diff --git a/core/math/vector2.cpp b/core/math/vector2.cpp
index 441e7d89077..75d9b8b3113 100644
--- a/core/math/vector2.cpp
+++ b/core/math/vector2.cpp
@@ -121,11 +121,8 @@ Vector2 Vector2::rotated(real_t p_by) const {
 	return v;
 }
 
-Vector2 Vector2::project(const Vector2 &p_vec) const {
-
-	Vector2 v1 = p_vec;
-	Vector2 v2 = *this;
-	return v2 * (v1.dot(v2) / v2.dot(v2));
+Vector2 Vector2::project(const Vector2 &p_b) const {
+	return p_b * (dot(p_b) / p_b.dot(p_b));
 }
 
 Vector2 Vector2::snapped(const Vector2 &p_by) const {
diff --git a/core/math/vector2.h b/core/math/vector2.h
index 7c8882f6e2f..fbcdc80b601 100644
--- a/core/math/vector2.h
+++ b/core/math/vector2.h
@@ -68,7 +68,7 @@ struct Vector2 {
 
 	real_t dot(const Vector2 &p_other) const;
 	real_t cross(const Vector2 &p_other) const;
-	Vector2 project(const Vector2 &p_vec) const;
+	Vector2 project(const Vector2 &p_b) const;
 
 	Vector2 plane_project(real_t p_d, const Vector2 &p_vec) const;
 
diff --git a/core/math/vector3.h b/core/math/vector3.h
index 433adf09ee8..a719e3965d3 100644
--- a/core/math/vector3.h
+++ b/core/math/vector3.h
@@ -109,6 +109,8 @@ struct Vector3 {
 	_FORCE_INLINE_ real_t distance_to(const Vector3 &p_b) const;
 	_FORCE_INLINE_ real_t distance_squared_to(const Vector3 &p_b) const;
 
+	_FORCE_INLINE_ Vector3 project(const Vector3 &p_b) const;
+
 	_FORCE_INLINE_ real_t angle_to(const Vector3 &p_b) const;
 
 	_FORCE_INLINE_ Vector3 slide(const Vector3 &p_normal) const;
@@ -238,6 +240,10 @@ real_t Vector3::distance_squared_to(const Vector3 &p_b) const {
 	return (p_b - *this).length_squared();
 }
 
+Vector3 Vector3::project(const Vector3 &p_b) const {
+	return p_b * (dot(p_b) / p_b.dot(p_b));
+}
+
 real_t Vector3::angle_to(const Vector3 &p_b) const {
 
