Remove infinite inertia and ray shapes from CharacterBody

Infinite inertia:
Not needed anymore, since it's now possible to set one-directional
collision layers in order for characters to ignore rigid bodies, while
rigid bodies still collide with characters.

Ray shapes:
They were introduced as a work around to allow constant speed on slopes,
which is now possible with the new property in CharacterBody instead.

22 files changed, 40 insertions, 806 deletions

diff --git a/servers/physics_2d/collision_solver_2d_sat.cpp b/servers/physics_2d/collision_solver_2d_sat.cpp
index 29242a554b..5b75d1044a 100644
--- a/servers/physics_2d/collision_solver_2d_sat.cpp
+++ b/servers/physics_2d/collision_solver_2d_sat.cpp
@@ -1098,13 +1098,11 @@ bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D
 	PhysicsServer2D::ShapeType type_A = p_shape_A->get_type();
 
 	ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_LINE, false);
-	//ERR_FAIL_COND_V(type_A==PhysicsServer2D::SHAPE_RAY,false);
 	ERR_FAIL_COND_V(p_shape_A->is_concave(), false);
 
 	PhysicsServer2D::ShapeType type_B = p_shape_B->get_type();
 
 	ERR_FAIL_COND_V(type_B == PhysicsServer2D::SHAPE_LINE, false);
-	//ERR_FAIL_COND_V(type_B==PhysicsServer2D::SHAPE_RAY,false);
 	ERR_FAIL_COND_V(p_shape_B->is_concave(), false);
 
 	static const CollisionFunc collision_table[5][5] = {
@@ -1367,23 +1365,23 @@ bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D
 
 	if (p_margin_A || p_margin_B) {
 		if (*motion_A == Vector2() && *motion_B == Vector2()) {
-			collision_func = collision_table_margin[type_A - 2][type_B - 2];
+			collision_func = collision_table_margin[type_A - 1][type_B - 1];
 		} else if (*motion_A != Vector2() && *motion_B == Vector2()) {
-			collision_func = collision_table_castA_margin[type_A - 2][type_B - 2];
+			collision_func = collision_table_castA_margin[type_A - 1][type_B - 1];
 		} else if (*motion_A == Vector2() && *motion_B != Vector2()) {
-			collision_func = collision_table_castB_margin[type_A - 2][type_B - 2];
+			collision_func = collision_table_castB_margin[type_A - 1][type_B - 1];
 		} else {
-			collision_func = collision_table_castA_castB_margin[type_A - 2][type_B - 2];
+			collision_func = collision_table_castA_castB_margin[type_A - 1][type_B - 1];
 		}
 	} else {
 		if (*motion_A == Vector2() && *motion_B == Vector2()) {
-			collision_func = collision_table[type_A - 2][type_B - 2];
+			collision_func = collision_table[type_A - 1][type_B - 1];
 		} else if (*motion_A != Vector2() && *motion_B == Vector2()) {
-			collision_func = collision_table_castA[type_A - 2][type_B - 2];
+			collision_func = collision_table_castA[type_A - 1][type_B - 1];
 		} else if (*motion_A == Vector2() && *motion_B != Vector2()) {
-			collision_func = collision_table_castB[type_A - 2][type_B - 2];
+			collision_func = collision_table_castB[type_A - 1][type_B - 1];
 		} else {
-			collision_func = collision_table_castA_castB[type_A - 2][type_B - 2];
+			collision_func = collision_table_castA_castB[type_A - 1][type_B - 1];
 		}
 	}
 
diff --git a/servers/physics_2d/collision_solver_2d_sw.cpp b/servers/physics_2d/collision_solver_2d_sw.cpp
index 5bd4d498c6..ed398a24e5 100644
--- a/servers/physics_2d/collision_solver_2d_sw.cpp
+++ b/servers/physics_2d/collision_solver_2d_sw.cpp
@@ -73,49 +73,6 @@ bool CollisionSolver2DSW::solve_static_line(const Shape2DSW *p_shape_A, const Tr
 	return found;
 }
 
-bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis) {
-	const RayShape2DSW *ray = static_cast<const RayShape2DSW *>(p_shape_A);
-	if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_RAY) {
-		return false;
-	}
-
-	Vector2 from = p_transform_A.get_origin();
-	Vector2 to = from + p_transform_A[1] * ray->get_length();
-	if (p_motion_A != Vector2()) {
-		//not the best but should be enough
-		Vector2 normal = (to - from).normalized();
-		to += normal * MAX(0.0, normal.dot(p_motion_A));
-	}
-	Vector2 support_A = to;
-
-	Transform2D invb = p_transform_B.affine_inverse();
-	from = invb.xform(from);
-	to = invb.xform(to);
-
-	Vector2 p, n;
-	if (!p_shape_B->intersect_segment(from, to, p, n)) {
-		if (sep_axis) {
-			*sep_axis = p_transform_A[1].normalized();
-		}
-		return false;
-	}
-
-	Vector2 support_B = p_transform_B.xform(p);
-	if (ray->get_slips_on_slope()) {
-		Vector2 global_n = invb.basis_xform_inv(n).normalized();
-		support_B = support_A + (support_B - support_A).length() * global_n;
-	}
-
-	if (p_result_callback) {
-		if (p_swap_result) {
-			p_result_callback(support_B, support_A, p_userdata);
-		} else {
-			p_result_callback(support_A, support_B, p_userdata);
-		}
-	}
-	return true;
-}
-
 struct _ConcaveCollisionInfo2D {
 	const Transform2D *transform_A;
 	const Shape2DSW *shape_A;
@@ -210,7 +167,7 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p
 	}
 
 	if (type_A == PhysicsServer2D::SHAPE_LINE) {
-		if (type_B == PhysicsServer2D::SHAPE_LINE || type_B == PhysicsServer2D::SHAPE_RAY) {
+		if (type_B == PhysicsServer2D::SHAPE_LINE) {
 			return false;
 		}
 
@@ -220,17 +177,6 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p
 			return solve_static_line(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
 		}
 
