Best: Crye or similar (Drifire, Patagonia, etc) built-in solution. Comfy, hard shell with padding (so even if there's a rock/stick/whatever it won't go thru simple foam). They won't fall down, they don't cut blood flow, and they give you over 9000 operator points.
1st runner up: Repro Crye. Same as above, but foam is generally less comfy and shell less flexible. Much more affordable, though. There's also the UR-Tactical that is an higher-end repro. Or... you can get repro pants with real Crye pads. Budget/quality, it might be the best option.
2nd runner up: Arc'Teryx. You sill need to tighten them to stay in place so you do feel them, but amonst they do offer the foam+hard shell combo that works wonders. They stay in place and restrict movement much less than Alta, Condor or other cheaper pads.
3rd runner up, if you want something really light and unobstrusive: Tru-spec or 5.11 inserts. They are very affordable (generally under 20, can be found around 10 if you look hard), works with most BDUs (if they don't, you can generally cut a slit in the inside of the pant where the material is doubled and cram them thru that slit). They however offer much less protection than pads with a hard shell.
4th runner up: none. All other solutions suck, if anything they'll just give you more problems.
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