Merge pull request #48908 from nekomatata/physics-nodes-reorganization

Physics nodes reorganization

50 files changed, 1384 insertions, 1302 deletions

diff --git a/doc/classes/CharacterBody2D.xml b/doc/classes/CharacterBody2D.xml
new file mode 100644
index 0000000000..c3bb3d28e0
--- /dev/null
+++ b/doc/classes/CharacterBody2D.xml
@@ -0,0 +1,129 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="CharacterBody2D" inherits="PhysicsBody2D" version="4.0">
+	<brief_description>
+		Character body 2D node.
+	</brief_description>
+	<description>
+		Character bodies are special types of bodies that are meant to be user-controlled. They are not affected by physics at all; to other types of bodies, such as a rigid body, these are the same as a static body. However, they have two main uses:
+		[b]Kinematic characters:[/b] Character bodies have an API for moving objects with walls and slopes detection ([method move_and_slide] method), in addition to collision detection (also done with [method PhysicsBody3D.move_and_collide]). This makes them really useful to implement characters that move in specific ways and collide with the world, but don't require advanced physics.
+		[b]Kinematic motion:[/b] Character bodies can also be used for kinematic motion (same functionality as [member StaticBody3D.kinematic_motion] when enabled), which allows them to be moved by code and push other bodies on their path.
+	</description>
+	<tutorials>
+		<link title="Kinematic character (2D)">https://docs.godotengine.org/en/latest/tutorials/physics/kinematic_character_2d.html</link>
+		<link title="Using KinematicBody2D">https://docs.godotengine.org/en/latest/tutorials/physics/using_kinematic_body_2d.html</link>
+		<link title="2D Kinematic Character Demo">https://godotengine.org/asset-library/asset/113</link>
+		<link title="2D Platformer Demo">https://godotengine.org/asset-library/asset/120</link>
+	</tutorials>
+	<methods>
+		<method name="get_floor_normal" qualifiers="const">
+			<return type="Vector2">
+			</return>
+			<description>
+				Returns the surface normal of the floor at the last collision point. Only valid after calling [method move_and_slide] and when [method is_on_floor] returns [code]true[/code].
+			</description>
+		</method>
+		<method name="get_floor_velocity" qualifiers="const">
+			<return type="Vector2">
+			</return>
+			<description>
+				Returns the linear velocity of the floor at the last collision point. Only valid after calling [method move_and_slide] and when [method is_on_floor] returns [code]true[/code].
+			</description>
+		</method>
+		<method name="get_slide_collision">
+			<return type="KinematicCollision2D">
+			</return>
+			<argument index="0" name="slide_idx" type="int">
+			</argument>
+			<description>
+				Returns a [KinematicCollision2D], which contains information about a collision that occurred during the last call to [method move_and_slide]. Since the body can collide several times in a single call to [method move_and_slide], you must specify the index of the collision in the range 0 to ([method get_slide_count] - 1).
+				[b]Example usage:[/b]
+				[codeblocks]
+				[gdscript]
+				for i in get_slide_count():
+				var collision = get_slide_collision(i)
+				print("Collided with: ", collision.collider.name)
+				[/gdscript]
+				[csharp]
+				for (int i = 0; i &lt; GetSlideCount(); i++)
+				{
+				    KinematicCollision2D collision = GetSlideCollision(i);
+				    GD.Print("Collided with: ", (collision.Collider as Node).Name);
+				}
+				[/csharp]
+				[/codeblocks]
+			</description>
+		</method>
+		<method name="get_slide_count" qualifiers="const">
+			<return type="int">
+			</return>
+			<description>
+				Returns the number of times the body collided and changed direction during the last call to [method move_and_slide].
+			</description>
+		</method>
+		<method name="is_on_ceiling" qualifiers="const">
+			<return type="bool">
+			</return>
+			<description>
+				Returns [code]true[/code] if the body collided with the ceiling on the last call of [method move_and_slide]. Otherwise, returns [code]false[/code].
+			</description>
+		</method>
+		<method name="is_on_floor" qualifiers="const">
+			<return type="bool">
+			</return>
+			<description>
+				Returns [code]true[/code] if the body collided with the floor on the last call of [method move_and_slide]. Otherwise, returns [code]false[/code].
+			</description>
+		</method>
+		<method name="is_on_wall" qualifiers="const">
+			<return type="bool">
+			</return>
+			<description>
+				Returns [code]true[/code] if the body collided with a wall on the last call of [method move_and_slide]. Otherwise, returns [code]false[/code].
+			</description>
+		</method>
+		<method name="move_and_slide">
+			<return type="void">
+			</return>
+			<description>
+				Moves the body based on [member linear_velocity]. If the body collides with another, it will slide along the other body rather than stop immediately. If the other body is a [CharacterBody2D] or [RigidBody2D], it will also be affected by the motion of the other body. You can use this to make moving and rotating platforms, or to make nodes push other nodes.
+				This method should be used in [method Node._physics_process] (or in a method called by [method Node._physics_process]), as it uses the physics step's [code]delta[/code] value automatically in calculations. Otherwise, the simulation will run at an incorrect speed.
+				Modifies [member linear_velocity] if a slide collision occurred. To get detailed information about collisions that occurred, use [method get_slide_collision].
+			</description>
+		</method>
+	</methods>
+	<members>
+		<member name="collision/safe_margin" type="float" setter="set_safe_margin" getter="get_safe_margin" default="0.08">
+			Extra margin used for collision recovery when calling [method move_and_slide].
+			If the body is at least this close to another body, it will consider them to be colliding and will be pushed away before performing the actual motion.
+			A higher value means it's more flexible for detecting collision, which helps with consistently detecting walls and floors.
+			A lower value forces the collision algorithm to use more exact detection, so it can be used in cases that specifically require precision, e.g at very low scale to avoid visible jittering, or for stability with a stack of character bodies.
+		</member>
+		<member name="floor_max_angle" type="float" setter="set_floor_max_angle" getter="get_floor_max_angle" default="0.785398">
+			Maximum angle (in radians) where a slope is still considered a floor (or a ceiling), rather than a wall, when calling [method move_and_slide]. The default value equals 45 degrees.
+		</member>
+		<member name="infinite_inertia" type="bool" setter="set_infinite_inertia_enabled" getter="is_infinite_inertia_enabled" default="true">
+			If [code]true[/code], the body will be able to push [RigidBody2D] nodes when calling [method move_and_slide], but it also won't detect any collisions with them. If [code]false[/code], it will interact with [RigidBody2D] nodes like with [StaticBody2D].
+		</member>
+		<member name="linear_velocity" type="Vector2" setter="set_linear_velocity" getter="get_linear_velocity" default="Vector2( 0, 0 )">
+			Current velocity vector in pixels per second, used and modified during calls to [method move_and_slide].
+		</member>
+		<member name="max_slides" type="int" setter="set_max_slides" getter="get_max_slides" default="4">
+			Maximum number of times the body can change direction before it stops when calling [method move_and_slide].
+		</member>
+		<member name="motion/sync_to_physics" type="bool" setter="set_sync_to_physics" getter="is_sync_to_physics_enabled" default="false">
+			If [code]true[/code], the body's movement will be synchronized to the physics frame. This is useful when animating movement via [AnimationPlayer], for example on moving platforms. Do [b]not[/b] use together with [method move_and_slide] or [method PhysicsBody2D.move_and_collide] functions.
+		</member>
+		<member name="snap" type="Vector2" setter="set_snap" getter="get_snap" default="Vector2( 0, 0 )">
+			When set to a value different from [code]Vector2(0, 0)[/code], the body is kept attached to slopes when calling [method move_and_slide].
+			As long as the [code]snap[/code] vector is in contact with the ground, the body will remain attached to the surface. This means you must disable snap in order to jump, for example. You can do this by setting [code]snap[/code] to [code]Vector2(0, 0)[/code].
+		</member>
+		<member name="stop_on_slope" type="bool" setter="set_stop_on_slope_enabled" getter="is_stop_on_slope_enabled" default="false">
+			If [code]true[/code], the body will not slide on slopes when you include gravity in [code]linear_velocity[/code] when calling [method move_and_slide] and the body is standing still.
+		</member>
+		<member name="up_direction" type="Vector2" setter="set_up_direction" getter="get_up_direction" default="Vector2( 0, -1 )">
+			Direction vector used to determine what is a wall and what is a floor (or a ceiling), rather than a wall, when calling [method move_and_slide]. Defaults to [code]Vector2.UP[/code]. If set to [code]Vector2(0, 0)[/code], everything is considered a wall. This is useful for topdown games.
+		</member>
+	</members>
+	<constants>
+	</constants>
+</class>
diff --git a/doc/classes/CharacterBody3D.xml b/doc/classes/CharacterBody3D.xml
new file mode 100644
index 0000000000..986874df3b
--- /dev/null
+++ b/doc/classes/CharacterBody3D.xml
@@ -0,0 +1,112 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="CharacterBody3D" inherits="PhysicsBody3D" version="4.0">
+	<brief_description>
+		Character body 3D node.
+	</brief_description>
+	<description>
+		Character bodies are special types of bodies that are meant to be user-controlled. They are not affected by physics at all; to other types of bodies, such as a rigid body, these are the same as a static body. However, they have two main uses:
+		[b]Kinematic characters:[/b] Character bodies have an API for moving objects with walls and slopes detection ([method move_and_slide] method), in addition to collision detection (also done with [method PhysicsBody3D.move_and_collide]). This makes them really useful to implement characters that move in specific ways and collide with the world, but don't require advanced physics.
+		[b]Kinematic motion:[/b] Character bodies can also be used for kinematic motion (same functionality as [member StaticBody3D.kinematic_motion] when enabled), which allows them to be moved by code and push other bodies on their path.
+	</description>
+	<tutorials>
+		<link title="Kinematic character (2D)">https://docs.godotengine.org/en/latest/tutorials/physics/kinematic_character_2d.html</link>
+		<link title="3D Kinematic Character Demo">https://godotengine.org/asset-library/asset/126</link>
+		<link title="3D Platformer Demo">https://godotengine.org/asset-library/asset/125</link>
+		<link title="3D Voxel Demo">https://godotengine.org/asset-library/asset/676</link>
+		<link title="Third Person Shooter Demo">https://godotengine.org/asset-library/asset/678</link>
+	</tutorials>
+	<methods>
+		<method name="get_floor_normal" qualifiers="const">
+			<return type="Vector3">
+			</return>
+			<description>
+				Returns the surface normal of the floor at the last collision point. Only valid after calling [method move_and_slide] and when [method is_on_floor] returns [code]true[/code].
+			</description>
+		</method>
+		<method name="get_floor_velocity" qualifiers="const">
+			<return type="Vector3">
+			</return>
+			<description>
+				Returns the linear velocity of the floor at the last collision point. Only valid after calling [method move_and_slide] and when [method is_on_floor] returns [code]true[/code].
+			</description>
+		</method>
+		<method name="get_slide_collision">
+			<return type="KinematicCollision3D">
+			</return>
+			<argument index="0" name="slide_idx" type="int">
+			</argument>
+			<description>
+				Returns a [KinematicCollision3D], which contains information about a collision that occurred during the last call to [method move_and_slide]. Since the body can collide several times in a single call to [method move_and_slide], you must specify the index of the collision in the range 0 to ([method get_slide_count] - 1).
+			</description>
+		</method>
+		<method name="get_slide_count" qualifiers="const">
+			<return type="int">
+			</return>
+			<description>
+				Returns the number of times the body collided and changed direction during the last call to [method move_and_slide].
+			</description>
+		</method>
+		<method name="is_on_ceiling" qualifiers="const">
+			<return type="bool">
+			</return>
+			<description>
+				Returns [code]true[/code] if the body collided with the ceiling on the last call of [method move_and_slide]. Otherwise, returns [code]false[/code].
+			</description>
+		</method>
+		<method name="is_on_floor" qualifiers="const">
+			<return type="bool">
+			</return>
+			<description>
+				Returns [code]true[/code] if the body collided with the floor on the last call of [method move_and_slide]. Otherwise, returns [code]false[/code].
+			</description>
+		</method>
+		<method name="is_on_wall" qualifiers="const">
+			<return type="bool">
+			</return>
+			<description>
+				Returns [code]true[/code] if the body collided with a wall on the last call of [method move_and_slide]. Otherwise, returns [code]false[/code].
+			</description>
+		</method>
+		<method name="move_and_slide">
+			<return type="void">
+			</return>
+			<description>
+				Moves the body based on [member linear_velocity]. If the body collides with another, it will slide along the other body rather than stop immediately. If the other body is a [CharacterBody3D] or [RigidBody3D], it will also be affected by the motion of the other body. You can use this to make moving and rotating platforms, or to make nodes push other nodes.
+				This method should be used in [method Node._physics_process] (or in a method called by [method Node._physics_process]), as it uses the physics step's [code]delta[/code] value automatically in calculations. Otherwise, the simulation will run at an incorrect speed.
+				Modifies [member linear_velocity] if a slide collision occurred. To get detailed information about collisions that occurred, use [method get_slide_collision].
+			</description>
+		</method>
+	</methods>
+	<members>
+		<member name="collision/safe_margin" type="float" setter="set_safe_margin" getter="get_safe_margin" default="0.001">
+			Extra margin used for collision recovery when calling [method move_and_slide].
+			If the body is at least this close to another body, it will consider them to be colliding and will be pushed away before performing the actual motion.
+			A higher value means it's more flexible for detecting collision, which helps with consistently detecting walls and floors.
+			A lower value forces the collision algorithm to use more exact detection, so it can be used in cases that specifically require precision, e.g at very low scale to avoid visible jittering, or for stability with a stack of character bodies.
+		</member>
+		<member name="floor_max_angle" type="float" setter="set_floor_max_angle" getter="get_floor_max_angle" default="0.785398">
+			Maximum angle (in radians) where a slope is still considered a floor (or a ceiling), rather than a wall, when calling [method move_and_slide]. The default value equals 45 degrees.
+		</member>
+		<member name="infinite_inertia" type="bool" setter="set_infinite_inertia_enabled" getter="is_infinite_inertia_enabled" default="true">
+			If [code]true[/code], the body will be able to push [RigidBody3D] nodes when calling [method move_and_slide], but it also won't detect any collisions with them. If [code]false[/code], it will interact with [RigidBody3D] nodes like with [StaticBody3D].
+		</member>
+		<member name="linear_velocity" type="Vector3" setter="set_linear_velocity" getter="get_linear_velocity" default="Vector3( 0, 0, 0 )">
+			Current velocity vector (typically meters per second), used and modified during calls to [method move_and_slide].
+		</member>
+		<member name="max_slides" type="int" setter="set_max_slides" getter="get_max_slides" default="4">
+			Maximum number of times the body can change direction before it stops when calling [method move_and_slide].
+		</member>
+		<member name="snap" type="Vector3" setter="set_snap" getter="get_snap" default="Vector3( 0, 0, 0 )">
+			When set to a value different from [code]Vector3(0, 0, 0)[/code], the body is kept attached to slopes when calling [method move_and_slide].
+			As long as the [code]snap[/code] vector is in contact with the ground, the body will remain attached to the surface. This means you must disable snap in order to jump, for example. You can do this by setting [code]snap[/code] to [code]Vector3(0, 0, 0)[/code].
+		</member>
+		<member name="stop_on_slope" type="bool" setter="set_stop_on_slope_enabled" getter="is_stop_on_slope_enabled" default="false">
+			If [code]true[/code], the body will not slide on slopes when you include gravity in [code]linear_velocity[/code] when calling [method move_and_slide] and the body is standing still.
+		</member>
+		<member name="up_direction" type="Vector3" setter="set_up_direction" getter="get_up_direction" default="Vector3( 0, 1, 0 )">
+			Direction vector used to determine what is a wall and what is a floor (or a ceiling), rather than a wall, when calling [method move_and_slide]. Defaults to [code]Vector3.UP[/code]. If set to [code]Vector3(0, 0, 0)[/code], everything is considered a wall. This is useful for topdown games.
+		</member>
+	</members>
+	<constants>
+	</constants>
+</class>
diff --git a/doc/classes/ConcavePolygonShape3D.xml b/doc/classes/ConcavePolygonShape3D.xml
index a9687abedc..b510905d1f 100644
--- a/doc/classes/ConcavePolygonShape3D.xml
+++ b/doc/classes/ConcavePolygonShape3D.xml
@@ -5,7 +5,7 @@
 	</brief_description>
 	<description>
 		Concave polygon shape resource, which can be set into a [PhysicsBody3D] or area. This shape is created by feeding a list of triangles.
-		Note: when used for collision, [ConcavePolygonShape3D] is intended to work with static [PhysicsBody3D] nodes like [StaticBody3D] and will not work with [KinematicBody3D] or [RigidBody3D] with a mode other than Static.
+		Note: when used for collision, [ConcavePolygonShape3D] is intended to work with static [PhysicsBody3D] nodes like [StaticBody3D] and will not work with [CharacterBody3D] or [RigidBody3D] with a mode other than Static.
 	</description>
 	<tutorials>
 		<link title="3D Physics Tests Demo">https://godotengine.org/asset-library/asset/675</link>
diff --git a/doc/classes/KinematicBody2D.xml b/doc/classes/KinematicBody2D.xml
deleted file mode 100644
index fdd4db6115..0000000000
--- a/doc/classes/KinematicBody2D.xml
+++ /dev/null
@@ -1,176 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="KinematicBody2D" inherits="PhysicsBody2D" version="4.0">
-	<brief_description>
-		Kinematic body 2D node.
-	</brief_description>
-	<description>
-		Kinematic bodies are special types of bodies that are meant to be user-controlled. They are not affected by physics at all; to other types of bodies, such as a character or a rigid body, these are the same as a static body. However, they have two main uses:
-		[b]Simulated motion:[/b] When these bodies are moved manually, either from code or from an [AnimationPlayer] (with [member AnimationPlayer.playback_process_mode] set to "physics"), the physics will automatically compute an estimate of their linear and angular velocity. This makes them very useful for moving platforms or other AnimationPlayer-controlled objects (like a door, a bridge that opens, etc).
-		[b]Kinematic characters:[/b] KinematicBody2D also has an API for moving objects (the [method move_and_collide] and [method move_and_slide] methods) while performing collision tests. This makes them really useful to implement characters that collide against a world, but don't require advanced physics.
-	</description>
-	<tutorials>
-		<link title="Kinematic character (2D)">https://docs.godotengine.org/en/latest/tutorials/physics/kinematic_character_2d.html</link>
-		<link title="Using KinematicBody2D">https://docs.godotengine.org/en/latest/tutorials/physics/using_kinematic_body_2d.html</link>
-		<link title="2D Kinematic Character Demo">https://godotengine.org/asset-library/asset/113</link>
-		<link title="2D Platformer Demo">https://godotengine.org/asset-library/asset/120</link>
-	</tutorials>
-	<methods>
-		<method name="get_floor_normal" qualifiers="const">
-			<return type="Vector2">
-			</return>
-			<description>
-				Returns the surface normal of the floor at the last collision point. Only valid after calling [method move_and_slide] or [method move_and_slide_with_snap] and when [method is_on_floor] returns [code]true[/code].
-			</description>
-		</method>
-		<method name="get_floor_velocity" qualifiers="const">
-			<return type="Vector2">
-			</return>
-			<description>
-				Returns the linear velocity of the floor at the last collision point. Only valid after calling [method move_and_slide] or [method move_and_slide_with_snap] and when [method is_on_floor] returns [code]true[/code].
-			</description>
-		</method>
-		<method name="get_slide_collision">
-			<return type="KinematicCollision2D">
-			</return>
-			<argument index="0" name="slide_idx" type="int">
-			</argument>
-			<description>
-				Returns a [KinematicCollision2D], which contains information about a collision that occurred during the last call to [method move_and_slide] or [method move_and_slide_with_snap]. Since the body can collide several times in a single call to [method move_and_slide], you must specify the index of the collision in the range 0 to ([method get_slide_count] - 1).
-				[b]Example usage:[/b]
-				[codeblocks]
-				[gdscript]
-				for i in get_slide_count():
-				    var collision = get_slide_collision(i)
-				    print("Collided with: ", collision.collider.name)
-				[/gdscript]
-				[csharp]
-				for (int i = 0; i &lt; GetSlideCount(); i++)
-				{
-				    KinematicCollision2D collision = GetSlideCollision(i);
-				    GD.Print("Collided with: ", (collision.Collider as Node).Name);
-				}
-				[/csharp]
-				[/codeblocks]
-			</description>
-		</method>
-		<method name="get_slide_count" qualifiers="const">
-			<return type="int">
-			</return>
-			<description>
-				Returns the number of times the body collided and changed direction during the last call to [method move_and_slide] or [method move_and_slide_with_snap].
-			</description>
-		</method>
-		<method name="is_on_ceiling" qualifiers="const">
-			<return type="bool">
-			</return>
-			<description>
-				Returns [code]true[/code] if the body collided with the ceiling on the last call of [method move_and_slide] or [method move_and_slide_with_snap]. Otherwise, returns [code]false[/code].
-			</description>
-		</method>
-		<method name="is_on_floor" qualifiers="const">
-			<return type="bool">
-			</return>
-			<description>
-				Returns [code]true[/code] if the body collided with the floor on the last call of [method move_and_slide] or [method move_and_slide_with_snap]. Otherwise, returns [code]false[/code].
-			</description>
-		</method>
-		<method name="is_on_wall" qualifiers="const">
-			<return type="bool">
-			</return>
-			<description>
-				Returns [code]true[/code] if the body collided with a wall on the last call of [method move_and_slide] or [method move_and_slide_with_snap]. Otherwise, returns [code]false[/code].
-			</description>
-		</method>
-		<method name="move_and_collide">
-			<return type="KinematicCollision2D">
-			</return>
-			<argument index="0" name="rel_vec" type="Vector2">
-			</argument>
-			<argument index="1" name="infinite_inertia" type="bool" default="true">
-			</argument>
-			<argument index="2" name="exclude_raycast_shapes" type="bool" default="true">
-			</argument>
-			<argument index="3" name="test_only" type="bool" default="false">
-			</argument>
-			<description>
-				Moves the body along the vector [code]rel_vec[/code]. The body will stop if it collides. Returns a [KinematicCollision2D], which contains information about the collision.
-				If [code]test_only[/code] is [code]true[/code], the body does not move but the would-be collision information is given.
-			</description>
-		</method>
-		<method name="move_and_slide">
-			<return type="Vector2">
-			</return>
-			<argument index="0" name="linear_velocity" type="Vector2">
-			</argument>
-			<argument index="1" name="up_direction" type="Vector2" default="Vector2( 0, 0 )">
-			</argument>
-			<argument index="2" name="stop_on_slope" type="bool" default="false">
-			</argument>
-			<argument index="3" name="max_slides" type="int" default="4">
-			</argument>
-			<argument index="4" name="floor_max_angle" type="float" default="0.785398">
-			</argument>
-			<argument index="5" name="infinite_inertia" type="bool" default="true">
-			</argument>
-			<description>
-				Moves the body along a vector. If the body collides with another, it will slide along the other body rather than stop immediately. If the other body is a [KinematicBody2D] or [RigidBody2D], it will also be affected by the motion of the other body. You can use this to make moving and rotating platforms, or to make nodes push other nodes.
-				This method should be used in [method Node._physics_process] (or in a method called by [method Node._physics_process]), as it uses the physics step's [code]delta[/code] value automatically in calculations. Otherwise, the simulation will run at an incorrect speed.
-				[code]linear_velocity[/code] is the velocity vector in pixels per second. Unlike in [method move_and_collide], you should [i]not[/i] multiply it by [code]delta[/code] — the physics engine handles applying the velocity.
-				[code]up_direction[/code] is the up direction, used to determine what is a wall and what is a floor or a ceiling. If set to the default value of [code]Vector2(0, 0)[/code], everything is considered a wall. This is useful for topdown games.
-				If [code]stop_on_slope[/code] is [code]true[/code], body will not slide on slopes when you include gravity in [code]linear_velocity[/code] and the body is standing still.
-				If the body collides, it will change direction a maximum of [code]max_slides[/code] times before it stops.
-				[code]floor_max_angle[/code] is the maximum angle (in radians) where a slope is still considered a floor (or a ceiling), rather than a wall. The default value equals 45 degrees.
