Rename RigidBody to RigidDynamicBody and SoftBody to SoftDynamicBody

45 files changed, 498 insertions, 527 deletions

diff --git a/doc/classes/CharacterBody2D.xml b/doc/classes/CharacterBody2D.xml
index f98c22a1e9..7637356f63 100644
--- a/doc/classes/CharacterBody2D.xml
+++ b/doc/classes/CharacterBody2D.xml
@@ -107,7 +107,7 @@
 		<method name="move_and_slide">
 			<return type="bool" />
 			<description>
-				Moves the body based on [member linear_velocity]. If the body collides with another, it will slide along the other body (by default only on floor) 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.
+				Moves the body based on [member linear_velocity]. If the body collides with another, it will slide along the other body (by default only on floor) rather than stop immediately. If the other body is a [CharacterBody2D] or [RigidDynamicBody2D], 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 the latest collision call [method get_last_slide_collision], for detailed information about collisions that occurred, use [method get_slide_collision].
 				When the body touches a moving platform, the platform's velocity is automatically added to the body motion. If a collision occurs due to the platform's motion, it will always be first in the slide collisions.
diff --git a/doc/classes/CharacterBody3D.xml b/doc/classes/CharacterBody3D.xml
index 81ffbe01c1..f08a2cafea 100644
--- a/doc/classes/CharacterBody3D.xml
+++ b/doc/classes/CharacterBody3D.xml
@@ -93,7 +93,7 @@
 		<method name="move_and_slide">
 			<return type="bool" />
 			<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.
+				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 [RigidDynamicBody3D], 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 the latest collision call [method get_last_slide_collision], for more detailed information about collisions that occurred, use [method get_slide_collision].
 				When the body touches a moving platform, the platform's velocity is automatically added to the body motion. If a collision occurs due to the platform's motion, it will always be first in the slide collisions.
diff --git a/doc/classes/ConcavePolygonShape2D.xml b/doc/classes/ConcavePolygonShape2D.xml
index e6b2e1845d..50632cd2c8 100644
--- a/doc/classes/ConcavePolygonShape2D.xml
+++ b/doc/classes/ConcavePolygonShape2D.xml
@@ -4,7 +4,7 @@
 		Concave polygon 2D shape resource for physics.
 	</brief_description>
 	<description>
-		Concave polygon 2D shape resource for physics. It is made out of segments and is optimal for complex polygonal concave collisions. However, it is not advised to use for [RigidBody2D] nodes. A CollisionPolygon2D in convex decomposition mode (solids) or several convex objects are advised for that instead. Otherwise, a concave polygon 2D shape is better for static collisions.
+		Concave polygon 2D shape resource for physics. It is made out of segments and is optimal for complex polygonal concave collisions. However, it is not advised to use for [RigidDynamicBody2D] nodes. A CollisionPolygon2D in convex decomposition mode (solids) or several convex objects are advised for that instead. Otherwise, a concave polygon 2D shape is better for static collisions.
 		The main difference between a [ConvexPolygonShape2D] and a [ConcavePolygonShape2D] is that a concave polygon assumes it is concave and uses a more complex method of collision detection, and a convex one forces itself to be convex in order to speed up collision detection.
 	</description>
 	<tutorials>
diff --git a/doc/classes/ConcavePolygonShape3D.xml b/doc/classes/ConcavePolygonShape3D.xml
index 34fb06a476..907afa6367 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 [CharacterBody3D] 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 [RigidDynamicBody3D] 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/PackedScene.xml b/doc/classes/PackedScene.xml
index 1374496b52..618123855f 100644
--- a/doc/classes/PackedScene.xml
+++ b/doc/classes/PackedScene.xml
@@ -22,23 +22,23 @@
 		AddChild(scene);
 		[/csharp]
 		[/codeblocks]
-		[b]Example of saving a node with different owners:[/b] The following example creates 3 objects: [code]Node2D[/code] ([code]node[/code]), [code]RigidBody2D[/code] ([code]rigid[/code]) and [code]CollisionObject2D[/code] ([code]collision[/code]). [code]collision[/code] is a child of [code]rigid[/code] which is a child of [code]node[/code]. Only [code]rigid[/code] is owned by [code]node[/code] and [code]pack[/code] will therefore only save those two nodes, but not [code]collision[/code].
+		[b]Example of saving a node with different owners:[/b] The following example creates 3 objects: [code]Node2D[/code] ([code]node[/code]), [code]RigidDynamicBody2D[/code] ([code]body[/code]) and [code]CollisionObject2D[/code] ([code]collision[/code]). [code]collision[/code] is a child of [code]body[/code] which is a child of [code]node[/code]. Only [code]body[/code] is owned by [code]node[/code] and [code]pack[/code] will therefore only save those two nodes, but not [code]collision[/code].
 		[codeblocks]
 		[gdscript]
 		# Create the objects.
 		var node = Node2D.new()
-		var rigid = RigidBody2D.new()
+		var body = RigidDynamicBody2D.new()
 		var collision = CollisionShape2D.new()
 
 		# Create the object hierarchy.
-		rigid.add_child(collision)
-		node.add_child(rigid)
+		body.add_child(collision)
+		node.add_child(body)
 
-		# Change owner of `rigid`, but not of `collision`.
-		rigid.owner = node
+		# Change owner of `body`, but not of `collision`.
+		body.owner = node
 		var scene = PackedScene.new()
 
-		# Only `node` and `rigid` are now packed.
+		# Only `node` and `body` are now packed.
 		var result = scene.pack(node)
 		if result == OK:
 		    var error = ResourceSaver.save("res://path/name.tscn", scene)  # Or "user://..."
@@ -48,18 +48,18 @@
 		[csharp]
 		// Create the objects.
 		var node = new Node2D();
-		var rigid = new RigidBody2D();
+		var body = new RigidDynamicBody2D();
 		var collision = new CollisionShape2D();
 
 		// Create the object hierarchy.
-		rigid.AddChild(collision);
-		node.AddChild(rigid);
+		body.AddChild(collision);
+		node.AddChild(body);
 
-		// Change owner of `rigid`, but not of `collision`.
-		rigid.Owner = node;
+		// Change owner of `body`, but not of `collision`.
+		body.Owner = node;
 		var scene = new PackedScene();
 