-	} else if (type_A == PhysicsServer2D::SHAPE_RAY) {
-		if (type_B == PhysicsServer2D::SHAPE_RAY) {
-			return false; //no ray-ray
-		}
-
-		if (swap) {
-			return solve_raycast(p_shape_B, p_motion_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, sep_axis);
-		} else {
-			return solve_raycast(p_shape_A, p_motion_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, sep_axis);
-		}
-
 	} else if (concave_B) {
 		if (concave_A) {
 			return false;
diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp
index 467c664302..4dcc4a9cfd 100644
--- a/servers/physics_2d/physics_server_2d_sw.cpp
+++ b/servers/physics_2d/physics_server_2d_sw.cpp
@@ -45,9 +45,6 @@ RID PhysicsServer2DSW::_shape_create(ShapeType p_shape) {
 		case SHAPE_LINE: {
 			shape = memnew(LineShape2DSW);
 		} break;
-		case SHAPE_RAY: {
-			shape = memnew(RayShape2DSW);
-		} break;
 		case SHAPE_SEGMENT: {
 			shape = memnew(SegmentShape2DSW);
 		} break;
@@ -82,10 +79,6 @@ RID PhysicsServer2DSW::line_shape_create() {
 	return _shape_create(SHAPE_LINE);
 }
 
-RID PhysicsServer2DSW::ray_shape_create() {
-	return _shape_create(SHAPE_RAY);
-}
-
 RID PhysicsServer2DSW::segment_shape_create() {
 	return _shape_create(SHAPE_SEGMENT);
 }
@@ -946,7 +939,7 @@ 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, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
+bool PhysicsServer2DSW::body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, MotionResult *r_result, const Set<RID> &p_exclude) {
 	Body2DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND_V(!body, false);
 	ERR_FAIL_COND_V(!body->get_space(), false);
@@ -954,16 +947,7 @@ 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_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
-}
-
-int PhysicsServer2DSW::body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
-	Body2DSW *body = body_owner.getornull(p_body);
-	ERR_FAIL_COND_V(!body, false);
-	ERR_FAIL_COND_V(!body->get_space(), false);
-	ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
-
-	return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
+	return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_exclude);
 }
 
 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 f40b5a7c42..e1ad6a56ee 100644
--- a/servers/physics_2d/physics_server_2d_sw.h
+++ b/servers/physics_2d/physics_server_2d_sw.h
@@ -88,7 +88,6 @@ public:
 	};
 
 	virtual RID line_shape_create() override;
-	virtual RID ray_shape_create() override;
 	virtual RID segment_shape_create() override;
 	virtual RID circle_shape_create() override;
 	virtual RID rectangle_shape_create() override;
@@ -247,8 +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, bool p_infinite_inertia, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override;
-	virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.08) 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, const Set<RID> &p_exclude = Set<RID>()) 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 fb7235c031..7bc1096f93 100644
--- a/servers/physics_2d/physics_server_2d_wrap_mt.h
+++ b/servers/physics_2d/physics_server_2d_wrap_mt.h
@@ -80,7 +80,6 @@ public:
 
 	//FUNC1RID(shape,ShapeType); todo fix
 	FUNCRID(line_shape)
-	FUNCRID(ray_shape)
 	FUNCRID(segment_shape)
 	FUNCRID(circle_shape)
 	FUNCRID(rectangle_shape)
@@ -253,14 +252,9 @@ public:
 
 	FUNC2(body_set_pickable, RID, bool);
 
-	bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override {
+	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, const Set<RID> &p_exclude = Set<RID>()) 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_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
-	}
-
-	int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.08) override {
-		ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
-		return physics_2d_server->body_test_ray_separation(p_body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
+		return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_exclude);
 	}
 
 	// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_2d/shape_2d_sw.cpp b/servers/physics_2d/shape_2d_sw.cpp
index 6cc086b9b7..ee0923effd 100644
--- a/servers/physics_2d/shape_2d_sw.cpp
+++ b/servers/physics_2d/shape_2d_sw.cpp
@@ -143,46 +143,6 @@ Variant LineShape2DSW::get_data() const {
 /*********************************************************/
 /*********************************************************/
 
-void RayShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
-	r_amount = 1;
-
-	if (p_normal.y > 0) {
-		*r_supports = Vector2(0, length);
-	} else {
-		*r_supports = Vector2();
-	}
-}
-
-bool RayShape2DSW::contains_point(const Vector2 &p_point) const {
-	return false;
-}
-
-bool RayShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
-	return false; //rays can't be intersected
-}
-
-real_t RayShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
-	return 0; //rays are mass-less
-}
-
-void RayShape2DSW::set_data(const Variant &p_data) {
-	Dictionary d = p_data;
-	length = d["length"];
-	slips_on_slope = d["slips_on_slope"];
-	configure(Rect2(0, 0, 0.001, length));
-}
-
-Variant RayShape2DSW::get_data() const {
-	Dictionary d;
-	d["length"] = length;
-	d["slips_on_slope"] = slips_on_slope;
-	return d;
-}
-
-/*********************************************************/
-/*********************************************************/
-/*********************************************************/
-
 void SegmentShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
 	if (Math::abs(p_normal.dot(n)) > _SEGMENT_IS_VALID_SUPPORT_THRESHOLD) {
 		r_supports[0] = a;
diff --git a/servers/physics_2d/shape_2d_sw.h b/servers/physics_2d/shape_2d_sw.h
index ee2730ebb5..be2eeb8ed3 100644
--- a/servers/physics_2d/shape_2d_sw.h
+++ b/servers/physics_2d/shape_2d_sw.h
@@ -189,41 +189,6 @@ public:
 	}
 };
 