-				If [code]infinite_inertia[/code] is [code]true[/code], body will be able to push [RigidBody2D] nodes, but it won't also detect any collisions with them. If [code]false[/code], it will interact with [RigidBody2D] nodes like with [StaticBody2D].
-				Returns the [code]linear_velocity[/code] vector, rotated and/or scaled if a slide collision occurred. To get detailed information about collisions that occurred, use [method get_slide_collision].
-			</description>
-		</method>
-		<method name="move_and_slide_with_snap">
-			<return type="Vector2">
-			</return>
-			<argument index="0" name="linear_velocity" type="Vector2">
-			</argument>
-			<argument index="1" name="snap" type="Vector2">
-			</argument>
-			<argument index="2" name="up_direction" type="Vector2" default="Vector2( 0, 0 )">
-			</argument>
-			<argument index="3" name="stop_on_slope" type="bool" default="false">
-			</argument>
-			<argument index="4" name="max_slides" type="int" default="4">
-			</argument>
-			<argument index="5" name="floor_max_angle" type="float" default="0.785398">
-			</argument>
-			<argument index="6" name="infinite_inertia" type="bool" default="true">
-			</argument>
-			<description>
-				Moves the body while keeping it attached to slopes. Similar to [method move_and_slide].
-				As long as the [code]snap[/code] vector is in contact with the ground, the body will remain attached to the surface. This means you must disable snap in order to jump, for example. You can do this by setting [code]snap[/code] to [code](0, 0)[/code] or by using [method move_and_slide] instead.
-			</description>
-		</method>
-		<method name="test_move">
-			<return type="bool">
-			</return>
-			<argument index="0" name="from" type="Transform2D">
-			</argument>
-			<argument index="1" name="rel_vec" type="Vector2">
-			</argument>
-			<argument index="2" name="infinite_inertia" type="bool" default="true">
-			</argument>
-			<description>
-				Checks for collisions without moving the body. Virtually sets the node's position, scale and rotation to that of the given [Transform2D], then tries to move the body along the vector [code]rel_vec[/code]. Returns [code]true[/code] if a collision would occur.
-			</description>
-		</method>
-	</methods>
-	<members>
-		<member name="collision/safe_margin" type="float" setter="set_safe_margin" getter="get_safe_margin" default="0.08">
-			Extra margin used for collision recovery in motion functions (see [method move_and_collide], [method move_and_slide], [method move_and_slide_with_snap]).
-			If the body is at least this close to another body, it will consider them to be colliding and will be pushed away before performing the actual motion.
-			A higher value means it's more flexible for detecting collision, which helps with consistently detecting walls and floors.
-			A lower value forces the collision algorithm to use more exact detection, so it can be used in cases that specifically require precision, e.g at very low scale to avoid visible jittering, or for stability with a stack of kinematic bodies.
-		</member>
-		<member name="motion/sync_to_physics" type="bool" setter="set_sync_to_physics" getter="is_sync_to_physics_enabled" default="false">
-			If [code]true[/code], the body's movement will be synchronized to the physics frame. This is useful when animating movement via [AnimationPlayer], for example on moving platforms. Do [b]not[/b] use together with [method move_and_slide] or [method move_and_collide] functions.
-		</member>
-	</members>
-	<constants>
-	</constants>
-</class>
diff --git a/doc/classes/KinematicBody3D.xml b/doc/classes/KinematicBody3D.xml
deleted file mode 100644
index 1a197be0fb..0000000000
--- a/doc/classes/KinematicBody3D.xml
+++ /dev/null
@@ -1,188 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<class name="KinematicBody3D" inherits="PhysicsBody3D" version="4.0">
-	<brief_description>
-		Kinematic body 3D node.
-	</brief_description>
-	<description>
-		Kinematic bodies are special types of bodies that are meant to be user-controlled. They are not affected by physics at all; to other types of bodies, such as a character or a rigid body, these are the same as a static body. However, they have two main uses:
-		[b]Simulated motion:[/b] When these bodies are moved manually, either from code or from an [AnimationPlayer] (with [member AnimationPlayer.playback_process_mode] set to "physics"), the physics will automatically compute an estimate of their linear and angular velocity. This makes them very useful for moving platforms or other AnimationPlayer-controlled objects (like a door, a bridge that opens, etc).
-		[b]Kinematic characters:[/b] KinematicBody3D also has an API for moving objects (the [method move_and_collide] and [method move_and_slide] methods) while performing collision tests. This makes them really useful to implement characters that collide against a world, but don't require advanced physics.
-	</description>
-	<tutorials>
-		<link title="Kinematic character (2D)">https://docs.godotengine.org/en/latest/tutorials/physics/kinematic_character_2d.html</link>
-		<link title="3D Kinematic Character Demo">https://godotengine.org/asset-library/asset/126</link>
-		<link title="3D Platformer Demo">https://godotengine.org/asset-library/asset/125</link>
-		<link title="3D Voxel Demo">https://godotengine.org/asset-library/asset/676</link>
-		<link title="Third Person Shooter Demo">https://godotengine.org/asset-library/asset/678</link>
-	</tutorials>
-	<methods>
-		<method name="get_axis_lock" qualifiers="const">
-			<return type="bool">
-			</return>
-			<argument index="0" name="axis" type="int" enum="PhysicsServer3D.BodyAxis">
-			</argument>
-			<description>
-				Returns [code]true[/code] if the specified [code]axis[/code] is locked. See also [member axis_lock_motion_x], [member axis_lock_motion_y] and [member axis_lock_motion_z].
-			</description>
-		</method>
-		<method name="get_floor_normal" qualifiers="const">
-			<return type="Vector3">
-			</return>
-			<description>
-				Returns the surface normal of the floor at the last collision point. Only valid after calling [method move_and_slide] or [method move_and_slide_with_snap] and when [method is_on_floor] returns [code]true[/code].
-			</description>
-		</method>
-		<method name="get_floor_velocity" qualifiers="const">
-			<return type="Vector3">
-			</return>
-			<description>
-				Returns the linear velocity of the floor at the last collision point. Only valid after calling [method move_and_slide] or [method move_and_slide_with_snap] and when [method is_on_floor] returns [code]true[/code].
-			</description>
-		</method>
-		<method name="get_slide_collision">
-			<return type="KinematicCollision3D">
-			</return>
-			<argument index="0" name="slide_idx" type="int">
-			</argument>
-			<description>
-				Returns a [KinematicCollision3D], which contains information about a collision that occurred during the last call to [method move_and_slide] or [method move_and_slide_with_snap]. Since the body can collide several times in a single call to [method move_and_slide], you must specify the index of the collision in the range 0 to ([method get_slide_count] - 1).
-			</description>
-		</method>
-		<method name="get_slide_count" qualifiers="const">
-			<return type="int">
-			</return>
-			<description>
-				Returns the number of times the body collided and changed direction during the last call to [method move_and_slide] or [method move_and_slide_with_snap].
-			</description>
-		</method>
-		<method name="is_on_ceiling" qualifiers="const">
-			<return type="bool">
-			</return>
-			<description>
-				Returns [code]true[/code] if the body collided with the ceiling on the last call of [method move_and_slide] or [method move_and_slide_with_snap]. Otherwise, returns [code]false[/code].
-			</description>
-		</method>
-		<method name="is_on_floor" qualifiers="const">
-			<return type="bool">
-			</return>
-			<description>
-				Returns [code]true[/code] if the body collided with the floor on the last call of [method move_and_slide] or [method move_and_slide_with_snap]. Otherwise, returns [code]false[/code].
-			</description>
-		</method>
-		<method name="is_on_wall" qualifiers="const">
-			<return type="bool">
-			</return>
-			<description>
-				Returns [code]true[/code] if the body collided with a wall on the last call of [method move_and_slide] or [method move_and_slide_with_snap]. Otherwise, returns [code]false[/code].
-			</description>
-		</method>
-		<method name="move_and_collide">
-			<return type="KinematicCollision3D">
-			</return>
-			<argument index="0" name="rel_vec" type="Vector3">
-			</argument>
-			<argument index="1" name="infinite_inertia" type="bool" default="true">
-			</argument>
-			<argument index="2" name="exclude_raycast_shapes" type="bool" default="true">
-			</argument>
-			<argument index="3" name="test_only" type="bool" default="false">
-			</argument>
-			<description>
-				Moves the body along the vector [code]rel_vec[/code]. The body will stop if it collides. Returns a [KinematicCollision3D], which contains information about the collision.
-				If [code]test_only[/code] is [code]true[/code], the body does not move but the would-be collision information is given.
-			</description>
-		</method>
-		<method name="move_and_slide">
-			<return type="Vector3">
-			</return>
-			<argument index="0" name="linear_velocity" type="Vector3">
-			</argument>
-			<argument index="1" name="up_direction" type="Vector3" default="Vector3( 0, 0, 0 )">
-			</argument>
-			<argument index="2" name="stop_on_slope" type="bool" default="false">
-			</argument>
-			<argument index="3" name="max_slides" type="int" default="4">
-			</argument>
-			<argument index="4" name="floor_max_angle" type="float" default="0.785398">
-			</argument>
-			<argument index="5" name="infinite_inertia" type="bool" default="true">
-			</argument>
-			<description>
-				Moves the body along a vector. If the body collides with another, it will slide along the other body rather than stop immediately. If the other body is a [KinematicBody3D] or [RigidBody3D], it will also be affected by the motion of the other body. You can use this to make moving and rotating platforms, or to make nodes push other nodes.
-				This method should be used in [method Node._physics_process] (or in a method called by [method Node._physics_process]), as it uses the physics step's [code]delta[/code] value automatically in calculations. Otherwise, the simulation will run at an incorrect speed.
-				[code]linear_velocity[/code] is the velocity vector (typically meters per second). Unlike in [method move_and_collide], you should [i]not[/i] multiply it by [code]delta[/code] — the physics engine handles applying the velocity.
-				[code]up_direction[/code] is the up direction, used to determine what is a wall and what is a floor or a ceiling. If set to the default value of [code]Vector3(0, 0, 0)[/code], everything is considered a wall.
-				If [code]stop_on_slope[/code] is [code]true[/code], body will not slide on slopes when you include gravity in [code]linear_velocity[/code] and the body is standing still.
-				If the body collides, it will change direction a maximum of [code]max_slides[/code] times before it stops.
-				[code]floor_max_angle[/code] is the maximum angle (in radians) where a slope is still considered a floor (or a ceiling), rather than a wall. The default value equals 45 degrees.
-				If [code]infinite_inertia[/code] is [code]true[/code], body will be able to push [RigidBody3D] nodes, but it won't also detect any collisions with them. If [code]false[/code], it will interact with [RigidBody3D] nodes like with [StaticBody3D].
-				Returns the [code]linear_velocity[/code] vector, rotated and/or scaled if a slide collision occurred. To get detailed information about collisions that occurred, use [method get_slide_collision].
-			</description>
-		</method>
-		<method name="move_and_slide_with_snap">
-			<return type="Vector3">
-			</return>
-			<argument index="0" name="linear_velocity" type="Vector3">
-			</argument>
-			<argument index="1" name="snap" type="Vector3">
-			</argument>
-			<argument index="2" name="up_direction" type="Vector3" default="Vector3( 0, 0, 0 )">
-			</argument>
-			<argument index="3" name="stop_on_slope" type="bool" default="false">
-			</argument>
-			<argument index="4" name="max_slides" type="int" default="4">
-			</argument>
-			<argument index="5" name="floor_max_angle" type="float" default="0.785398">
-			</argument>
-			<argument index="6" name="infinite_inertia" type="bool" default="true">
-			</argument>
-			<description>
-				Moves the body while keeping it attached to slopes. Similar to [method move_and_slide].
-				As long as the [code]snap[/code] vector is in contact with the ground, the body will remain attached to the surface. This means you must disable snap in order to jump, for example. You can do this by setting [code]snap[/code] to [code](0, 0, 0)[/code] or by using [method move_and_slide] instead.
-			</description>
-		</method>
-		<method name="set_axis_lock">
-			<return type="void">
-			</return>
-			<argument index="0" name="axis" type="int" enum="PhysicsServer3D.BodyAxis">
-			</argument>
-			<argument index="1" name="lock" type="bool">
-			</argument>
-			<description>
-				Locks or unlocks the specified [code]axis[/code] depending on the value of [code]lock[/code]. See also [member axis_lock_motion_x], [member axis_lock_motion_y] and [member axis_lock_motion_z].
-			</description>
-		</method>
-		<method name="test_move">
-			<return type="bool">
-			</return>
-			<argument index="0" name="from" type="Transform3D">
-			</argument>
-			<argument index="1" name="rel_vec" type="Vector3">
-			</argument>
-			<argument index="2" name="infinite_inertia" type="bool" default="true">
-			</argument>
-			<description>
-				Checks for collisions without moving the body. Virtually sets the node's position, scale and rotation to that of the given [Transform3D], then tries to move the body along the vector [code]rel_vec[/code]. Returns [code]true[/code] if a collision would occur.
-			</description>
-		</method>
-	</methods>
-	<members>
-		<member name="axis_lock_motion_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's X axis movement.
-		</member>
-		<member name="axis_lock_motion_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's Y axis movement.
-		</member>
-		<member name="axis_lock_motion_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's Z axis movement.
-		</member>
-		<member name="collision/safe_margin" type="float" setter="set_safe_margin" getter="get_safe_margin" default="0.001">
-			Extra margin used for collision recovery in motion functions (see [method move_and_collide], [method move_and_slide], [method move_and_slide_with_snap]).
-			If the body is at least this close to another body, it will consider them to be colliding and will be pushed away before performing the actual motion.
-			A higher value means it's more flexible for detecting collision, which helps with consistently detecting walls and floors.
-			A lower value forces the collision algorithm to use more exact detection, so it can be used in cases that specifically require precision, e.g at very low scale to avoid visible jittering, or for stability with a stack of kinematic bodies.
-		</member>
-	</members>
-	<constants>
-	</constants>
-</class>
diff --git a/doc/classes/KinematicCollision2D.xml b/doc/classes/KinematicCollision2D.xml
index ec6e16e25a..8748f89618 100644
--- a/doc/classes/KinematicCollision2D.xml
+++ b/doc/classes/KinematicCollision2D.xml
@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <class name="KinematicCollision2D" inherits="Reference" version="4.0">
 	<brief_description>
-		Collision data for [KinematicBody2D] collisions.
+		Collision data for [method PhysicsBody2D.move_and_collide] collisions.
 	</brief_description>
 	<description>
-		Contains collision data for [KinematicBody2D] collisions. When a [KinematicBody2D] is moved using [method KinematicBody2D.move_and_collide], it stops if it detects a collision with another body. If a collision is detected, a KinematicCollision2D object is returned.
+		Contains collision data for [method PhysicsBody2D.move_and_collide] collisions. When a [PhysicsBody2D] is moved using [method PhysicsBody2D.move_and_collide], it stops if it detects a collision with another body. If a collision is detected, a [KinematicCollision2D] object is returned.
 		This object contains information about the collision, including the colliding object, the remaining motion, and the collision position. This information can be used to calculate a collision response.
 	</description>
 	<tutorials>
diff --git a/doc/classes/KinematicCollision3D.xml b/doc/classes/KinematicCollision3D.xml
index f3248a9ca1..8eac15ebf4 100644
--- a/doc/classes/KinematicCollision3D.xml
+++ b/doc/classes/KinematicCollision3D.xml
@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <class name="KinematicCollision3D" inherits="Reference" version="4.0">
 	<brief_description>
-		Collision data for [KinematicBody3D] collisions.
+		Collision data for [method PhysicsBody3D.move_and_collide] collisions.
 	</brief_description>
 	<description>
-		Contains collision data for [KinematicBody3D] collisions. When a [KinematicBody3D] is moved using [method KinematicBody3D.move_and_collide], it stops if it detects a collision with another body. If a collision is detected, a KinematicCollision3D object is returned.
+		Contains collision data for [method PhysicsBody3D.move_and_collide] collisions. When a [PhysicsBody3D] is moved using [method PhysicsBody3D.move_and_collide], it stops if it detects a collision with another body. If a collision is detected, a [KinematicCollision3D] object is returned.
 		This object contains information about the collision, including the colliding object, the remaining motion, and the collision position. This information can be used to calculate a collision response.
 	</description>
 	<tutorials>
diff --git a/doc/classes/PhysicalBone3D.xml b/doc/classes/PhysicalBone3D.xml
index 656bcfc15c..5d15590a3f 100644
--- a/doc/classes/PhysicalBone3D.xml
+++ b/doc/classes/PhysicalBone3D.xml
@@ -25,14 +25,6 @@
 			<description>
 			</description>
 		</method>
-		<method name="get_axis_lock" qualifiers="const">
-			<return type="bool">
-			</return>
-			<argument index="0" name="axis" type="int" enum="PhysicsServer3D.BodyAxis">
-			</argument>
-			<description>
-			</description>
-		</method>
 		<method name="get_bone_id" qualifiers="const">
 			<return type="int">
 			</return>
@@ -51,39 +43,11 @@
 			<description>
 			</description>
 		</method>
-		<method name="set_axis_lock">
-			<return type="void">
-			</return>
-			<argument index="0" name="axis" type="int" enum="PhysicsServer3D.BodyAxis">
-			</argument>
-			<argument index="1" name="lock" type="bool">
-			</argument>
-			<description>
-			</description>
-		</method>
 	</methods>
 	<members>
 		<member name="angular_damp" type="float" setter="set_angular_damp" getter="get_angular_damp" default="-1.0">
 			Damps the body's rotation if greater than [code]0[/code].
 		</member>
-		<member name="axis_lock_angular_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's rotation in the X axis.
-		</member>
-		<member name="axis_lock_angular_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's rotation in the Y axis.
-		</member>
-		<member name="axis_lock_angular_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's rotation in the Z axis.
-		</member>
-		<member name="axis_lock_linear_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's movement in the X axis.
-		</member>
-		<member name="axis_lock_linear_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's movement in the Y axis.
-		</member>
-		<member name="axis_lock_linear_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's movement in the Z axis.
-		</member>
 		<member name="body_offset" type="Transform3D" setter="set_body_offset" getter="get_body_offset" default="Transform3D( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 )">
 			Sets the body's transform.
 		</member>
diff --git a/doc/classes/PhysicsBody2D.xml b/doc/classes/PhysicsBody2D.xml
index e43d3bb762..654b0fb668 100644
--- a/doc/classes/PhysicsBody2D.xml
+++ b/doc/classes/PhysicsBody2D.xml
@@ -26,6 +26,25 @@
 				Returns an array of nodes that were added as collision exceptions for this body.
 			</description>
 		</method>
+		<method name="move_and_collide">
+			<return type="KinematicCollision2D">
+			</return>
+			<argument index="0" name="rel_vec" type="Vector2">
+			</argument>
+			<argument index="1" name="infinite_inertia" type="bool" default="true">
+			</argument>
+			<argument index="2" name="exclude_raycast_shapes" type="bool" default="true">
+			</argument>
+			<argument index="3" name="test_only" type="bool" default="false">
+			</argument>
+			<argument index="4" name="safe_margin" type="float" default="0.08">
+			</argument>
+			<description>
+				Moves the body along the vector [code]rel_vec[/code]. The body will stop if it collides. Returns a [KinematicCollision2D], which contains information about the collision.
+				If [code]test_only[/code] is [code]true[/code], the body does not move but the would-be collision information is given.
+				[code]safe_margin[/code] is the extra margin used for collision recovery (see [member CharacterBody2D.collision/safe_margin] for more details).
+			</description>
+		</method>
 		<method name="remove_collision_exception_with">
 			<return type="void">
 			</return>
@@ -35,6 +54,27 @@
 				Removes a body from the list of bodies that this body can't collide with.
 			</description>
 		</method>
+		<method name="test_move">
+			<return type="bool">
+			</return>
+			<argument index="0" name="from" type="Transform2D">
+			</argument>
+			<argument index="1" name="rel_vec" type="Vector2">
+			</argument>
+			<argument index="2" name="infinite_inertia" type="bool" default="true">
+			</argument>
+			<argument index="3" name="exclude_raycast_shapes" type="bool" default="true">
+			</argument>
+			<argument index="4" name="collision" type="KinematicCollision2D" default="null">
+			</argument>
+			<argument index="5" name="safe_margin" type="float" default="0.08">
+			</argument>
+			<description>
+				Checks for collisions without moving the body. Virtually sets the node's position, scale and rotation to that of the given [Transform2D], then tries to move the body along the vector [code]rel_vec[/code]. Returns [code]true[/code] if a collision would occur.
+				[code]collision[/code] is an optional object of type [KinematicCollision2D], which contains additional information about the collision (should there be one).
+				[code]safe_margin[/code] is the extra margin used for collision recovery (see [member CharacterBody2D.collision/safe_margin] for more details).
+			</description>
+		</method>
 	</methods>
 	<members>
 		<member name="input_pickable" type="bool" setter="set_pickable" getter="is_pickable" override="true" default="false" />
diff --git a/doc/classes/PhysicsBody3D.xml b/doc/classes/PhysicsBody3D.xml
index b320d37d23..1ec38000be 100644
--- a/doc/classes/PhysicsBody3D.xml
+++ b/doc/classes/PhysicsBody3D.xml
@@ -19,6 +19,15 @@
 				Adds a body to the list of bodies that this body can't collide with.
 			</description>
 		</method>
+		<method name="get_axis_lock" qualifiers="const">
+			<return type="bool">
+			</return>
+			<argument index="0" name="axis" type="int" enum="PhysicsServer3D.BodyAxis">
+			</argument>
+			<description>
+				Returns [code]true[/code] if the specified linear or rotational [code]axis[/code] is locked.
+			</description>
+		</method>
 		<method name="get_collision_exceptions">
 			<return type="PhysicsBody3D[]">
 			</return>
@@ -26,6 +35,25 @@
 				Returns an array of nodes that were added as collision exceptions for this body.
 			</description>
 		</method>
+		<method name="move_and_collide">
+			<return type="KinematicCollision3D">
+			</return>
+			<argument index="0" name="rel_vec" type="Vector3">
+			</argument>
+			<argument index="1" name="infinite_inertia" type="bool" default="true">
+			</argument>
+			<argument index="2" name="exclude_raycast_shapes" type="bool" default="true">
+			</argument>
+			<argument index="3" name="test_only" type="bool" default="false">
+			</argument>
+			<argument index="4" name="safe_margin" type="float" default="0.001">
+			</argument>
+			<description>
+				Moves the body along the vector [code]rel_vec[/code]. The body will stop if it collides. Returns a [KinematicCollision3D], which contains information about the collision.
+				If [code]test_only[/code] is [code]true[/code], the body does not move but the would-be collision information is given.
+				[code]safe_margin[/code] is the extra margin used for collision recovery (see [member CharacterBody3D.collision/safe_margin] for more details).
+			</description>
+		</method>
 		<method name="remove_collision_exception_with">
 			<return type="void">
 			</return>
@@ -35,7 +63,59 @@
 				Removes a body from the list of bodies that this body can't collide with.
 			</description>
 		</method>
+		<method name="set_axis_lock">
+			<return type="void">
+			</return>
+			<argument index="0" name="axis" type="int" enum="PhysicsServer3D.BodyAxis">
+			</argument>
+			<argument index="1" name="lock" type="bool">
+			</argument>
+			<description>
+				Locks or unlocks the specified linear or rotational [code]axis[/code] depending on the value of [code]lock[/code].
+			</description>
+		</method>
+		<method name="test_move">
+			<return type="bool">
+			</return>
+			<argument index="0" name="from" type="Transform3D">
+			</argument>
+			<argument index="1" name="rel_vec" type="Vector3">
+			</argument>
+			<argument index="2" name="infinite_inertia" type="bool" default="true">
+			</argument>
+			<argument index="3" name="exclude_raycast_shapes" type="bool" default="true">
+			</argument>
+			<argument index="4" name="collision" type="KinematicCollision3D" default="null">
+			</argument>
+			<argument index="5" name="safe_margin" type="float" default="0.001">
+			</argument>
+			<description>
+				Checks for collisions without moving the body. Virtually sets the node's position, scale and rotation to that of the given [Transform3D], then tries to move the body along the vector [code]rel_vec[/code]. Returns [code]true[/code] if a collision would occur.
+				[code]collision[/code] is an optional object of type [KinematicCollision3D], which contains additional information about the collision (should there be one).
+				[code]safe_margin[/code] is the extra margin used for collision recovery (see [member CharacterBody3D.collision/safe_margin] for more details).
+			</description>