-		// Only `node` and `rigid` are now packed.
+		// Only `node` and `body` are now packed.
 		Error result = scene.Pack(node);
 		if (result == Error.Ok)
 		{
diff --git a/doc/classes/Performance.xml b/doc/classes/Performance.xml
index 335c3d254b..6e905eace6 100644
--- a/doc/classes/Performance.xml
+++ b/doc/classes/Performance.xml
@@ -169,7 +169,7 @@
 		<constant name="RENDER_BUFFER_MEM_USED" value="15" enum="Monitor">
 		</constant>
 		<constant name="PHYSICS_2D_ACTIVE_OBJECTS" value="16" enum="Monitor">
-			Number of active [RigidBody2D] nodes in the game.
+			Number of active [RigidDynamicBody2D] nodes in the game.
 		</constant>
 		<constant name="PHYSICS_2D_COLLISION_PAIRS" value="17" enum="Monitor">
 			Number of collision pairs in the 2D physics engine.
@@ -178,7 +178,7 @@
 			Number of islands in the 2D physics engine.
 		</constant>
 		<constant name="PHYSICS_3D_ACTIVE_OBJECTS" value="19" enum="Monitor">
-			Number of active [RigidBody3D] and [VehicleBody3D] nodes in the game.
+			Number of active [RigidDynamicBody3D] and [VehicleBody3D] nodes in the game.
 		</constant>
 		<constant name="PHYSICS_3D_COLLISION_PAIRS" value="20" enum="Monitor">
 			Number of collision pairs in the 3D physics engine.
diff --git a/doc/classes/PhysicalBone2D.xml b/doc/classes/PhysicalBone2D.xml
index b4d92475a1..8fa42a9596 100644
--- a/doc/classes/PhysicalBone2D.xml
+++ b/doc/classes/PhysicalBone2D.xml
@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<class name="PhysicalBone2D" inherits="RigidBody2D" version="4.0">
+<class name="PhysicalBone2D" inherits="RigidDynamicBody2D" version="4.0">
 	<brief_description>
 		A 2D node that can be used for physically aware bones in 2D.
 	</brief_description>
 	<description>
-		The [code]PhysicalBone2D[/code] node is a [RigidBody2D]-based node that can be used to make [Bone2D] nodes in a [Skeleton2D] react to physics. This node is very similar to the [PhysicalBone3D] node, just for 2D instead of 3D.
+		The [code]PhysicalBone2D[/code] node is a [RigidDynamicBody2D]-based node that can be used to make [Bone2D] nodes in a [Skeleton2D] react to physics. This node is very similar to the [PhysicalBone3D] node, just for 2D instead of 3D.
 		[b]Note:[/b] To have the Bone2D nodes visually follow the [code]PhysicalBone2D[/code] node, use a [SkeletonModification2DPhysicalBones] modification on the [Skeleton2D] node with the [Bone2D] nodes.
 		[b]Note:[/b] The PhysicalBone2D node does not automatically create a [Joint2D] node to keep [code]PhysicalBone2D[/code] nodes together. You will need to create these manually. For most cases, you want to use a [PinJoint2D] node. The [code]PhysicalBone2D[/code] node can automatically configure the [Joint2D] node once it's been created as a child node.
 	</description>
diff --git a/doc/classes/PhysicsDirectBodyState2D.xml b/doc/classes/PhysicsDirectBodyState2D.xml
index 8698fbec61..3b3b5b948e 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 dynamic 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 RigidDynamicBody2D._integrate_forces].
 	</description>
 	<tutorials>
 		<link title="Ray-casting">https://docs.godotengine.org/en/latest/tutorials/physics/ray-casting.html</link>
@@ -107,7 +107,7 @@
 			<return type="int" />
 			<description>
 				Returns the number of contacts this body has with other bodies.
-				[b]Note:[/b] By default, this returns 0 unless bodies are configured to monitor contacts. See [member RigidBody2D.contact_monitor].
+				[b]Note:[/b] By default, this returns 0 unless bodies are configured to monitor contacts. See [member RigidDynamicBody2D.contact_monitor].
 			</description>
 		</method>
 		<method name="get_contact_local_normal" qualifiers="const">
diff --git a/doc/classes/PhysicsDirectBodyState3D.xml b/doc/classes/PhysicsDirectBodyState3D.xml
index 4599f86423..7900af015d 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 dynamic 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 RigidDynamicBody3D._integrate_forces].
 	</description>
 	<tutorials>
 	</tutorials>
@@ -101,7 +101,7 @@
 			<return type="int" />
 			<description>
 				Returns the number of contacts this body has with other bodies.
-				[b]Note:[/b] By default, this returns 0 unless bodies are configured to monitor contacts. See [member RigidBody3D.contact_monitor].
+				[b]Note:[/b] By default, this returns 0 unless bodies are configured to monitor contacts. See [member RigidDynamicBody3D.contact_monitor].
 			</description>
 		</method>
 		<method name="get_contact_impulse" qualifiers="const">
diff --git a/doc/classes/PhysicsServer3D.xml b/doc/classes/PhysicsServer3D.xml
index 2fbe84b8b1..d0dc4278ae 100644
--- a/doc/classes/PhysicsServer3D.xml
+++ b/doc/classes/PhysicsServer3D.xml
@@ -1212,7 +1212,7 @@
 			The [Shape3D] is a [HeightMapShape3D].
 		</constant>
 		<constant name="SHAPE_SOFT_BODY" value="9" enum="ShapeType">
-			The [Shape3D] is a [SoftBody3D].
+			The [Shape3D] is used internally for a soft body. Any attempt to create this kind of shape results in an error.
 		</constant>
 		<constant name="SHAPE_CUSTOM" value="10" enum="ShapeType">
 			This constant is used internally by the engine. Any attempt to create this kind of shape results in an error.
diff --git a/doc/classes/RigidBody2D.xml b/doc/classes/RigidDynamicBody2D.xml
index 0702955495..059379242b 100644
--- a/doc/classes/RigidBody2D.xml
+++ b/doc/classes/RigidDynamicBody2D.xml
@@ -1,12 +1,12 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<class name="RigidBody2D" inherits="PhysicsBody2D" version="4.0">
+<class name="RigidDynamicBody2D" inherits="PhysicsBody2D" version="4.0">
 	<brief_description>
 		Physics Body which is moved by 2D physics simulation. Useful for objects that have gravity and can be pushed by other objects.
 	</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: 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.
+		This node implements simulated 2D physics. You do not control a RigidDynamicBody2D 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 RigidDynamicBody2D has 4 behavior [member mode]s: Dynamic, Static, DynamicLocked, and Kinematic.
+		[b]Note:[/b] You should not change a RigidDynamicBody2D'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].
 		The center of mass is always located at the node's origin without taking into account the [CollisionShape2D] centroid offsets.
@@ -103,17 +103,17 @@
 			The body's custom center of mass, relative to the body's origin position, when [member center_of_mass_mode] is set to [constant CENTER_OF_MASS_MODE_CUSTOM]. This is the balanced point of the body, where applied forces only cause linear acceleration. Applying forces outside of the center of mass causes angular acceleration.
 			When [member center_of_mass_mode] is set to [constant CENTER_OF_MASS_MODE_AUTO] (default value), the center of mass is automatically computed.
 		</member>
-		<member name="center_of_mass_mode" type="int" setter="set_center_of_mass_mode" getter="get_center_of_mass_mode" enum="RigidBody2D.CenterOfMassMode" default="0">
+		<member name="center_of_mass_mode" type="int" setter="set_center_of_mass_mode" getter="get_center_of_mass_mode" enum="RigidDynamicBody2D.CenterOfMassMode" default="0">
 			Defines the way the body's center of mass is set. See [enum CenterOfMassMode] for possible values.
 		</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].
+			If [code]true[/code], the body will emit signals when it collides with another RigidDynamicBody2D. See also [member contacts_reported].
 		</member>
 		<member name="contacts_reported" type="int" setter="set_max_contacts_reported" getter="get_max_contacts_reported" default="0">
 			The maximum number of contacts that will be recorded. Requires [member contact_monitor] to be set to [code]true[/code].
 			[b]Note:[/b] The number of contacts is different from the number of collisions. Collisions between parallel edges will result in two contacts (one at each end).
 		</member>
-		<member name="continuous_cd" type="int" setter="set_continuous_collision_detection_mode" getter="get_continuous_collision_detection_mode" enum="RigidBody2D.CCDMode" default="0">
+		<member name="continuous_cd" type="int" setter="set_continuous_collision_detection_mode" getter="get_continuous_collision_detection_mode" enum="RigidDynamicBody2D.CCDMode" default="0">
 			Continuous collision detection mode.
 			Continuous collision detection tries to predict where a moving body will collide instead of moving it and correcting its movement after collision. Continuous collision detection is slower, but more precise and misses fewer collisions with small, fast-moving objects. Raycasting and shapecasting methods are available. See [enum CCDMode] for details.
 		</member>
@@ -137,7 +137,7 @@
 		<member name="mass" type="float" setter="set_mass" getter="get_mass" default="1.0">
 			The body's mass.
 		</member>
-		<member name="mode" type="int" setter="set_mode" getter="get_mode" enum="RigidBody2D.Mode" default="0">
+		<member name="mode" type="int" setter="set_mode" getter="get_mode" enum="RigidDynamicBody2D.Mode" default="0">
 			The body's mode. See [enum Mode] for possible values.
 			For a body that uses only Static or Kinematic mode, use [StaticBody2D] or [AnimatableBody2D] instead.
 		</member>
@@ -170,11 +170,11 @@
 			<argument index="2" name="body_shape" type="int" />
 			<argument index="3" name="local_shape" type="int" />
 			<description>
-				Emitted when one of this RigidBody2D's [Shape2D]s collides with another [PhysicsBody2D] or [TileMap]'s [Shape2D]s. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [TileMap]s are detected if the [TileSet] has Collision [Shape2D]s.
+				Emitted when one of this RigidDynamicBody2D's [Shape2D]s collides with another [PhysicsBody2D] or [TileMap]'s [Shape2D]s. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [TileMap]s are detected if the [TileSet] has Collision [Shape2D]s.
 				[code]body_id[/code] the [RID] of the other [PhysicsBody2D] or [TileSet]'s [CollisionObject2D] used by the [PhysicsServer2D].
 				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody2D] or [TileMap].
 				[code]body_shape[/code] the index of the [Shape2D] of the other [PhysicsBody2D] or [TileMap] used by the [PhysicsServer2D].
-				[code]local_shape[/code] the index of the [Shape2D] of this RigidBody2D used by the [PhysicsServer2D].
+				[code]local_shape[/code] the index of the [Shape2D] of this RigidDynamicBody2D used by the [PhysicsServer2D].
 			</description>
 		</signal>
 		<signal name="body_shape_exited">
@@ -183,11 +183,11 @@
 			<argument index="2" name="body_shape" type="int" />
 			<argument index="3" name="local_shape" type="int" />
 			<description>
-				Emitted when the collision between one of this RigidBody2D's [Shape2D]s and another [PhysicsBody2D] or [TileMap]'s [Shape2D]s ends. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [TileMap]s are detected if the [TileSet] has Collision [Shape2D]s.
+				Emitted when the collision between one of this RigidDynamicBody2D's [Shape2D]s and another [PhysicsBody2D] or [TileMap]'s [Shape2D]s ends. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [TileMap]s are detected if the [TileSet] has Collision [Shape2D]s.
 				[code]body_id[/code] the [RID] of the other [PhysicsBody2D] or [TileSet]'s [CollisionObject2D] used by the [PhysicsServer2D].
 				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody2D] or [TileMap].
 				[code]body_shape[/code] the index of the [Shape2D] of the other [PhysicsBody2D] or [TileMap] used by the [PhysicsServer2D].
-				[code]local_shape[/code] the index of the [Shape2D] of this RigidBody2D used by the [PhysicsServer2D].
+				[code]local_shape[/code] the index of the [Shape2D] of this RigidDynamicBody2D used by the [PhysicsServer2D].
 			</description>
 		</signal>
 		<signal name="sleeping_state_changed">
diff --git a/doc/classes/RigidBody3D.xml b/doc/classes/RigidDynamicBody3D.xml
index 1be35b0576..9b6bcd840b 100644
--- a/doc/classes/RigidBody3D.xml
+++ b/doc/classes/RigidDynamicBody3D.xml
@@ -1,14 +1,14 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<class name="RigidBody3D" inherits="PhysicsBody3D" version="4.0">
+<class name="RigidDynamicBody3D" inherits="PhysicsBody3D" version="4.0">
 	<brief_description>
 		Physics Body which is moved by 3D physics simulation. Useful for objects that have gravity and can be pushed by other objects.
 	</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: 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.
+		This is the node that implements full 3D physics. This means that you do not control a RigidDynamicBody3D 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 RigidDynamicBody3D has 4 behavior [member mode]s: Dynamic, Static, DynamicLocked, and Kinematic.
+		[b]Note:[/b] Don't change a RigidDynamicBody3D'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.
+		With Bullet physics (the default), the center of mass is the RigidDynamicBody3D center. With GodotPhysics, the center of mass is the average of the [CollisionShape3D] centers.
 	</description>
 	<tutorials>
 		<link title="Physics introduction">https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html</link>
@@ -80,7 +80,7 @@
 		<method name="get_inverse_inertia_tensor" qualifiers="const">
 			<return type="Basis" />
 			<description>
-				Returns the inverse inertia tensor basis. This is used to calculate the angular acceleration resulting from a torque applied to the [RigidBody3D].
+				Returns the inverse inertia tensor basis. This is used to calculate the angular acceleration resulting from a torque applied to the [RigidDynamicBody3D].
 			</description>
 		</method>
 		<method name="set_axis_velocity">
@@ -93,11 +93,11 @@
 	</methods>
 	<members>
 		<member name="angular_damp" type="float" setter="set_angular_damp" getter="get_angular_damp" default="-1.0">
-			Damps RigidBody3D's rotational forces.
+			Damps RigidDynamicBody3D's rotational forces.
 			See [member ProjectSettings.physics/3d/default_angular_damp] for more details about damping.
 		</member>
 		<member name="angular_velocity" type="Vector3" setter="set_angular_velocity" getter="get_angular_velocity" default="Vector3(0, 0, 0)">
-			RigidBody3D's rotational velocity.
+			RigidDynamicBody3D's rotational velocity.
 		</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].
@@ -106,11 +106,11 @@
 			The body's custom center of mass, relative to the body's origin position, when [member center_of_mass_mode] is set to [constant CENTER_OF_MASS_MODE_CUSTOM]. This is the balanced point of the body, where applied forces only cause linear acceleration. Applying forces outside of the center of mass causes angular acceleration.
 			When [member center_of_mass_mode] is set to [constant CENTER_OF_MASS_MODE_AUTO] (default value), the center of mass is automatically computed.
 		</member>
-		<member name="center_of_mass_mode" type="int" setter="set_center_of_mass_mode" getter="get_center_of_mass_mode" enum="RigidBody3D.CenterOfMassMode" default="0">
+		<member name="center_of_mass_mode" type="int" setter="set_center_of_mass_mode" getter="get_center_of_mass_mode" enum="RigidDynamicBody3D.CenterOfMassMode" default="0">
 			Defines the way the body's center of mass is set. See [enum CenterOfMassMode] for possible values.
 		</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].
+			If [code]true[/code], the RigidDynamicBody3D will emit signals when it collides with another RigidDynamicBody3D. See also [member contacts_reported].
 		</member>
 		<member name="contacts_reported" type="int" setter="set_max_contacts_reported" getter="get_max_contacts_reported" default="0">
 			The maximum number of contacts that will be recorded. Requires [member contact_monitor] to be set to [code]true[/code].
@@ -124,7 +124,7 @@
 			If [code]true[/code], internal force integration will be disabled (like gravity or air friction) for this body. Other than collision response, the body will only move as determined by the [method _integrate_forces] function, if defined.
 		</member>
 		<member name="gravity_scale" type="float" setter="set_gravity_scale" getter="get_gravity_scale" default="1.0">
-			This is multiplied by the global 3D gravity setting found in [b]Project &gt; Project Settings &gt; Physics &gt; 3d[/b] to produce RigidBody3D's gravity. For example, a value of 1 will be normal gravity, 2 will apply double gravity, and 0.5 will apply half gravity to this object.
+			This is multiplied by the global 3D gravity setting found in [b]Project &gt; Project Settings &gt; Physics &gt; 3d[/b] to produce RigidDynamicBody3D's gravity. For example, a value of 1 will be normal gravity, 2 will apply double gravity, and 0.5 will apply half gravity to this object.
 		</member>
 		<member name="inertia" type="Vector3" setter="set_inertia" getter="get_inertia" default="Vector3(0, 0, 0)">
 			The body's moment of inertia. This is like mass, but for rotation: it determines how much torque it takes to rotate the body on each axis. The moment of inertia is usually computed automatically from the mass and the shapes, but this property allows you to set a custom value.
@@ -140,7 +140,7 @@
 		<member name="mass" type="float" setter="set_mass" getter="get_mass" default="1.0">
 			The body's mass.
 		</member>
-		<member name="mode" type="int" setter="set_mode" getter="get_mode" enum="RigidBody3D.Mode" default="0">
+		<member name="mode" type="int" setter="set_mode" getter="get_mode" enum="RigidDynamicBody3D.Mode" default="0">
 			The body's mode. See [enum Mode] for possible values.
 			For a body that uses only Static or Kinematic mode, use [StaticBody3D] or [AnimatableBody3D] instead.
 		</member>
@@ -173,11 +173,11 @@
 			<argument index="2" name="body_shape" type="int" />
 			<argument index="3" name="local_shape" type="int" />
 			<description>
-				Emitted when one of this RigidBody3D's [Shape3D]s collides with another [PhysicsBody3D] or [GridMap]'s [Shape3D]s. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
+				Emitted when one of this RigidDynamicBody3D's [Shape3D]s collides with another [PhysicsBody3D] or [GridMap]'s [Shape3D]s. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
