4 files changed, 35 insertions, 8 deletions
diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h
index e8ea5531e5..fd2ab16b84 100644
--- a/servers/physics/body_sw.h
+++ b/servers/physics/body_sw.h
@@ -245,12 +245,21 @@ public:
 		biased_angular_velocity += _inv_inertia_tensor.xform(p_j);
 	}
 
+	_FORCE_INLINE_ void add_central_force(const Vector3 &p_force) {
+
+		applied_force += p_force;
+	}
+
 	_FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_pos) {
 
 		applied_force += p_force;
 		applied_torque += p_pos.cross(p_force);
 	}
 
+	_FORCE_INLINE_ void add_torque(const Vector3 &p_torque) {
+		applied_torque += p_torque;
+	}
+
 	void set_active(bool p_active);
 	_FORCE_INLINE_ bool is_active() const { return active; }
 
@@ -401,7 +410,9 @@ public:
 	virtual void set_transform(const Transform &p_transform) { body->set_state(PhysicsServer::BODY_STATE_TRANSFORM, p_transform); }
 	virtual Transform get_transform() const { return body->get_transform(); }
 
+	virtual void add_central_force(const Vector3 &p_force) { body->add_central_force(p_force); }
 	virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->add_force(p_force, p_pos); }
+	virtual void add_torque(const Vector3 &p_torque) { body->add_torque(p_torque); }
 	virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { body->apply_impulse(p_pos, p_j); }
 	virtual void apply_torque_impulse(const Vector3 &p_j) { body->apply_torque_impulse(p_j); }
 
diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp
index e26a7a4d89..0037b9a862 100644
--- a/servers/physics/collision_solver_sw.cpp
+++ b/servers/physics/collision_solver_sw.cpp
@@ -90,6 +90,10 @@ bool CollisionSolverSW::solve_ray(const ShapeSW *p_shape_A, const Transform &p_t
 		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)
diff --git a/servers/physics/shape_sw.cpp b/servers/physics/shape_sw.cpp
index 5a58742958..9d2e5e846d 100644
--- a/servers/physics/shape_sw.cpp
+++ b/servers/physics/shape_sw.cpp
@@ -165,6 +165,10 @@ real_t RayShapeSW::get_length() const {
 	return length;
 }
 
+bool RayShapeSW::get_slips_on_slope() const {
+	return slips_on_slope;
+}
+
 void RayShapeSW::project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const {
 
 	// don't think this will be even used
@@ -221,25 +225,31 @@ Vector3 RayShapeSW::get_moment_of_inertia(real_t p_mass) const {
 	return Vector3();
 }
 
-void RayShapeSW::_setup(real_t p_length) {
+void RayShapeSW::_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 RayShapeSW::set_data(const Variant &p_data) {
 
-	_setup(p_data);
+	Dictionary d = p_data;
+	_setup(d["length"], d["slips_on_slope"]);
 }
 
 Variant RayShapeSW::get_data() const {
 
-	return length;
+	Dictionary d;
+	d["length"] = length;
+	d["slips_on_slope"] = slips_on_slope;
+	return d;
 }
 
 RayShapeSW::RayShapeSW() {
 
 	length = 1;
+	slips_on_slope = false;
 }
 
 /********** SPHERE *************/
@@ -672,7 +682,7 @@ Vector3 CapsuleShapeSW::get_closest_point_to(const Vector3 &p_point) const {
 
 Vector3 CapsuleShapeSW::get_moment_of_inertia(real_t p_mass) const {
 
-	// use crappy AABB approximation
+	// use bad AABB approximation
 	Vector3 extents = get_aabb().size * 0.5;
 
 	return Vector3(
@@ -943,7 +953,7 @@ Vector3 ConvexPolygonShapeSW::get_closest_point_to(const Vector3 &p_point) const
 
 Vector3 ConvexPolygonShapeSW::get_moment_of_inertia(real_t p_mass) const {
 
-	// use crappy AABB approximation
+	// use bad AABB approximation
 	Vector3 extents = get_aabb().size * 0.5;
 
 	return Vector3(
@@ -1331,7 +1341,7 @@ void ConcavePolygonShapeSW::cull(const AABB &p_local_aabb, Callback p_callback,
 
 Vector3 ConcavePolygonShapeSW::get_moment_of_inertia(real_t p_mass) const {
 
-	// use crappy AABB approximation
+	// use bad AABB approximation
 	Vector3 extents = get_aabb().size * 0.5;
 
 	return Vector3(
@@ -1594,7 +1604,7 @@ void HeightMapShapeSW::cull(const AABB &p_local_aabb, Callback p_callback, void
 
 Vector3 HeightMapShapeSW::get_moment_of_inertia(real_t p_mass) const {
 
-	// use crappy AABB approximation
+	// use bad AABB approximation
 	Vector3 extents = get_aabb().size * 0.5;
 
 	return Vector3(
diff --git a/servers/physics/shape_sw.h b/servers/physics/shape_sw.h
index 4a9a6289ff..7f7f9f4f98 100644
--- a/servers/physics/shape_sw.h
+++ b/servers/physics/shape_sw.h
@@ -149,11 +149,13 @@ public:
 class RayShapeSW : public ShapeSW {
 
 	real_t length;
+	bool slips_on_slope;
 
-	void _setup(real_t p_length);
+	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 PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }