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I hate how pill colliders for platformers are industry standard. In my opinion, the player's origin point should never sag below the floor. So, I've devised my own Godot "Cylinder-based Footing" character controller that combines the benefits of both capsules & cylinders.

If the center of character is off an edge, the point touching the edge is not the center of the half-sphere that makes the bottom, so since that point is off-center, it is not the lowest point of the character (which is the center), it's somewhere "up" on the sphere. This makes the character "sag".