 				[code]body_id[/code] the [RID] of the other [PhysicsBody3D] or [MeshLibrary]'s [CollisionObject3D] used by the [PhysicsServer3D].
 				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody3D] or [GridMap].
 				[code]body_shape[/code] the index of the [Shape3D] of the other [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D].
-				[code]local_shape[/code] the index of the [Shape3D] of this RigidBody3D used by the [PhysicsServer3D].
+				[code]local_shape[/code] the index of the [Shape3D] of this RigidDynamicBody3D used by the [PhysicsServer3D].
 				[b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape3D]. Don't use multiple [CollisionShape3D]s when using a [ConcavePolygonShape3D] with Bullet physics if you need shape indices.
 			</description>
 		</signal>
@@ -187,11 +187,11 @@
 			<argument index="2" name="body_shape" type="int" />
 			<argument index="3" name="local_shape" type="int" />
 			<description>
-				Emitted when the collision between one of this RigidBody3D's [Shape3D]s and another [PhysicsBody3D] or [GridMap]'s [Shape3D]s ends. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
+				Emitted when the collision between one of this RigidDynamicBody3D's [Shape3D]s and another [PhysicsBody3D] or [GridMap]'s [Shape3D]s ends. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
 				[code]body_id[/code] the [RID] of the other [PhysicsBody3D] or [MeshLibrary]'s [CollisionObject3D] used by the [PhysicsServer3D]. [GridMap]s are detected if the Meshes have [Shape3D]s.
 				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody3D] or [GridMap].
 				[code]body_shape[/code] the index of the [Shape3D] of the other [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D].
-				[code]local_shape[/code] the index of the [Shape3D] of this RigidBody3D used by the [PhysicsServer3D].
+				[code]local_shape[/code] the index of the [Shape3D] of this RigidDynamicBody3D used by the [PhysicsServer3D].
 				[b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape3D]. Don't use multiple [CollisionShape3D]s when using a [ConcavePolygonShape3D] with Bullet physics if you need shape indices.
 			</description>
 		</signal>
diff --git a/doc/classes/Skeleton3D.xml b/doc/classes/Skeleton3D.xml
index 2f340adb9f..c2b514f232 100644
--- a/doc/classes/Skeleton3D.xml
+++ b/doc/classes/Skeleton3D.xml
@@ -216,7 +216,7 @@
 			<argument index="0" name="exception" type="RID" />
 			<description>
 				Adds a collision exception to the physical bone.
-				Works just like the [RigidBody3D] node.
+				Works just like the [RigidDynamicBody3D] node.
 			</description>
 		</method>
 		<method name="physical_bones_remove_collision_exception">
@@ -224,7 +224,7 @@
 			<argument index="0" name="exception" type="RID" />
 			<description>
 				Removes a collision exception to the physical bone.
-				Works just like the [RigidBody3D] node.
+				Works just like the [RigidDynamicBody3D] node.
 			</description>
 		</method>
 		<method name="physical_bones_start_simulation">
diff --git a/doc/classes/SoftBody3D.xml b/doc/classes/SoftDynamicBody3D.xml
index d5f0e3c95c..f999f77e78 100644
--- a/doc/classes/SoftBody3D.xml
+++ b/doc/classes/SoftDynamicBody3D.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<class name="SoftBody3D" inherits="MeshInstance3D" version="4.0">
+<class name="SoftDynamicBody3D" inherits="MeshInstance3D" version="4.0">
 	<brief_description>
 		A soft mesh physics body.
 	</brief_description>
@@ -91,16 +91,16 @@
 	</methods>
 	<members>
 		<member name="collision_layer" type="int" setter="set_collision_layer" getter="get_collision_layer" default="1">
-			The physics layers this SoftBody3D [b]is in[/b]. Collision objects can exist in one or more of 32 different layers. See also [member collision_mask].
+			The physics layers this SoftDynamicBody3D [b]is in[/b]. Collision objects can exist in one or more of 32 different layers. See also [member collision_mask].
 			[b]Note:[/b] Object A can detect a contact with object B only if object B is in any of the layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
 		</member>
 		<member name="collision_mask" type="int" setter="set_collision_mask" getter="get_collision_mask" default="1">
-			The physics layers this SoftBody3D [b]scans[/b]. Collision objects can scan one or more of 32 different layers. See also [member collision_layer].
+			The physics layers this SoftDynamicBody3D [b]scans[/b]. Collision objects can scan one or more of 32 different layers. See also [member collision_layer].
 			[b]Note:[/b] Object A can detect a contact with object B only if object B is in any of the layers that object A scans. See [url=https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html#collision-layers-and-masks]Collision layers and masks[/url] in the documentation for more information.
 		</member>
 		<member name="damping_coefficient" type="float" setter="set_damping_coefficient" getter="get_damping_coefficient" default="0.01">
 		</member>
-		<member name="disable_mode" type="int" setter="set_disable_mode" getter="get_disable_mode" enum="SoftBody3D.DisableMode" default="0">
+		<member name="disable_mode" type="int" setter="set_disable_mode" getter="get_disable_mode" enum="SoftDynamicBody3D.DisableMode" default="0">
 			Defines the behavior in physics when [member Node.process_mode] is set to [constant Node.PROCESS_MODE_DISABLED]. See [enum DisableMode] for more details about the different modes.
 		</member>
 		<member name="drag_coefficient" type="float" setter="set_drag_coefficient" getter="get_drag_coefficient" default="0.0">
@@ -108,23 +108,23 @@
 		<member name="linear_stiffness" type="float" setter="set_linear_stiffness" getter="get_linear_stiffness" default="0.5">
 		</member>
 		<member name="parent_collision_ignore" type="NodePath" setter="set_parent_collision_ignore" getter="get_parent_collision_ignore" default="NodePath(&quot;&quot;)">
-			[NodePath] to a [CollisionObject3D] this SoftBody3D should avoid clipping.
+			[NodePath] to a [CollisionObject3D] this SoftDynamicBody3D should avoid clipping.
 		</member>
 		<member name="pressure_coefficient" type="float" setter="set_pressure_coefficient" getter="get_pressure_coefficient" default="0.0">
 		</member>
 		<member name="ray_pickable" type="bool" setter="set_ray_pickable" getter="is_ray_pickable" default="true">
-			If [code]true[/code], the [SoftBody3D] will respond to [RayCast3D]s.
+			If [code]true[/code], the [SoftDynamicBody3D] will respond to [RayCast3D]s.
 		</member>
 		<member name="simulation_precision" type="int" setter="set_simulation_precision" getter="get_simulation_precision" default="5">
 			Increasing this value will improve the resulting simulation, but can affect performance. Use with care.
 		</member>
 		<member name="total_mass" type="float" setter="set_total_mass" getter="get_total_mass" default="1.0">
-			The SoftBody3D's mass.
+			The SoftDynamicBody3D's mass.
 		</member>
 	</members>
 	<constants>
 		<constant name="DISABLE_MODE_REMOVE" value="0" enum="DisableMode">
-			When [member Node.process_mode] is set to [constant Node.PROCESS_MODE_DISABLED], remove from the physics simulation to stop all physics interactions with this [SoftBody3D].
+			When [member Node.process_mode] is set to [constant Node.PROCESS_MODE_DISABLED], remove from the physics simulation to stop all physics interactions with this [SoftDynamicBody3D].
 			Automatically re-added to the physics simulation when the [Node] is processed again.
 		</constant>
 		<constant name="DISABLE_MODE_KEEP_ACTIVE" value="1" enum="DisableMode">
diff --git a/doc/classes/StaticBody2D.xml b/doc/classes/StaticBody2D.xml
index 0344c3e0d1..9cbe0bdb40 100644
--- a/doc/classes/StaticBody2D.xml
+++ b/doc/classes/StaticBody2D.xml
@@ -5,7 +5,7 @@
 	</brief_description>
 	<description>
 		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], it doesn't consume any CPU resources as long as they don't move.
+		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 [RigidDynamicBody2D], it doesn't consume any CPU resources as long as they don't move.
 		They have extra functionalities to move and affect other bodies:
 		[b]Static transform change:[/b] Static bodies can be moved by animation or script. In this case, they are just teleported and don't affect other bodies on their path.
 		[b]Constant velocity:[/b] When [member constant_linear_velocity] or [member constant_angular_velocity] is set, static bodies don't move themselves but affect touching bodies as if they were moving. This is useful for simulating conveyor belts or conveyor wheels.
diff --git a/doc/classes/StaticBody3D.xml b/doc/classes/StaticBody3D.xml
index 4cb51b60ec..6e2377def0 100644
--- a/doc/classes/StaticBody3D.xml
+++ b/doc/classes/StaticBody3D.xml
@@ -5,7 +5,7 @@
 	</brief_description>
 	<description>
 		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], it doesn't consume any CPU resources as long as they don't move.
+		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 [RigidDynamicBody3D], it doesn't consume any CPU resources as long as they don't move.
 		They have extra functionalities to move and affect other bodies:
 		[b]Static transform change:[/b] Static bodies can be moved by animation or script. In this case, they are just teleported and don't affect other bodies on their path.
 		[b]Constant velocity:[/b] When [member constant_linear_velocity] or [member constant_angular_velocity] is set, static bodies don't move themselves but affect touching bodies as if they were moving. This is useful for simulating conveyor belts or conveyor wheels.
diff --git a/doc/classes/VehicleBody3D.xml b/doc/classes/VehicleBody3D.xml
index 90d0591949..21a37f7b53 100644
--- a/doc/classes/VehicleBody3D.xml
+++ b/doc/classes/VehicleBody3D.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<class name="VehicleBody3D" inherits="RigidBody3D" version="4.0">
+<class name="VehicleBody3D" inherits="RigidDynamicBody3D" version="4.0">
 	<brief_description>
 		Physics body that simulates the behavior of a car.
 	</brief_description>
@@ -15,10 +15,10 @@
 	</methods>
 	<members>
 		<member name="brake" type="float" setter="set_brake" getter="get_brake" default="0.0">
-			Slows down the vehicle by applying a braking force. The vehicle is only slowed down if the wheels are in contact with a surface. The force you need to apply to adequately slow down your vehicle depends on the [member RigidBody3D.mass] of the vehicle. For a vehicle with a mass set to 1000, try a value in the 25 - 30 range for hard braking.
+			Slows down the vehicle by applying a braking force. The vehicle is only slowed down if the wheels are in contact with a surface. The force you need to apply to adequately slow down your vehicle depends on the [member RigidDynamicBody3D.mass] of the vehicle. For a vehicle with a mass set to 1000, try a value in the 25 - 30 range for hard braking.
 		</member>
 		<member name="engine_force" type="float" setter="set_engine_force" getter="get_engine_force" default="0.0">
-			Accelerates the vehicle by applying an engine force. The vehicle is only speed up if the wheels that have [member VehicleWheel3D.use_as_traction] set to [code]true[/code] and are in contact with a surface. The [member RigidBody3D.mass] of the vehicle has an effect on the acceleration of the vehicle. For a vehicle with a mass set to 1000, try a value in the 25 - 50 range for acceleration.
+			Accelerates the vehicle by applying an engine force. The vehicle is only speed up if the wheels that have [member VehicleWheel3D.use_as_traction] set to [code]true[/code] and are in contact with a surface. The [member RigidDynamicBody3D.mass] of the vehicle has an effect on the acceleration of the vehicle. For a vehicle with a mass set to 1000, try a value in the 25 - 50 range for acceleration.
 			[b]Note:[/b] The simulation does not take the effect of gears into account, you will need to add logic for this if you wish to simulate gears.
 			A negative value will result in the vehicle reversing.
 		</member>
diff --git a/doc/classes/VehicleWheel3D.xml b/doc/classes/VehicleWheel3D.xml
index 35f1189a06..5b4511beab 100644
--- a/doc/classes/VehicleWheel3D.xml
+++ b/doc/classes/VehicleWheel3D.xml
@@ -32,7 +32,7 @@
 	</methods>
 	<members>
 		<member name="brake" type="float" setter="set_brake" getter="get_brake" default="0.0">
-			Slows down the wheel by applying a braking force. The wheel is only slowed down if it is in contact with a surface. The force you need to apply to adequately slow down your vehicle depends on the [member RigidBody3D.mass] of the vehicle. For a vehicle with a mass set to 1000, try a value in the 25 - 30 range for hard braking.
+			Slows down the wheel by applying a braking force. The wheel is only slowed down if it is in contact with a surface. The force you need to apply to adequately slow down your vehicle depends on the [member RigidDynamicBody3D.mass] of the vehicle. For a vehicle with a mass set to 1000, try a value in the 25 - 30 range for hard braking.
 		</member>
 		<member name="damping_compression" type="float" setter="set_damping_compression" getter="get_damping_compression" default="0.83">
 			The damping applied to the spring when the spring is being compressed. This value should be between 0.0 (no damping) and 1.0. A value of 0.0 means the car will keep bouncing as the spring keeps its energy. A good value for this is around 0.3 for a normal car, 0.5 for a race car.
@@ -41,7 +41,7 @@
 			The damping applied to the spring when relaxing. This value should be between 0.0 (no damping) and 1.0. This value should always be slightly higher than the [member damping_compression] property. For a [member damping_compression] value of 0.3, try a relaxation value of 0.5.
 		</member>
 		<member name="engine_force" type="float" setter="set_engine_force" getter="get_engine_force" default="0.0">
-			Accelerates the wheel by applying an engine force. The wheel is only speed up if it is in contact with a surface. The [member RigidBody3D.mass] of the vehicle has an effect on the acceleration of the vehicle. For a vehicle with a mass set to 1000, try a value in the 25 - 50 range for acceleration.
+			Accelerates the wheel by applying an engine force. The wheel is only speed up if it is in contact with a surface. The [member RigidDynamicBody3D.mass] of the vehicle has an effect on the acceleration of the vehicle. For a vehicle with a mass set to 1000, try a value in the 25 - 50 range for acceleration.
 			[b]Note:[/b] The simulation does not take the effect of gears into account, you will need to add logic for this if you wish to simulate gears.
 			A negative value will result in the wheel reversing.
 		</member>
@@ -49,7 +49,7 @@
 			The steering angle for the wheel. Setting this to a non-zero value will result in the vehicle turning when it's moving.
 		</member>
 		<member name="suspension_max_force" type="float" setter="set_suspension_max_force" getter="get_suspension_max_force" default="6000.0">
-			The maximum force the spring can resist. This value should be higher than a quarter of the [member RigidBody3D.mass] of the [VehicleBody3D] or the spring will not carry the weight of the vehicle. Good results are often obtained by a value that is about 3× to 4× this number.
+			The maximum force the spring can resist. This value should be higher than a quarter of the [member RigidDynamicBody3D.mass] of the [VehicleBody3D] or the spring will not carry the weight of the vehicle. Good results are often obtained by a value that is about 3× to 4× this number.
 		</member>
 		<member name="suspension_stiffness" type="float" setter="set_suspension_stiffness" getter="get_suspension_stiffness" default="5.88">
 			This value defines the stiffness of the suspension. Use a value lower than 50 for an off-road car, a value between 50 and 100 for a race car and try something around 200 for something like a Formula 1 car.
diff --git a/doc/classes/VisibleOnScreenEnabler3D.xml b/doc/classes/VisibleOnScreenEnabler3D.xml
index 3205d6b415..f781ef9749 100644
--- a/doc/classes/VisibleOnScreenEnabler3D.xml
+++ b/doc/classes/VisibleOnScreenEnabler3D.xml
@@ -4,7 +4,7 @@
 		Enables certain nodes only when approximately visible.
 	</brief_description>
 	<description>
-		The VisibleOnScreenEnabler3D will disable [RigidBody3D] and [AnimationPlayer] nodes when they are not visible. It will only affect other nodes within the same scene as the VisibleOnScreenEnabler3D itself.
+		The VisibleOnScreenEnabler3D will disable [RigidDynamicBody3D] and [AnimationPlayer] nodes when they are not visible. It will only affect other nodes within the same scene as the VisibleOnScreenEnabler3D itself.
 		If you just want to receive notifications, use [VisibleOnScreenNotifier3D] instead.
 		[b]Note:[/b] VisibleOnScreenEnabler3D uses an approximate heuristic for performance reasons. It doesn't take walls and other occlusion into account. The heuristic is an implementation detail and may change in future versions. If you need precise visibility checking, use another method such as adding an [Area3D] node as a child of a [Camera3D] node and/or [method Vector3.dot].
 		[b]Note:[/b] VisibleOnScreenEnabler3D will not affect nodes added after scene initialization.
diff --git a/editor/icons/RigidBody2D.svg b/editor/icons/RigidDynamicBody2D.svg
index 5d08e991ae..5d08e991ae 100644
--- a/editor/icons/RigidBody2D.svg
+++ b/editor/icons/RigidDynamicBody2D.svg
diff --git a/editor/icons/RigidBody3D.svg b/editor/icons/RigidDynamicBody3D.svg
index 7f5db4ce88..7f5db4ce88 100644
--- a/editor/icons/RigidBody3D.svg
+++ b/editor/icons/RigidDynamicBody3D.svg
diff --git a/editor/icons/SoftBody3D.svg b/editor/icons/SoftDynamicBody3D.svg
index 7bc9a22c22..7bc9a22c22 100644
--- a/editor/icons/SoftBody3D.svg
+++ b/editor/icons/SoftDynamicBody3D.svg
diff --git a/editor/import/resource_importer_scene.cpp b/editor/import/resource_importer_scene.cpp
index c2244befa1..46f1bfb70c 100644
--- a/editor/import/resource_importer_scene.cpp
+++ b/editor/import/resource_importer_scene.cpp
@@ -413,8 +413,8 @@ Node *ResourceImporterScene::_pre_fix_node(Node *p_node, Node *p_root, Map<Ref<E
 				_pre_gen_shape_list(mesh, shapes, true);
 			}
 