+		</method>
 	</methods>
+	<members>
+		<member name="axis_lock_angular_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
+			Lock the body's rotation in the X axis.
+		</member>
+		<member name="axis_lock_angular_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
+			Lock the body's rotation in the Y axis.
+		</member>
+		<member name="axis_lock_angular_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
+			Lock the body's rotation in the Z axis.
+		</member>
+		<member name="axis_lock_linear_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
+			Lock the body's linear movement in the X axis.
+		</member>
+		<member name="axis_lock_linear_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
+			Lock the body's linear movement in the Y axis.
+		</member>
+		<member name="axis_lock_linear_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
+			Lock the body's linear movement in the Z axis.
+		</member>
+	</members>
 	<constants>
 	</constants>
 </class>
diff --git a/doc/classes/PhysicsDirectBodyState2D.xml b/doc/classes/PhysicsDirectBodyState2D.xml
index dfc0ab909a..66ff16a3ce 100644
--- a/doc/classes/PhysicsDirectBodyState2D.xml
+++ b/doc/classes/PhysicsDirectBodyState2D.xml
@@ -4,7 +4,7 @@
 		Direct access object to a physics body in the [PhysicsServer2D].
 	</brief_description>
 	<description>
-		Provides direct access to a physics body in the [PhysicsServer2D], allowing safe changes to physics properties. This object is passed via the direct state callback of rigid/character bodies, and is intended for changing the direct state of that body. See [method RigidBody2D._integrate_forces].
+		Provides direct access to a physics body in the [PhysicsServer2D], allowing safe changes to physics properties. This object is passed via the direct state callback of dynamic bodies, and is intended for changing the direct state of that body. See [method RigidBody2D._integrate_forces].
 	</description>
 	<tutorials>
 		<link title="Ray-casting">https://docs.godotengine.org/en/latest/tutorials/physics/ray-casting.html</link>
diff --git a/doc/classes/PhysicsDirectBodyState3D.xml b/doc/classes/PhysicsDirectBodyState3D.xml
index 09cc230253..7cb3a56338 100644
--- a/doc/classes/PhysicsDirectBodyState3D.xml
+++ b/doc/classes/PhysicsDirectBodyState3D.xml
@@ -4,7 +4,7 @@
 		Direct access object to a physics body in the [PhysicsServer3D].
 	</brief_description>
 	<description>
-		Provides direct access to a physics body in the [PhysicsServer3D], allowing safe changes to physics properties. This object is passed via the direct state callback of rigid/character bodies, and is intended for changing the direct state of that body. See [method RigidBody3D._integrate_forces].
+		Provides direct access to a physics body in the [PhysicsServer3D], allowing safe changes to physics properties. This object is passed via the direct state callback of dynamic bodies, and is intended for changing the direct state of that body. See [method RigidBody3D._integrate_forces].
 	</description>
 	<tutorials>
 	</tutorials>
diff --git a/doc/classes/PhysicsServer2D.xml b/doc/classes/PhysicsServer2D.xml
index cfa4215fd4..4c2abcb087 100644
--- a/doc/classes/PhysicsServer2D.xml
+++ b/doc/classes/PhysicsServer2D.xml
@@ -1207,16 +1207,16 @@
 			This area replaces any gravity/damp calculated so far, but keeps calculating the rest of the areas, down to the default one.
 		</constant>
 		<constant name="BODY_MODE_STATIC" value="0" enum="BodyMode">
-			Constant for static bodies.
+			Constant for static bodies. In this mode, a body can be only moved by user code.
 		</constant>
 		<constant name="BODY_MODE_KINEMATIC" value="1" enum="BodyMode">
-			Constant for kinematic bodies.
+			Constant for kinematic bodies. In this mode, a body can be only moved by user code and collides with other bodies along its path.
 		</constant>
-		<constant name="BODY_MODE_RIGID" value="2" enum="BodyMode">
-			Constant for rigid bodies.
+		<constant name="BODY_MODE_DYNAMIC" value="2" enum="BodyMode">
+			Constant for dynamic bodies. In this mode, a body can be pushed by other bodies and has forces applied.
 		</constant>
-		<constant name="BODY_MODE_CHARACTER" value="3" enum="BodyMode">
-			Constant for rigid bodies in character mode. In this mode, a body can not rotate, and only its linear velocity is affected by physics.
+		<constant name="BODY_MODE_DYNAMIC_LOCKED" value="3" enum="BodyMode">
+			Constant for locked dynamic bodies. In this mode, a body is dynamic but can not rotate, and only its linear velocity is affected by external forces.
 		</constant>
 		<constant name="BODY_PARAM_BOUNCE" value="0" enum="BodyParameter">
 			Constant to set/get a body's bounce factor.
diff --git a/doc/classes/PhysicsServer3D.xml b/doc/classes/PhysicsServer3D.xml
index 18194d53a0..2972d5155c 100644
--- a/doc/classes/PhysicsServer3D.xml
+++ b/doc/classes/PhysicsServer3D.xml
@@ -443,14 +443,6 @@
 				Returns the [PhysicsDirectBodyState3D] of the body.
 			</description>
 		</method>
-		<method name="body_get_kinematic_safe_margin" qualifiers="const">
-			<return type="float">
-			</return>
-			<argument index="0" name="body" type="RID">
-			</argument>
-			<description>
-			</description>
-		</method>
 		<method name="body_get_max_contacts_reported" qualifiers="const">
 			<return type="int">
 			</return>
@@ -661,16 +653,6 @@
 				Sets the function used to calculate physics for an object, if that object allows it (see [method body_set_omit_force_integration]).
 			</description>
 		</method>
-		<method name="body_set_kinematic_safe_margin">
-			<return type="void">
-			</return>
-			<argument index="0" name="body" type="RID">
-			</argument>
-			<argument index="1" name="margin" type="float">
-			</argument>
-			<description>
-			</description>
-		</method>
 		<method name="body_set_max_contacts_reported">
 			<return type="void">
 			</return>
@@ -1595,16 +1577,16 @@
 			This area replaces any gravity/damp calculated so far, but keeps calculating the rest of the areas, down to the default one.
 		</constant>
 		<constant name="BODY_MODE_STATIC" value="0" enum="BodyMode">
-			Constant for static bodies.
+			Constant for static bodies. In this mode, a body can be only moved by user code.
 		</constant>
 		<constant name="BODY_MODE_KINEMATIC" value="1" enum="BodyMode">
-			Constant for kinematic bodies.
+			Constant for kinematic bodies. In this mode, a body can be only moved by user code and collides with other bodies along its path.
 		</constant>
-		<constant name="BODY_MODE_RIGID" value="2" enum="BodyMode">
-			Constant for rigid bodies.
+		<constant name="BODY_MODE_DYNAMIC" value="2" enum="BodyMode">
+			Constant for dynamic bodies. In this mode, a body can be pushed by other bodies and has forces applied.
 		</constant>
-		<constant name="BODY_MODE_CHARACTER" value="3" enum="BodyMode">
-			Constant for rigid bodies in character mode. In this mode, a body can not rotate, and only its linear velocity is affected by physics.
+		<constant name="BODY_MODE_DYNAMIC_LOCKED" value="3" enum="BodyMode">
+			Constant for locked dynamic bodies. In this mode, a body is dynamic but can not rotate, and only its linear velocity is affected by external forces.
 		</constant>
 		<constant name="BODY_PARAM_BOUNCE" value="0" enum="BodyParameter">
 			Constant to set/get a body's bounce factor.
diff --git a/doc/classes/PinJoint2D.xml b/doc/classes/PinJoint2D.xml
index 42155a7f25..ed45149cdf 100644
--- a/doc/classes/PinJoint2D.xml
+++ b/doc/classes/PinJoint2D.xml
@@ -4,7 +4,7 @@
 		Pin joint for 2D shapes.
 	</brief_description>
 	<description>
-		Pin joint for 2D rigid bodies. It pins two bodies (rigid or static) together.
+		Pin joint for 2D rigid bodies. It pins two bodies (dynamic or static) together.
 	</description>
 	<tutorials>
 	</tutorials>
diff --git a/doc/classes/PinJoint3D.xml b/doc/classes/PinJoint3D.xml
index 267ea38873..37a85e497f 100644
--- a/doc/classes/PinJoint3D.xml
+++ b/doc/classes/PinJoint3D.xml
@@ -4,7 +4,7 @@
 		Pin joint for 3D PhysicsBodies.
 	</brief_description>
 	<description>
-		Pin joint for 3D rigid bodies. It pins 2 bodies (rigid or static) together. See also [Generic6DOFJoint3D].
+		Pin joint for 3D rigid bodies. It pins 2 bodies (dynamic or static) together. See also [Generic6DOFJoint3D].
 	</description>
 	<tutorials>
 	</tutorials>
diff --git a/doc/classes/RigidBody2D.xml b/doc/classes/RigidBody2D.xml
index a37ebb2dd5..237317daf1 100644
--- a/doc/classes/RigidBody2D.xml
+++ b/doc/classes/RigidBody2D.xml
@@ -5,7 +5,7 @@
 	</brief_description>
 	<description>
 		This node implements simulated 2D physics. You do not control a RigidBody2D directly. Instead, you apply forces to it (gravity, impulses, etc.) and the physics simulation calculates the resulting movement based on its mass, friction, and other physical properties.
-		A RigidBody2D has 4 behavior [member mode]s: Rigid, Static, Character, and Kinematic.
+		A RigidBody2D has 4 behavior [member mode]s: Dynamic, Static, DynamicLocked, and Kinematic.
 		[b]Note:[/b] You should not change a RigidBody2D's [code]position[/code] or [code]linear_velocity[/code] every frame or even very often. If you need to directly affect the body's state, use [method _integrate_forces], which allows you to directly access the physics state.
 		Please also keep in mind that physics bodies manage their own transform which overwrites the ones you set. So any direct or indirect transformation (including scaling of the node or its parent) will be visible in the editor only, and immediately reset at runtime.
 		If you need to override the default physics behavior or add a transformation at runtime, you can write a custom force integration. See [member custom_integrator].
@@ -100,21 +100,6 @@
 				Sets the body's velocity on the given axis. The velocity in the given vector axis will be set as the given vector length. This is useful for jumping behavior.
 			</description>
 		</method>
-		<method name="test_motion">
-			<return type="bool">
-			</return>
-			<argument index="0" name="motion" type="Vector2">
-			</argument>
-			<argument index="1" name="infinite_inertia" type="bool" default="true">
-			</argument>
-			<argument index="2" name="margin" type="float" default="0.08">
-			</argument>
-			<argument index="3" name="result" type="PhysicsTestMotionResult2D" default="null">
-			</argument>
-			<description>
-				Returns [code]true[/code] if a collision would result from moving in the given vector. [code]margin[/code] increases the size of the shapes involved in the collision detection, and [code]result[/code] is an object of type [PhysicsTestMotionResult2D], which contains additional information about the collision (should there be one).
-			</description>
-		</method>
 	</methods>
 	<members>
 		<member name="angular_damp" type="float" setter="set_angular_damp" getter="get_angular_damp" default="-1.0">
@@ -132,7 +117,6 @@
 		</member>
 		<member name="can_sleep" type="bool" setter="set_can_sleep" getter="is_able_to_sleep" default="true">
 			If [code]true[/code], the body can enter sleep mode when there is no movement. See [member sleeping].
-			[b]Note:[/b] A RigidBody2D will never enter sleep mode automatically if its [member mode] is [constant MODE_CHARACTER]. It can still be put to sleep manually by setting its [member sleeping] property to [code]true[/code].
 		</member>
 		<member name="contact_monitor" type="bool" setter="set_contact_monitor" getter="is_contact_monitor_enabled" default="false">
 			If [code]true[/code], the body will emit signals when it collides with another RigidBody2D. See also [member contacts_reported].
@@ -234,17 +218,17 @@
 		</signal>
 	</signals>
 	<constants>
-		<constant name="MODE_RIGID" value="0" enum="Mode">
-			Rigid mode. The body behaves as a physical object. It collides with other bodies and responds to forces applied to it. This is the default mode.
+		<constant name="MODE_DYNAMIC" value="0" enum="Mode">
+			Dynamic body mode. This is the default mode of a rigid body. It is affected by forces, and can move, rotate, and be affected by user code.
 		</constant>
 		<constant name="MODE_STATIC" value="1" enum="Mode">
-			Static mode. The body behaves like a [StaticBody2D] and does not move.
+			Static body mode. The body behaves like a [StaticBody2D], and must be moved by code.
 		</constant>
-		<constant name="MODE_CHARACTER" value="2" enum="Mode">
-			Character mode. Similar to [constant MODE_RIGID], but the body can not rotate.
+		<constant name="MODE_DYNAMIC_LOCKED" value="2" enum="Mode">
+			Locked dynamic body mode. Similar to [constant MODE_DYNAMIC], but the body can not rotate.
 		</constant>
 		<constant name="MODE_KINEMATIC" value="3" enum="Mode">
-			Kinematic mode. The body behaves like a [KinematicBody2D], and must be moved by code.
+			Kinematic body mode. The body behaves like a [StaticBody2D] with [member StaticBody2D.kinematic_motion] enabled, and must be moved by user code.
 		</constant>
 		<constant name="CCD_MODE_DISABLED" value="0" enum="CCDMode">
 			Continuous collision detection disabled. This is the fastest way to detect body collisions, but can miss small, fast-moving objects.
diff --git a/doc/classes/RigidBody3D.xml b/doc/classes/RigidBody3D.xml
index 2ee8e2697c..e3349169ff 100644
--- a/doc/classes/RigidBody3D.xml
+++ b/doc/classes/RigidBody3D.xml
@@ -5,7 +5,7 @@
 	</brief_description>
 	<description>
 		This is the node that implements full 3D physics. This means that you do not control a RigidBody3D directly. Instead, you can apply forces to it (gravity, impulses, etc.), and the physics simulation will calculate the resulting movement, collision, bouncing, rotating, etc.
-		A RigidBody3D has 4 behavior [member mode]s: Rigid, Static, Character, and Kinematic.
+		A RigidBody3D has 4 behavior [member mode]s: Dynamic, Static, DynamicLocked, and Kinematic.
 		[b]Note:[/b] Don't change a RigidBody3D's position every frame or very often. Sporadic changes work fine, but physics runs at a different granularity (fixed Hz) than usual rendering (process callback) and maybe even in a separate thread, so changing this from a process loop may result in strange behavior. If you need to directly affect the body's state, use [method _integrate_forces], which allows you to directly access the physics state.
 		If you need to override the default physics behavior, you can write a custom force integration function. See [member custom_integrator].
 		With Bullet physics (the default), the center of mass is the RigidBody3D center. With GodotPhysics, the center of mass is the average of the [CollisionShape3D] centers.
@@ -86,15 +86,6 @@
 				Applies a torque impulse which will be affected by the body mass and shape. This will rotate the body around the [code]impulse[/code] vector passed.
 			</description>
 		</method>
-		<method name="get_axis_lock" qualifiers="const">
-			<return type="bool">
-			</return>
-			<argument index="0" name="axis" type="int" enum="PhysicsServer3D.BodyAxis">
-			</argument>
-			<description>
-				Returns [code]true[/code] if the specified linear or rotational axis is locked.
-			</description>
-		</method>
 		<method name="get_colliding_bodies" qualifiers="const">
 			<return type="Array">
 			</return>
@@ -110,17 +101,6 @@
 				Returns the inverse inertia tensor basis. This is used to calculate the angular acceleration resulting from a torque applied to the [RigidBody3D].
 			</description>
 		</method>
-		<method name="set_axis_lock">
-			<return type="void">
-			</return>
-			<argument index="0" name="axis" type="int" enum="PhysicsServer3D.BodyAxis">
-			</argument>
-			<argument index="1" name="lock" type="bool">
-			</argument>
-			<description>
-				Locks the specified linear or rotational axis.
-			</description>
-		</method>
 		<method name="set_axis_velocity">
 			<return type="void">
 			</return>
@@ -139,27 +119,8 @@
 		<member name="angular_velocity" type="Vector3" setter="set_angular_velocity" getter="get_angular_velocity" default="Vector3( 0, 0, 0 )">
 			RigidBody3D's rotational velocity.
 		</member>
-		<member name="axis_lock_angular_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's rotation in the X axis.
-		</member>
-		<member name="axis_lock_angular_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's rotation in the Y axis.
-		</member>
-		<member name="axis_lock_angular_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's rotation in the Z axis.
-		</member>
-		<member name="axis_lock_linear_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's movement in the X axis.
-		</member>
-		<member name="axis_lock_linear_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's movement in the Y axis.
-		</member>
-		<member name="axis_lock_linear_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
-			Lock the body's movement in the Z axis.
-		</member>
 		<member name="can_sleep" type="bool" setter="set_can_sleep" getter="is_able_to_sleep" default="true">
 			If [code]true[/code], the body can enter sleep mode when there is no movement. See [member sleeping].
-			[b]Note:[/b] A RigidBody3D will never enter sleep mode automatically if its [member mode] is [constant MODE_CHARACTER]. It can still be put to sleep manually by setting its [member sleeping] property to [code]true[/code].
 		</member>
 		<member name="contact_monitor" type="bool" setter="set_contact_monitor" getter="is_contact_monitor_enabled" default="false">
 			If [code]true[/code], the RigidBody3D will emit signals when it collides with another RigidBody3D. See also [member contacts_reported].
@@ -260,17 +221,17 @@
 		</signal>
 	</signals>
 	<constants>
-		<constant name="MODE_RIGID" value="0" enum="Mode">
-			Rigid body mode. This is the "natural" state of a rigid body. It is affected by forces, and can move, rotate, and be affected by user code.
+		<constant name="MODE_DYNAMIC" value="0" enum="Mode">
+			Dynamic body mode. This is the default mode of a rigid body. It is affected by forces, and can move, rotate, and be affected by user code.
 		</constant>
 		<constant name="MODE_STATIC" value="1" enum="Mode">
-			Static mode. The body behaves like a [StaticBody3D], and can only move by user code.
+			Static body mode. The body behaves like a [StaticBody3D], and can only move by user code.
 		</constant>
-		<constant name="MODE_CHARACTER" value="2" enum="Mode">
-			Character body mode. This behaves like a rigid body, but can not rotate.
+		<constant name="MODE_DYNAMIC_LOCKED" value="2" enum="Mode">
+			Locked dynamic body mode. Similar to [constant MODE_DYNAMIC], but the body can not rotate.
 		</constant>
 		<constant name="MODE_KINEMATIC" value="3" enum="Mode">
-			Kinematic body mode. The body behaves like a [KinematicBody3D], and can only move by user code.
+			Kinematic body mode. The body behaves like a [StaticBody3D] with [member StaticBody3D.kinematic_motion] enabled, and can only move by user code.
 		</constant>
 	</constants>
 </class>
diff --git a/doc/classes/StaticBody2D.xml b/doc/classes/StaticBody2D.xml
index 2a5c1ea6f4..298339d5fc 100644
--- a/doc/classes/StaticBody2D.xml
+++ b/doc/classes/StaticBody2D.xml
@@ -4,8 +4,11 @@
 		Static body for 2D physics.
 	</brief_description>
 	<description>
-		Static body for 2D physics. A StaticBody2D is a body that is not intended to move. It is ideal for implementing objects in the environment, such as walls or platforms.
-		Additionally, a constant linear or angular velocity can be set for the static body, which will affect colliding bodies as if it were moving (for example, a conveyor belt).
+		Static body for 2D physics. A static body is a simple body that can't be moved by external forces or contacts. It is ideal for implementing objects in the environment, such as walls or platforms. In contrast to [RigidBody2D], they don't consume any CPU resources as long as they don't move.
+		They however have extra functionalities to move and affect other bodies:
+		[b]Constant velocity:[/b] [member constant_linear_velocity] and [member constant_angular_velocity] can be set for the static body, so even if it doesn't move, it affects other bodies as if it was moving (this is useful for simulating conveyor belts or conveyor wheels).
+		[b]Transform change:[/b] Static bodies can be also moved by code. Unless [member kinematic_motion] is enabled, they are just teleported in this case and don't affect other bodies on their path.
+		[b]Kinematic motion:[/b] Static bodies can have [member kinematic_motion] enabled to make them kinematic bodies that can be moved by code and push other bodies on their path.
 	</description>
 	<tutorials>
 	</tutorials>
@@ -13,10 +16,14 @@
 	</methods>
 	<members>
 		<member name="constant_angular_velocity" type="float" setter="set_constant_angular_velocity" getter="get_constant_angular_velocity" default="0.0">
-			The body's constant angular velocity. This does not rotate the body, but affects colliding bodies, as if it were rotating.
+			The body's constant angular velocity. This does not rotate the body (unless [member kinematic_motion] is enabled), but affects other bodies that touch it, as if it were rotating.
 		</member>
 		<member name="constant_linear_velocity" type="Vector2" setter="set_constant_linear_velocity" getter="get_constant_linear_velocity" default="Vector2( 0, 0 )">
-			The body's constant linear velocity. This does not move the body, but affects colliding bodies, as if it were moving.
+			The body's constant linear velocity. This does not move the body (unless [member kinematic_motion] is enabled), but affects other bodies that touch it, as if it were moving.
+		</member>
+		<member name="kinematic_motion" type="bool" setter="set_kinematic_motion_enabled" getter="is_kinematic_motion_enabled" default="false">
+			If [code]true[/code], the body will act the same as a [RigidBody2D] in [constant RigidBody2D.MODE_KINEMATIC] mode.
+			When the body is moved manually, either from code or from an [AnimationPlayer] (with [member AnimationPlayer.playback_process_mode] set to [code]physics[/code]), the physics will automatically compute an estimate of their linear and angular velocity. This makes them very useful for moving platforms or other AnimationPlayer-controlled objects (like a door, a bridge that opens, etc).
 		</member>
 		<member name="physics_material_override" type="PhysicsMaterial" setter="set_physics_material_override" getter="get_physics_material_override">
 			The physics material override for the body.
diff --git a/doc/classes/StaticBody3D.xml b/doc/classes/StaticBody3D.xml
index 63a15cbe1d..5ffbb71522 100644
--- a/doc/classes/StaticBody3D.xml
+++ b/doc/classes/StaticBody3D.xml
@@ -4,8 +4,11 @@
 		Static body for 3D physics.
 	</brief_description>
 	<description>
-		Static body for 3D physics. A static body is a simple body that is not intended to move. In contrast to [RigidBody3D], they don't consume any CPU resources as long as they don't move.
-		Additionally, a constant linear or angular velocity can be set for the static body, so even if it doesn't move, it affects other bodies as if it was moving (this is useful for simulating conveyor belts or conveyor wheels).
+		Static body for 3D physics. A static body is a simple body that can't be moved by external forces or contacts. It is ideal for implementing objects in the environment, such as walls or platforms. In contrast to [RigidBody3D], they don't consume any CPU resources as long as they don't move.
+		They however have extra functionalities to move and affect other bodies:
+		[b]Constant velocity:[/b] [member constant_linear_velocity] and [member constant_angular_velocity] can be set for the static body, so even if it doesn't move, it affects other bodies as if it was moving (this is useful for simulating conveyor belts or conveyor wheels).
+		[b]Transform change:[/b] Static bodies can be also moved by code. Unless [member kinematic_motion] is enabled, they are just teleported in this case and don't affect other bodies on their path.
+		[b]Kinematic motion:[/b] Static bodies can have [member kinematic_motion] enabled to make them kinematic bodies that can be moved by code and push other bodies on their path.
 	</description>
 	<tutorials>
 		<link title="3D Physics Tests Demo">https://godotengine.org/asset-library/asset/675</link>
@@ -16,10 +19,14 @@
 	</methods>
 	<members>
 		<member name="constant_angular_velocity" type="Vector3" setter="set_constant_angular_velocity" getter="get_constant_angular_velocity" default="Vector3( 0, 0, 0 )">
-			The body's constant angular velocity. This does not rotate the body, but affects other bodies that touch it, as if it was in a state of rotation.
+			The body's constant angular velocity. This does not rotate the body (unless [member kinematic_motion] is enabled), but affects other bodies that touch it, as if it were rotating.
 		</member>
 		<member name="constant_linear_velocity" type="Vector3" setter="set_constant_linear_velocity" getter="get_constant_linear_velocity" default="Vector3( 0, 0, 0 )">
-			The body's constant linear velocity. This does not move the body, but affects other bodies that touch it, as if it was in a state of movement.
+			The body's constant linear velocity. This does not move the body (unless [member kinematic_motion] is enabled), but affects other bodies that touch it, as if it were moving.
+		</member>
+		<member name="kinematic_motion" type="bool" setter="set_kinematic_motion_enabled" getter="is_kinematic_motion_enabled" default="false">
+			If [code]true[/code], the body will act the same as a [RigidBody3D] in [constant RigidBody3D.MODE_KINEMATIC] mode.
+			When the body is moved manually, either from code or from an [AnimationPlayer] (with [member AnimationPlayer.playback_process_mode] set to [code]physics[/code]), the physics will automatically compute an estimate of their linear and angular velocity. This makes them very useful for moving platforms or other AnimationPlayer-controlled objects (like a door, a bridge that opens, etc).
 		</member>
 		<member name="physics_material_override" type="PhysicsMaterial" setter="set_physics_material_override" getter="get_physics_material_override">
 			The physics material override for the body.
diff --git a/editor/icons/KinematicBody2D.svg b/editor/icons/CharacterBody2D.svg
index b71fda9650..b71fda9650 100644
--- a/editor/icons/KinematicBody2D.svg
+++ b/editor/icons/CharacterBody2D.svg
diff --git a/editor/icons/KinematicBody3D.svg b/editor/icons/CharacterBody3D.svg
index d0def4f14a..d0def4f14a 100644
--- a/editor/icons/KinematicBody3D.svg
+++ b/editor/icons/CharacterBody3D.svg
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 6df913ff80..d34d619ba2 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -166,7 +166,7 @@ public:
 