-class RayShape2DSW : public Shape2DSW {
-	real_t length;
-	bool slips_on_slope;
-
-public:
-	_FORCE_INLINE_ real_t get_length() const { return length; }
-	_FORCE_INLINE_ bool get_slips_on_slope() const { return slips_on_slope; }
-
-	virtual PhysicsServer2D::ShapeType get_type() const { return PhysicsServer2D::SHAPE_RAY; }
-
-	virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); }
-	virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const;
-
-	virtual bool contains_point(const Vector2 &p_point) const;
-	virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const;
-	virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const;
-
-	virtual void set_data(const Variant &p_data);
-	virtual Variant get_data() const;
-
-	_FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
-		//real large
-		r_max = p_normal.dot(p_transform.get_origin());
-		r_min = p_normal.dot(p_transform.xform(Vector2(0, length)));
-		if (r_max < r_min) {
-			SWAP(r_max, r_min);
-		}
-	}
-
-	DEFAULT_PROJECT_RANGE_CAST
-
-	_FORCE_INLINE_ RayShape2DSW() {}
-	_FORCE_INLINE_ RayShape2DSW(real_t p_length) { length = p_length; }
-};
-
 class SegmentShape2DSW : public Shape2DSW {
 	Vector2 a;
 	Vector2 b;
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 590c93a7be..65dc198592 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -528,188 +528,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
 	return amount;
 }
 
-int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, PhysicsServer2D::SeparationResult *r_results, int p_result_max, real_t p_margin) {
-	Rect2 body_aabb;
-
-	bool shapes_found = false;
-
-	for (int i = 0; i < p_body->get_shape_count(); i++) {
-		if (p_body->is_shape_disabled(i)) {
-			continue;
-		}
-
-		if (p_body->get_shape(i)->get_type() != PhysicsServer2D::SHAPE_RAY) {
-			continue;
-		}
-
-		if (!shapes_found) {
-			body_aabb = p_body->get_shape_aabb(i);
-			shapes_found = true;
-		} else {
-			body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
-		}
-	}
-
-	if (!shapes_found) {
-		return 0;
-	}
-
-	// Undo the currently transform the physics server is aware of and apply the provided one
-	body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
-	body_aabb = body_aabb.grow(p_margin);
-
-	Transform2D body_transform = p_transform;
-
-	for (int i = 0; i < p_result_max; i++) {
-		//reset results
-		r_results[i].collision_depth = 0;
-	}
-
-	int rays_found = 0;
-
-	{
-		// raycast AND separate
-
-		const int max_results = 32;
-		int recover_attempts = 4;
-		Vector2 sr[max_results * 2];
-		PhysicsServer2DSW::CollCbkData cbk;
-		cbk.max = max_results;
-		PhysicsServer2DSW::CollCbkData *cbkptr = &cbk;
-		CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk;
-
-		do {
-			Vector2 recover_motion;
-
-			bool collided = false;
-
-			int amount = _cull_aabb_for_body(p_body, body_aabb);
-
-			for (int j = 0; j < p_body->get_shape_count(); j++) {
-				if (p_body->is_shape_disabled(j)) {
-					continue;
-				}
-
-				Shape2DSW *body_shape = p_body->get_shape(j);
-
-				if (body_shape->get_type() != PhysicsServer2D::SHAPE_RAY) {
-					continue;
-				}
-
-				Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
-
-				for (int i = 0; i < amount; i++) {
-					const CollisionObject2DSW *col_obj = intersection_query_results[i];
-					int shape_idx = intersection_query_subindex_results[i];
-
-					cbk.amount = 0;
-					cbk.passed = 0;
-					cbk.ptr = sr;
-					cbk.invalid_by_dir = 0;
-
-					if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
-						const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
-						if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
-							continue;
-						}
-					}
-
-					Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
-
-					/*
- * There is no point in supporting one way collisions with ray shapes, as they will always collide in the desired
- * direction. Use a short ray shape if you want to achieve a similar effect.
- *
-					if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
-						cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
-						cbk.valid_depth = p_margin; //only valid depth is the collision margin
-						cbk.invalid_by_dir = 0;
-
-					} else {
-*/
-
-					cbk.valid_dir = Vector2();
-					cbk.valid_depth = 0;
-					cbk.invalid_by_dir = 0;
-
-					/*
-					}
-					*/
-
-					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 (cbk.amount > 0) {
-							collided = true;
-						}
-
-						int ray_index = -1; //reuse shape
-						for (int k = 0; k < rays_found; k++) {
-							if (r_results[ray_index].collision_local_shape == j) {
-								ray_index = k;
-							}
-						}
-
-						if (ray_index == -1 && rays_found < p_result_max) {
-							ray_index = rays_found;
-							rays_found++;
-						}
-
-						if (ray_index != -1) {
-							PhysicsServer2D::SeparationResult &result = r_results[ray_index];
-
-							for (int k = 0; k < cbk.amount; k++) {
-								Vector2 a = sr[k * 2 + 0];
-								Vector2 b = sr[k * 2 + 1];
-
-								recover_motion += (b - a) / cbk.amount;
-
-								real_t depth = a.distance_to(b);
-								if (depth > result.collision_depth) {
-									result.collision_depth = depth;
-									result.collision_point = b;
-									result.collision_normal = (b - a).normalized();
-									result.collision_local_shape = j;
-									result.collider_shape = shape_idx;
-									result.collider = col_obj->get_self();
-									result.collider_id = col_obj->get_instance_id();
-									result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
-									if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
-										Body2DSW *body = (Body2DSW *)col_obj;
-
-										Vector2 rel_vec = b - body->get_transform().get_origin();
-										result.collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
-									}
-								}
-							}
-						}
-					}
-				}
-			}
-
-			if (!collided || recover_motion == Vector2()) {
-				break;
-			}
-
-			body_transform.elements[2] += recover_motion;
-			body_aabb.position += recover_motion;
-
-			recover_attempts--;
-		} while (recover_attempts);
-	}
-
-	//optimize results (remove non colliding)
-	for (int i = 0; i < rays_found; i++) {
-		if (r_results[i].collision_depth == 0) {
-			rays_found--;
-			SWAP(r_results[i], r_results[rays_found]);
-		}
-	}
-
-	r_recover_motion = body_transform.elements[2] - p_transform.elements[2];
-	return rays_found;
-}
-
-bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
+bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, PhysicsServer2D::MotionResult *r_result, const Set<RID> &p_exclude) {
 	//give me back regular physics engine logic
 	//this is madness
 	//and most people using this function will think
@@ -730,10 +549,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 			continue;
 		}
 