-			RigidBody3D *rigid_body = memnew(RigidBody3D);
-			rigid_body->set_name(_fixstr(name, "rigid"));
+			RigidDynamicBody3D *rigid_body = memnew(RigidDynamicBody3D);
+			rigid_body->set_name(_fixstr(name, "rigid_body"));
 			p_node->replace_by(rigid_body);
 			rigid_body->set_transform(mi->get_transform());
 			p_node = rigid_body;
@@ -612,7 +612,7 @@ Node *ResourceImporterScene::_post_fix_node(Node *p_node, Node *p_root, Map<Ref<
 								base = col;
 							} break;
 							case MESH_PHYSICS_RIGID_BODY_AND_MESH: {
-								RigidBody3D *rigid_body = memnew(RigidBody3D);
+								RigidDynamicBody3D *rigid_body = memnew(RigidDynamicBody3D);
 								rigid_body->set_name(p_node->get_name());
 								p_node->replace_by(rigid_body);
 								rigid_body->set_transform(mi->get_transform());
diff --git a/editor/plugins/node_3d_editor_gizmos.cpp b/editor/plugins/node_3d_editor_gizmos.cpp
index d20f3d105b..5e8585aa29 100644
--- a/editor/plugins/node_3d_editor_gizmos.cpp
+++ b/editor/plugins/node_3d_editor_gizmos.cpp
@@ -53,7 +53,7 @@
 #include "scene/3d/position_3d.h"
 #include "scene/3d/ray_cast_3d.h"
 #include "scene/3d/reflection_probe.h"
-#include "scene/3d/soft_body_3d.h"
+#include "scene/3d/soft_dynamic_body_3d.h"
 #include "scene/3d/spring_arm_3d.h"
 #include "scene/3d/sprite_3d.h"
 #include "scene/3d/vehicle_body_3d.h"
@@ -1866,7 +1866,7 @@ MeshInstance3DGizmoPlugin::MeshInstance3DGizmoPlugin() {
 }
 