 	/* RIGID BODY API */
 
-	virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false) override;
+	virtual RID body_create(BodyMode p_mode = BODY_MODE_DYNAMIC, bool p_init_sleeping = false) override;
 
 	virtual void body_set_space(RID p_body, RID p_space) override;
 	virtual RID body_get_space(RID p_body) const override;
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index def978cf14..ce39d4f0df 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -268,7 +268,7 @@ RigidBodyBullet::RigidBodyBullet() :
 	reload_shapes();
 	setupBulletCollisionObject(btBody);
 
-	set_mode(PhysicsServer3D::BODY_MODE_RIGID);
+	set_mode(PhysicsServer3D::BODY_MODE_DYNAMIC);
 	reload_axis_lock();
 
 	areasWhereIam.resize(maxAreasWhereIam);
@@ -531,14 +531,14 @@ void RigidBodyBullet::set_mode(PhysicsServer3D::BodyMode p_mode) {
 			reload_axis_lock();
 			_internal_set_mass(0);
 			break;
-		case PhysicsServer3D::BODY_MODE_RIGID:
-			mode = PhysicsServer3D::BODY_MODE_RIGID;
+		case PhysicsServer3D::BODY_MODE_DYNAMIC:
+			mode = PhysicsServer3D::BODY_MODE_DYNAMIC;
 			reload_axis_lock();
 			_internal_set_mass(0 == mass ? 1 : mass);
 			scratch_space_override_modificator();
 			break;
-		case PhysicsServer3D::BODY_MODE_CHARACTER:
-			mode = PhysicsServer3D::BODY_MODE_CHARACTER;
+		case PhysicsServer3D::MODE_DYNAMIC_LOCKED:
+			mode = PhysicsServer3D::MODE_DYNAMIC_LOCKED;
 			reload_axis_lock();
 			_internal_set_mass(0 == mass ? 1 : mass);
 			scratch_space_override_modificator();
@@ -711,7 +711,7 @@ bool RigidBodyBullet::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
 
 void RigidBodyBullet::reload_axis_lock() {
 	btBody->setLinearFactor(btVector3(btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), btScalar(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z))));
-	if (PhysicsServer3D::BODY_MODE_CHARACTER == mode) {
+	if (PhysicsServer3D::MODE_DYNAMIC_LOCKED == mode) {
 		/// When character angular is always locked
 		btBody->setAngularFactor(btVector3(0., 0., 0.));
 	} else {
@@ -1006,7 +1006,7 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
 	// Rigidbody is dynamic if and only if mass is non Zero, otherwise static
 	const bool isDynamic = p_mass != 0.f;
 	if (isDynamic) {
-		if (PhysicsServer3D::BODY_MODE_RIGID != mode && PhysicsServer3D::BODY_MODE_CHARACTER != mode) {
+		if (PhysicsServer3D::BODY_MODE_DYNAMIC != mode && PhysicsServer3D::MODE_DYNAMIC_LOCKED != mode) {
 			return;
 		}
 
@@ -1015,7 +1015,7 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
 			mainShape->calculateLocalInertia(p_mass, localInertia);
 		}
 
-		if (PhysicsServer3D::BODY_MODE_RIGID == mode) {
+		if (PhysicsServer3D::BODY_MODE_DYNAMIC == mode) {
 			btBody->setCollisionFlags(clearedCurrentFlags); // Just set the flags without Kin and Static
 		} else {
 			btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_CHARACTER_OBJECT);
diff --git a/scene/2d/collision_object_2d.cpp b/scene/2d/collision_object_2d.cpp
index de648d404c..a633923be7 100644
--- a/scene/2d/collision_object_2d.cpp
+++ b/scene/2d/collision_object_2d.cpp
@@ -408,6 +408,10 @@ void CollisionObject2D::set_only_update_transform_changes(bool p_enable) {
 	only_update_transform_changes = p_enable;
 }
 
+bool CollisionObject2D::is_only_update_transform_changes_enabled() const {
+	return only_update_transform_changes;
+}
+
 void CollisionObject2D::_update_pickable() {
 	if (!is_inside_tree()) {
 		return;
diff --git a/scene/2d/collision_object_2d.h b/scene/2d/collision_object_2d.h
index bb1a9dfcf5..e10f3097d9 100644
--- a/scene/2d/collision_object_2d.h
+++ b/scene/2d/collision_object_2d.h
@@ -62,7 +62,7 @@ class CollisionObject2D : public Node2D {
 	int total_subshapes = 0;
 
 	Map<uint32_t, ShapeData> shapes;
-	bool only_update_transform_changes = false; //this is used for sync physics in KinematicBody
+	bool only_update_transform_changes = false; //this is used for sync physics in CharacterBody2D
 
 protected:
 	CollisionObject2D(RID p_rid, bool p_area);
@@ -77,6 +77,7 @@ protected:
 	void _mouse_exit();
 
 	void set_only_update_transform_changes(bool p_enable);
+	bool is_only_update_transform_changes_enabled() const;
 
 public:
 	void set_collision_layer(uint32_t p_layer);
diff --git a/scene/2d/collision_polygon_2d.cpp b/scene/2d/collision_polygon_2d.cpp
index a69ef73a54..2a2fde80e2 100644
--- a/scene/2d/collision_polygon_2d.cpp
+++ b/scene/2d/collision_polygon_2d.cpp
@@ -244,7 +244,7 @@ TypedArray<String> CollisionPolygon2D::get_configuration_warnings() const {
 	TypedArray<String> warnings = Node::get_configuration_warnings();
 
 	if (!Object::cast_to<CollisionObject2D>(get_parent())) {
-		warnings.push_back(TTR("CollisionPolygon2D only serves to provide a collision shape to a CollisionObject2D derived node. Please only use it as a child of Area2D, StaticBody2D, RigidBody2D, KinematicBody2D, etc. to give them a shape."));
+		warnings.push_back(TTR("CollisionPolygon2D only serves to provide a collision shape to a CollisionObject2D derived node. Please only use it as a child of Area2D, StaticBody2D, RigidBody2D, CharacterBody2D, etc. to give them a shape."));
 	}
 
 	int polygon_count = polygon.size();
diff --git a/scene/2d/collision_shape_2d.cpp b/scene/2d/collision_shape_2d.cpp
index d9009ef85c..60780f1cc3 100644
--- a/scene/2d/collision_shape_2d.cpp
+++ b/scene/2d/collision_shape_2d.cpp
@@ -181,7 +181,7 @@ TypedArray<String> CollisionShape2D::get_configuration_warnings() const {
 	TypedArray<String> warnings = Node::get_configuration_warnings();
 
 	if (!Object::cast_to<CollisionObject2D>(get_parent())) {
-		warnings.push_back(TTR("CollisionShape2D only serves to provide a collision shape to a CollisionObject2D derived node. Please only use it as a child of Area2D, StaticBody2D, RigidBody2D, KinematicBody2D, etc. to give them a shape."));
+		warnings.push_back(TTR("CollisionShape2D only serves to provide a collision shape to a CollisionObject2D derived node. Please only use it as a child of Area2D, StaticBody2D, RigidBody2D, CharacterBody2D, etc. to give them a shape."));
 	}
 	if (!shape.is_valid()) {
 		warnings.push_back(TTR("A shape must be provided for CollisionShape2D to function. Please create a shape resource for it!"));
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index 4f52f62e99..8f6e1c4695 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -38,10 +38,10 @@
 #include "core/templates/rid.h"
 #include "scene/scene_string_names.h"
 
-void PhysicsBody2D::_notification(int p_what) {
-}
-
 void PhysicsBody2D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only", "safe_margin"), &PhysicsBody2D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false), DEFVAL(0.08));
+	ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "collision", "safe_margin"), &PhysicsBody2D::test_move, DEFVAL(true), DEFVAL(true), DEFVAL(Variant()), DEFVAL(0.08));
+
 	ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody2D::get_collision_exceptions);
 	ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody2D::add_collision_exception_with);
 	ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody2D::remove_collision_exception_with);
@@ -53,6 +53,56 @@ PhysicsBody2D::PhysicsBody2D(PhysicsServer2D::BodyMode p_mode) :
 	set_pickable(false);
 }
 
+PhysicsBody2D::~PhysicsBody2D() {
+	if (motion_cache.is_valid()) {
+		motion_cache->owner = nullptr;
+	}
+}
+
+Ref<KinematicCollision2D> PhysicsBody2D::_move(const Vector2 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only, real_t p_margin) {
+	PhysicsServer2D::MotionResult result;
+
+	if (move_and_collide(p_motion, p_infinite_inertia, result, p_margin, p_exclude_raycast_shapes, p_test_only)) {
+		if (motion_cache.is_null()) {
+			motion_cache.instance();
+			motion_cache->owner = this;
+		}
+
+		motion_cache->result = result;
+
+		return motion_cache;
+	}
+
+	return Ref<KinematicCollision2D>();
+}
+
+bool PhysicsBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, PhysicsServer2D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes, bool p_test_only) {
+	if (is_only_update_transform_changes_enabled()) {
+		ERR_PRINT("Move functions do not work together with 'sync to physics' option. Please read the documentation.");
+	}
+	Transform2D gt = get_global_transform();
+	bool colliding = PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, p_margin, &r_result, p_exclude_raycast_shapes);
+
+	if (!p_test_only) {
+		gt.elements[2] += r_result.motion;
+		set_global_transform(gt);
+	}
+
+	return colliding;
+}
+
+bool PhysicsBody2D::test_move(const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, const Ref<KinematicCollision2D> &r_collision, real_t p_margin) {
+	ERR_FAIL_COND_V(!is_inside_tree(), false);
+
+	PhysicsServer2D::MotionResult *r = nullptr;
+	if (r_collision.is_valid()) {
+		// Needs const_cast because method bindings don't support non-const Ref.
+		r = const_cast<PhysicsServer2D::MotionResult *>(&r_collision->result);
+	}
+
+	return PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia, p_margin, r, p_exclude_raycast_shapes);
+}
+
 TypedArray<PhysicsBody2D> PhysicsBody2D::get_collision_exceptions() {
 	List<RID> exceptions;
 	PhysicsServer2D::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions);
@@ -83,12 +133,22 @@ void PhysicsBody2D::remove_collision_exception_with(Node *p_node) {
 
 void StaticBody2D::set_constant_linear_velocity(const Vector2 &p_vel) {
 	constant_linear_velocity = p_vel;
-	PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
+
+	if (kinematic_motion) {
+		_update_kinematic_motion();
+	} else {
+		PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
+	}
 }
 
 void StaticBody2D::set_constant_angular_velocity(real_t p_vel) {
 	constant_angular_velocity = p_vel;
-	PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
+
+	if (kinematic_motion) {
+		_update_kinematic_motion();
+	} else {
+		PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
+	}
 }
 
 Vector2 StaticBody2D::get_constant_linear_velocity() const {
@@ -118,27 +178,74 @@ Ref<PhysicsMaterial> StaticBody2D::get_physics_material_override() const {
 	return physics_material_override;
 }
 
+void StaticBody2D::set_kinematic_motion_enabled(bool p_enabled) {
+	if (p_enabled == kinematic_motion) {
+		return;
+	}
+
+	kinematic_motion = p_enabled;
+
+	if (kinematic_motion) {
+		PhysicsServer2D::get_singleton()->body_set_mode(get_rid(), PhysicsServer2D::BODY_MODE_KINEMATIC);
+	} else {
+		PhysicsServer2D::get_singleton()->body_set_mode(get_rid(), PhysicsServer2D::BODY_MODE_STATIC);
+	}
+
+	_update_kinematic_motion();
+}
+
+bool StaticBody2D::is_kinematic_motion_enabled() const {
+	return kinematic_motion;
+}
+
+void StaticBody2D::_notification(int p_what) {
+	if (p_what == NOTIFICATION_INTERNAL_PHYSICS_PROCESS) {
+#ifdef TOOLS_ENABLED
+		if (Engine::get_singleton()->is_editor_hint()) {
+			return;
+		}
+#endif
+
+		ERR_FAIL_COND(!kinematic_motion);
+
+		real_t delta_time = get_physics_process_delta_time();
+
+		Transform2D new_transform = get_global_transform();
+
+		new_transform.translate(constant_linear_velocity * delta_time);
+		new_transform.set_rotation(new_transform.get_rotation() + constant_angular_velocity * delta_time);
+
+		PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_TRANSFORM, new_transform);
+
+		// Propagate transform change to node.
+		set_block_transform_notify(true);
+		set_global_transform(new_transform);
+		set_block_transform_notify(false);
+	}
+}
+
 void StaticBody2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody2D::set_constant_linear_velocity);
 	ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody2D::set_constant_angular_velocity);
 	ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody2D::get_constant_linear_velocity);
 	ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody2D::get_constant_angular_velocity);
 
+	ClassDB::bind_method(D_METHOD("set_kinematic_motion_enabled", "enabled"), &StaticBody2D::set_kinematic_motion_enabled);
+	ClassDB::bind_method(D_METHOD("is_kinematic_motion_enabled"), &StaticBody2D::is_kinematic_motion_enabled);
+
 	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody2D::set_physics_material_override);
 	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody2D::get_physics_material_override);
 
+	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
 	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity");
-	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "kinematic_motion"), "set_kinematic_motion_enabled", "is_kinematic_motion_enabled");
 }
 
 StaticBody2D::StaticBody2D() :
 		PhysicsBody2D(PhysicsServer2D::BODY_MODE_STATIC) {
 }
 
-StaticBody2D::~StaticBody2D() {
-}
-
 void StaticBody2D::_reload_physics_characteristics() {
 	if (physics_material_override.is_null()) {
 		PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_BOUNCE, 0);
@@ -149,6 +256,23 @@ void StaticBody2D::_reload_physics_characteristics() {
 	}
 }
 
+void StaticBody2D::_update_kinematic_motion() {
+#ifdef TOOLS_ENABLED
+	if (Engine::get_singleton()->is_editor_hint()) {
+		return;
+	}
+#endif
+
+	if (kinematic_motion) {
+		if (!Math::is_zero_approx(constant_angular_velocity) || !constant_linear_velocity.is_equal_approx(Vector2())) {
+			set_physics_process_internal(true);
+			return;
+		}
+	}
+
+	set_physics_process_internal(false);
+}
+
 void RigidBody2D::_body_enter_tree(ObjectID p_id) {
 	Object *obj = ObjectDB::get_instance(p_id);
 	Node *node = Object::cast_to<Node>(obj);
@@ -262,14 +386,6 @@ struct _RigidBody2DInOut {
 	int local_shape = 0;
 };
 
-bool RigidBody2D::_test_motion(const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, const Ref<PhysicsTestMotionResult2D> &p_result) {
-	PhysicsServer2D::MotionResult *r = nullptr;
-	if (p_result.is_valid()) {
-		r = p_result->get_result_ptr();
-	}
-	return PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), get_global_transform(), p_motion, p_infinite_inertia, p_margin, r);
-}
-
 void RigidBody2D::_direct_state_changed(Object *p_state) {
 #ifdef DEBUG_ENABLED
 	state = Object::cast_to<PhysicsDirectBodyState2D>(p_state);
@@ -378,8 +494,8 @@ void RigidBody2D::_direct_state_changed(Object *p_state) {
 void RigidBody2D::set_mode(Mode p_mode) {
 	mode = p_mode;
 	switch (p_mode) {
-		case MODE_RIGID: {
-			PhysicsServer2D::get_singleton()->body_set_mode(get_rid(), PhysicsServer2D::BODY_MODE_RIGID);
+		case MODE_DYNAMIC: {
+			PhysicsServer2D::get_singleton()->body_set_mode(get_rid(), PhysicsServer2D::BODY_MODE_DYNAMIC);
 		} break;
 		case MODE_STATIC: {
 			PhysicsServer2D::get_singleton()->body_set_mode(get_rid(), PhysicsServer2D::BODY_MODE_STATIC);
@@ -389,8 +505,8 @@ void RigidBody2D::set_mode(Mode p_mode) {
 			PhysicsServer2D::get_singleton()->body_set_mode(get_rid(), PhysicsServer2D::BODY_MODE_KINEMATIC);
 
 		} break;
-		case MODE_CHARACTER: {
-			PhysicsServer2D::get_singleton()->body_set_mode(get_rid(), PhysicsServer2D::BODY_MODE_CHARACTER);
+		case MODE_DYNAMIC_LOCKED: {
+			PhysicsServer2D::get_singleton()->body_set_mode(get_rid(), PhysicsServer2D::BODY_MODE_DYNAMIC_LOCKED);
 
 		} break;
 	}
@@ -666,8 +782,8 @@ TypedArray<String> RigidBody2D::get_configuration_warnings() const {
 
 	TypedArray<String> warnings = CollisionObject2D::get_configuration_warnings();
 
-	if ((get_mode() == MODE_RIGID || get_mode() == MODE_CHARACTER) && (ABS(t.elements[0].length() - 1.0) > 0.05 || ABS(t.elements[1].length() - 1.0) > 0.05)) {
-		warnings.push_back(TTR("Size changes to RigidBody2D (in character or rigid modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."));
+	if ((get_mode() == MODE_DYNAMIC || get_mode() == MODE_DYNAMIC_LOCKED) && (ABS(t.elements[0].length() - 1.0) > 0.05 || ABS(t.elements[1].length() - 1.0) > 0.05)) {
+		warnings.push_back(TTR("Size changes to RigidBody2D (in dynamic modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."));
 	}
 
 	return warnings;
@@ -734,13 +850,11 @@ void RigidBody2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody2D::set_can_sleep);
 	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody2D::is_able_to_sleep);
 
-	ClassDB::bind_method(D_METHOD("test_motion", "motion", "infinite_inertia", "margin", "result"), &RigidBody2D::_test_motion, DEFVAL(true), DEFVAL(0.08), DEFVAL(Variant()));
-
 	ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody2D::get_colliding_bodies);
 
 	BIND_VMETHOD(MethodInfo("_integrate_forces", PropertyInfo(Variant::OBJECT, "state", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsDirectBodyState2D")));
 
-	ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Rigid,Static,Character,Kinematic"), "set_mode", "get_mode");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Dynamic,Static,DynamicLocked,Kinematic"), "set_mode", "get_mode");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "inertia", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01", 0), "set_inertia", "get_inertia");
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
@@ -767,9 +881,9 @@ void RigidBody2D::_bind_methods() {
 	ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node")));
 	ADD_SIGNAL(MethodInfo("sleeping_state_changed"));
 
-	BIND_ENUM_CONSTANT(MODE_RIGID);
+	BIND_ENUM_CONSTANT(MODE_DYNAMIC);
 	BIND_ENUM_CONSTANT(MODE_STATIC);
-	BIND_ENUM_CONSTANT(MODE_CHARACTER);
+	BIND_ENUM_CONSTANT(MODE_DYNAMIC_LOCKED);
 	BIND_ENUM_CONSTANT(MODE_KINEMATIC);
 
 	BIND_ENUM_CONSTANT(CCD_MODE_DISABLED);
@@ -778,7 +892,7 @@ void RigidBody2D::_bind_methods() {
 }
 
 RigidBody2D::RigidBody2D() :
-		PhysicsBody2D(PhysicsServer2D::BODY_MODE_RIGID) {
+		PhysicsBody2D(PhysicsServer2D::BODY_MODE_DYNAMIC) {
 	PhysicsServer2D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &RigidBody2D::_direct_state_changed));
 }
 
@@ -800,95 +914,13 @@ void RigidBody2D::_reload_physics_characteristics() {
 
 //////////////////////////
 
-Ref<KinematicCollision2D> KinematicBody2D::_move(const Vector2 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only) {
-	Collision col;
-
-	if (move_and_collide(p_motion, p_infinite_inertia, col, p_exclude_raycast_shapes, p_test_only)) {
-		if (motion_cache.is_null()) {
-			motion_cache.instance();
-			motion_cache->owner = this;
-		}
-
-		motion_cache->collision = col;
-
-		return motion_cache;
-	}
-
-	return Ref<KinematicCollision2D>();
-}
-
-bool KinematicBody2D::separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision) {
-	PhysicsServer2D::SeparationResult sep_res[8]; //max 8 rays
-
-	Transform2D gt = get_global_transform();
-
-	Vector2 recover;
-	int hits = PhysicsServer2D::get_singleton()->body_test_ray_separation(get_rid(), gt, p_infinite_inertia, recover, sep_res, 8, margin);
-	int deepest = -1;
-	real_t deepest_depth;
-	for (int i = 0; i < hits; i++) {
-		if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) {
-			deepest = i;
-			deepest_depth = sep_res[i].collision_depth;
-		}
-	}
-
-	gt.elements[2] += recover;
-	set_global_transform(gt);
-
-	if (deepest != -1) {
-		r_collision.collider = sep_res[deepest].collider_id;
-		r_collision.collider_metadata = sep_res[deepest].collider_metadata;
-		r_collision.collider_shape = sep_res[deepest].collider_shape;
-		r_collision.collider_vel = sep_res[deepest].collider_velocity;
-		r_collision.collision = sep_res[deepest].collision_point;
-		r_collision.normal = sep_res[deepest].collision_normal;
-		r_collision.local_shape = sep_res[deepest].collision_local_shape;
-		r_collision.travel = recover;
-		r_collision.remainder = Vector2();
-
-		return true;
-	} else {
-		return false;
-	}
-}
-
-bool KinematicBody2D::move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only) {
-	if (sync_to_physics) {
-		ERR_PRINT("Functions move_and_slide and move_and_collide do not work together with 'sync to physics' option. Please read the documentation.");
-	}
-	Transform2D gt = get_global_transform();
-	PhysicsServer2D::MotionResult result;
-	bool colliding = PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, margin, &result, p_exclude_raycast_shapes);
-
-	if (colliding) {
-		r_collision.collider_metadata = result.collider_metadata;
-		r_collision.collider_shape = result.collider_shape;
-		r_collision.collider_vel = result.collider_velocity;
-		r_collision.collision = result.collision_point;
-		r_collision.normal = result.collision_normal;
-		r_collision.collider = result.collider_id;
-		r_collision.collider_rid = result.collider;
-		r_collision.travel = result.motion;
-		r_collision.remainder = result.remainder;
-		r_collision.local_shape = result.collision_local_shape;
-	}
-
-	if (!p_test_only) {
-		gt.elements[2] += result.motion;
-		set_global_transform(gt);
-	}
-
-	return colliding;
-}
-
 //so, if you pass 45 as limit, avoid numerical precision errors when angle is 45.
 #define FLOOR_ANGLE_THRESHOLD 0.01
 
-Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const Vector2 &p_up_direction, bool p_stop_on_slope, int p_max_slides, real_t p_floor_max_angle, bool p_infinite_inertia) {
-	Vector2 body_velocity = p_linear_velocity;
-	Vector2 body_velocity_normal = body_velocity.normalized();
-	Vector2 up_direction = p_up_direction.normalized();
+void CharacterBody2D::move_and_slide() {
+	Vector2 body_velocity_normal = linear_velocity.normalized();
+
+	bool was_on_floor = on_floor;
 
 	Vector2 current_floor_velocity = floor_velocity;
 	if (on_floor && on_floor_body.is_valid()) {
@@ -900,69 +932,71 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
 	}
 
 	// Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
-	Vector2 motion = (current_floor_velocity + body_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
+	Vector2 motion = (current_floor_velocity + linear_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
 
 	on_floor = false;
 	on_floor_body = RID();
 	on_ceiling = false;
 	on_wall = false;
-	colliders.clear();
+	motion_results.clear();
 	floor_normal = Vector2();
 	floor_velocity = Vector2();
 
-	while (p_max_slides) {
-		Collision collision;
+	int slide_count = max_slides;
+	while (slide_count) {
+		PhysicsServer2D::MotionResult result;
 		bool found_collision = false;
 
 		for (int i = 0; i < 2; ++i) {
 			bool collided;
 			if (i == 0) { //collide
-				collided = move_and_collide(motion, p_infinite_inertia, collision);
+				collided = move_and_collide(motion, infinite_inertia, result, margin);
 				if (!collided) {
 					motion = Vector2(); //clear because no collision happened and motion completed
 				}
 			} else { //separate raycasts (if any)
-				collided = separate_raycast_shapes(p_infinite_inertia, collision);
+				collided = separate_raycast_shapes(result);
 				if (collided) {
-					collision.remainder = motion; //keep
-					collision.travel = Vector2();
+					result.remainder = motion; //keep
+					result.motion = Vector2();
 				}
 			}
 
 			if (collided) {
 				found_collision = true;
 
-				colliders.push_back(collision);
-				motion = collision.remainder;
+				motion_results.push_back(result);
+				motion = result.remainder;
 
 				if (up_direction == Vector2()) {
 					//all is a wall
 					on_wall = true;
 				} else {
-					if (Math::acos(collision.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor
+					if (Math::acos(result.collision_normal.dot(up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor
 
 						on_floor = true;
-						floor_normal = collision.normal;
-						on_floor_body = collision.collider_rid;
-						floor_velocity = collision.collider_vel;
+						floor_normal = result.collision_normal;
+						on_floor_body = result.collider;
+						floor_velocity = result.collider_velocity;
 
-						if (p_stop_on_slope) {
-							if ((body_velocity_normal + up_direction).length() < 0.01 && collision.travel.length() < 1) {
+						if (stop_on_slope) {
+							if ((body_velocity_normal + up_direction).length() < 0.01 && result.motion.length() < 1) {
 								Transform2D gt = get_global_transform();
-								gt.elements[2] -= collision.travel.slide(up_direction);
+								gt.elements[2] -= result.motion.slide(up_direction);
 								set_global_transform(gt);
-								return Vector2();
+								linear_velocity = Vector2();
+								return;
 							}
 						}
-					} else if (Math::acos(collision.normal.dot(-up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
+					} else if (Math::acos(result.collision_normal.dot(-up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
 						on_ceiling = true;
 					} else {
 						on_wall = true;
 					}
 				}
 
-				motion = motion.slide(collision.normal);
-				body_velocity = body_velocity.slide(collision.normal);
+				motion = motion.slide(result.collision_normal);
+				linear_velocity = linear_velocity.slide(result.collision_normal);
 			}
 		}
 