-		if (p_exclude_raycast_shapes && p_body->get_shape(i)->get_type() == PhysicsServer2D::SHAPE_RAY) {
-			continue;
-		}
-
 		if (!shapes_found) {
 			body_aabb = p_body->get_shape_aabb(i);
 			shapes_found = true;
@@ -794,24 +609,15 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 				}
 
 				Shape2DSW *body_shape = p_body->get_shape(j);
-				if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) {
-					continue;
-				}
-
 				Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
+
 				for (int i = 0; i < amount; i++) {
 					const CollisionObject2DSW *col_obj = intersection_query_results[i];
 					if (p_exclude.has(col_obj->get_self())) {
 						continue;
 					}
-					int shape_idx = intersection_query_subindex_results[i];
 
-					if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
-						const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
-						if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
-							continue;
-						}
-					}
+					int shape_idx = intersection_query_subindex_results[i];
 
 					Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
 
@@ -920,10 +726,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 			}
 
 			Shape2DSW *body_shape = p_body->get_shape(body_shape_idx);
-			if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) {
-				continue;
-			}
-
 			Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(body_shape_idx);
 
 			bool stuck = false;
@@ -939,13 +741,6 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 				int col_shape_idx = intersection_query_subindex_results[i];
 				Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx);
 
-				if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
-					const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
-					if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
-						continue;
-					}
-				}
-
 				bool excluded = false;
 
 				for (int k = 0; k < excluded_shape_pair_count; k++) {
@@ -1082,10 +877,6 @@ 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);
 
-			if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) {
-				continue;
-			}
-
 			body_aabb.position += p_motion * unsafe;
 
 			int amount = _cull_aabb_for_body(p_body, body_aabb);
@@ -1095,14 +886,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 				if (p_exclude.has(col_obj->get_self())) {
 					continue;
 				}
-				int shape_idx = intersection_query_subindex_results[i];
 
-				if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
-					const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
-					if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) {
-						continue;
-					}
-				}
+				int shape_idx = intersection_query_subindex_results[i];
 
 				Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
 
diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h
index f7224e4661..3be36852b0 100644
--- a/servers/physics_2d/space_2d_sw.h
+++ b/servers/physics_2d/space_2d_sw.h
@@ -183,8 +183,7 @@ public:
 
 	int get_collision_pairs() const { return collision_pairs; }
 
-	bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>());
-	int test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, PhysicsServer2D::SeparationResult *r_results, int p_result_max, real_t p_margin);
+	bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, PhysicsServer2D::MotionResult *r_result, const Set<RID> &p_exclude = Set<RID>());
 
 	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/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp
index 852e9ecd74..e6a17b3a1a 100644
--- a/servers/physics_3d/collision_solver_3d_sat.cpp
+++ b/servers/physics_3d/collision_solver_3d_sat.cpp
@@ -2273,13 +2273,11 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_
 	PhysicsServer3D::ShapeType type_A = p_shape_A->get_type();
 
 	ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_PLANE, false);
-	ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_RAY, false);
 	ERR_FAIL_COND_V(p_shape_A->is_concave(), false);
 
 	PhysicsServer3D::ShapeType type_B = p_shape_B->get_type();
 
 	ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_PLANE, false);
-	ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_RAY, false);
 	ERR_FAIL_COND_V(p_shape_B->is_concave(), false);
 
 	static const CollisionFunc collision_table[6][6] = {
@@ -2384,10 +2382,10 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_
 
 	CollisionFunc collision_func;
 	if (margin_A != 0.0 || margin_B != 0.0) {
-		collision_func = collision_table_margin[type_A - 2][type_B - 2];
+		collision_func = collision_table_margin[type_A - 1][type_B - 1];
 
 	} else {
-		collision_func = collision_table[type_A - 2][type_B - 2];
+		collision_func = collision_table[type_A - 1][type_B - 1];
 	}
 	ERR_FAIL_COND_V(!collision_func, false);
 
diff --git a/servers/physics_3d/collision_solver_3d_sw.cpp b/servers/physics_3d/collision_solver_3d_sw.cpp
index 67330d497e..161e7e101b 100644
--- a/servers/physics_3d/collision_solver_3d_sw.cpp
+++ b/servers/physics_3d/collision_solver_3d_sw.cpp
@@ -89,39 +89,6 @@ bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const T
 	return found;
 }
 
-bool CollisionSolver3DSW::solve_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
-	const RayShape3DSW *ray = static_cast<const RayShape3DSW *>(p_shape_A);
-
-	Vector3 from = p_transform_A.origin;
-	Vector3 to = from + p_transform_A.basis.get_axis(2) * ray->get_length();
-	Vector3 support_A = to;
-
-	Transform3D ai = p_transform_B.affine_inverse();
-
-	from = ai.xform(from);
-	to = ai.xform(to);
-
-	Vector3 p, n;
-	if (!p_shape_B->intersect_segment(from, to, p, n)) {
-		return false;
-	}
-
-	Vector3 support_B = p_transform_B.xform(p);
-	if (ray->get_slips_on_slope()) {
-		Vector3 global_n = ai.basis.xform_inv(n).normalized();
-		support_B = support_A + (support_B - support_A).length() * global_n;
-	}
-
-	if (p_result_callback) {
-		if (p_swap_result) {
-			p_result_callback(support_B, 0, support_A, 0, p_userdata);
-		} else {
-			p_result_callback(support_A, 0, support_B, 0, p_userdata);
-		}
-	}
-	return true;
-}
-
 struct _SoftBodyContactCollisionInfo {
 	int node_index = 0;
 	CollisionSolver3DSW::CallbackResult result_callback = nullptr;
@@ -347,9 +314,6 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
 		if (type_B == PhysicsServer3D::SHAPE_PLANE) {
 			return false;
 		}
-		if (type_B == PhysicsServer3D::SHAPE_RAY) {
-			return false;
-		}
 		if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) {
 			return false;
 		}
@@ -360,17 +324,6 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
 			return solve_static_plane(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
 		}
 