 bool MeshInstance3DGizmoPlugin::has_gizmo(Node3D *p_spatial) {
-	return Object::cast_to<MeshInstance3D>(p_spatial) != nullptr && Object::cast_to<SoftBody3D>(p_spatial) == nullptr;
+	return Object::cast_to<MeshInstance3D>(p_spatial) != nullptr && Object::cast_to<SoftDynamicBody3D>(p_spatial) == nullptr;
 }
 
 String MeshInstance3DGizmoPlugin::get_gizmo_name() const {
@@ -2489,30 +2489,30 @@ void VehicleWheel3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
 
 ///////////
 
-SoftBody3DGizmoPlugin::SoftBody3DGizmoPlugin() {
+SoftDynamicBody3DGizmoPlugin::SoftDynamicBody3DGizmoPlugin() {
 	Color gizmo_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/shape", Color(0.5, 0.7, 1));
 	create_material("shape_material", gizmo_color);
 	create_handle_material("handles");
 }
 
-bool SoftBody3DGizmoPlugin::has_gizmo(Node3D *p_spatial) {
-	return Object::cast_to<SoftBody3D>(p_spatial) != nullptr;
+bool SoftDynamicBody3DGizmoPlugin::has_gizmo(Node3D *p_spatial) {
+	return Object::cast_to<SoftDynamicBody3D>(p_spatial) != nullptr;
 }
 
-String SoftBody3DGizmoPlugin::get_gizmo_name() const {
-	return "SoftBody3D";
+String SoftDynamicBody3DGizmoPlugin::get_gizmo_name() const {
+	return "SoftDynamicBody3D";
 }
 
-int SoftBody3DGizmoPlugin::get_priority() const {
+int SoftDynamicBody3DGizmoPlugin::get_priority() const {
 	return -1;
 }
 
-bool SoftBody3DGizmoPlugin::is_selectable_when_hidden() const {
+bool SoftDynamicBody3DGizmoPlugin::is_selectable_when_hidden() const {
 	return true;
 }
 
-void SoftBody3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
-	SoftBody3D *soft_body = Object::cast_to<SoftBody3D>(p_gizmo->get_spatial_node());
+void SoftDynamicBody3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
+	SoftDynamicBody3D *soft_body = Object::cast_to<SoftDynamicBody3D>(p_gizmo->get_spatial_node());
 
 	p_gizmo->clear();
 
@@ -2548,22 +2548,22 @@ void SoftBody3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
 	p_gizmo->add_collision_triangles(tm);
 }
 
-String SoftBody3DGizmoPlugin::get_handle_name(const EditorNode3DGizmo *p_gizmo, int p_id) const {
-	return "SoftBody3D pin point";
+String SoftDynamicBody3DGizmoPlugin::get_handle_name(const EditorNode3DGizmo *p_gizmo, int p_id) const {
+	return "SoftDynamicBody3D pin point";
 }
 
-Variant SoftBody3DGizmoPlugin::get_handle_value(const EditorNode3DGizmo *p_gizmo, int p_id) const {
-	SoftBody3D *soft_body = Object::cast_to<SoftBody3D>(p_gizmo->get_spatial_node());
+Variant SoftDynamicBody3DGizmoPlugin::get_handle_value(const EditorNode3DGizmo *p_gizmo, int p_id) const {
+	SoftDynamicBody3D *soft_body = Object::cast_to<SoftDynamicBody3D>(p_gizmo->get_spatial_node());
 	return Variant(soft_body->is_point_pinned(p_id));
 }
 
-void SoftBody3DGizmoPlugin::commit_handle(const EditorNode3DGizmo *p_gizmo, int p_id, const Variant &p_restore, bool p_cancel) {
-	SoftBody3D *soft_body = Object::cast_to<SoftBody3D>(p_gizmo->get_spatial_node());
+void SoftDynamicBody3DGizmoPlugin::commit_handle(const EditorNode3DGizmo *p_gizmo, int p_id, const Variant &p_restore, bool p_cancel) {
+	SoftDynamicBody3D *soft_body = Object::cast_to<SoftDynamicBody3D>(p_gizmo->get_spatial_node());
 	soft_body->pin_point_toggle(p_id);
 }
 
-bool SoftBody3DGizmoPlugin::is_handle_highlighted(const EditorNode3DGizmo *p_gizmo, int p_id) const {
-	SoftBody3D *soft_body = Object::cast_to<SoftBody3D>(p_gizmo->get_spatial_node());
+bool SoftDynamicBody3DGizmoPlugin::is_handle_highlighted(const EditorNode3DGizmo *p_gizmo, int p_id) const {
+	SoftDynamicBody3D *soft_body = Object::cast_to<SoftDynamicBody3D>(p_gizmo->get_spatial_node());
 	return soft_body->is_point_pinned(p_id);
 }
 
diff --git a/editor/plugins/node_3d_editor_gizmos.h b/editor/plugins/node_3d_editor_gizmos.h
index 415ed5da5c..fa2d3cad5f 100644
--- a/editor/plugins/node_3d_editor_gizmos.h
+++ b/editor/plugins/node_3d_editor_gizmos.h
@@ -379,8 +379,8 @@ public:
 	VehicleWheel3DGizmoPlugin();
 };
 