@@ -970,36 +1004,28 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
 			break;
 		}
 
-		--p_max_slides;
+		--slide_count;
 	}
 
-	return body_velocity;
-}
-
-Vector2 KinematicBody2D::move_and_slide_with_snap(const Vector2 &p_linear_velocity, const Vector2 &p_snap, const Vector2 &p_up_direction, bool p_stop_on_slope, int p_max_slides, real_t p_floor_max_angle, bool p_infinite_inertia) {
-	Vector2 up_direction = p_up_direction.normalized();
-	bool was_on_floor = on_floor;
-
-	Vector2 ret = move_and_slide(p_linear_velocity, up_direction, p_stop_on_slope, p_max_slides, p_floor_max_angle, p_infinite_inertia);
-	if (!was_on_floor || p_snap == Vector2()) {
-		return ret;
+	if (!was_on_floor || snap == Vector2()) {
+		return;
 	}
 
-	Collision col;
+	// Apply snap.
 	Transform2D gt = get_global_transform();
-
-	if (move_and_collide(p_snap, p_infinite_inertia, col, false, true)) {
+	PhysicsServer2D::MotionResult result;
+	if (move_and_collide(snap, infinite_inertia, result, margin, false, true)) {
 		bool apply = true;
 		if (up_direction != Vector2()) {
-			if (Math::acos(col.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
+			if (Math::acos(result.collision_normal.dot(up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
 				on_floor = true;
-				floor_normal = col.normal;
-				on_floor_body = col.collider_rid;
-				floor_velocity = col.collider_vel;
-				if (p_stop_on_slope) {
+				floor_normal = result.collision_normal;
+				on_floor_body = result.collider;
+				floor_velocity = result.collider_velocity;
+				if (stop_on_slope) {
 					// move and collide may stray the object a bit because of pre un-stucking,
 					// so only ensure that motion happens on floor direction in this case.
-					col.travel = up_direction * up_direction.dot(col.travel);
+					result.motion = up_direction * up_direction.dot(result.motion);
 				}
 
 			} else {
@@ -1008,59 +1034,87 @@ Vector2 KinematicBody2D::move_and_slide_with_snap(const Vector2 &p_linear_veloci
 		}
 
 		if (apply) {
-			gt.elements[2] += col.travel;
+			gt.elements[2] += result.motion;
 			set_global_transform(gt);
 		}
 	}
-
-	return ret;
 }
 
-bool KinematicBody2D::is_on_floor() const {
-	return on_floor;
-}
+bool CharacterBody2D::separate_raycast_shapes(PhysicsServer2D::MotionResult &r_result) {
+	PhysicsServer2D::SeparationResult sep_res[8]; //max 8 rays
 
-bool KinematicBody2D::is_on_wall() const {
-	return on_wall;
+	Transform2D gt = get_global_transform();
+
+	Vector2 recover;
+	int hits = PhysicsServer2D::get_singleton()->body_test_ray_separation(get_rid(), gt, infinite_inertia, recover, sep_res, 8, margin);
+	int deepest = -1;
+	real_t deepest_depth;
+	for (int i = 0; i < hits; i++) {
+		if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) {
+			deepest = i;
+			deepest_depth = sep_res[i].collision_depth;
+		}
+	}
+
+	gt.elements[2] += recover;
+	set_global_transform(gt);
+
+	if (deepest != -1) {
+		r_result.collider_id = sep_res[deepest].collider_id;
+		r_result.collider_metadata = sep_res[deepest].collider_metadata;
+		r_result.collider_shape = sep_res[deepest].collider_shape;
+		r_result.collider_velocity = sep_res[deepest].collider_velocity;
+		r_result.collision_point = sep_res[deepest].collision_point;
+		r_result.collision_normal = sep_res[deepest].collision_normal;
+		r_result.collision_local_shape = sep_res[deepest].collision_local_shape;
+		r_result.motion = recover;
+		r_result.remainder = Vector2();
+
+		return true;
+	} else {
+		return false;
+	}
 }
 
-bool KinematicBody2D::is_on_ceiling() const {
-	return on_ceiling;
+const Vector2 &CharacterBody2D::get_linear_velocity() const {
+	return linear_velocity;
 }
 
-Vector2 KinematicBody2D::get_floor_normal() const {
-	return floor_normal;
+void CharacterBody2D::set_linear_velocity(const Vector2 &p_velocity) {
+	linear_velocity = p_velocity;
 }
 
-Vector2 KinematicBody2D::get_floor_velocity() const {
-	return floor_velocity;
+bool CharacterBody2D::is_on_floor() const {
+	return on_floor;
 }
 
-bool KinematicBody2D::test_move(const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia) {
-	ERR_FAIL_COND_V(!is_inside_tree(), false);
+bool CharacterBody2D::is_on_wall() const {
+	return on_wall;
+}
 
-	return PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia, margin);
+bool CharacterBody2D::is_on_ceiling() const {
+	return on_ceiling;
 }
 
-void KinematicBody2D::set_safe_margin(real_t p_margin) {
-	margin = p_margin;
+Vector2 CharacterBody2D::get_floor_normal() const {
+	return floor_normal;
 }
 
-real_t KinematicBody2D::get_safe_margin() const {
-	return margin;
+Vector2 CharacterBody2D::get_floor_velocity() const {
+	return floor_velocity;
 }
 
-int KinematicBody2D::get_slide_count() const {
-	return colliders.size();
+int CharacterBody2D::get_slide_count() const {
+	return motion_results.size();
 }
 
-KinematicBody2D::Collision KinematicBody2D::get_slide_collision(int p_bounce) const {
-	ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Collision());
-	return colliders[p_bounce];
+PhysicsServer2D::MotionResult CharacterBody2D::get_slide_collision(int p_bounce) const {
+	ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), PhysicsServer2D::MotionResult());
+	return motion_results[p_bounce];
 }
 
-Ref<KinematicCollision2D> KinematicBody2D::_get_slide_collision(int p_bounce) {
-	ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Ref<KinematicCollision2D>());
+Ref<KinematicCollision2D> CharacterBody2D::_get_slide_collision(int p_bounce) {
+	ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), Ref<KinematicCollision2D>());
 	if (p_bounce >= slide_colliders.size()) {
 		slide_colliders.resize(p_bounce + 1);
 	}
@@ -1070,11 +1124,11 @@ Ref<KinematicCollision2D> KinematicBody2D::_get_slide_collision(int p_bounce) {
 		slide_colliders.write[p_bounce]->owner = this;
 	}
 
-	slide_colliders.write[p_bounce]->collision = colliders[p_bounce];
+	slide_colliders.write[p_bounce]->result = motion_results[p_bounce];
 	return slide_colliders[p_bounce];
 }
 
-void KinematicBody2D::set_sync_to_physics(bool p_enable) {
+void CharacterBody2D::set_sync_to_physics(bool p_enable) {
 	if (sync_to_physics == p_enable) {
 		return;
 	}
@@ -1085,7 +1139,7 @@ void KinematicBody2D::set_sync_to_physics(bool p_enable) {
 	}
 
 	if (p_enable) {
-		PhysicsServer2D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &KinematicBody2D::_direct_state_changed));
+		PhysicsServer2D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &CharacterBody2D::_direct_state_changed));
 		set_only_update_transform_changes(true);
 		set_notify_local_transform(true);
 	} else {
@@ -1095,11 +1149,11 @@ void KinematicBody2D::set_sync_to_physics(bool p_enable) {
 	}
 }
 
-bool KinematicBody2D::is_sync_to_physics_enabled() const {
+bool CharacterBody2D::is_sync_to_physics_enabled() const {
 	return sync_to_physics;
 }
 
-void KinematicBody2D::_direct_state_changed(Object *p_state) {
+void CharacterBody2D::_direct_state_changed(Object *p_state) {
 	if (!sync_to_physics) {
 		return;
 	}
@@ -1113,7 +1167,63 @@ void KinematicBody2D::_direct_state_changed(Object *p_state) {
 	set_notify_local_transform(true);
 }
 
-void KinematicBody2D::_notification(int p_what) {
+void CharacterBody2D::set_safe_margin(real_t p_margin) {
+	margin = p_margin;
+}
+
+real_t CharacterBody2D::get_safe_margin() const {
+	return margin;
+}
+
+bool CharacterBody2D::is_stop_on_slope_enabled() const {
+	return stop_on_slope;
+}
+
+void CharacterBody2D::set_stop_on_slope_enabled(bool p_enabled) {
+	stop_on_slope = p_enabled;
+}
+
+bool CharacterBody2D::is_infinite_inertia_enabled() const {
+	return infinite_inertia;
+}
+void CharacterBody2D::set_infinite_inertia_enabled(bool p_enabled) {
+	infinite_inertia = p_enabled;
+}
+
+int CharacterBody2D::get_max_slides() const {
+	return max_slides;
+}
+
+void CharacterBody2D::set_max_slides(int p_max_slides) {
+	ERR_FAIL_COND(p_max_slides > 0);
+	max_slides = p_max_slides;
+}
+
+real_t CharacterBody2D::get_floor_max_angle() const {
+	return floor_max_angle;
+}
+
+void CharacterBody2D::set_floor_max_angle(real_t p_floor_max_angle) {
+	floor_max_angle = p_floor_max_angle;
+}
+
+const Vector2 &CharacterBody2D::get_snap() const {
+	return snap;
+}
+
+void CharacterBody2D::set_snap(const Vector2 &p_snap) {
+	snap = p_snap;
+}
+
+const Vector2 &CharacterBody2D::get_up_direction() const {
+	return up_direction;
+}
+
+void CharacterBody2D::set_up_direction(const Vector2 &p_up_direction) {
+	up_direction = p_up_direction.normalized();
+}
+
+void CharacterBody2D::_notification(int p_what) {
 	if (p_what == NOTIFICATION_ENTER_TREE) {
 		last_valid_transform = get_global_transform();
 
@@ -1122,7 +1232,7 @@ void KinematicBody2D::_notification(int p_what) {
 		on_floor_body = RID();
 		on_ceiling = false;
 		on_wall = false;
-		colliders.clear();
+		motion_results.clear();
 		floor_velocity = Vector2();
 	}
 
@@ -1137,47 +1247,55 @@ void KinematicBody2D::_notification(int p_what) {
 	}
 }
 
-void KinematicBody2D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only"), &KinematicBody2D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false));
-	ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody2D::move_and_slide, DEFVAL(Vector2(0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((real_t)45.0)), DEFVAL(true));
-	ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody2D::move_and_slide_with_snap, DEFVAL(Vector2(0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((real_t)45.0)), DEFVAL(true));
-
-	ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody2D::test_move, DEFVAL(true));
-
-	ClassDB::bind_method(D_METHOD("is_on_floor"), &KinematicBody2D::is_on_floor);
-	ClassDB::bind_method(D_METHOD("is_on_ceiling"), &KinematicBody2D::is_on_ceiling);
-	ClassDB::bind_method(D_METHOD("is_on_wall"), &KinematicBody2D::is_on_wall);
-	ClassDB::bind_method(D_METHOD("get_floor_normal"), &KinematicBody2D::get_floor_normal);
-	ClassDB::bind_method(D_METHOD("get_floor_velocity"), &KinematicBody2D::get_floor_velocity);
-
-	ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &KinematicBody2D::set_safe_margin);
-	ClassDB::bind_method(D_METHOD("get_safe_margin"), &KinematicBody2D::get_safe_margin);
+void CharacterBody2D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("move_and_slide"), &CharacterBody2D::move_and_slide);
+
+	ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &CharacterBody2D::set_linear_velocity);
+	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &CharacterBody2D::get_linear_velocity);
+
+	ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &CharacterBody2D::set_safe_margin);
+	ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody2D::get_safe_margin);
+	ClassDB::bind_method(D_METHOD("is_stop_on_slope_enabled"), &CharacterBody2D::is_stop_on_slope_enabled);
+	ClassDB::bind_method(D_METHOD("set_stop_on_slope_enabled", "enabled"), &CharacterBody2D::set_stop_on_slope_enabled);
+	ClassDB::bind_method(D_METHOD("is_infinite_inertia_enabled"), &CharacterBody2D::is_infinite_inertia_enabled);
+	ClassDB::bind_method(D_METHOD("set_infinite_inertia_enabled", "enabled"), &CharacterBody2D::set_infinite_inertia_enabled);
+	ClassDB::bind_method(D_METHOD("get_max_slides"), &CharacterBody2D::get_max_slides);
+	ClassDB::bind_method(D_METHOD("set_max_slides", "max_slides"), &CharacterBody2D::set_max_slides);
+	ClassDB::bind_method(D_METHOD("get_floor_max_angle"), &CharacterBody2D::get_floor_max_angle);
+	ClassDB::bind_method(D_METHOD("set_floor_max_angle", "floor_max_angle"), &CharacterBody2D::set_floor_max_angle);
+	ClassDB::bind_method(D_METHOD("get_snap"), &CharacterBody2D::get_snap);
+	ClassDB::bind_method(D_METHOD("set_snap", "snap"), &CharacterBody2D::set_snap);
+	ClassDB::bind_method(D_METHOD("get_up_direction"), &CharacterBody2D::get_up_direction);
+	ClassDB::bind_method(D_METHOD("set_up_direction", "up_direction"), &CharacterBody2D::set_up_direction);
+
+	ClassDB::bind_method(D_METHOD("is_on_floor"), &CharacterBody2D::is_on_floor);
+	ClassDB::bind_method(D_METHOD("is_on_ceiling"), &CharacterBody2D::is_on_ceiling);
+	ClassDB::bind_method(D_METHOD("is_on_wall"), &CharacterBody2D::is_on_wall);
+	ClassDB::bind_method(D_METHOD("get_floor_normal"), &CharacterBody2D::get_floor_normal);
+	ClassDB::bind_method(D_METHOD("get_floor_velocity"), &CharacterBody2D::get_floor_velocity);
+	ClassDB::bind_method(D_METHOD("get_slide_count"), &CharacterBody2D::get_slide_count);
+	ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &CharacterBody2D::_get_slide_collision);
+
+	ClassDB::bind_method(D_METHOD("set_sync_to_physics", "enable"), &CharacterBody2D::set_sync_to_physics);
+	ClassDB::bind_method(D_METHOD("is_sync_to_physics_enabled"), &CharacterBody2D::is_sync_to_physics_enabled);
 
-	ClassDB::bind_method(D_METHOD("get_slide_count"), &KinematicBody2D::get_slide_count);
-	ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &KinematicBody2D::_get_slide_collision);
-
-	ClassDB::bind_method(D_METHOD("set_sync_to_physics", "enable"), &KinematicBody2D::set_sync_to_physics);
-	ClassDB::bind_method(D_METHOD("is_sync_to_physics_enabled"), &KinematicBody2D::is_sync_to_physics_enabled);
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "stop_on_slope"), "set_stop_on_slope_enabled", "is_stop_on_slope_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "infinite_inertia"), "set_infinite_inertia_enabled", "is_infinite_inertia_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides"), "set_max_slides", "get_max_slides");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_max_angle"), "set_floor_max_angle", "get_floor_max_angle");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "snap"), "set_snap", "get_snap");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "up_direction"), "set_up_direction", "get_up_direction");
 
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "motion/sync_to_physics"), "set_sync_to_physics", "is_sync_to_physics_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin");
 }
 
-KinematicBody2D::KinematicBody2D() :
+CharacterBody2D::CharacterBody2D() :
 		PhysicsBody2D(PhysicsServer2D::BODY_MODE_KINEMATIC) {
-	margin = 0.08;
-
-	on_floor = false;
-	on_ceiling = false;
-	on_wall = false;
-	sync_to_physics = false;
 }
 
-KinematicBody2D::~KinematicBody2D() {
-	if (motion_cache.is_valid()) {
-		motion_cache->owner = nullptr;
-	}
-
+CharacterBody2D::~CharacterBody2D() {
 	for (int i = 0; i < slide_colliders.size(); i++) {
 		if (slide_colliders[i].is_valid()) {
 			slide_colliders.write[i]->owner = nullptr;
@@ -1188,39 +1306,39 @@ KinematicBody2D::~KinematicBody2D() {
 ////////////////////////
 
 Vector2 KinematicCollision2D::get_position() const {
-	return collision.collision;
+	return result.collision_point;
 }
 
 Vector2 KinematicCollision2D::get_normal() const {
-	return collision.normal;
+	return result.collision_normal;
 }
 
 Vector2 KinematicCollision2D::get_travel() const {
-	return collision.travel;
+	return result.motion;
 }
 
 Vector2 KinematicCollision2D::get_remainder() const {
-	return collision.remainder;
+	return result.remainder;
 }
 
 Object *KinematicCollision2D::get_local_shape() const {
 	if (!owner) {
 		return nullptr;
 	}
-	uint32_t ownerid = owner->shape_find_owner(collision.local_shape);
+	uint32_t ownerid = owner->shape_find_owner(result.collision_local_shape);
 	return owner->shape_owner_get_owner(ownerid);
 }
 
 Object *KinematicCollision2D::get_collider() const {
-	if (collision.collider.is_valid()) {
-		return ObjectDB::get_instance(collision.collider);
+	if (result.collider_id.is_valid()) {
+		return ObjectDB::get_instance(result.collider_id);
 	}
 
 	return nullptr;
 }
 
 ObjectID KinematicCollision2D::get_collider_id() const {
-	return collision.collider;
+	return result.collider_id;
 }
 
 Object *KinematicCollision2D::get_collider_shape() const {
@@ -1228,7 +1346,7 @@ Object *KinematicCollision2D::get_collider_shape() const {
 	if (collider) {
 		CollisionObject2D *obj2d = Object::cast_to<CollisionObject2D>(collider);
 		if (obj2d) {
-			uint32_t ownerid = obj2d->shape_find_owner(collision.collider_shape);
+			uint32_t ownerid = obj2d->shape_find_owner(result.collider_shape);
 			return obj2d->shape_owner_get_owner(ownerid);
 		}
 	}
@@ -1237,11 +1355,11 @@ Object *KinematicCollision2D::get_collider_shape() const {
 }
 
 int KinematicCollision2D::get_collider_shape_index() const {
-	return collision.collider_shape;
+	return result.collider_shape;
 }
 
 Vector2 KinematicCollision2D::get_collider_velocity() const {
-	return collision.collider_vel;
+	return result.collider_velocity;
 }
 
 Variant KinematicCollision2D::get_collider_metadata() const {
@@ -1273,9 +1391,3 @@ void KinematicCollision2D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "collider_velocity"), "", "get_collider_velocity");
 	ADD_PROPERTY(PropertyInfo(Variant::NIL, "collider_metadata", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NIL_IS_VARIANT), "", "get_collider_metadata");
 }
-
-KinematicCollision2D::KinematicCollision2D() {
-	collision.collider_shape = 0;
-	collision.local_shape = 0;
-	owner = nullptr;
-}
diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h
index 47d55d11fa..5a44d31cc2 100644
--- a/scene/2d/physics_body_2d.h
+++ b/scene/2d/physics_body_2d.h
@@ -42,17 +42,22 @@ class PhysicsBody2D : public CollisionObject2D {
 	GDCLASS(PhysicsBody2D, CollisionObject2D);
 
 protected:
-	void _notification(int p_what);
+	static void _bind_methods();
 	PhysicsBody2D(PhysicsServer2D::BodyMode p_mode);
 
-	static void _bind_methods();
+	Ref<KinematicCollision2D> motion_cache;
+
+	Ref<KinematicCollision2D> _move(const Vector2 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false, real_t p_margin = 0.08);
 
 public:
+	bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, PhysicsServer2D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
+	bool test_move(const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, const Ref<KinematicCollision2D> &r_collision = Ref<KinematicCollision2D>(), real_t p_margin = 0.08);
+
 	TypedArray<PhysicsBody2D> get_collision_exceptions();
 	void add_collision_exception_with(Node *p_node); //must be physicsbody
 	void remove_collision_exception_with(Node *p_node);
 
-	PhysicsBody2D();
+	virtual ~PhysicsBody2D();
 };
 
 class StaticBody2D : public PhysicsBody2D {
@@ -63,7 +68,10 @@ class StaticBody2D : public PhysicsBody2D {
 
 	Ref<PhysicsMaterial> physics_material_override;
 
+	bool kinematic_motion = false;
+
 protected:
+	void _notification(int p_what);
 	static void _bind_methods();
 
 public:
@@ -77,10 +85,14 @@ public:
 	real_t get_constant_angular_velocity() const;
 
 	StaticBody2D();
-	~StaticBody2D();
 
 private:
 	void _reload_physics_characteristics();
+
+	void _update_kinematic_motion();
+
+	void set_kinematic_motion_enabled(bool p_enabled);
+	bool is_kinematic_motion_enabled() const;
 };
 
 class RigidBody2D : public PhysicsBody2D {
@@ -88,9 +100,9 @@ class RigidBody2D : public PhysicsBody2D {
 
 public:
 	enum Mode {
-		MODE_RIGID,
+		MODE_DYNAMIC,
 		MODE_STATIC,
-		MODE_CHARACTER,
+		MODE_DYNAMIC_LOCKED,
 		MODE_KINEMATIC,
 	};
 
@@ -103,7 +115,7 @@ public:
 private:
 	bool can_sleep = true;
 	PhysicsDirectBodyState2D *state = nullptr;
-	Mode mode = MODE_RIGID;
+	Mode mode = MODE_DYNAMIC;
 
 	real_t mass = 1.0;
 	Ref<PhysicsMaterial> physics_material_override;
@@ -163,8 +175,6 @@ private:
 	void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape);
 	void _direct_state_changed(Object *p_state);
 
-	bool _test_motion(const Vector2 &p_motion, bool p_infinite_inertia = true, real_t p_margin = 0.08, const Ref<PhysicsTestMotionResult2D> &p_result = Ref<PhysicsTestMotionResult2D>());
-
 protected:
 	void _notification(int p_what);
 	static void _bind_methods();
@@ -245,62 +255,70 @@ private:
 VARIANT_ENUM_CAST(RigidBody2D::Mode);
 VARIANT_ENUM_CAST(RigidBody2D::CCDMode);
 
-class KinematicBody2D : public PhysicsBody2D {
-	GDCLASS(KinematicBody2D, PhysicsBody2D);
-
-public:
-	struct Collision {
-		Vector2 collision;
-		Vector2 normal;
-		Vector2 collider_vel;
-		ObjectID collider;
-		RID collider_rid;
-		int collider_shape = 0;
-		Variant collider_metadata;
-		Vector2 remainder;
-		Vector2 travel;
-		int local_shape = 0;
-	};
+class CharacterBody2D : public PhysicsBody2D {
+	GDCLASS(CharacterBody2D, PhysicsBody2D);
 
 private:
-	real_t margin;
+	real_t margin = 0.08;
+
+	bool stop_on_slope = false;
+	bool infinite_inertia = true;
+	int max_slides = 4;
+	real_t floor_max_angle = Math::deg2rad((real_t)45.0);
+	Vector2 snap;
+	Vector2 up_direction = Vector2(0.0, -1.0);
+
+	Vector2 linear_velocity;
 
 	Vector2 floor_normal;
 	Vector2 floor_velocity;
 	RID on_floor_body;
-	bool on_floor;
-	bool on_ceiling;
-	bool on_wall;
-	bool sync_to_physics;
+	bool on_floor = false;
+	bool on_ceiling = false;
+	bool on_wall = false;
+	bool sync_to_physics = false;
 
-	Vector<Collision> colliders;
+	Vector<PhysicsServer2D::MotionResult> motion_results;
 	Vector<Ref<KinematicCollision2D>> slide_colliders;
-	Ref<KinematicCollision2D> motion_cache;
-
-	_FORCE_INLINE_ bool _ignores_mode(PhysicsServer2D::BodyMode) const;
 
-	Ref<KinematicCollision2D> _move(const Vector2 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
 	Ref<KinematicCollision2D> _get_slide_collision(int p_bounce);
 
+	bool separate_raycast_shapes(PhysicsServer2D::MotionResult &r_result);
+
 	Transform2D last_valid_transform;
 	void _direct_state_changed(Object *p_state);
 
+	void set_safe_margin(real_t p_margin);
+	real_t get_safe_margin() const;
+
+	bool is_stop_on_slope_enabled() const;
+	void set_stop_on_slope_enabled(bool p_enabled);
+
+	bool is_infinite_inertia_enabled() const;
+	void set_infinite_inertia_enabled(bool p_enabled);
+
+	int get_max_slides() const;
+	void set_max_slides(int p_max_slides);
+
+	real_t get_floor_max_angle() const;
+	void set_floor_max_angle(real_t p_floor_max_angle);
+
+	const Vector2 &get_snap() const;
+	void set_snap(const Vector2 &p_snap);
+
+	const Vector2 &get_up_direction() const;
+	void set_up_direction(const Vector2 &p_up_direction);
+
 protected:
 	void _notification(int p_what);
 	static void _bind_methods();
 
 public:
-	bool move_and_collide(const Vector2 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
-
-	bool test_move(const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia = true);
-
-	bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision);
+	void move_and_slide();
 
