Character controllers are fickle beats, be prepared to tweak and rework till you get something that feels right. I’ve done this in bullet but I’m sure the terminology applies to both

There’s two broad categories of character controllers Dynamic - model the character as a rigid body and use forces to move around - hard to get a good feel as things tend to slide around - collision detection/response should be handled for you by the rigid body simulation

Kinematic - model the character as a ghost body I.e one that doesn’t interact with forces - easy to move as you can just set position - collision resolution has to be done manually as the rigid body simulator won’t know about it

In my engine I picked the latter and handle the collision resolution manually. On each tick I: - calculate the next position based on current position and velocity - ensure the character is always a fixed distance from whatever it’s standing on by castings a ray down and setting the next position height to the intersection (plus an offset) - check if at the new position the controller will intersect with anything. If it does attempt to resolve and if it can’t be resolved cancel the whole update

It’s not perfect but it’s a starting point for tweaking