-class SoftBody3DGizmoPlugin : public EditorNode3DGizmoPlugin {
-	GDCLASS(SoftBody3DGizmoPlugin, EditorNode3DGizmoPlugin);
+class SoftDynamicBody3DGizmoPlugin : public EditorNode3DGizmoPlugin {
+	GDCLASS(SoftDynamicBody3DGizmoPlugin, EditorNode3DGizmoPlugin);
 
 public:
 	bool has_gizmo(Node3D *p_spatial) override;
@@ -394,7 +394,7 @@ public:
 	void commit_handle(const EditorNode3DGizmo *p_gizmo, int p_id, const Variant &p_restore, bool p_cancel = false) override;
 	bool is_handle_highlighted(const EditorNode3DGizmo *p_gizmo, int p_id) const override;
 
-	SoftBody3DGizmoPlugin();
+	SoftDynamicBody3DGizmoPlugin();
 };
 
 class VisibleOnScreenNotifier3DGizmoPlugin : public EditorNode3DGizmoPlugin {
diff --git a/editor/plugins/node_3d_editor_plugin.cpp b/editor/plugins/node_3d_editor_plugin.cpp
index 291cafab2b..1494346249 100644
--- a/editor/plugins/node_3d_editor_plugin.cpp
+++ b/editor/plugins/node_3d_editor_plugin.cpp
@@ -6863,7 +6863,7 @@ void Node3DEditor::_register_all_gizmos() {
 	add_gizmo_plugin(Ref<AudioStreamPlayer3DGizmoPlugin>(memnew(AudioStreamPlayer3DGizmoPlugin)));
 	add_gizmo_plugin(Ref<MeshInstance3DGizmoPlugin>(memnew(MeshInstance3DGizmoPlugin)));
 	add_gizmo_plugin(Ref<OccluderInstance3DGizmoPlugin>(memnew(OccluderInstance3DGizmoPlugin)));
-	add_gizmo_plugin(Ref<SoftBody3DGizmoPlugin>(memnew(SoftBody3DGizmoPlugin)));
+	add_gizmo_plugin(Ref<SoftDynamicBody3DGizmoPlugin>(memnew(SoftDynamicBody3DGizmoPlugin)));
 	add_gizmo_plugin(Ref<Sprite3DGizmoPlugin>(memnew(Sprite3DGizmoPlugin)));
 	add_gizmo_plugin(Ref<Skeleton3DGizmoPlugin>(memnew(Skeleton3DGizmoPlugin)));
 	add_gizmo_plugin(Ref<Position3DGizmoPlugin>(memnew(Position3DGizmoPlugin)));
diff --git a/scene/2d/collision_polygon_2d.cpp b/scene/2d/collision_polygon_2d.cpp
index 8c8a292ad7..271a4da705 100644
--- a/scene/2d/collision_polygon_2d.cpp
+++ b/scene/2d/collision_polygon_2d.cpp
@@ -243,7 +243,7 @@ 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, CharacterBody2D, 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, RigidDynamicBody2D, 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 d52795f0d5..54cb851216 100644
--- a/scene/2d/collision_shape_2d.cpp
+++ b/scene/2d/collision_shape_2d.cpp
@@ -175,7 +175,7 @@ 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, CharacterBody2D, 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, RigidDynamicBody2D, 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/physical_bone_2d.cpp b/scene/2d/physical_bone_2d.cpp
index d547914e16..c4b2608812 100644
--- a/scene/2d/physical_bone_2d.cpp
+++ b/scene/2d/physical_bone_2d.cpp
@@ -33,7 +33,7 @@
 void PhysicalBone2D::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
-			// Position the RigidBody in the correct position.
+			// Position the RigidDynamicBody in the correct position.
 			if (follow_bone_when_simulating) {
 				_position_at_bone2d();
 			}
@@ -158,14 +158,14 @@ void PhysicalBone2D::_start_physics_simulation() {
 	PhysicsServer2D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask());
 
 	// Apply the correct mode
-	RigidBody2D::Mode rigid_mode = get_mode();
-	if (rigid_mode == RigidBody2D::MODE_STATIC) {
+	RigidDynamicBody2D::Mode rigid_mode = get_mode();
+	if (rigid_mode == RigidDynamicBody2D::MODE_STATIC) {
 		set_body_mode(PhysicsServer2D::BODY_MODE_STATIC);
-	} else if (rigid_mode == RigidBody2D::MODE_DYNAMIC) {
+	} else if (rigid_mode == RigidDynamicBody2D::MODE_DYNAMIC) {
 		set_body_mode(PhysicsServer2D::BODY_MODE_DYNAMIC);
-	} else if (rigid_mode == RigidBody2D::MODE_KINEMATIC) {
+	} else if (rigid_mode == RigidDynamicBody2D::MODE_KINEMATIC) {
 		set_body_mode(PhysicsServer2D::BODY_MODE_KINEMATIC);
-	} else if (rigid_mode == RigidBody2D::MODE_DYNAMIC_LOCKED) {
+	} else if (rigid_mode == RigidDynamicBody2D::MODE_DYNAMIC_LOCKED) {
 		set_body_mode(PhysicsServer2D::BODY_MODE_DYNAMIC_LOCKED);
 	} else {
 		// Default to Dynamic.
@@ -295,7 +295,7 @@ void PhysicalBone2D::_bind_methods() {
 }
 
 PhysicalBone2D::PhysicalBone2D() {
-	// Stop the RigidBody from executing its force integration.
+	// Stop the RigidDynamicBody from executing its force integration.
 	PhysicsServer2D::get_singleton()->body_set_collision_layer(get_rid(), 0);
 	PhysicsServer2D::get_singleton()->body_set_collision_mask(get_rid(), 0);
 	PhysicsServer2D::get_singleton()->body_set_mode(get_rid(), PhysicsServer2D::BodyMode::BODY_MODE_STATIC);
diff --git a/scene/2d/physical_bone_2d.h b/scene/2d/physical_bone_2d.h
index 46a2772bad..a250d0aadd 100644
--- a/scene/2d/physical_bone_2d.h
+++ b/scene/2d/physical_bone_2d.h
@@ -36,8 +36,8 @@
 
 #include "scene/2d/skeleton_2d.h"
 
-class PhysicalBone2D : public RigidBody2D {
-	GDCLASS(PhysicalBone2D, RigidBody2D);
+class PhysicalBone2D : public RigidDynamicBody2D {
+	GDCLASS(PhysicalBone2D, RigidDynamicBody2D);
 
 protected:
 	void _notification(int p_what);
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index 30f012c7aa..bfead777b6 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -309,7 +309,7 @@ AnimatableBody2D::AnimatableBody2D() :
 	_update_kinematic_motion();
 }
 
-void RigidBody2D::_body_enter_tree(ObjectID p_id) {
+void RigidDynamicBody2D::_body_enter_tree(ObjectID p_id) {
 	Object *obj = ObjectDB::get_instance(p_id);
 	Node *node = Object::cast_to<Node>(obj);
 	ERR_FAIL_COND(!node);
@@ -331,7 +331,7 @@ void RigidBody2D::_body_enter_tree(ObjectID p_id) {
 	contact_monitor->locked = false;
 }
 
-void RigidBody2D::_body_exit_tree(ObjectID p_id) {
+void RigidDynamicBody2D::_body_exit_tree(ObjectID p_id) {
 	Object *obj = ObjectDB::get_instance(p_id);
 	Node *node = Object::cast_to<Node>(obj);
 	ERR_FAIL_COND(!node);
@@ -352,7 +352,7 @@ void RigidBody2D::_body_exit_tree(ObjectID p_id) {
 	contact_monitor->locked = false;
 }
 
-void RigidBody2D::_body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape) {
+void RigidDynamicBody2D::_body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape) {
 	bool body_in = p_status == 1;
 	ObjectID objid = p_instance;
 
@@ -371,8 +371,8 @@ void RigidBody2D::_body_inout(int p_status, const RID &p_body, ObjectID p_instan
 			//E->get().rc=0;
 			E->get().in_scene = node && node->is_inside_tree();
 			if (node) {
-				node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody2D::_body_enter_tree), make_binds(objid));
-				node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody2D::_body_exit_tree), make_binds(objid));
+				node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidDynamicBody2D::_body_enter_tree), make_binds(objid));
+				node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidDynamicBody2D::_body_exit_tree), make_binds(objid));
 				if (E->get().in_scene) {
 					emit_signal(SceneStringNames::get_singleton()->body_entered, node);
 				}
@@ -400,8 +400,8 @@ void RigidBody2D::_body_inout(int p_status, const RID &p_body, ObjectID p_instan
 
 		if (E->get().shapes.is_empty()) {
 			if (node) {
-				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody2D::_body_enter_tree));
-				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody2D::_body_exit_tree));
+				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidDynamicBody2D::_body_enter_tree));
+				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidDynamicBody2D::_body_exit_tree));
 				if (in_scene) {
 					emit_signal(SceneStringNames::get_singleton()->body_exited, node);
 				}
@@ -415,19 +415,19 @@ void RigidBody2D::_body_inout(int p_status, const RID &p_body, ObjectID p_instan
 	}
 }
 
-struct _RigidBody2DInOut {
+struct _RigidDynamicBody2DInOut {
 	RID rid;
 	ObjectID id;
 	int shape = 0;
 	int local_shape = 0;
 };
 
-void RigidBody2D::_body_state_changed_callback(void *p_instance, PhysicsDirectBodyState2D *p_state) {
-	RigidBody2D *body = (RigidBody2D *)p_instance;
+void RigidDynamicBody2D::_body_state_changed_callback(void *p_instance, PhysicsDirectBodyState2D *p_state) {
+	RigidDynamicBody2D *body = (RigidDynamicBody2D *)p_instance;
 	body->_body_state_changed(p_state);
 }
 
-void RigidBody2D::_body_state_changed(PhysicsDirectBodyState2D *p_state) {
+void RigidDynamicBody2D::_body_state_changed(PhysicsDirectBodyState2D *p_state) {
 	set_block_transform_notify(true); // don't want notify (would feedback loop)
 	if (mode != MODE_KINEMATIC) {
 		set_global_transform(p_state->get_transform());
@@ -457,9 +457,9 @@ void RigidBody2D::_body_state_changed(PhysicsDirectBodyState2D *p_state) {
 			}
 		}
 