-	void set_safe_margin(real_t p_margin);
-	real_t get_safe_margin() const;
+	const Vector2 &get_linear_velocity() const;
+	void set_linear_velocity(const Vector2 &p_velocity);
 
-	Vector2 move_and_slide(const Vector2 &p_linear_velocity, const Vector2 &p_up_direction = Vector2(0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, real_t p_floor_max_angle = Math::deg2rad((real_t)45.0), bool p_infinite_inertia = true);
-	Vector2 move_and_slide_with_snap(const Vector2 &p_linear_velocity, const Vector2 &p_snap, const Vector2 &p_up_direction = Vector2(0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, real_t p_floor_max_angle = Math::deg2rad((real_t)45.0), bool p_infinite_inertia = true);
 	bool is_on_floor() const;
 	bool is_on_wall() const;
 	bool is_on_ceiling() const;
@@ -308,21 +326,22 @@ public:
 	Vector2 get_floor_velocity() const;
 
 	int get_slide_count() const;
-	Collision get_slide_collision(int p_bounce) const;
+	PhysicsServer2D::MotionResult get_slide_collision(int p_bounce) const;
 
 	void set_sync_to_physics(bool p_enable);
 	bool is_sync_to_physics_enabled() const;
 
-	KinematicBody2D();
-	~KinematicBody2D();
+	CharacterBody2D();
+	~CharacterBody2D();
 };
 
 class KinematicCollision2D : public Reference {
 	GDCLASS(KinematicCollision2D, Reference);
 
-	KinematicBody2D *owner;
-	friend class KinematicBody2D;
-	KinematicBody2D::Collision collision;
+	PhysicsBody2D *owner = nullptr;
+	friend class PhysicsBody2D;
+	friend class CharacterBody2D;
+	PhysicsServer2D::MotionResult result;
 
 protected:
 	static void _bind_methods();
@@ -339,8 +358,6 @@ public:
 	int get_collider_shape_index() const;
 	Vector2 get_collider_velocity() const;
 	Variant get_collider_metadata() const;
-
-	KinematicCollision2D();
 };
 
 #endif // PHYSICS_BODY_2D_H
diff --git a/scene/2d/visibility_notifier_2d.cpp b/scene/2d/visibility_notifier_2d.cpp
index 8feb47f1cc..c85b2c85a4 100644
--- a/scene/2d/visibility_notifier_2d.cpp
+++ b/scene/2d/visibility_notifier_2d.cpp
@@ -176,7 +176,7 @@ void VisibilityEnabler2D::_find_nodes(Node *p_node) {
 
 	{
 		RigidBody2D *rb2d = Object::cast_to<RigidBody2D>(p_node);
-		if (rb2d && ((rb2d->get_mode() == RigidBody2D::MODE_CHARACTER || rb2d->get_mode() == RigidBody2D::MODE_RIGID))) {
+		if (rb2d && ((rb2d->get_mode() == RigidBody2D::MODE_DYNAMIC || rb2d->get_mode() == RigidBody2D::MODE_DYNAMIC_LOCKED))) {
 			add = true;
 			meta = rb2d->get_mode();
 		}
diff --git a/scene/3d/collision_polygon_3d.cpp b/scene/3d/collision_polygon_3d.cpp
index ac715b22b2..8a4f8b639b 100644
--- a/scene/3d/collision_polygon_3d.cpp
+++ b/scene/3d/collision_polygon_3d.cpp
@@ -171,7 +171,7 @@ TypedArray<String> CollisionPolygon3D::get_configuration_warnings() const {
 	TypedArray<String> warnings = Node::get_configuration_warnings();
 
 	if (!Object::cast_to<CollisionObject3D>(get_parent())) {
-		warnings.push_back(TTR("CollisionPolygon3D only serves to provide a collision shape to a CollisionObject3D derived node. Please only use it as a child of Area3D, StaticBody3D, RigidBody3D, KinematicBody3D, etc. to give them a shape."));
+		warnings.push_back(TTR("CollisionPolygon3D only serves to provide a collision shape to a CollisionObject3D derived node. Please only use it as a child of Area3D, StaticBody3D, RigidBody3D, CharacterBody3D, etc. to give them a shape."));
 	}
 
 	if (polygon.is_empty()) {
diff --git a/scene/3d/collision_shape_3d.cpp b/scene/3d/collision_shape_3d.cpp
index 70d9cebb83..be3fde8013 100644
--- a/scene/3d/collision_shape_3d.cpp
+++ b/scene/3d/collision_shape_3d.cpp
@@ -124,7 +124,7 @@ TypedArray<String> CollisionShape3D::get_configuration_warnings() const {
 	TypedArray<String> warnings = Node::get_configuration_warnings();
 
 	if (!Object::cast_to<CollisionObject3D>(get_parent())) {
-		warnings.push_back(TTR("CollisionShape3D only serves to provide a collision shape to a CollisionObject3D derived node. Please only use it as a child of Area3D, StaticBody3D, RigidBody3D, KinematicBody3D, etc. to give them a shape."));
+		warnings.push_back(TTR("CollisionShape3D only serves to provide a collision shape to a CollisionObject3D derived node. Please only use it as a child of Area3D, StaticBody3D, RigidBody3D, CharacterBody3D, etc. to give them a shape."));
 	}
 
 	if (!shape.is_valid()) {
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index c0c3419efe..3496ed1a56 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -43,16 +43,35 @@
 #include "editor/plugins/node_3d_editor_plugin.h"
 #endif
 
-Vector3 PhysicsBody3D::get_linear_velocity() const {
-	return Vector3();
+void PhysicsBody3D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only", "safe_margin"), &PhysicsBody3D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false), DEFVAL(0.001));
+	ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "collision", "safe_margin"), &PhysicsBody3D::test_move, DEFVAL(true), DEFVAL(true), DEFVAL(Variant()), DEFVAL(0.001));
+
+	ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicsBody3D::set_axis_lock);
+	ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicsBody3D::get_axis_lock);
+
+	ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody3D::get_collision_exceptions);
+	ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody3D::add_collision_exception_with);
+	ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody3D::remove_collision_exception_with);
+
+	ADD_GROUP("Axis Lock", "axis_lock_");
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z);
 }
 
-Vector3 PhysicsBody3D::get_angular_velocity() const {
-	return Vector3();
+PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) :
+		CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(), false) {
+	PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), p_mode);
 }
 
-real_t PhysicsBody3D::get_inverse_mass() const {
-	return 0;
+PhysicsBody3D::~PhysicsBody3D() {
+	if (motion_cache.is_valid()) {
+		motion_cache->owner = nullptr;
+	}
 }
 
 TypedArray<PhysicsBody3D> PhysicsBody3D::get_collision_exceptions() {
@@ -83,11 +102,75 @@ void PhysicsBody3D::remove_collision_exception_with(Node *p_node) {
 	PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid());
 }
 
-void PhysicsBody3D::_bind_methods() {}
+Ref<KinematicCollision3D> PhysicsBody3D::_move(const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only, real_t p_margin) {
+	PhysicsServer3D::MotionResult result;
+	if (move_and_collide(p_motion, p_infinite_inertia, result, p_margin, p_exclude_raycast_shapes, p_test_only)) {
+		if (motion_cache.is_null()) {
+			motion_cache.instance();
+			motion_cache->owner = this;
+		}
+
+		motion_cache->result = result;
 
-PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) :
-		CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(), false) {
-	PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), p_mode);
+		return motion_cache;
+	}
+
+	return Ref<KinematicCollision3D>();
+}
+
+bool PhysicsBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes, bool p_test_only) {
+	Transform3D gt = get_global_transform();
+	bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, p_margin, &r_result, p_exclude_raycast_shapes);
+
+	for (int i = 0; i < 3; i++) {
+		if (locked_axis & (1 << i)) {
+			r_result.motion[i] = 0;
+		}
+	}
+
+	if (!p_test_only) {
+		gt.origin += r_result.motion;
+		set_global_transform(gt);
+	}
+
+	return colliding;
+}
+
+bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, const Ref<KinematicCollision3D> &r_collision, real_t p_margin) {
+	ERR_FAIL_COND_V(!is_inside_tree(), false);
+
+	PhysicsServer3D::MotionResult *r = nullptr;
+	if (r_collision.is_valid()) {
+		// Needs const_cast because method bindings don't support non-const Ref.
+		r = const_cast<PhysicsServer3D::MotionResult *>(&r_collision->result);
+	}
+
+	return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia, p_margin, r, p_exclude_raycast_shapes);
+}
+
+void PhysicsBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
+	if (p_lock) {
+		locked_axis |= p_axis;
+	} else {
+		locked_axis &= (~p_axis);
+	}
+	PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
+}
+
+bool PhysicsBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
+	return (locked_axis & p_axis);
+}
+
+Vector3 PhysicsBody3D::get_linear_velocity() const {
+	return Vector3();
+}
+
+Vector3 PhysicsBody3D::get_angular_velocity() const {
+	return Vector3();
+}
+
+real_t PhysicsBody3D::get_inverse_mass() const {
+	return 0;
 }
 
 void StaticBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
@@ -109,14 +192,44 @@ Ref<PhysicsMaterial> StaticBody3D::get_physics_material_override() const {
 	return physics_material_override;
 }
 
+void StaticBody3D::set_kinematic_motion_enabled(bool p_enabled) {
+	if (p_enabled == kinematic_motion) {
+		return;
+	}
+
+	kinematic_motion = p_enabled;
+
+	if (kinematic_motion) {
+		PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_KINEMATIC);
+	} else {
+		PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_STATIC);
+	}
+
+	_update_kinematic_motion();
+}
+
+bool StaticBody3D::is_kinematic_motion_enabled() const {
+	return kinematic_motion;
+}
+
 void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) {
 	constant_linear_velocity = p_vel;
-	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
+
+	if (kinematic_motion) {
+		_update_kinematic_motion();
+	} else {
+		PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
+	}
 }
 
 void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) {
 	constant_angular_velocity = p_vel;
-	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
+
+	if (kinematic_motion) {
+		_update_kinematic_motion();
+	} else {
+		PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
+	}
 }
 
 Vector3 StaticBody3D::get_constant_linear_velocity() const {
@@ -127,30 +240,81 @@ Vector3 StaticBody3D::get_constant_angular_velocity() const {
 	return constant_angular_velocity;
 }
 
+Vector3 StaticBody3D::get_linear_velocity() const {
+	return linear_velocity;
+}
+
+Vector3 StaticBody3D::get_angular_velocity() const {
+	return angular_velocity;
+}
+
+void StaticBody3D::_notification(int p_what) {
+	if (p_what == NOTIFICATION_INTERNAL_PHYSICS_PROCESS) {
+#ifdef TOOLS_ENABLED
+		if (Engine::get_singleton()->is_editor_hint()) {
+			return;
+		}
+#endif
+
+		ERR_FAIL_COND(!kinematic_motion);
+
+		real_t delta_time = get_physics_process_delta_time();
+
+		Transform3D new_transform = get_global_transform();
+		new_transform.origin += constant_linear_velocity * delta_time;
+
+		real_t ang_vel = constant_angular_velocity.length();
+		if (!Math::is_zero_approx(ang_vel)) {
+			Vector3 ang_vel_axis = constant_angular_velocity / ang_vel;
+			Basis rot(ang_vel_axis, ang_vel * delta_time);
+			new_transform.basis = rot * new_transform.basis;
+			new_transform.orthonormalize();
+		}
+
+		PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform);
+
+		// Propagate transform change to node.
+		set_ignore_transform_notification(true);
+		set_global_transform(new_transform);
+		set_ignore_transform_notification(false);
+		_on_transform_changed();
+	}
+}
+
 void StaticBody3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody3D::set_constant_linear_velocity);
 	ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody3D::set_constant_angular_velocity);
 	ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody3D::get_constant_linear_velocity);
 	ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody3D::get_constant_angular_velocity);
 
+	ClassDB::bind_method(D_METHOD("set_kinematic_motion_enabled", "enabled"), &StaticBody3D::set_kinematic_motion_enabled);
+	ClassDB::bind_method(D_METHOD("is_kinematic_motion_enabled"), &StaticBody3D::is_kinematic_motion_enabled);
+
 	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override);
 	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::get_physics_material_override);
 
-	ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody3D::get_collision_exceptions);
-	ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody3D::add_collision_exception_with);
-	ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody3D::remove_collision_exception_with);
-
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
 	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity");
 	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "kinematic_motion"), "set_kinematic_motion_enabled", "is_kinematic_motion_enabled");
+}
+
+void StaticBody3D::_direct_state_changed(Object *p_state) {
+#ifdef DEBUG_ENABLED
+	PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
+	ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
+#else
+	PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; //trust it
+#endif
+
+	linear_velocity = state->get_linear_velocity();
+	angular_velocity = state->get_angular_velocity();
 }
 
 StaticBody3D::StaticBody3D() :
 		PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) {
 }
 
-StaticBody3D::~StaticBody3D() {}
-
 void StaticBody3D::_reload_physics_characteristics() {
 	if (physics_material_override.is_null()) {
 		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0);
@@ -161,6 +325,27 @@ void StaticBody3D::_reload_physics_characteristics() {
 	}
 }
 
+void StaticBody3D::_update_kinematic_motion() {
+#ifdef TOOLS_ENABLED
+	if (Engine::get_singleton()->is_editor_hint()) {
+		return;
+	}
+#endif
+
+	if (kinematic_motion) {
+		PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &StaticBody3D::_direct_state_changed));
+
+		if (!constant_angular_velocity.is_equal_approx(Vector3()) || !constant_linear_velocity.is_equal_approx(Vector3())) {
+			set_physics_process_internal(true);
+			return;
+		}
+	} else {
+		PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), Callable());
+	}
+
+	set_physics_process_internal(false);
+}
+
 void RigidBody3D::_body_enter_tree(ObjectID p_id) {
 	Object *obj = ObjectDB::get_instance(p_id);
 	Node *node = Object::cast_to<Node>(obj);
@@ -398,15 +583,15 @@ void RigidBody3D::_notification(int p_what) {
 void RigidBody3D::set_mode(Mode p_mode) {
 	mode = p_mode;
 	switch (p_mode) {
-		case MODE_RIGID: {
-			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_RIGID);
+		case MODE_DYNAMIC: {
+			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_DYNAMIC);
 		} break;
 		case MODE_STATIC: {
 			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_STATIC);
 
 		} break;
-		case MODE_CHARACTER: {
-			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_CHARACTER);
+		case MODE_DYNAMIC_LOCKED: {
+			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED);
 
 		} break;
 		case MODE_KINEMATIC: {
@@ -627,14 +812,6 @@ bool RigidBody3D::is_contact_monitor_enabled() const {
 	return contact_monitor != nullptr;
 }
 
-void RigidBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
-	PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
-}
-
-bool RigidBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
-	return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
-}
-
 Array RigidBody3D::get_colliding_bodies() const {
 	ERR_FAIL_COND_V(!contact_monitor, Array());
 
@@ -658,8 +835,8 @@ TypedArray<String> RigidBody3D::get_configuration_warnings() const {
 
 	TypedArray<String> warnings = Node::get_configuration_warnings();
 
-	if ((get_mode() == MODE_RIGID || get_mode() == MODE_CHARACTER) && (ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05)) {
-		warnings.push_back(TTR("Size changes to RigidBody3D (in character or rigid modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."));
+	if ((get_mode() == MODE_DYNAMIC || get_mode() == MODE_DYNAMIC_LOCKED) && (ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05)) {
+		warnings.push_back(TTR("Size changes to RigidBody3D (in dynamic modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."));
 	}
 
 	return warnings;
@@ -720,14 +897,11 @@ void RigidBody3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody3D::set_can_sleep);
 	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody3D::is_able_to_sleep);
 
-	ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &RigidBody3D::set_axis_lock);
-	ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &RigidBody3D::get_axis_lock);
-
 	ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody3D::get_colliding_bodies);
 
 	BIND_VMETHOD(MethodInfo("_integrate_forces", PropertyInfo(Variant::OBJECT, "state", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsDirectBodyState3D")));
 
-	ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Rigid,Static,Character,Kinematic"), "set_mode", "get_mode");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Dynamic,Static,DynamicLocked,Kinematic"), "set_mode", "get_mode");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale");
@@ -737,13 +911,6 @@ void RigidBody3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleeping", "is_sleeping");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
-	ADD_GROUP("Axis Lock", "axis_lock_");
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z);
 	ADD_GROUP("Linear", "linear_");
 	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp");
@@ -757,14 +924,14 @@ void RigidBody3D::_bind_methods() {
 	ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node")));
 	ADD_SIGNAL(MethodInfo("sleeping_state_changed"));
 
-	BIND_ENUM_CONSTANT(MODE_RIGID);
+	BIND_ENUM_CONSTANT(MODE_DYNAMIC);
 	BIND_ENUM_CONSTANT(MODE_STATIC);
-	BIND_ENUM_CONSTANT(MODE_CHARACTER);
+	BIND_ENUM_CONSTANT(MODE_DYNAMIC_LOCKED);
 	BIND_ENUM_CONSTANT(MODE_KINEMATIC);
 }
 
 RigidBody3D::RigidBody3D() :
-		PhysicsBody3D(PhysicsServer3D::BODY_MODE_RIGID) {
+		PhysicsBody3D(PhysicsServer3D::BODY_MODE_DYNAMIC) {
 	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &RigidBody3D::_direct_state_changed));
 }
 
@@ -784,147 +951,92 @@ void RigidBody3D::_reload_physics_characteristics() {
 	}
 }
 
-//////////////////////////////////////////////////////
-//////////////////////////
-
-Ref<KinematicCollision3D> KinematicBody3D::_move(const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only) {
-	Collision col;
-	if (move_and_collide(p_motion, p_infinite_inertia, col, p_exclude_raycast_shapes, p_test_only)) {
-		if (motion_cache.is_null()) {
-			motion_cache.instance();
-			motion_cache->owner = this;
-		}
-
-		motion_cache->collision = col;
-
-		return motion_cache;
-	}
-
-	return Ref<KinematicCollision3D>();
-}
-
-Vector3 KinematicBody3D::get_linear_velocity() const {
-	return linear_velocity;
-}
-
-Vector3 KinematicBody3D::get_angular_velocity() const {
-	return angular_velocity;
-}
-
-bool KinematicBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only) {
-	Transform3D gt = get_global_transform();
-	PhysicsServer3D::MotionResult result;
-	bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, &result, p_exclude_raycast_shapes);
-
-	if (colliding) {
-		r_collision.collider_metadata = result.collider_metadata;
-		r_collision.collider_shape = result.collider_shape;
-		r_collision.collider_vel = result.collider_velocity;
-		r_collision.collision = result.collision_point;
-		r_collision.normal = result.collision_normal;
-		r_collision.collider = result.collider_id;
-		r_collision.collider_rid = result.collider;
-		r_collision.travel = result.motion;
-		r_collision.remainder = result.remainder;
-		r_collision.local_shape = result.collision_local_shape;
-	}
-
-	for (int i = 0; i < 3; i++) {
-		if (locked_axis & (1 << i)) {
-			result.motion[i] = 0;
-		}
-	}
-
-	if (!p_test_only) {
-		gt.origin += result.motion;
-		set_global_transform(gt);
-	}
-
-	return colliding;
-}
+///////////////////////////////////////
 
 //so, if you pass 45 as limit, avoid numerical precision errors when angle is 45.
 #define FLOOR_ANGLE_THRESHOLD 0.01
 
-Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, real_t p_floor_max_angle, bool p_infinite_inertia) {
-	Vector3 body_velocity = p_linear_velocity;
-	Vector3 body_velocity_normal = body_velocity.normalized();
-	Vector3 up_direction = p_up_direction.normalized();
+void CharacterBody3D::move_and_slide() {
+	Vector3 body_velocity_normal = linear_velocity.normalized();
+
+	bool was_on_floor = on_floor;
 
 	for (int i = 0; i < 3; i++) {
 		if (locked_axis & (1 << i)) {
-			body_velocity[i] = 0;
+			linear_velocity[i] = 0.0;
 		}
 	}
 
 	// Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
-	Vector3 motion = (floor_velocity + body_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
+	Vector3 motion = (floor_velocity + linear_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
 
 	on_floor = false;
 	on_floor_body = RID();
 	on_ceiling = false;
 	on_wall = false;
-	colliders.clear();
+	motion_results.clear();
 	floor_normal = Vector3();
 	floor_velocity = Vector3();
 
-	while (p_max_slides) {
-		Collision collision;
+	int slide_count = max_slides;
+	while (slide_count) {
+		PhysicsServer3D::MotionResult result;
 		bool found_collision = false;
 
 		for (int i = 0; i < 2; ++i) {
 			bool collided;
 			if (i == 0) { //collide
-				collided = move_and_collide(motion, p_infinite_inertia, collision);
+				collided = move_and_collide(motion, infinite_inertia, result, margin);
 				if (!collided) {
 					motion = Vector3(); //clear because no collision happened and motion completed
 				}
 			} else { //separate raycasts (if any)
-				collided = separate_raycast_shapes(p_infinite_inertia, collision);
+				collided = separate_raycast_shapes(result);
 				if (collided) {
-					collision.remainder = motion; //keep
-					collision.travel = Vector3();
+					result.remainder = motion; //keep
+					result.motion = Vector3();
 				}
 			}
 
 			if (collided) {
 				found_collision = true;
 
-				colliders.push_back(collision);
-				motion = collision.remainder;
+				motion_results.push_back(result);
+				motion = result.remainder;
 
 				if (up_direction == Vector3()) {
 					//all is a wall
 					on_wall = true;
 				} else {
-					if (Math::acos(collision.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor
+					if (Math::acos(result.collision_normal.dot(up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor
 
 						on_floor = true;
-						floor_normal = collision.normal;
-						on_floor_body = collision.collider_rid;
-						floor_velocity = collision.collider_vel;
+						floor_normal = result.collision_normal;
+						on_floor_body = result.collider;
+						floor_velocity = result.collider_velocity;
 
-						if (p_stop_on_slope) {
-							if ((body_velocity_normal + up_direction).length() < 0.01 && collision.travel.length() < 1) {
+						if (stop_on_slope) {
+							if ((body_velocity_normal + up_direction).length() < 0.01 && result.motion.length() < 1) {
 								Transform3D gt = get_global_transform();
-								gt.origin -= collision.travel.slide(up_direction);
+								gt.origin -= result.motion.slide(up_direction);
 								set_global_transform(gt);
-								return Vector3();
+								linear_velocity = Vector3();
+								return;
 							}
 						}
-					} else if (Math::acos(collision.normal.dot(-up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
+					} else if (Math::acos(result.collision_normal.dot(-up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
 						on_ceiling = true;
 					} else {
 						on_wall = true;
 					}
 				}
 
-				motion = motion.slide(collision.normal);
-				body_velocity = body_velocity.slide(collision.normal);
+				motion = motion.slide(result.collision_normal);
+				linear_velocity = linear_velocity.slide(result.collision_normal);
 
 				for (int j = 0; j < 3; j++) {
 					if (locked_axis & (1 << j)) {
-						body_velocity[j] = 0;
+						linear_velocity[j] = 0.0;
 					}
 				}
 			}
@@ -934,83 +1046,47 @@ Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const
 			break;
 		}
 
-		--p_max_slides;
+		--slide_count;
 	}
 
-	return body_velocity;
-}
-
-Vector3 KinematicBody3D::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, real_t p_floor_max_angle, bool p_infinite_inertia) {
-	Vector3 up_direction = p_up_direction.normalized();
-	bool was_on_floor = on_floor;
-
-	Vector3 ret = move_and_slide(p_linear_velocity, up_direction, p_stop_on_slope, p_max_slides, p_floor_max_angle, p_infinite_inertia);
-	if (!was_on_floor || p_snap == Vector3()) {
-		return ret;
+	if (!was_on_floor || snap == Vector3()) {
+		return;
 	}
 
-	Collision col;
+	// Apply snap.
 	Transform3D gt = get_global_transform();
-
-	if (move_and_collide(p_snap, p_infinite_inertia, col, false, true)) {
+	PhysicsServer3D::MotionResult result;
+	if (move_and_collide(snap, infinite_inertia, result, margin, false, true)) {
 		bool apply = true;
 		if (up_direction != Vector3()) {
-			if (Math::acos(col.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
+			if (Math::acos(result.collision_normal.dot(up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
 				on_floor = true;
-				floor_normal = col.normal;
-				on_floor_body = col.collider_rid;
-				floor_velocity = col.collider_vel;
-				if (p_stop_on_slope) {
+				floor_normal = result.collision_normal;
+				on_floor_body = result.collider;
+				floor_velocity = result.collider_velocity;
+				if (stop_on_slope) {
 					// move and collide may stray the object a bit because of pre un-stucking,
 					// so only ensure that motion happens on floor direction in this case.
-					col.travel = col.travel.project(up_direction);
+					result.motion = result.motion.project(up_direction);
 				}
 			} else {
 				apply = false; //snapped with floor direction, but did not snap to a floor, do not snap.
 			}
 		}
 		if (apply) {
-			gt.origin += col.travel;
+			gt.origin += result.motion;
 			set_global_transform(gt);
 		}
 	}
-
-	return ret;
-}
-
-bool KinematicBody3D::is_on_floor() const {
-	return on_floor;
 }
 