-	} else if (type_A == PhysicsServer3D::SHAPE_RAY) {
-		if (type_B == PhysicsServer3D::SHAPE_RAY) {
-			return false;
-		}
-
-		if (swap) {
-			return solve_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
-		} else {
-			return solve_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
-		}
-
 	} else if (type_B == PhysicsServer3D::SHAPE_SOFT_BODY) {
 		if (type_A == PhysicsServer3D::SHAPE_SOFT_BODY) {
 			// Soft Body / Soft Body not supported.
diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp
index e2ab84428b..fbb374bd74 100644
--- a/servers/physics_3d/physics_server_3d_sw.cpp
+++ b/servers/physics_3d/physics_server_3d_sw.cpp
@@ -48,12 +48,6 @@ RID PhysicsServer3DSW::plane_shape_create() {
 	shape->set_self(rid);
 	return rid;
 }
-RID PhysicsServer3DSW::ray_shape_create() {
-	Shape3DSW *shape = memnew(RayShape3DSW);
-	RID rid = shape_owner.make_rid(shape);
-	shape->set_self(rid);
-	return rid;
-}
 RID PhysicsServer3DSW::sphere_shape_create() {
 	Shape3DSW *shape = memnew(SphereShape3DSW);
 	RID rid = shape_owner.make_rid(shape);
@@ -854,18 +848,7 @@ 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, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
-	Body3DSW *body = body_owner.getornull(p_body);
-	ERR_FAIL_COND_V(!body, false);
-	ERR_FAIL_COND_V(!body->get_space(), false);
-	ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
-
-	_update_shapes();
-
-	return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
-}
-
-int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
+bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, MotionResult *r_result, const Set<RID> &p_exclude) {
 	Body3DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND_V(!body, false);
 	ERR_FAIL_COND_V(!body->get_space(), false);
@@ -873,7 +856,7 @@ int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform3D &p
 
 	_update_shapes();
 
-	return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
+	return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result, p_exclude);
 }
 
 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 326b6fbe7a..6e59a77e89 100644
--- a/servers/physics_3d/physics_server_3d_sw.h
+++ b/servers/physics_3d/physics_server_3d_sw.h
@@ -83,7 +83,6 @@ public:
 	static void _shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
 
 	virtual RID plane_shape_create() override;
-	virtual RID ray_shape_create() override;
 	virtual RID sphere_shape_create() override;
 	virtual RID box_shape_create() override;
 	virtual RID capsule_shape_create() override;
@@ -242,8 +241,7 @@ 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, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override;
-	virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) 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, const Set<RID> &p_exclude = Set<RID>()) 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 c3c2e50e56..75174628bf 100644
--- a/servers/physics_3d/physics_server_3d_wrap_mt.h
+++ b/servers/physics_3d/physics_server_3d_wrap_mt.h
@@ -79,7 +79,6 @@ public:
 
 	//FUNC1RID(shape,ShapeType); todo fix
 	FUNCRID(plane_shape)
-	FUNCRID(ray_shape)
 	FUNCRID(sphere_shape)
 	FUNCRID(box_shape)
 	FUNCRID(capsule_shape)
@@ -250,14 +249,9 @@ public:
 
 	FUNC2(body_set_ray_pickable, RID, bool);
 
-	bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override {
+	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, const Set<RID> &p_exclude = Set<RID>()) 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_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes, p_exclude);
-	}
-
-	int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override {
-		ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
-		return physics_3d_server->body_test_ray_separation(p_body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
+		return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_margin, r_result, p_exclude);
 	}
 
 	// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index 5b3721861e..526a098a05 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -164,91 +164,6 @@ Variant PlaneShape3DSW::get_data() const {
 PlaneShape3DSW::PlaneShape3DSW() {
 }
 
-//
-
-real_t RayShape3DSW::get_length() const {
-	return length;
-}
-
-bool RayShape3DSW::get_slips_on_slope() const {
-	return slips_on_slope;
-}
-
-void RayShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const {
-	// don't think this will be even used
-	r_min = 0;
-	r_max = 1;
-}
-
-Vector3 RayShape3DSW::get_support(const Vector3 &p_normal) const {
-	if (p_normal.z > 0) {
-		return Vector3(0, 0, length);
-	} else {
-		return Vector3(0, 0, 0);
-	}
-}
-
-void RayShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const {
-	if (Math::abs(p_normal.z) < _EDGE_IS_VALID_SUPPORT_THRESHOLD) {
-		r_amount = 2;
-		r_type = FEATURE_EDGE;
-		r_supports[0] = Vector3(0, 0, 0);
-		r_supports[1] = Vector3(0, 0, length);
-	} else if (p_normal.z > 0) {
-		r_amount = 1;
-		r_type = FEATURE_POINT;
-		*r_supports = Vector3(0, 0, length);
-	} else {
-		r_amount = 1;
-		r_type = FEATURE_POINT;
-		*r_supports = Vector3(0, 0, 0);
-	}
-}
-
-bool RayShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const {
-	return false; //simply not possible
-}
-
-bool RayShape3DSW::intersect_point(const Vector3 &p_point) const {
-	return false; //simply not possible
-}
-
-Vector3 RayShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
-	Vector3 s[2] = {
-		Vector3(0, 0, 0),
-		Vector3(0, 0, length)
-	};
-
-	return Geometry3D::get_closest_point_to_segment(p_point, s);
-}
-
-Vector3 RayShape3DSW::get_moment_of_inertia(real_t p_mass) const {
-	return Vector3();
-}
-
-void RayShape3DSW::_setup(real_t p_length, bool p_slips_on_slope) {
-	length = p_length;
-	slips_on_slope = p_slips_on_slope;
-	configure(AABB(Vector3(0, 0, 0), Vector3(0.1, 0.1, length)));
-}
-
-void RayShape3DSW::set_data(const Variant &p_data) {
-	Dictionary d = p_data;
-	_setup(d["length"], d["slips_on_slope"]);
-}
-
-Variant RayShape3DSW::get_data() const {
-	Dictionary d;
-	d["length"] = length;
-	d["slips_on_slope"] = slips_on_slope;
-	return d;
-}
-
-RayShape3DSW::RayShape3DSW() {
-	length = 1;
-	slips_on_slope = false;
-}
-
 /********** SPHERE *************/
 
 real_t SphereShape3DSW::get_radius() const {
diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h
index 72be34b788..dde423ad60 100644
--- a/servers/physics_3d/shape_3d_sw.h
+++ b/servers/physics_3d/shape_3d_sw.h
@@ -145,34 +145,6 @@ public:
 	PlaneShape3DSW();
 };
 