-		_RigidBody2DInOut *toadd = (_RigidBody2DInOut *)alloca(p_state->get_contact_count() * sizeof(_RigidBody2DInOut));
+		_RigidDynamicBody2DInOut *toadd = (_RigidDynamicBody2DInOut *)alloca(p_state->get_contact_count() * sizeof(_RigidDynamicBody2DInOut));
 		int toadd_count = 0; //state->get_contact_count();
-		RigidBody2D_RemoveAction *toremove = (RigidBody2D_RemoveAction *)alloca(rc * sizeof(RigidBody2D_RemoveAction));
+		RigidDynamicBody2D_RemoveAction *toremove = (RigidDynamicBody2D_RemoveAction *)alloca(rc * sizeof(RigidDynamicBody2D_RemoveAction));
 		int toremove_count = 0;
 
 		//put the ones to add
@@ -523,7 +523,7 @@ void RigidBody2D::_body_state_changed(PhysicsDirectBodyState2D *p_state) {
 	}
 }
 
-void RigidBody2D::set_mode(Mode p_mode) {
+void RigidDynamicBody2D::set_mode(Mode p_mode) {
 	mode = p_mode;
 	switch (p_mode) {
 		case MODE_DYNAMIC: {
@@ -544,31 +544,31 @@ void RigidBody2D::set_mode(Mode p_mode) {
 	}
 }
 
-RigidBody2D::Mode RigidBody2D::get_mode() const {
+RigidDynamicBody2D::Mode RigidDynamicBody2D::get_mode() const {
 	return mode;
 }
 
-void RigidBody2D::set_mass(real_t p_mass) {
+void RigidDynamicBody2D::set_mass(real_t p_mass) {
 	ERR_FAIL_COND(p_mass <= 0);
 	mass = p_mass;
 	PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_MASS, mass);
 }
 
-real_t RigidBody2D::get_mass() const {
+real_t RigidDynamicBody2D::get_mass() const {
 	return mass;
 }
 
-void RigidBody2D::set_inertia(real_t p_inertia) {
+void RigidDynamicBody2D::set_inertia(real_t p_inertia) {
 	ERR_FAIL_COND(p_inertia < 0);
 	inertia = p_inertia;
 	PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_INERTIA, inertia);
 }
 
-real_t RigidBody2D::get_inertia() const {
+real_t RigidDynamicBody2D::get_inertia() const {
 	return inertia;
 }
 
-void RigidBody2D::set_center_of_mass_mode(CenterOfMassMode p_mode) {
+void RigidDynamicBody2D::set_center_of_mass_mode(CenterOfMassMode p_mode) {
 	if (center_of_mass_mode == p_mode) {
 		return;
 	}
@@ -590,11 +590,11 @@ void RigidBody2D::set_center_of_mass_mode(CenterOfMassMode p_mode) {
 	}
 }
 
-RigidBody2D::CenterOfMassMode RigidBody2D::get_center_of_mass_mode() const {
+RigidDynamicBody2D::CenterOfMassMode RigidDynamicBody2D::get_center_of_mass_mode() const {
 	return center_of_mass_mode;
 }
 
-void RigidBody2D::set_center_of_mass(const Vector2 &p_center_of_mass) {
+void RigidDynamicBody2D::set_center_of_mass(const Vector2 &p_center_of_mass) {
 	if (center_of_mass == p_center_of_mass) {
 		return;
 	}
@@ -605,84 +605,84 @@ void RigidBody2D::set_center_of_mass(const Vector2 &p_center_of_mass) {
 	PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS, center_of_mass);
 }
 
-const Vector2 &RigidBody2D::get_center_of_mass() const {
+const Vector2 &RigidDynamicBody2D::get_center_of_mass() const {
 	return center_of_mass;
 }
 
-void RigidBody2D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
+void RigidDynamicBody2D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
 	if (physics_material_override.is_valid()) {
-		if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody2D::_reload_physics_characteristics))) {
-			physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody2D::_reload_physics_characteristics));
+		if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidDynamicBody2D::_reload_physics_characteristics))) {
+			physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidDynamicBody2D::_reload_physics_characteristics));
 		}
 	}
 
 	physics_material_override = p_physics_material_override;
 
 	if (physics_material_override.is_valid()) {
-		physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody2D::_reload_physics_characteristics));
+		physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidDynamicBody2D::_reload_physics_characteristics));
 	}
 	_reload_physics_characteristics();
 }
 
-Ref<PhysicsMaterial> RigidBody2D::get_physics_material_override() const {
+Ref<PhysicsMaterial> RigidDynamicBody2D::get_physics_material_override() const {
 	return physics_material_override;
 }
 
-void RigidBody2D::set_gravity_scale(real_t p_gravity_scale) {
+void RigidDynamicBody2D::set_gravity_scale(real_t p_gravity_scale) {
 	gravity_scale = p_gravity_scale;
 	PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE, gravity_scale);
 }
 
-real_t RigidBody2D::get_gravity_scale() const {
+real_t RigidDynamicBody2D::get_gravity_scale() const {
 	return gravity_scale;
 }
 
-void RigidBody2D::set_linear_damp(real_t p_linear_damp) {
+void RigidDynamicBody2D::set_linear_damp(real_t p_linear_damp) {
 	ERR_FAIL_COND(p_linear_damp < -1);
 	linear_damp = p_linear_damp;
 	PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_LINEAR_DAMP, linear_damp);
 }
 
-real_t RigidBody2D::get_linear_damp() const {
+real_t RigidDynamicBody2D::get_linear_damp() const {
 	return linear_damp;
 }
 
-void RigidBody2D::set_angular_damp(real_t p_angular_damp) {
+void RigidDynamicBody2D::set_angular_damp(real_t p_angular_damp) {
 	ERR_FAIL_COND(p_angular_damp < -1);
 	angular_damp = p_angular_damp;
 	PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP, angular_damp);
 }
 
-real_t RigidBody2D::get_angular_damp() const {
+real_t RigidDynamicBody2D::get_angular_damp() const {
 	return angular_damp;
 }
 
-void RigidBody2D::set_axis_velocity(const Vector2 &p_axis) {
+void RigidDynamicBody2D::set_axis_velocity(const Vector2 &p_axis) {
 	Vector2 axis = p_axis.normalized();
 	linear_velocity -= axis * axis.dot(linear_velocity);
 	linear_velocity += p_axis;
 	PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
 }
 
-void RigidBody2D::set_linear_velocity(const Vector2 &p_velocity) {
+void RigidDynamicBody2D::set_linear_velocity(const Vector2 &p_velocity) {
 	linear_velocity = p_velocity;
 	PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
 }
 
-Vector2 RigidBody2D::get_linear_velocity() const {
+Vector2 RigidDynamicBody2D::get_linear_velocity() const {
 	return linear_velocity;
 }
 
-void RigidBody2D::set_angular_velocity(real_t p_velocity) {
+void RigidDynamicBody2D::set_angular_velocity(real_t p_velocity) {
 	angular_velocity = p_velocity;
 	PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity);
 }
 
-real_t RigidBody2D::get_angular_velocity() const {
+real_t RigidDynamicBody2D::get_angular_velocity() const {
 	return angular_velocity;
 }
 
-void RigidBody2D::set_use_custom_integrator(bool p_enable) {
+void RigidDynamicBody2D::set_use_custom_integrator(bool p_enable) {
 	if (custom_integrator == p_enable) {
 		return;
 	}
@@ -691,87 +691,87 @@ void RigidBody2D::set_use_custom_integrator(bool p_enable) {
 	PhysicsServer2D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable);
 }
 
-bool RigidBody2D::is_using_custom_integrator() {
+bool RigidDynamicBody2D::is_using_custom_integrator() {
 	return custom_integrator;
 }
 
-void RigidBody2D::set_sleeping(bool p_sleeping) {
+void RigidDynamicBody2D::set_sleeping(bool p_sleeping) {
 	sleeping = p_sleeping;
 	PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_SLEEPING, sleeping);
 }
 
-void RigidBody2D::set_can_sleep(bool p_active) {
+void RigidDynamicBody2D::set_can_sleep(bool p_active) {
 	can_sleep = p_active;
 	PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_CAN_SLEEP, p_active);
 }
 
-bool RigidBody2D::is_able_to_sleep() const {
+bool RigidDynamicBody2D::is_able_to_sleep() const {
 	return can_sleep;
 }
 
-bool RigidBody2D::is_sleeping() const {
+bool RigidDynamicBody2D::is_sleeping() const {
 	return sleeping;
 }
 
-void RigidBody2D::set_max_contacts_reported(int p_amount) {
+void RigidDynamicBody2D::set_max_contacts_reported(int p_amount) {
 	max_contacts_reported = p_amount;
 	PhysicsServer2D::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount);
 }
 
-int RigidBody2D::get_max_contacts_reported() const {
+int RigidDynamicBody2D::get_max_contacts_reported() const {
 	return max_contacts_reported;
 }
 
-void RigidBody2D::apply_central_impulse(const Vector2 &p_impulse) {
+void RigidDynamicBody2D::apply_central_impulse(const Vector2 &p_impulse) {
 	PhysicsServer2D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
 }
 
-void RigidBody2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) {
+void RigidDynamicBody2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) {
 	PhysicsServer2D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position);
 }
 
-void RigidBody2D::apply_torque_impulse(real_t p_torque) {
+void RigidDynamicBody2D::apply_torque_impulse(real_t p_torque) {
 	PhysicsServer2D::get_singleton()->body_apply_torque_impulse(get_rid(), p_torque);
 }
 
-void RigidBody2D::set_applied_force(const Vector2 &p_force) {
+void RigidDynamicBody2D::set_applied_force(const Vector2 &p_force) {
 	PhysicsServer2D::get_singleton()->body_set_applied_force(get_rid(), p_force);
 };
 