-bool KinematicBody3D::is_on_wall() const {
-	return on_wall;
-}
-
-bool KinematicBody3D::is_on_ceiling() const {
-	return on_ceiling;
-}
-
-Vector3 KinematicBody3D::get_floor_normal() const {
-	return floor_normal;
-}
-
-Vector3 KinematicBody3D::get_floor_velocity() const {
-	return floor_velocity;
-}
-
-bool KinematicBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia) {
-	ERR_FAIL_COND_V(!is_inside_tree(), false);
-
-	return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia);
-}
-
-bool KinematicBody3D::separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision) {
+bool CharacterBody3D::separate_raycast_shapes(PhysicsServer3D::MotionResult &r_result) {
 	PhysicsServer3D::SeparationResult sep_res[8]; //max 8 rays
 
 	Transform3D gt = get_global_transform();
 
 	Vector3 recover;
-	int hits = PhysicsServer3D::get_singleton()->body_test_ray_separation(get_rid(), gt, p_infinite_inertia, recover, sep_res, 8, margin);
+	int hits = PhysicsServer3D::get_singleton()->body_test_ray_separation(get_rid(), gt, infinite_inertia, recover, sep_res, 8, margin);
 	int deepest = -1;
 	real_t deepest_depth;
 	for (int i = 0; i < hits; i++) {
@@ -1024,15 +1100,15 @@ bool KinematicBody3D::separate_raycast_shapes(bool p_infinite_inertia, Collision
 	set_global_transform(gt);
 
 	if (deepest != -1) {
-		r_collision.collider = sep_res[deepest].collider_id;
-		r_collision.collider_metadata = sep_res[deepest].collider_metadata;
-		r_collision.collider_shape = sep_res[deepest].collider_shape;
-		r_collision.collider_vel = sep_res[deepest].collider_velocity;
-		r_collision.collision = sep_res[deepest].collision_point;
-		r_collision.normal = sep_res[deepest].collision_normal;
-		r_collision.local_shape = sep_res[deepest].collision_local_shape;
-		r_collision.travel = recover;
-		r_collision.remainder = Vector3();
+		r_result.collider_id = sep_res[deepest].collider_id;
+		r_result.collider_metadata = sep_res[deepest].collider_metadata;
+		r_result.collider_shape = sep_res[deepest].collider_shape;
+		r_result.collider_velocity = sep_res[deepest].collider_velocity;
+		r_result.collision_point = sep_res[deepest].collision_point;
+		r_result.collision_normal = sep_res[deepest].collision_normal;
+		r_result.collision_local_shape = sep_res[deepest].collision_local_shape;
+		r_result.motion = recover;
+		r_result.remainder = Vector3();
 
 		return true;
 	} else {
@@ -1040,39 +1116,53 @@ bool KinematicBody3D::separate_raycast_shapes(bool p_infinite_inertia, Collision
 	}
 }
 
-void KinematicBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
-	if (p_lock) {
-		locked_axis |= p_axis;
-	} else {
-		locked_axis &= (~p_axis);
-	}
-	PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
+void CharacterBody3D::set_safe_margin(real_t p_margin) {
+	margin = p_margin;
 }
 
-bool KinematicBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
-	return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
+real_t CharacterBody3D::get_safe_margin() const {
+	return margin;
 }
 
-void KinematicBody3D::set_safe_margin(real_t p_margin) {
-	margin = p_margin;
-	PhysicsServer3D::get_singleton()->body_set_kinematic_safe_margin(get_rid(), margin);
+Vector3 CharacterBody3D::get_linear_velocity() const {
+	return linear_velocity;
 }
 
-real_t KinematicBody3D::get_safe_margin() const {
-	return margin;
+void CharacterBody3D::set_linear_velocity(const Vector3 &p_velocity) {
+	linear_velocity = p_velocity;
+}
+
+bool CharacterBody3D::is_on_floor() const {
+	return on_floor;
+}
+
+bool CharacterBody3D::is_on_wall() const {
+	return on_wall;
+}
+
+bool CharacterBody3D::is_on_ceiling() const {
+	return on_ceiling;
+}
+
+Vector3 CharacterBody3D::get_floor_normal() const {
+	return floor_normal;
+}
+
+Vector3 CharacterBody3D::get_floor_velocity() const {
+	return floor_velocity;
 }
 
-int KinematicBody3D::get_slide_count() const {
-	return colliders.size();
+int CharacterBody3D::get_slide_count() const {
+	return motion_results.size();
 }
 
-KinematicBody3D::Collision KinematicBody3D::get_slide_collision(int p_bounce) const {
-	ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Collision());
-	return colliders[p_bounce];
+PhysicsServer3D::MotionResult CharacterBody3D::get_slide_collision(int p_bounce) const {
+	ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), PhysicsServer3D::MotionResult());
+	return motion_results[p_bounce];
 }
 
-Ref<KinematicCollision3D> KinematicBody3D::_get_slide_collision(int p_bounce) {
-	ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Ref<KinematicCollision3D>());
+Ref<KinematicCollision3D> CharacterBody3D::_get_slide_collision(int p_bounce) {
+	ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), Ref<KinematicCollision3D>());
 	if (p_bounce >= slide_colliders.size()) {
 		slide_colliders.resize(p_bounce + 1);
 	}
@@ -1082,75 +1172,115 @@ Ref<KinematicCollision3D> KinematicBody3D::_get_slide_collision(int p_bounce) {
 		slide_colliders.write[p_bounce]->owner = this;
 	}
 
-	slide_colliders.write[p_bounce]->collision = colliders[p_bounce];
+	slide_colliders.write[p_bounce]->result = motion_results[p_bounce];
 	return slide_colliders[p_bounce];
 }
 
-void KinematicBody3D::_notification(int p_what) {
+bool CharacterBody3D::is_stop_on_slope_enabled() const {
+	return stop_on_slope;
+}
+
+void CharacterBody3D::set_stop_on_slope_enabled(bool p_enabled) {
+	stop_on_slope = p_enabled;
+}
+
+bool CharacterBody3D::is_infinite_inertia_enabled() const {
+	return infinite_inertia;
+}
+void CharacterBody3D::set_infinite_inertia_enabled(bool p_enabled) {
+	infinite_inertia = p_enabled;
+}
+
+int CharacterBody3D::get_max_slides() const {
+	return max_slides;
+}
+
+void CharacterBody3D::set_max_slides(int p_max_slides) {
+	ERR_FAIL_COND(p_max_slides > 0);
+	max_slides = p_max_slides;
+}
+
+real_t CharacterBody3D::get_floor_max_angle() const {
+	return floor_max_angle;
+}
+
+void CharacterBody3D::set_floor_max_angle(real_t p_floor_max_angle) {
+	floor_max_angle = p_floor_max_angle;
+}
+
+const Vector3 &CharacterBody3D::get_snap() const {
+	return snap;
+}
+
+void CharacterBody3D::set_snap(const Vector3 &p_snap) {
+	snap = p_snap;
+}
+
+const Vector3 &CharacterBody3D::get_up_direction() const {
+	return up_direction;
+}
+
+void CharacterBody3D::set_up_direction(const Vector3 &p_up_direction) {
+	up_direction = p_up_direction.normalized();
+}
+
+void CharacterBody3D::_notification(int p_what) {
 	if (p_what == NOTIFICATION_ENTER_TREE) {
 		// Reset move_and_slide() data.
 		on_floor = false;
 		on_floor_body = RID();
 		on_ceiling = false;
 		on_wall = false;
-		colliders.clear();
+		motion_results.clear();
 		floor_velocity = Vector3();
 	}
 }
 
-void KinematicBody3D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only"), &KinematicBody3D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false));
-	ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((real_t)45.0)), DEFVAL(true));
-	ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((real_t)45.0)), DEFVAL(true));
-
-	ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody3D::test_move, DEFVAL(true));
+void CharacterBody3D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("move_and_slide"), &CharacterBody3D::move_and_slide);
 
-	ClassDB::bind_method(D_METHOD("is_on_floor"), &KinematicBody3D::is_on_floor);
-	ClassDB::bind_method(D_METHOD("is_on_ceiling"), &KinematicBody3D::is_on_ceiling);
-	ClassDB::bind_method(D_METHOD("is_on_wall"), &KinematicBody3D::is_on_wall);
-	ClassDB::bind_method(D_METHOD("get_floor_normal"), &KinematicBody3D::get_floor_normal);
-	ClassDB::bind_method(D_METHOD("get_floor_velocity"), &KinematicBody3D::get_floor_velocity);
+	ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &CharacterBody3D::set_linear_velocity);
+	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &CharacterBody3D::get_linear_velocity);
 
-	ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &KinematicBody3D::set_axis_lock);
-	ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &KinematicBody3D::get_axis_lock);
+	ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &CharacterBody3D::set_safe_margin);
+	ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody3D::get_safe_margin);
+	ClassDB::bind_method(D_METHOD("is_stop_on_slope_enabled"), &CharacterBody3D::is_stop_on_slope_enabled);
+	ClassDB::bind_method(D_METHOD("set_stop_on_slope_enabled", "enabled"), &CharacterBody3D::set_stop_on_slope_enabled);
+	ClassDB::bind_method(D_METHOD("is_infinite_inertia_enabled"), &CharacterBody3D::is_infinite_inertia_enabled);
+	ClassDB::bind_method(D_METHOD("set_infinite_inertia_enabled", "enabled"), &CharacterBody3D::set_infinite_inertia_enabled);
+	ClassDB::bind_method(D_METHOD("get_max_slides"), &CharacterBody3D::get_max_slides);
+	ClassDB::bind_method(D_METHOD("set_max_slides", "max_slides"), &CharacterBody3D::set_max_slides);
+	ClassDB::bind_method(D_METHOD("get_floor_max_angle"), &CharacterBody3D::get_floor_max_angle);
+	ClassDB::bind_method(D_METHOD("set_floor_max_angle", "floor_max_angle"), &CharacterBody3D::set_floor_max_angle);
+	ClassDB::bind_method(D_METHOD("get_snap"), &CharacterBody3D::get_snap);
+	ClassDB::bind_method(D_METHOD("set_snap", "snap"), &CharacterBody3D::set_snap);
+	ClassDB::bind_method(D_METHOD("get_up_direction"), &CharacterBody3D::get_up_direction);
+	ClassDB::bind_method(D_METHOD("set_up_direction", "up_direction"), &CharacterBody3D::set_up_direction);
 
-	ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &KinematicBody3D::set_safe_margin);
-	ClassDB::bind_method(D_METHOD("get_safe_margin"), &KinematicBody3D::get_safe_margin);
+	ClassDB::bind_method(D_METHOD("is_on_floor"), &CharacterBody3D::is_on_floor);
+	ClassDB::bind_method(D_METHOD("is_on_ceiling"), &CharacterBody3D::is_on_ceiling);
+	ClassDB::bind_method(D_METHOD("is_on_wall"), &CharacterBody3D::is_on_wall);
+	ClassDB::bind_method(D_METHOD("get_floor_normal"), &CharacterBody3D::get_floor_normal);
+	ClassDB::bind_method(D_METHOD("get_floor_velocity"), &CharacterBody3D::get_floor_velocity);
 
-	ClassDB::bind_method(D_METHOD("get_slide_count"), &KinematicBody3D::get_slide_count);
-	ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &KinematicBody3D::_get_slide_collision);
-
-	ADD_GROUP("Axis Lock", "axis_lock_");
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_motion_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_motion_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_motion_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);
+	ClassDB::bind_method(D_METHOD("get_slide_count"), &CharacterBody3D::get_slide_count);
+	ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &CharacterBody3D::_get_slide_collision);
 
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "stop_on_slope"), "set_stop_on_slope_enabled", "is_stop_on_slope_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "infinite_inertia"), "set_infinite_inertia_enabled", "is_infinite_inertia_enabled");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides"), "set_max_slides", "get_max_slides");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_max_angle"), "set_floor_max_angle", "get_floor_max_angle");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "snap"), "set_snap", "get_snap");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "up_direction"), "set_up_direction", "get_up_direction");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin");
 }
 
-void KinematicBody3D::_direct_state_changed(Object *p_state) {
-#ifdef DEBUG_ENABLED
-	PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
-	ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
-#else
-	PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; //trust it
-#endif
-
-	linear_velocity = state->get_linear_velocity();
-	angular_velocity = state->get_angular_velocity();
-}
-
-KinematicBody3D::KinematicBody3D() :
+CharacterBody3D::CharacterBody3D() :
 		PhysicsBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) {
-	set_safe_margin(0.001);
-	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &KinematicBody3D::_direct_state_changed));
 }
 
-KinematicBody3D::~KinematicBody3D() {
-	if (motion_cache.is_valid()) {
-		motion_cache->owner = nullptr;
-	}
-
+CharacterBody3D::~CharacterBody3D() {
 	for (int i = 0; i < slide_colliders.size(); i++) {
 		if (slide_colliders[i].is_valid()) {
 			slide_colliders.write[i]->owner = nullptr;
@@ -1161,39 +1291,39 @@ KinematicBody3D::~KinematicBody3D() {
 ///////////////////////////////////////
 
 Vector3 KinematicCollision3D::get_position() const {
-	return collision.collision;
+	return result.collision_point;
 }
 
 Vector3 KinematicCollision3D::get_normal() const {
-	return collision.normal;
+	return result.collision_normal;
 }
 
 Vector3 KinematicCollision3D::get_travel() const {
-	return collision.travel;
+	return result.motion;
 }
 
 Vector3 KinematicCollision3D::get_remainder() const {
-	return collision.remainder;
+	return result.remainder;
 }
 
 Object *KinematicCollision3D::get_local_shape() const {
 	if (!owner) {
 		return nullptr;
 	}
-	uint32_t ownerid = owner->shape_find_owner(collision.local_shape);
+	uint32_t ownerid = owner->shape_find_owner(result.collision_local_shape);
 	return owner->shape_owner_get_owner(ownerid);
 }
 
 Object *KinematicCollision3D::get_collider() const {
-	if (collision.collider.is_valid()) {
-		return ObjectDB::get_instance(collision.collider);
+	if (result.collider_id.is_valid()) {
+		return ObjectDB::get_instance(result.collider_id);
 	}
 
 	return nullptr;
 }
 
 ObjectID KinematicCollision3D::get_collider_id() const {
-	return collision.collider;
+	return result.collider_id;
 }
 
 Object *KinematicCollision3D::get_collider_shape() const {
@@ -1201,7 +1331,7 @@ Object *KinematicCollision3D::get_collider_shape() const {
 	if (collider) {
 		CollisionObject3D *obj2d = Object::cast_to<CollisionObject3D>(collider);
 		if (obj2d) {
-			uint32_t ownerid = obj2d->shape_find_owner(collision.collider_shape);
+			uint32_t ownerid = obj2d->shape_find_owner(result.collider_shape);
 			return obj2d->shape_owner_get_owner(ownerid);
 		}
 	}
@@ -1210,11 +1340,11 @@ Object *KinematicCollision3D::get_collider_shape() const {
 }
 
 int KinematicCollision3D::get_collider_shape_index() const {
-	return collision.collider_shape;
+	return result.collider_shape;
 }
 
 Vector3 KinematicCollision3D::get_collider_velocity() const {
-	return collision.collider_vel;
+	return result.collider_velocity;
 }
 
 Variant KinematicCollision3D::get_collider_metadata() const {
@@ -1247,12 +1377,6 @@ void KinematicCollision3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::NIL, "collider_metadata", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NIL_IS_VARIANT), "", "get_collider_metadata");
 }
 
-KinematicCollision3D::KinematicCollision3D() {
-	collision.collider_shape = 0;
-	collision.local_shape = 0;
-	owner = nullptr;
-}
-
 ///////////////////////////////////////
 
 bool PhysicalBone3D::JointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
@@ -2048,9 +2172,6 @@ void PhysicalBone3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &PhysicalBone3D::set_can_sleep);
 	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &PhysicalBone3D::is_able_to_sleep);
 
-	ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicalBone3D::set_axis_lock);
-	ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicalBone3D::get_axis_lock);
-
 	ADD_GROUP("Joint", "joint_");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type");
 	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "joint_offset"), "set_joint_offset", "get_joint_offset");
@@ -2067,14 +2188,6 @@ void PhysicalBone3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
 
-	ADD_GROUP("Axis Lock", "axis_lock_");
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y);
-	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z);
-
 	BIND_ENUM_CONSTANT(JOINT_TYPE_NONE);
 	BIND_ENUM_CONSTANT(JOINT_TYPE_PIN);
 	BIND_ENUM_CONSTANT(JOINT_TYPE_CONE);
@@ -2416,14 +2529,6 @@ bool PhysicalBone3D::is_able_to_sleep() const {
 	return can_sleep;
 }
 
-void PhysicalBone3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
-	PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
-}
-
-bool PhysicalBone3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
-	return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
-}
-
 PhysicalBone3D::PhysicalBone3D() :
 		PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) {
 	joint = PhysicsServer3D::get_singleton()->joint_create();
@@ -2483,7 +2588,7 @@ void PhysicalBone3D::_start_physics_simulation() {
 		return;
 	}
 	reset_to_rest_position();
-	PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_RIGID);
+	PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_DYNAMIC);
 	PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer());
 	PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask());
 	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &PhysicalBone3D::_direct_state_changed));
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h
index da008ab8cb..d5e474c5d5 100644
--- a/scene/3d/physics_body_3d.h
+++ b/scene/3d/physics_body_3d.h
@@ -37,6 +37,8 @@
 #include "servers/physics_server_3d.h"
 #include "skeleton_3d.h"
 
+class KinematicCollision3D;
+
 class PhysicsBody3D : public CollisionObject3D {
 	GDCLASS(PhysicsBody3D, CollisionObject3D);
 
@@ -44,7 +46,19 @@ protected:
 	static void _bind_methods();
 	PhysicsBody3D(PhysicsServer3D::BodyMode p_mode);
 
+	Ref<KinematicCollision3D> motion_cache;
+
+	uint16_t locked_axis = 0;
+
+	Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false, real_t p_margin = 0.001);
+
 public:
+	bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
+	bool test_move(const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, const Ref<KinematicCollision3D> &r_collision = Ref<KinematicCollision3D>(), real_t p_margin = 0.001);
+
+	void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
+	bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
+
 	virtual Vector3 get_linear_velocity() const;
 	virtual Vector3 get_angular_velocity() const;
 	virtual real_t get_inverse_mass() const;
@@ -53,7 +67,7 @@ public:
 	void add_collision_exception_with(Node *p_node); //must be physicsbody
 	void remove_collision_exception_with(Node *p_node);
 
-	PhysicsBody3D();
+	virtual ~PhysicsBody3D();
 };
 
 class StaticBody3D : public PhysicsBody3D {
@@ -62,11 +76,19 @@ class StaticBody3D : public PhysicsBody3D {
 	Vector3 constant_linear_velocity;
 	Vector3 constant_angular_velocity;
 
+	Vector3 linear_velocity;
+	Vector3 angular_velocity;
+
 	Ref<PhysicsMaterial> physics_material_override;
 
+	bool kinematic_motion = false;
+
 protected:
+	void _notification(int p_what);
 	static void _bind_methods();
 
+	void _direct_state_changed(Object *p_state);
+
 public:
 	void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
 	Ref<PhysicsMaterial> get_physics_material_override() const;
@@ -77,11 +99,18 @@ public:
 	Vector3 get_constant_linear_velocity() const;
 	Vector3 get_constant_angular_velocity() const;
 
+	virtual Vector3 get_linear_velocity() const override;
+	virtual Vector3 get_angular_velocity() const override;
+
 	StaticBody3D();
-	~StaticBody3D();
 
 private:
 	void _reload_physics_characteristics();
+
+	void _update_kinematic_motion();
+
+	void set_kinematic_motion_enabled(bool p_enabled);
+	bool is_kinematic_motion_enabled() const;
 };
 
 class RigidBody3D : public PhysicsBody3D {
@@ -89,16 +118,16 @@ class RigidBody3D : public PhysicsBody3D {
 
 public:
 	enum Mode {
-		MODE_RIGID,
+		MODE_DYNAMIC,
 		MODE_STATIC,
-		MODE_CHARACTER,
+		MODE_DYNAMIC_LOCKED,
 		MODE_KINEMATIC,
 	};
 
 protected:
 	bool can_sleep = true;
 	PhysicsDirectBodyState3D *state = nullptr;
-	Mode mode = MODE_RIGID;
+	Mode mode = MODE_DYNAMIC;
 
 	real_t mass = 1.0;
 	Ref<PhysicsMaterial> physics_material_override;
@@ -212,9 +241,6 @@ public:
 	void set_use_continuous_collision_detection(bool p_enable);
 	bool is_using_continuous_collision_detection() const;
 
-	void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
-	bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
-
 	Array get_colliding_bodies() const;
 
 	void add_central_force(const Vector3 &p_force);
@@ -238,30 +264,20 @@ VARIANT_ENUM_CAST(RigidBody3D::Mode);
 
 class KinematicCollision3D;
 
-class KinematicBody3D : public PhysicsBody3D {
-	GDCLASS(KinematicBody3D, PhysicsBody3D);
-
-public:
-	struct Collision {
-		Vector3 collision;
-		Vector3 normal;
-		Vector3 collider_vel;
-		ObjectID collider;
-		RID collider_rid;
-		int collider_shape = 0;
-		Variant collider_metadata;
-		Vector3 remainder;
-		Vector3 travel;
-		int local_shape = 0;
-	};
+class CharacterBody3D : public PhysicsBody3D {
+	GDCLASS(CharacterBody3D, PhysicsBody3D);
 
 private:
-	Vector3 linear_velocity;
-	Vector3 angular_velocity;
+	real_t margin = 0.001;
 
-	uint16_t locked_axis = 0;
+	bool stop_on_slope = false;
+	bool infinite_inertia = true;
+	int max_slides = 4;
+	real_t floor_max_angle = Math::deg2rad((real_t)45.0);
+	Vector3 snap;
+	Vector3 up_direction = Vector3(0.0, 1.0, 0.0);
 
-	real_t margin;
+	Vector3 linear_velocity;
 
 	Vector3 floor_normal;
 	Vector3 floor_velocity;
@@ -269,38 +285,44 @@ private:
 	bool on_floor = false;
 	bool on_ceiling = false;
 	bool on_wall = false;
-	Vector<Collision> colliders;
+	Vector<PhysicsServer3D::MotionResult> motion_results;
 	Vector<Ref<KinematicCollision3D>> slide_colliders;
-	Ref<KinematicCollision3D> motion_cache;
-
-	_FORCE_INLINE_ bool _ignores_mode(PhysicsServer3D::BodyMode) const;
 
-	Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
 	Ref<KinematicCollision3D> _get_slide_collision(int p_bounce);
 
-protected:
-	void _notification(int p_what);
-	static void _bind_methods();
+	bool separate_raycast_shapes(PhysicsServer3D::MotionResult &r_result);
 
-	virtual void _direct_state_changed(Object *p_state);
+	void set_safe_margin(real_t p_margin);
+	real_t get_safe_margin() const;
 
-public:
-	virtual Vector3 get_linear_velocity() const override;
-	virtual Vector3 get_angular_velocity() const override;
+	bool is_stop_on_slope_enabled() const;
+	void set_stop_on_slope_enabled(bool p_enabled);
 
-	bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
-	bool test_move(const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia);
+	bool is_infinite_inertia_enabled() const;
+	void set_infinite_inertia_enabled(bool p_enabled);
 
-	bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision);
+	int get_max_slides() const;
+	void set_max_slides(int p_max_slides);
 
-	void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
-	bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
+	real_t get_floor_max_angle() const;
+	void set_floor_max_angle(real_t p_floor_max_angle);
 
-	void set_safe_margin(real_t p_margin);
-	real_t get_safe_margin() const;
+	const Vector3 &get_snap() const;
+	void set_snap(const Vector3 &p_snap);
+
+	const Vector3 &get_up_direction() const;
+	void set_up_direction(const Vector3 &p_up_direction);
+
+protected:
+	void _notification(int p_what);
+	static void _bind_methods();
+
+public:
+	void move_and_slide();
+
+	virtual Vector3 get_linear_velocity() const override;
+	void set_linear_velocity(const Vector3 &p_velocity);
 
-	Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, real_t p_floor_max_angle = Math::deg2rad((real_t)45.0), bool p_infinite_inertia = true);
-	Vector3 move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, real_t p_floor_max_angle = Math::deg2rad((real_t)45.0), bool p_infinite_inertia = true);
 	bool is_on_floor() const;
 	bool is_on_wall() const;
 	bool is_on_ceiling() const;
@@ -308,18 +330,19 @@ public:
 	Vector3 get_floor_velocity() const;
 
 	int get_slide_count() const;
-	Collision get_slide_collision(int p_bounce) const;
+	PhysicsServer3D::MotionResult get_slide_collision(int p_bounce) const;
 
-	KinematicBody3D();
-	~KinematicBody3D();
+	CharacterBody3D();
+	~CharacterBody3D();
 };
 
 class KinematicCollision3D : public Reference {
 	GDCLASS(KinematicCollision3D, Reference);
 