-class RayShape3DSW : public Shape3DSW {
-	real_t length;
-	bool slips_on_slope;
-
-	void _setup(real_t p_length, bool p_slips_on_slope);
-
-public:
-	real_t get_length() const;
-	bool get_slips_on_slope() const;
-
-	virtual real_t get_area() const { return 0.0; }
-	virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_RAY; }
-	virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const;
-	virtual Vector3 get_support(const Vector3 &p_normal) const;
-	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const;
-
-	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
-	virtual bool intersect_point(const Vector3 &p_point) const;
-	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
-
-	virtual Vector3 get_moment_of_inertia(real_t p_mass) const;
-
-	virtual void set_data(const Variant &p_data);
-	virtual Variant get_data() const;
-
-	RayShape3DSW();
-};
-
 class SphereShape3DSW : public Shape3DSW {
 	real_t radius;
 
diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp
index 2a39a9d363..730460d66a 100644
--- a/servers/physics_3d/space_3d_sw.cpp
+++ b/servers/physics_3d/space_3d_sw.cpp
@@ -569,158 +569,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
 	return amount;
 }
 
-int Space3DSW::test_body_ray_separation(Body3DSW *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) {
-	AABB body_aabb;
-
-	bool shapes_found = false;
-
-	for (int i = 0; i < p_body->get_shape_count(); i++) {
-		if (p_body->is_shape_disabled(i)) {
-			continue;
-		}
-
-		if (!shapes_found) {
-			body_aabb = p_body->get_shape_aabb(i);
-			shapes_found = true;
-		} else {
-			body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
-		}
-	}
-
-	if (!shapes_found) {
-		return 0;
-	}
-	// Undo the currently transform the physics server is aware of and apply the provided one
-	body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
-	body_aabb = body_aabb.grow(p_margin);
-
-	Transform3D body_transform = p_transform;
-
-	for (int i = 0; i < p_result_max; i++) {
-		//reset results
-		r_results[i].collision_depth = 0;
-	}
-
-	int rays_found = 0;
-
-	{
-		// raycast AND separate
-
-		const int max_results = 32;
-		int recover_attempts = 4;
-		Vector3 sr[max_results * 2];
-		PhysicsServer3DSW::CollCbkData cbk;
-		cbk.max = max_results;
-		PhysicsServer3DSW::CollCbkData *cbkptr = &cbk;
-		CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_shape_col_cbk;
-
-		do {
-			Vector3 recover_motion;
-
-			bool collided = false;
-
-			int amount = _cull_aabb_for_body(p_body, body_aabb);
-
-			for (int j = 0; j < p_body->get_shape_count(); j++) {
-				if (p_body->is_shape_disabled(j)) {
-					continue;
-				}
-
-				Shape3DSW *body_shape = p_body->get_shape(j);
-
-				if (body_shape->get_type() != PhysicsServer3D::SHAPE_RAY) {
-					continue;
-				}
-
-				Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
-
-				for (int i = 0; i < amount; i++) {
-					const CollisionObject3DSW *col_obj = intersection_query_results[i];
-					int shape_idx = intersection_query_subindex_results[i];
-
-					cbk.amount = 0;
-					cbk.ptr = sr;
-
-					if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
-						const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
-						if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
-							continue;
-						}
-					}
-
-					Shape3DSW *against_shape = col_obj->get_shape(shape_idx);
-					if (CollisionSolver3DSW::solve_static(body_shape, body_shape_xform, against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
-						if (cbk.amount > 0) {
-							collided = true;
-						}
-
-						int ray_index = -1; //reuse shape
-						for (int k = 0; k < rays_found; k++) {
-							if (r_results[k].collision_local_shape == j) {
-								ray_index = k;
-							}
-						}
-
-						if (ray_index == -1 && rays_found < p_result_max) {
-							ray_index = rays_found;
-							rays_found++;
-						}
-
-						if (ray_index != -1) {
-							PhysicsServer3D::SeparationResult &result = r_results[ray_index];
-
-							for (int k = 0; k < cbk.amount; k++) {
-								Vector3 a = sr[k * 2 + 0];
-								Vector3 b = sr[k * 2 + 1];
-
-								recover_motion += (b - a) / cbk.amount;
-
-								real_t depth = a.distance_to(b);
-								if (depth > result.collision_depth) {
-									result.collision_depth = depth;
-									result.collision_point = b;
-									result.collision_normal = (b - a).normalized();
-									result.collision_local_shape = j;
-									result.collider = col_obj->get_self();
-									result.collider_id = col_obj->get_instance_id();
-									result.collider_shape = shape_idx;
-									//result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
-									if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) {
-										Body3DSW *body = (Body3DSW *)col_obj;
-										Vector3 rel_vec = b - (body->get_transform().origin + body->get_center_of_mass());
-										result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
-									}
-								}
-							}
-						}
-					}
-				}
-			}
-
-			if (!collided || recover_motion == Vector3()) {
-				break;
-			}
-
-			body_transform.origin += recover_motion;
-			body_aabb.position += recover_motion;
-
-			recover_attempts--;
-		} while (recover_attempts);
-	}
-
-	//optimize results (remove non colliding)
-	for (int i = 0; i < rays_found; i++) {
-		if (r_results[i].collision_depth == 0) {
-			rays_found--;
-			SWAP(r_results[i], r_results[rays_found]);
-		}
-	}
-
-	r_recover_motion = body_transform.origin - p_transform.origin;
-	return rays_found;
-}
-
-bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
+bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, const Set<RID> &p_exclude) {
 	//give me back regular physics engine logic
 	//this is madness
 	//and most people using this function will think
@@ -795,23 +644,14 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 
 				Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
 				Shape3DSW *body_shape = p_body->get_shape(j);
-				if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer3D::SHAPE_RAY) {
-					continue;
-				}
 
 				for (int i = 0; i < amount; i++) {
 					const CollisionObject3DSW *col_obj = intersection_query_results[i];
 					if (p_exclude.has(col_obj->get_self())) {
 						continue;
 					}
-					int shape_idx = intersection_query_subindex_results[i];
 
