Rigidbody.MovePosition not colliding properly

Hey,
I have a capsule collider with a rigidbody and this script:

Code (CSharp):

1. using System.Collections;
2. using System.Collections.Generic;
3. using UnityEngine;
4.  
5. public class PlayerMoveNew : MonoBehaviour {
6.  
7.     Rigidbody rb;
8.     public float speed;
9.  
10.     // Use this for initialization
11.     void Start ()
12.     {
13.         rb = GetComponent<Rigidbody>();
14.     }
15.    
16.     // Update is called once per frame
17.     void FixedUpdate ()
18.     {
19.         float h = Input.GetAxisRaw("Horizontal");
20.         float v = Input.GetAxisRaw("Vertical");
21.  
22.         Vector3 moveFor = v * transform.forward * speed;
23.         Vector3 moveSide = h * transform.right * speed;
24.  
25.         rb.MovePosition(rb.position + (moveFor + moveSide) * Time.deltaTime);
26.     }
27. }
28.  

It kinda works, but it whenever it collides with something and the player keeps holding the key down, it will enter the object a little bit.

I've been trying to fix this problem for like 2 hours, but I can't find a solution to it. Some answers I found in the internet said that I should use AddForce but it would keep increasing speed, and that's not what I want. Others said i should set Interpolate to Interpolation, but it doesn't works too.

 

You need to use the AddForce functionality if your rigidbody is non-kinematic. Yes, continually adding force will increase velocity. But you can do something like:

rb.AddForce(desiredVelocity - rb.velocity, ForceMode.VelocityChange);

and mimic the linear MovePosition behavior using forces (so collisions can work properly).

 

The movement part seems to work, but gravity doesn't.
I changed this

Code (CSharp):

1.         Vector3 moveFor = v * transform.forward * speed;
2.         Vector3 moveSide = h * transform.right * speed;
3.  
4.  
5.         rb.MovePosition(rb.position + (moveFor + moveSide) * Time.deltaTime);

for this

Code (CSharp):

1.         Vector3 moveFor = v * transform.forward;
2.         Vector3 moveSide = h * transform.right;
3.  
4.  
5.         rb.AddForce(((moveFor + moveSide).normalized * speed) - rb.velocity, ForceMode.VelocityChange);

 

I've been looking for a solution like this for hours, couldn't find a way that the addForce method could mimic MovePosition, thank you very much