-	KinematicBody3D *owner;
-	friend class KinematicBody3D;
-	KinematicBody3D::Collision collision;
+	PhysicsBody3D *owner = nullptr;
+	friend class PhysicsBody3D;
+	friend class CharacterBody3D;
+	PhysicsServer3D::MotionResult result;
 
 protected:
 	static void _bind_methods();
@@ -336,8 +359,6 @@ public:
 	int get_collider_shape_index() const;
 	Vector3 get_collider_velocity() const;
 	Variant get_collider_metadata() const;
-
-	KinematicCollision3D();
 };
 
 class PhysicalBone3D : public PhysicsBody3D {
@@ -560,9 +581,6 @@ public:
 	void set_can_sleep(bool p_active);
 	bool is_able_to_sleep() const;
 
-	void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
-	bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
-
 	void apply_central_impulse(const Vector3 &p_impulse);
 	void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
 
diff --git a/scene/3d/visibility_notifier_3d.cpp b/scene/3d/visibility_notifier_3d.cpp
index 471838b9d1..b230cb2fd7 100644
--- a/scene/3d/visibility_notifier_3d.cpp
+++ b/scene/3d/visibility_notifier_3d.cpp
@@ -138,7 +138,7 @@ void VisibilityEnabler3D::_find_nodes(Node *p_node) {
 
 	{
 		RigidBody3D *rb = Object::cast_to<RigidBody3D>(p_node);
-		if (rb && ((rb->get_mode() == RigidBody3D::MODE_CHARACTER || rb->get_mode() == RigidBody3D::MODE_RIGID))) {
+		if (rb && ((rb->get_mode() == RigidBody3D::MODE_DYNAMIC || rb->get_mode() == RigidBody3D::MODE_DYNAMIC_LOCKED))) {
 			add = true;
 			meta = rb->get_mode();
 		}
diff --git a/scene/register_scene_types.cpp b/scene/register_scene_types.cpp
index d0deda438f..1dd9ccf399 100644
--- a/scene/register_scene_types.cpp
+++ b/scene/register_scene_types.cpp
@@ -482,7 +482,7 @@ void register_scene_types() {
 	ClassDB::register_class<StaticBody3D>();
 	ClassDB::register_class<RigidBody3D>();
 	ClassDB::register_class<KinematicCollision3D>();
-	ClassDB::register_class<KinematicBody3D>();
+	ClassDB::register_class<CharacterBody3D>();
 	ClassDB::register_class<SpringArm3D>();
 
 	ClassDB::register_class<PhysicalBone3D>();
@@ -627,7 +627,7 @@ void register_scene_types() {
 	ClassDB::register_virtual_class<PhysicsBody2D>();
 	ClassDB::register_class<StaticBody2D>();
 	ClassDB::register_class<RigidBody2D>();
-	ClassDB::register_class<KinematicBody2D>();
+	ClassDB::register_class<CharacterBody2D>();
 	ClassDB::register_class<KinematicCollision2D>();
 	ClassDB::register_class<Area2D>();
 	ClassDB::register_class<CollisionShape2D>();
@@ -865,7 +865,8 @@ void register_scene_types() {
 	ClassDB::add_compatibility_class("HingeJoint", "HingeJoint3D");
 	ClassDB::add_compatibility_class("ImmediateGeometry", "ImmediateGeometry3D");
 	ClassDB::add_compatibility_class("Joint", "Joint3D");
-	ClassDB::add_compatibility_class("KinematicBody", "KinematicBody3D");
+	ClassDB::add_compatibility_class("KinematicBody", "CharacterBody3D");
+	ClassDB::add_compatibility_class("KinematicBody2D", "CharacterBody2D");
 	ClassDB::add_compatibility_class("KinematicCollision", "KinematicCollision3D");
 	ClassDB::add_compatibility_class("Light", "Light3D");
 	ClassDB::add_compatibility_class("Listener", "Listener3D");
diff --git a/servers/physics_2d/body_2d_sw.cpp b/servers/physics_2d/body_2d_sw.cpp
index f78a487e27..6f244deb1e 100644
--- a/servers/physics_2d/body_2d_sw.cpp
+++ b/servers/physics_2d/body_2d_sw.cpp
@@ -43,7 +43,7 @@ void Body2DSW::update_inertias() {
 	//update shapes and motions
 
 	switch (mode) {
-		case PhysicsServer2D::BODY_MODE_RIGID: {
+		case PhysicsServer2D::BODY_MODE_DYNAMIC: {
 			if (user_inertia) {
 				_inv_inertia = inertia > 0 ? (1.0 / inertia) : 0;
 				break;
@@ -87,7 +87,7 @@ void Body2DSW::update_inertias() {
 			_inv_inertia = 0;
 			_inv_mass = 0;
 		} break;
-		case PhysicsServer2D::BODY_MODE_CHARACTER: {
+		case PhysicsServer2D::BODY_MODE_DYNAMIC_LOCKED: {
 			_inv_inertia = 0;
 			_inv_mass = 1.0 / mass;
 
@@ -204,14 +204,14 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
 				first_time_kinematic = true;
 			}
 		} break;
-		case PhysicsServer2D::BODY_MODE_RIGID: {
+		case PhysicsServer2D::BODY_MODE_DYNAMIC: {
 			_inv_mass = mass > 0 ? (1.0 / mass) : 0;
 			_inv_inertia = inertia > 0 ? (1.0 / inertia) : 0;
 			_set_static(false);
 			set_active(true);
 
 		} break;
-		case PhysicsServer2D::BODY_MODE_CHARACTER: {
+		case PhysicsServer2D::BODY_MODE_DYNAMIC_LOCKED: {
 			_inv_mass = mass > 0 ? (1.0 / mass) : 0;
 			_inv_inertia = 0;
 			_set_static(false);
@@ -219,7 +219,7 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
 			angular_velocity = 0;
 		} break;
 	}
-	if (p_mode == PhysicsServer2D::BODY_MODE_RIGID && _inv_inertia == 0) {
+	if (p_mode == PhysicsServer2D::BODY_MODE_DYNAMIC && _inv_inertia == 0) {
 		_update_inertia();
 	}
 	/*
@@ -267,25 +267,16 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va
 
 		} break;
 		case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: {
-			/*
-			if (mode==PhysicsServer2D::BODY_MODE_STATIC)
-				break;
-			*/
 			linear_velocity = p_variant;
 			wakeup();
 
 		} break;
 		case PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY: {
-			/*
-			if (mode!=PhysicsServer2D::BODY_MODE_RIGID)
-				break;
-			*/
 			angular_velocity = p_variant;
 			wakeup();
 
 		} break;
 		case PhysicsServer2D::BODY_STATE_SLEEPING: {
-			//?
 			if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
 				break;
 			}
@@ -304,7 +295,7 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va
 		} break;
 		case PhysicsServer2D::BODY_STATE_CAN_SLEEP: {
 			can_sleep = p_variant;
-			if (mode == PhysicsServer2D::BODY_MODE_RIGID && !active && !can_sleep) {
+			if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC && !active && !can_sleep) {
 				set_active(true);
 			}
 
@@ -551,7 +542,7 @@ void Body2DSW::wakeup_neighbours() {
 				continue;
 			}
 			Body2DSW *b = n[i];
-			if (b->mode != PhysicsServer2D::BODY_MODE_RIGID) {
+			if (b->mode != PhysicsServer2D::BODY_MODE_DYNAMIC) {
 				continue;
 			}
 
@@ -588,9 +579,7 @@ void Body2DSW::call_queries() {
 
 bool Body2DSW::sleep_test(real_t p_step) {
 	if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
-		return true; //
-	} else if (mode == PhysicsServer2D::BODY_MODE_CHARACTER) {
-		return !active; // characters and kinematic bodies don't sleep unless asked to sleep
+		return true;
 	} else if (!can_sleep) {
 		return false;
 	}
@@ -623,7 +612,7 @@ Body2DSW::Body2DSW() :
 		active_list(this),
 		inertia_update_list(this),
 		direct_state_query_list(this) {
-	mode = PhysicsServer2D::BODY_MODE_RIGID;
+	mode = PhysicsServer2D::BODY_MODE_DYNAMIC;
 	active = true;
 	angular_velocity = 0;
 	biased_angular_velocity = 0;
diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/physics_server_2d_sw.h
index f1eb78a776..5002bf5fc8 100644
--- a/servers/physics_2d/physics_server_2d_sw.h
+++ b/servers/physics_2d/physics_server_2d_sw.h
@@ -247,8 +247,8 @@ public:
 
 	virtual void body_set_pickable(RID p_body, bool p_pickable) override;
 
-	virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override;
-	virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
+	virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.08, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override;
+	virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.08) override;
 
 	// this function only works on physics process, errors and returns null otherwise
 	virtual PhysicsDirectBodyState2D *body_get_direct_state(RID p_body) override;
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 4f12248c3e..1380e57b57 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -827,7 +827,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 
 						if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
 							const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
-							if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_RIGID) {
+							if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) {
 								//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
 								Vector2 lv = b->get_linear_velocity();
 								//compute displacement from linear velocity
@@ -1109,7 +1109,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
 
 					if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
 						const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
-						if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_RIGID) {
+						if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) {
 							//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
 							Vector2 lv = b->get_linear_velocity();
 							//compute displacement from linear velocity
diff --git a/servers/physics_3d/body_3d_sw.cpp b/servers/physics_3d/body_3d_sw.cpp
index afcfde7bbb..ea6064cb4c 100644
--- a/servers/physics_3d/body_3d_sw.cpp
+++ b/servers/physics_3d/body_3d_sw.cpp
@@ -54,7 +54,7 @@ void Body3DSW::update_inertias() {
 	// Update shapes and motions.
 
 	switch (mode) {
-		case PhysicsServer3D::BODY_MODE_RIGID: {
+		case PhysicsServer3D::BODY_MODE_DYNAMIC: {
 			// Update tensor for all shapes, not the best way but should be somehow OK. (inspired from bullet)
 			real_t total_area = 0;
 
@@ -132,7 +132,7 @@ void Body3DSW::update_inertias() {
 			_inv_inertia_tensor.set_zero();
 			_inv_mass = 0;
 		} break;
-		case PhysicsServer3D::BODY_MODE_CHARACTER: {
+		case PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED: {
 			_inv_inertia_tensor.set_zero();
 			_inv_mass = 1.0 / mass;
 
@@ -239,13 +239,13 @@ void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) {
 			}
 
 		} break;
-		case PhysicsServer3D::BODY_MODE_RIGID: {
+		case PhysicsServer3D::BODY_MODE_DYNAMIC: {
 			_inv_mass = mass > 0 ? (1.0 / mass) : 0;
 			_set_static(false);
 			set_active(true);
 
 		} break;
-		case PhysicsServer3D::BODY_MODE_CHARACTER: {
+		case PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED: {
 			_inv_mass = mass > 0 ? (1.0 / mass) : 0;
 			_set_static(false);
 			set_active(true);
@@ -299,24 +299,15 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va
 
 		} break;
 		case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY: {
-			/*
-			if (mode==PhysicsServer3D::BODY_MODE_STATIC)
-				break;
-			*/
 			linear_velocity = p_variant;
 			wakeup();
 		} break;
 		case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY: {
-			/*
-			if (mode!=PhysicsServer3D::BODY_MODE_RIGID)
-				break;
-			*/
 			angular_velocity = p_variant;
 			wakeup();
 
 		} break;
 		case PhysicsServer3D::BODY_STATE_SLEEPING: {
-			//?
 			if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
 				break;
 			}
@@ -333,7 +324,7 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va
 		} break;
 		case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
 			can_sleep = p_variant;
-			if (mode == PhysicsServer3D::BODY_MODE_RIGID && !active && !can_sleep) {
+			if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC && !active && !can_sleep) {
 				set_active(true);
 			}
 
@@ -659,7 +650,7 @@ void Body3DSW::wakeup_neighbours() {
 				continue;
 			}
 			Body3DSW *b = n[i];
-			if (b->mode != PhysicsServer3D::BODY_MODE_RIGID) {
+			if (b->mode != PhysicsServer3D::BODY_MODE_DYNAMIC) {
 				continue;
 			}
 
@@ -693,9 +684,7 @@ void Body3DSW::call_queries() {
 
 bool Body3DSW::sleep_test(real_t p_step) {
 	if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
-		return true; //
-	} else if (mode == PhysicsServer3D::BODY_MODE_CHARACTER) {
-		return !active; // characters don't sleep unless asked to sleep
+		return true;
 	} else if (!can_sleep) {
 		return false;
 	}
@@ -723,22 +712,16 @@ void Body3DSW::set_force_integration_callback(const Callable &p_callable, const
 	}
 }
 
-void Body3DSW::set_kinematic_margin(real_t p_margin) {
-	kinematic_safe_margin = p_margin;
-}
-
 Body3DSW::Body3DSW() :
 		CollisionObject3DSW(TYPE_BODY),
 
 		active_list(this),
 		inertia_update_list(this),
 		direct_state_query_list(this) {
-	mode = PhysicsServer3D::BODY_MODE_RIGID;
+	mode = PhysicsServer3D::BODY_MODE_DYNAMIC;
 	active = true;
 
 	mass = 1;
-	kinematic_safe_margin = 0.001;
-	//_inv_inertia=Transform3D();
 	_inv_mass = 1;
 	bounce = 0;
 	friction = 1;
diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h
index 9ef0cd8467..0fa31c5037 100644
--- a/servers/physics_3d/body_3d_sw.h
+++ b/servers/physics_3d/body_3d_sw.h
@@ -55,7 +55,6 @@ class Body3DSW : public CollisionObject3DSW {
 
 	uint16_t locked_axis = 0;
 
-	real_t kinematic_safe_margin;
 	real_t _inv_mass;
 	Vector3 _inv_inertia; // Relative to the principal axes of inertia
 
@@ -144,9 +143,6 @@ class Body3DSW : public CollisionObject3DSW {
 public:
 	void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant());
 
-	void set_kinematic_margin(real_t p_margin);
-	_FORCE_INLINE_ real_t get_kinematic_margin() { return kinematic_safe_margin; }
-
 	_FORCE_INLINE_ void add_area(Area3DSW *p_area) {
 		int index = areas.find(AreaCMP(p_area));
 		if (index > -1) {
diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp
index 48d8a016ce..7a95a8abc8 100644
--- a/servers/physics_3d/physics_server_3d_sw.cpp
+++ b/servers/physics_3d/physics_server_3d_sw.cpp
@@ -656,19 +656,6 @@ real_t PhysicsServer3DSW::body_get_param(RID p_body, BodyParameter p_param) cons
 	return body->get_param(p_param);
 };
 
-void PhysicsServer3DSW::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
-	Body3DSW *body = body_owner.getornull(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_kinematic_margin(p_margin);
-}
-
-real_t PhysicsServer3DSW::body_get_kinematic_safe_margin(RID p_body) const {
-	Body3DSW *body = body_owner.getornull(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_kinematic_margin();
-}
-
 void PhysicsServer3DSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
 	Body3DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
@@ -867,7 +854,7 @@ void PhysicsServer3DSW::body_set_ray_pickable(RID p_body, bool p_enable) {
 	body->set_ray_pickable(p_enable);
 }
 
-bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) {
+bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes) {
 	Body3DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND_V(!body, false);
 	ERR_FAIL_COND_V(!body->get_space(), false);
@@ -875,7 +862,7 @@ bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform3D &p_from,
 
 	_update_shapes();
 
-	return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, body->get_kinematic_margin(), r_result, p_exclude_raycast_shapes);
+	return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
 }
 
 int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h
index a5776202c9..57b6385758 100644
--- a/servers/physics_3d/physics_server_3d_sw.h
+++ b/servers/physics_3d/physics_server_3d_sw.h
@@ -204,9 +204,6 @@ public:
 	virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) override;
 	virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override;
 
-	virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) override;
-	virtual real_t body_get_kinematic_safe_margin(RID p_body) const override;
-
 	virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override;
 	virtual Variant body_get_state(RID p_body, BodyState p_state) const override;
 
@@ -245,7 +242,7 @@ public:
 
 	virtual void body_set_ray_pickable(RID p_body, bool p_enable) override;
 
-	virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override;
+	virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override;
 	virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
 
 	// this function only works on physics process, errors and returns null otherwise
diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.h b/servers/physics_3d/physics_server_3d_wrap_mt.h
index 8be38b723f..bda2e30dd1 100644
--- a/servers/physics_3d/physics_server_3d_wrap_mt.h
+++ b/servers/physics_3d/physics_server_3d_wrap_mt.h
@@ -213,9 +213,6 @@ public:
 	FUNC3(body_set_param, RID, BodyParameter, real_t);
 	FUNC2RC(real_t, body_get_param, RID, BodyParameter);
 
-	FUNC2(body_set_kinematic_safe_margin, RID, real_t);
-	FUNC1RC(real_t, body_get_kinematic_safe_margin, RID);
-
 	FUNC3(body_set_state, RID, BodyState, const Variant &);
 	FUNC2RC(Variant, body_get_state, RID, BodyState);
 
@@ -253,9 +250,9 @@ public:
 
 	FUNC2(body_set_ray_pickable, RID, bool);
 
-	bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override {
+	bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override {
 		ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
-		return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes);
+		return physics_3d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
 	}
 
 	int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override {
diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp
index 7c5761cc61..faab4f43b8 100644
--- a/servers/physics_server_2d.cpp
+++ b/servers/physics_server_2d.cpp
@@ -509,12 +509,6 @@ void PhysicsTestMotionResult2D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_collider_shape");
 }
 
-PhysicsTestMotionResult2D::PhysicsTestMotionResult2D() {
-	colliding = false;
-
-	result.collider_shape = 0;
-}
-
 ///////////////////////////////////////
 
 bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, const Ref<PhysicsTestMotionResult2D> &p_result) {
@@ -715,8 +709,8 @@ void PhysicsServer2D::_bind_methods() {
 
 	BIND_ENUM_CONSTANT(BODY_MODE_STATIC);
 	BIND_ENUM_CONSTANT(BODY_MODE_KINEMATIC);
-	BIND_ENUM_CONSTANT(BODY_MODE_RIGID);
-	BIND_ENUM_CONSTANT(BODY_MODE_CHARACTER);
+	BIND_ENUM_CONSTANT(BODY_MODE_DYNAMIC);
+	BIND_ENUM_CONSTANT(BODY_MODE_DYNAMIC_LOCKED);
 
 	BIND_ENUM_CONSTANT(BODY_PARAM_BOUNCE);
 	BIND_ENUM_CONSTANT(BODY_PARAM_FRICTION);
diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h
index f2836961f2..ff6d179f5b 100644
--- a/servers/physics_server_2d.h
+++ b/servers/physics_server_2d.h
@@ -370,8 +370,8 @@ public:
 	enum BodyMode {
 		BODY_MODE_STATIC,
 		BODY_MODE_KINEMATIC,
-		BODY_MODE_RIGID,
-		BODY_MODE_CHARACTER
+		BODY_MODE_DYNAMIC,
+		BODY_MODE_DYNAMIC_LOCKED,
 	};
 
 	virtual RID body_create() = 0;
@@ -493,17 +493,11 @@ public:
 		Vector2 collision_point;
 		Vector2 collision_normal;
 		Vector2 collider_velocity;
-		int collision_local_shape;
+		int collision_local_shape = 0;
 		ObjectID collider_id;
 		RID collider;
-		int collider_shape;
+		int collider_shape = 0;
 		Variant collider_metadata;
-
-		MotionResult() {
-			collision_local_shape = 0;
-			collider_shape = 0;
-			collider_id = ObjectID();
-		}
 	};
 
 	virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0;
@@ -607,7 +601,6 @@ class PhysicsTestMotionResult2D : public Reference {
 	GDCLASS(PhysicsTestMotionResult2D, Reference);
 
 	PhysicsServer2D::MotionResult result;
-	bool colliding;
 	friend class PhysicsServer2D;
 
 protected:
@@ -616,7 +609,6 @@ protected:
 public:
 	PhysicsServer2D::MotionResult *get_result_ptr() const { return const_cast<PhysicsServer2D::MotionResult *>(&result); }
 
-	//bool is_colliding() const;
 	Vector2 get_motion() const;
 	Vector2 get_motion_remainder() const;
 
@@ -627,8 +619,6 @@ public:
 	RID get_collider_rid() const;
 	Object *get_collider() const;
 	int get_collider_shape() const;
-
-	PhysicsTestMotionResult2D();
 };
 
 typedef PhysicsServer2D *(*CreatePhysicsServer2DCallback)();
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index 752a3b72d7..1634169e8a 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -523,9 +523,6 @@ void PhysicsServer3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("body_set_param", "body", "param", "value"), &PhysicsServer3D::body_set_param);
 	ClassDB::bind_method(D_METHOD("body_get_param", "body", "param"), &PhysicsServer3D::body_get_param);
 
-	ClassDB::bind_method(D_METHOD("body_set_kinematic_safe_margin", "body", "margin"), &PhysicsServer3D::body_set_kinematic_safe_margin);
-	ClassDB::bind_method(D_METHOD("body_get_kinematic_safe_margin", "body"), &PhysicsServer3D::body_get_kinematic_safe_margin);
-
 	ClassDB::bind_method(D_METHOD("body_set_state", "body", "state", "value"), &PhysicsServer3D::body_set_state);
 	ClassDB::bind_method(D_METHOD("body_get_state", "body", "state"), &PhysicsServer3D::body_get_state);
 
@@ -717,8 +714,8 @@ void PhysicsServer3D::_bind_methods() {
 
 	BIND_ENUM_CONSTANT(BODY_MODE_STATIC);
 	BIND_ENUM_CONSTANT(BODY_MODE_KINEMATIC);
-	BIND_ENUM_CONSTANT(BODY_MODE_RIGID);
-	BIND_ENUM_CONSTANT(BODY_MODE_CHARACTER);
+	BIND_ENUM_CONSTANT(BODY_MODE_DYNAMIC);
+	BIND_ENUM_CONSTANT(BODY_MODE_DYNAMIC_LOCKED);
 
 	BIND_ENUM_CONSTANT(BODY_PARAM_BOUNCE);
 	BIND_ENUM_CONSTANT(BODY_PARAM_FRICTION);
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index 6bfdc5f578..4e76f7ce7e 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -374,8 +374,8 @@ public:
 	enum BodyMode {
 		BODY_MODE_STATIC,
 		BODY_MODE_KINEMATIC,
-		BODY_MODE_RIGID,
-		BODY_MODE_CHARACTER
+		BODY_MODE_DYNAMIC,
+		BODY_MODE_DYNAMIC_LOCKED,
 	};
 
 	virtual RID body_create() = 0;
@@ -428,9 +428,6 @@ public:
 	virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) = 0;
 	virtual real_t body_get_param(RID p_body, BodyParameter p_param) const = 0;
 
-	virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) = 0;
-	virtual real_t body_get_kinematic_safe_margin(RID p_body) const = 0;
-
 	//state
 	enum BodyState {
 		BODY_STATE_TRANSFORM,
@@ -500,19 +497,14 @@ public:
 		Vector3 collision_point;
 		Vector3 collision_normal;
 		Vector3 collider_velocity;
-		int collision_local_shape;
+		int collision_local_shape = 0;
 		ObjectID collider_id;
 		RID collider;
-		int collider_shape;
+		int collider_shape = 0;
 		Variant collider_metadata;
-		MotionResult() {
-			collision_local_shape = 0;
-			collider_id = ObjectID();
-			collider_shape = 0;
-		}
 	};
 
-	virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0;
+	virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0;
 
 	struct SeparationResult {
 		real_t collision_depth;
diff --git a/tests/test_physics_3d.cpp b/tests/test_physics_3d.cpp
index 02f1b8175d..4488e4bf64 100644
--- a/tests/test_physics_3d.cpp
+++ b/tests/test_physics_3d.cpp
@@ -362,7 +362,7 @@ public:
 
 		RID mesh_instance = vs->instance_create2(capsule_mesh, scenario);
 		character = ps->body_create();
-		ps->body_set_mode(character, PhysicsServer3D::BODY_MODE_CHARACTER);
+		ps->body_set_mode(character, PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED);
 		ps->body_set_space(character, space);
 		//todo add space
 		ps->body_add_shape(character, capsule_shape);
@@ -388,14 +388,14 @@ public:
 			t.origin = Vector3(0.0 * i, 3.5 + 1.1 * i, 0.7 + 0.0 * i);
 			t.basis.rotate(Vector3(0.2, -1, 0), Math_PI / 2 * 0.6);
 
-			create_body(type, PhysicsServer3D::BODY_MODE_RIGID, t);
+			create_body(type, PhysicsServer3D::BODY_MODE_DYNAMIC, t);
 		}
 
 		create_static_plane(Plane(Vector3(0, 1, 0), -1));
 	}
 
 	void test_activate() {
-		create_body(PhysicsServer3D::SHAPE_BOX, PhysicsServer3D::BODY_MODE_RIGID, Transform3D(Basis(), Vector3(0, 2, 0)), true);
+		create_body(PhysicsServer3D::SHAPE_BOX, PhysicsServer3D::BODY_MODE_DYNAMIC, Transform3D(Basis(), Vector3(0, 2, 0)), true);
 		create_static_plane(Plane(Vector3(0, 1, 0), -1));
 	}