 	return Math::atan2(cross(p_b).length(), dot(p_b));
diff --git a/core/variant_call.cpp b/core/variant_call.cpp
index 80cb869db2e..ea51419233c 100644
--- a/core/variant_call.cpp
+++ b/core/variant_call.cpp
@@ -339,6 +339,7 @@ struct _VariantCall {
 	VCALL_LOCALMEM0R(Vector2, is_normalized);
 	VCALL_LOCALMEM1R(Vector2, distance_to);
 	VCALL_LOCALMEM1R(Vector2, distance_squared_to);
+	VCALL_LOCALMEM1R(Vector2, project);
 	VCALL_LOCALMEM1R(Vector2, angle_to);
 	VCALL_LOCALMEM1R(Vector2, angle_to_point);
 	VCALL_LOCALMEM2R(Vector2, linear_interpolate);
@@ -395,6 +396,7 @@ struct _VariantCall {
 	VCALL_LOCALMEM0R(Vector3, round);
 	VCALL_LOCALMEM1R(Vector3, distance_to);
 	VCALL_LOCALMEM1R(Vector3, distance_squared_to);
+	VCALL_LOCALMEM1R(Vector3, project);
 	VCALL_LOCALMEM1R(Vector3, angle_to);
 	VCALL_LOCALMEM1R(Vector3, slide);
 	VCALL_LOCALMEM1R(Vector3, bounce);
@@ -1551,6 +1553,7 @@ void register_variant_methods() {
 	ADDFUNC0R(VECTOR2, BOOL, Vector2, is_normalized, varray());
 	ADDFUNC1R(VECTOR2, REAL, Vector2, distance_to, VECTOR2, "to", varray());
 	ADDFUNC1R(VECTOR2, REAL, Vector2, distance_squared_to, VECTOR2, "to", varray());
+	ADDFUNC1R(VECTOR2, VECTOR2, Vector2, project, VECTOR2, "b", varray());
 	ADDFUNC1R(VECTOR2, REAL, Vector2, angle_to, VECTOR2, "to", varray());
 	ADDFUNC1R(VECTOR2, REAL, Vector2, angle_to_point, VECTOR2, "to", varray());
 	ADDFUNC2R(VECTOR2, VECTOR2, Vector2, linear_interpolate, VECTOR2, "b", REAL, "t", varray());
@@ -1606,6 +1609,7 @@ void register_variant_methods() {
 	ADDFUNC0R(VECTOR3, VECTOR3, Vector3, round, varray());
 	ADDFUNC1R(VECTOR3, REAL, Vector3, distance_to, VECTOR3, "b", varray());
 	ADDFUNC1R(VECTOR3, REAL, Vector3, distance_squared_to, VECTOR3, "b", varray());
+	ADDFUNC1R(VECTOR3, VECTOR3, Vector3, project, VECTOR3, "b", varray());
 	ADDFUNC1R(VECTOR3, REAL, Vector3, angle_to, VECTOR3, "to", varray());
 	ADDFUNC1R(VECTOR3, VECTOR3, Vector3, slide, VECTOR3, "n", varray());
 	ADDFUNC1R(VECTOR3, VECTOR3, Vector3, bounce, VECTOR3, "n", varray());
diff --git a/doc/classes/Vector2.xml b/doc/classes/Vector2.xml
index 6ffeddf5c12..9b18962a6fb 100644
--- a/doc/classes/Vector2.xml
+++ b/doc/classes/Vector2.xml
@@ -130,6 +130,15 @@
 				Returns the distance to vector [code]b[/code].
 			</description>
 		</method>
+		<method name="project">
+			<return type="Vector2">
+			</return>
+			<argument index="0" name="b" type="Vector2">
+			</argument>
+			<description>
+				Returns the vector projected onto the vector [code]b[/code].
+			</description>
+		</method>
 		<method name="dot">
 			<return type="float">
 			</return>
diff --git a/doc/classes/Vector3.xml b/doc/classes/Vector3.xml
index 62a480166a3..22384c50123 100644
--- a/doc/classes/Vector3.xml
+++ b/doc/classes/Vector3.xml
@@ -99,6 +99,15 @@
 				Returns the distance to [code]b[/code].
 			</description>
 		</method>
+		<method name="project_onto">
+			<return type="Vector3">
+			</return>
+			<argument index="0" name="b" type="Vector3">
+			</argument>
+			<description>
+				Returns the vector projected onto the vector [code]b[/code].
+			</description>
+		</method>
 		<method name="dot">
 			<return type="float">
 			</return>
diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp
index d49c1b83767..517dce0043f 100644
--- a/servers/physics_2d/joints_2d_sw.cpp
+++ b/servers/physics_2d/joints_2d_sw.cpp
@@ -321,7 +321,7 @@ void GrooveJoint2DSW::solve(real_t p_step) {
 	Vector2 jOld = jn_acc;
 	j += jOld;
 
-	jn_acc = (((clamp * j.cross(xf_normal)) > 0) ? j : xf_normal.project(j)).clamped(jn_max);
+	jn_acc = (((clamp * j.cross(xf_normal)) > 0) ? j : j.project(xf_normal)).clamped(jn_max);
 
 	j = jn_acc - jOld;