8 files changed, 27 insertions, 0 deletions
diff --git a/doc/classes/KinematicCollision2D.xml b/doc/classes/KinematicCollision2D.xml
index ca6aa05316..045480f17c 100644
--- a/doc/classes/KinematicCollision2D.xml
+++ b/doc/classes/KinematicCollision2D.xml
@@ -53,6 +53,12 @@
 				Returns the colliding body's velocity.
 			</description>
 		</method>
+		<method name="get_depth" qualifiers="const">
+			<return type="float" />
+			<description>
+				Returns the colliding body's length of overlap along the collision normal.
+			</description>
+		</method>
 		<method name="get_local_shape" qualifiers="const">
 			<return type="Object" />
 			<description>
diff --git a/doc/classes/KinematicCollision3D.xml b/doc/classes/KinematicCollision3D.xml
index 08ceebdf91..31fbbc8d0a 100644
--- a/doc/classes/KinematicCollision3D.xml
+++ b/doc/classes/KinematicCollision3D.xml
@@ -66,6 +66,12 @@
 				Returns the number of detected collisions.
 			</description>
 		</method>
+		<method name="get_depth" qualifiers="const">
+			<return type="float" />
+			<description>
+				Returns the colliding body's length of overlap along the collision normal.
+			</description>
+		</method>
 		<method name="get_local_shape" qualifiers="const">
 			<return type="Object" />
 			<param index="0" name="collision_index" type="int" default="0" />
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index ce22f32b01..2ead48c889 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -1823,6 +1823,10 @@ real_t KinematicCollision2D::get_angle(const Vector2 &p_up_direction) const {
 	return result.get_angle(p_up_direction);
 }
 
+real_t KinematicCollision2D::get_depth() const {
+	return result.collision_depth;
+}
+
 Object *KinematicCollision2D::get_local_shape() const {
 	if (!owner) {
 		return nullptr;
@@ -1874,6 +1878,7 @@ void KinematicCollision2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_travel"), &KinematicCollision2D::get_travel);
 	ClassDB::bind_method(D_METHOD("get_remainder"), &KinematicCollision2D::get_remainder);
 	ClassDB::bind_method(D_METHOD("get_angle", "up_direction"), &KinematicCollision2D::get_angle, DEFVAL(Vector2(0.0, -1.0)));
+	ClassDB::bind_method(D_METHOD("get_depth"), &KinematicCollision2D::get_depth);
 	ClassDB::bind_method(D_METHOD("get_local_shape"), &KinematicCollision2D::get_local_shape);
 	ClassDB::bind_method(D_METHOD("get_collider"), &KinematicCollision2D::get_collider);
 	ClassDB::bind_method(D_METHOD("get_collider_id"), &KinematicCollision2D::get_collider_id);
diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h
index 7401fc7578..c762a832c4 100644
--- a/scene/2d/physics_body_2d.h
+++ b/scene/2d/physics_body_2d.h
@@ -473,6 +473,7 @@ public:
 	Vector2 get_travel() const;
 	Vector2 get_remainder() const;
 	real_t get_angle(const Vector2 &p_up_direction = Vector2(0.0, -1.0)) const;
+	real_t get_depth() const;
 	Object *get_local_shape() const;
 	Object *get_collider() const;
 	ObjectID get_collider_id() const;
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index 993608c306..cbdef02826 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -2057,6 +2057,10 @@ int KinematicCollision3D::get_collision_count() const {
 	return result.collision_count;
 }
 
+real_t KinematicCollision3D::get_depth() const {
+	return result.collision_depth;
+}
+
 Vector3 KinematicCollision3D::get_position(int p_collision_index) const {
 	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3());
 	return result.collisions[p_collision_index].position;
@@ -2127,6 +2131,7 @@ Vector3 KinematicCollision3D::get_collider_velocity(int p_collision_index) const
 void KinematicCollision3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_travel"), &KinematicCollision3D::get_travel);
 	ClassDB::bind_method(D_METHOD("get_remainder"), &KinematicCollision3D::get_remainder);
+	ClassDB::bind_method(D_METHOD("get_depth"), &KinematicCollision3D::get_depth);
 	ClassDB::bind_method(D_METHOD("get_collision_count"), &KinematicCollision3D::get_collision_count);
 	ClassDB::bind_method(D_METHOD("get_position", "collision_index"), &KinematicCollision3D::get_position, DEFVAL(0));
 	ClassDB::bind_method(D_METHOD("get_normal", "collision_index"), &KinematicCollision3D::get_normal, DEFVAL(0));
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h
index e4a41be6c0..b9baba4d96 100644
--- a/scene/3d/physics_body_3d.h
+++ b/scene/3d/physics_body_3d.h
@@ -504,6 +504,7 @@ public:
 	Vector3 get_travel() const;
 	Vector3 get_remainder() const;
 	int get_collision_count() const;
+	real_t get_depth() const;
 	Vector3 get_position(int p_collision_index = 0) const;
 	Vector3 get_normal(int p_collision_index = 0) const;
 	real_t get_angle(int p_collision_index = 0, const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const;
diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp
index 533d7605ce..13e9a89b2e 100644
--- a/servers/physics_3d/godot_space_3d.cpp
+++ b/servers/physics_3d/godot_space_3d.cpp
@@ -989,6 +989,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
 				r_result->collision_unsafe_fraction = unsafe;
 
 				r_result->collision_count = rcd.result_count;
+				r_result->collision_depth = rcd.best_result.len;
 			}
 
 			collided = true;
@@ -1002,6 +1003,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
 
 		r_result->collision_safe_fraction = 1.0;
 		r_result->collision_unsafe_fraction = 1.0;
+		r_result->collision_depth = 0.0;
 	}
 
 	return collided;
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index 837073409a..12497c0bdf 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -550,6 +550,7 @@ public:
 	struct MotionResult {
 		Vector3 travel;
 		Vector3 remainder;
+		real_t collision_depth = 0.0;
 		real_t collision_safe_fraction = 0.0;
 		real_t collision_unsafe_fraction = 0.0;