-					if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
-						const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
-						if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
-							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)) {
 						collided = cbk.amount > 0;
@@ -877,10 +717,6 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 			Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
 			Shape3DSW *body_shape = p_body->get_shape(j);
 
-			if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer3D::SHAPE_RAY) {
-				continue;
-			}
-
 			Transform3D body_shape_xform_inv = body_shape_xform.affine_inverse();
 			MotionShape3DSW mshape;
 			mshape.shape = body_shape;
@@ -896,14 +732,8 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 				if (p_exclude.has(col_obj->get_self())) {
 					continue;
 				}
-				int shape_idx = intersection_query_subindex_results[i];
 
-				if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
-					const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
-					if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
-						continue;
-					}
-				}
+				int shape_idx = intersection_query_subindex_results[i];
 
 				//test initial overlap, does it collide if going all the way?
 				Vector3 point_A, point_B;
@@ -1011,10 +841,6 @@ 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);
 
-			if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer3D::SHAPE_RAY) {
-				continue;
-			}
-
 			body_aabb.position += p_motion * unsafe;
 
 			int amount = _cull_aabb_for_body(p_body, body_aabb);
@@ -1026,13 +852,6 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const Transform3D &p_from, co
 				}
 				int shape_idx = intersection_query_subindex_results[i];
 
-				if (CollisionObject3DSW::TYPE_BODY == col_obj->get_type()) {
-					const Body3DSW *b = static_cast<const Body3DSW *>(col_obj);
-					if (p_infinite_inertia && PhysicsServer3D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer3D::BODY_MODE_KINEMATIC != b->get_mode()) {
-						continue;
-					}
-				}
-
 				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);
diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h
index 580693deba..9b5b4de069 100644
--- a/servers/physics_3d/space_3d_sw.h
+++ b/servers/physics_3d/space_3d_sw.h
@@ -203,8 +203,7 @@ 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]; }
 
-	int test_body_ray_separation(Body3DSW *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin);
-	bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude = Set<RID>());
+	bool test_body_motion(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, const Set<RID> &p_exclude = Set<RID>());
 
 	Space3DSW();
 	~Space3DSW();
diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp
index 2e44a1a10b..3efa16fe0a 100644
--- a/servers/physics_server_2d.cpp
+++ b/servers/physics_server_2d.cpp
@@ -500,7 +500,7 @@ void PhysicsTestMotionResult2D::_bind_methods() {
 
 ///////////////////////////////////////
 
-bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, const Ref<PhysicsTestMotionResult2D> &p_result, bool p_exclude_raycast_shapes, const Vector<RID> &p_exclude) {
+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, const Vector<RID> &p_exclude) {
 	MotionResult *r = nullptr;
 	if (p_result.is_valid()) {
 		r = p_result->get_result_ptr();
@@ -509,12 +509,11 @@ bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, c
 	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_infinite_inertia, p_margin, r, p_exclude_raycast_shapes, exclude);
+	return body_test_motion(p_body, p_from, p_motion, p_margin, r, exclude);
 }
 
 void PhysicsServer2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("line_shape_create"), &PhysicsServer2D::line_shape_create);
-	ClassDB::bind_method(D_METHOD("ray_shape_create"), &PhysicsServer2D::ray_shape_create);
 	ClassDB::bind_method(D_METHOD("segment_shape_create"), &PhysicsServer2D::segment_shape_create);
 	ClassDB::bind_method(D_METHOD("circle_shape_create"), &PhysicsServer2D::circle_shape_create);
 	ClassDB::bind_method(D_METHOD("rectangle_shape_create"), &PhysicsServer2D::rectangle_shape_create);
@@ -636,7 +635,7 @@ 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", "infinite_inertia", "margin", "result", "exclude_raycast_shapes", "exclude"), &PhysicsServer2D::_body_test_motion, DEFVAL(0.08), DEFVAL(Variant()), DEFVAL(true), DEFVAL(Array()));
+	ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "margin", "result", "exclude"), &PhysicsServer2D::_body_test_motion, DEFVAL(0.08), DEFVAL(Variant()), DEFVAL(Array()));
 
 	ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &PhysicsServer2D::body_get_direct_state);
 
@@ -676,7 +675,6 @@ void PhysicsServer2D::_bind_methods() {
 	BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH);
 
 	BIND_ENUM_CONSTANT(SHAPE_LINE);
-	BIND_ENUM_CONSTANT(SHAPE_RAY);
 	BIND_ENUM_CONSTANT(SHAPE_SEGMENT);
 	BIND_ENUM_CONSTANT(SHAPE_CIRCLE);
 	BIND_ENUM_CONSTANT(SHAPE_RECTANGLE);
diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h
index fafde62599..dbbc128793 100644
--- a/servers/physics_server_2d.h
+++ b/servers/physics_server_2d.h
@@ -210,7 +210,7 @@ class PhysicsServer2D : public Object {
 
 	static PhysicsServer2D *singleton;
 
