+
 	struct MotionCollision {
 		Vector3 position;
 		Vector3 normal;
@@ -501,15 +518,15 @@ public:
 	struct MotionResult {
 		Vector3 travel;
 		Vector3 remainder;
-		real_t safe_fraction = 0.0;
-		real_t unsafe_fraction = 0.0;
+		real_t collision_safe_fraction = 0.0;
+		real_t collision_unsafe_fraction = 0.0;
 
 		static const int MAX_COLLISIONS = 32;
 		MotionCollision collisions[MAX_COLLISIONS];
 		int collision_count = 0;
 	};
 
-	virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, int p_max_collisions = 1, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) = 0;
+	virtual bool body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result = nullptr) = 0;
 
 	/* SOFT BODY */
 
@@ -760,11 +777,40 @@ public:
 	~PhysicsServer3D();
 };
 
+class PhysicsTestMotionParameters3D : public RefCounted {
+	GDCLASS(PhysicsTestMotionParameters3D, RefCounted);
+
+	PhysicsServer3D::MotionParameters parameters;
+
+protected:
+	static void _bind_methods();
+
+public:
+	const PhysicsServer3D::MotionParameters &get_parameters() const { return parameters; }
+
+	const Transform3D &get_from() const { return parameters.from; }
+	void set_from(const Transform3D &p_from) { parameters.from = p_from; }
+
+	const Vector3 &get_motion() const { return parameters.motion; }
+	void set_motion(const Vector3 &p_motion) { parameters.motion = p_motion; }
+
+	real_t get_margin() const { return parameters.margin; }
+	void set_margin(real_t p_margin) { parameters.margin = p_margin; }
+
+	int get_max_collisions() const { return parameters.max_collisions; }
+	void set_max_collisions(int p_max_collisions) { parameters.max_collisions = p_max_collisions; }
+
+	bool is_collide_separation_ray_enabled() const { return parameters.collide_separation_ray; }
+	void set_collide_separation_ray_enabled(bool p_enabled) { parameters.collide_separation_ray = p_enabled; }
+
+	Vector<RID> get_exclude_bodies() const;
+	void set_exclude_bodies(const Vector<RID> &p_exclude);
+};
+
 class PhysicsTestMotionResult3D : public RefCounted {
 	GDCLASS(PhysicsTestMotionResult3D, RefCounted);
 
 	PhysicsServer3D::MotionResult result;
-	friend class PhysicsServer3D;
 
 protected:
 	static void _bind_methods();
@@ -774,8 +820,8 @@ public:
 
 	Vector3 get_travel() const;
 	Vector3 get_remainder() const;
-	real_t get_safe_fraction() const;
-	real_t get_unsafe_fraction() const;
+	real_t get_collision_safe_fraction() const;
+	real_t get_collision_unsafe_fraction() const;
 
 	int get_collision_count() const;
 
@@ -786,16 +832,8 @@ public:
 	RID get_collider_rid(int p_collision_index = 0) const;
 	Object *get_collider(int p_collision_index = 0) const;
 	int get_collider_shape(int p_collision_index = 0) const;
+	int get_collision_local_shape(int p_collision_index = 0) const;
 	real_t get_collision_depth(int p_collision_index = 0) const;
-
-	Vector3 get_best_collision_point() const;
-	Vector3 get_best_collision_normal() const;
-	Vector3 get_best_collider_velocity() const;
-	ObjectID get_best_collider_id() const;
-	RID get_best_collider_rid() const;
-	Object *get_best_collider() const;
-	int get_best_collider_shape() const;
-	real_t get_best_collision_depth() const;
 };
 
 typedef PhysicsServer3D *(*CreatePhysicsServer3DCallback)();
diff --git a/servers/register_server_types.cpp b/servers/register_server_types.cpp
index c5effeb243..28cd8374c0 100644
--- a/servers/register_server_types.cpp
+++ b/servers/register_server_types.cpp
@@ -208,12 +208,14 @@ void register_server_types() {
 
 	GDREGISTER_VIRTUAL_CLASS(PhysicsDirectBodyState2D);
 	GDREGISTER_VIRTUAL_CLASS(PhysicsDirectSpaceState2D);
+	GDREGISTER_CLASS(PhysicsTestMotionParameters2D);
 	GDREGISTER_CLASS(PhysicsTestMotionResult2D);
 	GDREGISTER_CLASS(PhysicsShapeQueryParameters2D);
 
 	GDREGISTER_CLASS(PhysicsShapeQueryParameters3D);
 	GDREGISTER_VIRTUAL_CLASS(PhysicsDirectBodyState3D);
 	GDREGISTER_VIRTUAL_CLASS(PhysicsDirectSpaceState3D);
+	GDREGISTER_CLASS(PhysicsTestMotionParameters3D);
 	GDREGISTER_CLASS(PhysicsTestMotionResult3D);
 
 	// Physics 2D