Rigidbody MovePosition clipping

When I use Rigidbody.MovePosition and the object being moved hits another Rigidbody, the object will overlap the other slightly until the MovePosition is released (eg, moving the player, if a direction is held “into” a wall, the player will clip into the wall very slightly, then slide back out when the direction is released.

I am using FixedUpdate, Box Colliders and non-kinematic rigidbodies.

public class MoveController : MonoBehaviour {

	public float walkSpeed = 4f;
	public float acceleration = 5f;
	public float deceleration = 20f;

	Rigidbody rb;
	float currentSpeed;
	Vector3 movement;

	// Use this for initialization
	void Start () {
		rb = GetComponent<Rigidbody>();
	// Update is called once per frame
	void FixedUpdate () {
		float moveHorizontal = Input.GetAxisRaw("Horizontal");
		float moveVertical = Input.GetAxisRaw("Vertical");

		if (moveHorizontal == 0f && moveVertical == 0f) {
			currentSpeed = Mathf.Lerp(currentSpeed, 0f, deceleration * Time.deltaTime);
		else {
			currentSpeed = Mathf.Lerp(currentSpeed, walkSpeed, acceleration * Time.deltaTime);

		movement.Set(moveHorizontal, 0.0f, moveVertical);
		movement = movement.normalized * currentSpeed * Time.deltaTime;

		rb.MovePosition(rb.position + movement);

This gif demonstrates the clipping behaviour:

alt text

How do I prevent this? It particularly causes problems when an object in mid-air collides with a wall, it will “stick” to it and stop falling until there is no horizontal push being applied.

use rb.velocity(movement); instead

I think that in most cases its better to not use move position to move a rigidbody.