-	virtual bool _body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, const Ref<PhysicsTestMotionResult2D> &p_result = Ref<PhysicsTestMotionResult2D>(), bool p_exclude_raycast_shapes = true, const Vector<RID> &p_exclude = Vector<RID>());
+	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>(), const Vector<RID> &p_exclude = Vector<RID>());
 
 protected:
 	static void _bind_methods();
@@ -220,7 +220,6 @@ public:
 
 	enum ShapeType {
 		SHAPE_LINE, ///< plane:"plane"
-		SHAPE_RAY, ///< float:"length"
 		SHAPE_SEGMENT, ///< float:"length"
 		SHAPE_CIRCLE, ///< float:"radius"
 		SHAPE_RECTANGLE, ///< vec3:"extents"
@@ -231,7 +230,6 @@ public:
 	};
 
 	virtual RID line_shape_create() = 0;
-	virtual RID ray_shape_create() = 0;
 	virtual RID segment_shape_create() = 0;
 	virtual RID circle_shape_create() = 0;
 	virtual RID rectangle_shape_create() = 0;
@@ -483,7 +481,7 @@ public:
 		Variant collider_metadata;
 	};
 
-	virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) = 0;
+	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, const Set<RID> &p_exclude = Set<RID>()) = 0;
 
 	struct SeparationResult {
 		real_t collision_depth;
@@ -497,8 +495,6 @@ public:
 		Variant collider_metadata;
 	};
 
-	virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.08) = 0;
-
 	/* JOINT API */
 
 	virtual RID joint_create() = 0;
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index b4ee5fbaf0..89987b5fe9 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -447,7 +447,7 @@ void PhysicsTestMotionResult3D::_bind_methods() {
 
 ///////////////////////////////////////
 
-bool PhysicsServer3D::_body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, const Ref<PhysicsTestMotionResult3D> &p_result, bool p_exclude_raycast_shapes, const Vector<RID> &p_exclude) {
+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, const Vector<RID> &p_exclude) {
 	MotionResult *r = nullptr;
 	if (p_result.is_valid()) {
 		r = p_result->get_result_ptr();
@@ -456,15 +456,13 @@ bool PhysicsServer3D::_body_test_motion(RID p_body, const Transform3D &p_from, c
 	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_infinite_inertia, p_margin, r, p_exclude_raycast_shapes, exclude);
+	return body_test_motion(p_body, p_from, p_motion, p_margin, r, exclude);
 }
 
 RID PhysicsServer3D::shape_create(ShapeType p_shape) {
 	switch (p_shape) {
 		case SHAPE_PLANE:
 			return plane_shape_create();
-		case SHAPE_RAY:
-			return ray_shape_create();
 		case SHAPE_SPHERE:
 			return sphere_shape_create();
 		case SHAPE_BOX:
@@ -490,7 +488,6 @@ void PhysicsServer3D::_bind_methods() {
 #ifndef _3D_DISABLED
 
 	ClassDB::bind_method(D_METHOD("plane_shape_create"), &PhysicsServer3D::plane_shape_create);
-	ClassDB::bind_method(D_METHOD("ray_shape_create"), &PhysicsServer3D::ray_shape_create);
 	ClassDB::bind_method(D_METHOD("sphere_shape_create"), &PhysicsServer3D::sphere_shape_create);
 	ClassDB::bind_method(D_METHOD("box_shape_create"), &PhysicsServer3D::box_shape_create);
 	ClassDB::bind_method(D_METHOD("capsule_shape_create"), &PhysicsServer3D::capsule_shape_create);
@@ -612,7 +609,7 @@ 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", "infinite_inertia", "margin", "result", "exclude_raycast_shapes", "exclude"), &PhysicsServer3D::_body_test_motion, DEFVAL(0.001), DEFVAL(Variant()), DEFVAL(true), DEFVAL(Array()));
+	ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "margin", "result", "exclude"), &PhysicsServer3D::_body_test_motion, DEFVAL(0.001), DEFVAL(Variant()), DEFVAL(Array()));
 
 	ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &PhysicsServer3D::body_get_direct_state);
 
@@ -751,7 +748,6 @@ void PhysicsServer3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &PhysicsServer3D::get_process_info);
 
 	BIND_ENUM_CONSTANT(SHAPE_PLANE);
-	BIND_ENUM_CONSTANT(SHAPE_RAY);
 	BIND_ENUM_CONSTANT(SHAPE_SPHERE);
 	BIND_ENUM_CONSTANT(SHAPE_BOX);
 	BIND_ENUM_CONSTANT(SHAPE_CAPSULE);
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index 0d3d5bd4a1..31ae352d9e 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -212,7 +212,7 @@ class PhysicsServer3D : public Object {
 
 	static PhysicsServer3D *singleton;
 
-	virtual bool _body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, const Ref<PhysicsTestMotionResult3D> &p_result = Ref<PhysicsTestMotionResult3D>(), bool p_exclude_raycast_shapes = true, const Vector<RID> &p_exclude = Vector<RID>());
+	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>(), const Vector<RID> &p_exclude = Vector<RID>());
 
 protected:
 	static void _bind_methods();
@@ -222,7 +222,6 @@ public:
 
 	enum ShapeType {
 		SHAPE_PLANE, ///< plane:"plane"
-		SHAPE_RAY, ///< float:"length"
 		SHAPE_SPHERE, ///< float:"radius"
 		SHAPE_BOX, ///< vec3:"extents"
 		SHAPE_CAPSULE, ///< dict( float:"radius", float:"height"):capsule
@@ -237,7 +236,6 @@ public:
 	RID shape_create(ShapeType p_shape);
 
 	virtual RID plane_shape_create() = 0;
-	virtual RID ray_shape_create() = 0;
 	virtual RID sphere_shape_create() = 0;
 	virtual RID box_shape_create() = 0;
 	virtual RID capsule_shape_create() = 0;
@@ -491,21 +489,7 @@ public:
 		Variant collider_metadata;
 	};
 
-	virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) = 0;
-
-	struct SeparationResult {
-		real_t collision_depth;
-		Vector3 collision_point;
-		Vector3 collision_normal;
-		Vector3 collider_velocity;
-		int collision_local_shape;
-		ObjectID collider_id;
-		RID collider;
-		int collider_shape;
-		Variant collider_metadata;
-	};
-
-	virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) = 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, const Set<RID> &p_exclude = Set<RID>()) = 0;
 
 	/* SOFT BODY */