-Vector2 RigidBody2D::get_applied_force() const {
+Vector2 RigidDynamicBody2D::get_applied_force() const {
 	return PhysicsServer2D::get_singleton()->body_get_applied_force(get_rid());
 };
 
-void RigidBody2D::set_applied_torque(const real_t p_torque) {
+void RigidDynamicBody2D::set_applied_torque(const real_t p_torque) {
 	PhysicsServer2D::get_singleton()->body_set_applied_torque(get_rid(), p_torque);
 };
 
-real_t RigidBody2D::get_applied_torque() const {
+real_t RigidDynamicBody2D::get_applied_torque() const {
 	return PhysicsServer2D::get_singleton()->body_get_applied_torque(get_rid());
 };
 
-void RigidBody2D::add_central_force(const Vector2 &p_force) {
+void RigidDynamicBody2D::add_central_force(const Vector2 &p_force) {
 	PhysicsServer2D::get_singleton()->body_add_central_force(get_rid(), p_force);
 }
 
-void RigidBody2D::add_force(const Vector2 &p_force, const Vector2 &p_position) {
+void RigidDynamicBody2D::add_force(const Vector2 &p_force, const Vector2 &p_position) {
 	PhysicsServer2D::get_singleton()->body_add_force(get_rid(), p_force, p_position);
 }
 
-void RigidBody2D::add_torque(const real_t p_torque) {
+void RigidDynamicBody2D::add_torque(const real_t p_torque) {
 	PhysicsServer2D::get_singleton()->body_add_torque(get_rid(), p_torque);
 }
 
-void RigidBody2D::set_continuous_collision_detection_mode(CCDMode p_mode) {
+void RigidDynamicBody2D::set_continuous_collision_detection_mode(CCDMode p_mode) {
 	ccd_mode = p_mode;
 	PhysicsServer2D::get_singleton()->body_set_continuous_collision_detection_mode(get_rid(), PhysicsServer2D::CCDMode(p_mode));
 }
 
-RigidBody2D::CCDMode RigidBody2D::get_continuous_collision_detection_mode() const {
+RigidDynamicBody2D::CCDMode RigidDynamicBody2D::get_continuous_collision_detection_mode() const {
 	return ccd_mode;
 }
 
-TypedArray<Node2D> RigidBody2D::get_colliding_bodies() const {
+TypedArray<Node2D> RigidDynamicBody2D::get_colliding_bodies() const {
 	ERR_FAIL_COND_V(!contact_monitor, Array());
 
 	TypedArray<Node2D> ret;
@@ -789,7 +789,7 @@ TypedArray<Node2D> RigidBody2D::get_colliding_bodies() const {
 	return ret;
 }
 
-void RigidBody2D::set_contact_monitor(bool p_enabled) {
+void RigidDynamicBody2D::set_contact_monitor(bool p_enabled) {
 	if (p_enabled == is_contact_monitor_enabled()) {
 		return;
 	}
@@ -803,8 +803,8 @@ void RigidBody2D::set_contact_monitor(bool p_enabled) {
 			Node *node = Object::cast_to<Node>(obj);
 
 			if (node) {
-				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody2D::_body_enter_tree));
-				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody2D::_body_exit_tree));
+				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidDynamicBody2D::_body_enter_tree));
+				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidDynamicBody2D::_body_exit_tree));
 			}
 		}
 
@@ -816,11 +816,11 @@ void RigidBody2D::set_contact_monitor(bool p_enabled) {
 	}
 }
 
-bool RigidBody2D::is_contact_monitor_enabled() const {
+bool RigidDynamicBody2D::is_contact_monitor_enabled() const {
 	return contact_monitor != nullptr;
 }
 
-void RigidBody2D::_notification(int p_what) {
+void RigidDynamicBody2D::_notification(int p_what) {
 #ifdef TOOLS_ENABLED
 	switch (p_what) {
 		case NOTIFICATION_ENTER_TREE: {
@@ -838,86 +838,86 @@ void RigidBody2D::_notification(int p_what) {
 #endif
 }
 
-TypedArray<String> RigidBody2D::get_configuration_warnings() const {
+TypedArray<String> RigidDynamicBody2D::get_configuration_warnings() const {
 	Transform2D t = get_transform();
 
 	TypedArray<String> warnings = CollisionObject2D::get_configuration_warnings();
 
 	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."));
+		warnings.push_back(TTR("Size changes to RigidDynamicBody2D (in dynamic modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."));
 	}
 
 	return warnings;
 }
 
-void RigidBody2D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidBody2D::set_mode);
-	ClassDB::bind_method(D_METHOD("get_mode"), &RigidBody2D::get_mode);
+void RigidDynamicBody2D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidDynamicBody2D::set_mode);
+	ClassDB::bind_method(D_METHOD("get_mode"), &RigidDynamicBody2D::get_mode);
 
-	ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody2D::set_mass);
-	ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody2D::get_mass);
+	ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidDynamicBody2D::set_mass);
+	ClassDB::bind_method(D_METHOD("get_mass"), &RigidDynamicBody2D::get_mass);
 
-	ClassDB::bind_method(D_METHOD("get_inertia"), &RigidBody2D::get_inertia);
-	ClassDB::bind_method(D_METHOD("set_inertia", "inertia"), &RigidBody2D::set_inertia);
+	ClassDB::bind_method(D_METHOD("get_inertia"), &RigidDynamicBody2D::get_inertia);
+	ClassDB::bind_method(D_METHOD("set_inertia", "inertia"), &RigidDynamicBody2D::set_inertia);
 
-	ClassDB::bind_method(D_METHOD("set_center_of_mass_mode", "mode"), &RigidBody2D::set_center_of_mass_mode);
-	ClassDB::bind_method(D_METHOD("get_center_of_mass_mode"), &RigidBody2D::get_center_of_mass_mode);
+	ClassDB::bind_method(D_METHOD("set_center_of_mass_mode", "mode"), &RigidDynamicBody2D::set_center_of_mass_mode);
+	ClassDB::bind_method(D_METHOD("get_center_of_mass_mode"), &RigidDynamicBody2D::get_center_of_mass_mode);
 
-	ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &RigidBody2D::set_center_of_mass);
-	ClassDB::bind_method(D_METHOD("get_center_of_mass"), &RigidBody2D::get_center_of_mass);
+	ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &RigidDynamicBody2D::set_center_of_mass);
+	ClassDB::bind_method(D_METHOD("get_center_of_mass"), &RigidDynamicBody2D::get_center_of_mass);
 
-	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody2D::set_physics_material_override);
-	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody2D::get_physics_material_override);
+	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidDynamicBody2D::set_physics_material_override);
+	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidDynamicBody2D::get_physics_material_override);
 
-	ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody2D::set_gravity_scale);
-	ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody2D::get_gravity_scale);
+	ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidDynamicBody2D::set_gravity_scale);
+	ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidDynamicBody2D::get_gravity_scale);
 
-	ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody2D::set_linear_damp);
-	ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody2D::get_linear_damp);
+	ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidDynamicBody2D::set_linear_damp);
+	ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidDynamicBody2D::get_linear_damp);
 
-	ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody2D::set_angular_damp);
-	ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody2D::get_angular_damp);
+	ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidDynamicBody2D::set_angular_damp);
+	ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidDynamicBody2D::get_angular_damp);
 
-	ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody2D::set_linear_velocity);
-	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody2D::get_linear_velocity);
+	ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidDynamicBody2D::set_linear_velocity);
+	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidDynamicBody2D::get_linear_velocity);
 
-	ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody2D::set_angular_velocity);
-	ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody2D::get_angular_velocity);
+	ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidDynamicBody2D::set_angular_velocity);
+	ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidDynamicBody2D::get_angular_velocity);
 
-	ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody2D::set_max_contacts_reported);
-	ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody2D::get_max_contacts_reported);
+	ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidDynamicBody2D::set_max_contacts_reported);
+	ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidDynamicBody2D::get_max_contacts_reported);
 
-	ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody2D::set_use_custom_integrator);
-	ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody2D::is_using_custom_integrator);
+	ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidDynamicBody2D::set_use_custom_integrator);
+	ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidDynamicBody2D::is_using_custom_integrator);
 
-	ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody2D::set_contact_monitor);
-	ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody2D::is_contact_monitor_enabled);
+	ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidDynamicBody2D::set_contact_monitor);
+	ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidDynamicBody2D::is_contact_monitor_enabled);
 
-	ClassDB::bind_method(D_METHOD("set_continuous_collision_detection_mode", "mode"), &RigidBody2D::set_continuous_collision_detection_mode);
-	ClassDB::bind_method(D_METHOD("get_continuous_collision_detection_mode"), &RigidBody2D::get_continuous_collision_detection_mode);
+	ClassDB::bind_method(D_METHOD("set_continuous_collision_detection_mode", "mode"), &RigidDynamicBody2D::set_continuous_collision_detection_mode);
+	ClassDB::bind_method(D_METHOD("get_continuous_collision_detection_mode"), &RigidDynamicBody2D::get_continuous_collision_detection_mode);
 
-	ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody2D::set_axis_velocity);
-	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody2D::apply_central_impulse, Vector2());
-	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody2D::apply_impulse, Vector2());
-	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "torque"), &RigidBody2D::apply_torque_impulse);
+	ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidDynamicBody2D::set_axis_velocity);
+	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidDynamicBody2D::apply_central_impulse, Vector2());
+	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidDynamicBody2D::apply_impulse, Vector2());
+	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "torque"), &RigidDynamicBody2D::apply_torque_impulse);
 
-	ClassDB::bind_method(D_METHOD("set_applied_force", "force"), &RigidBody2D::set_applied_force);
-	ClassDB::bind_method(D_METHOD("get_applied_force"), &RigidBody2D::get_applied_force);
+	ClassDB::bind_method(D_METHOD("set_applied_force", "force"), &RigidDynamicBody2D::set_applied_force);
+	ClassDB::bind_method(D_METHOD("get_applied_force"), &RigidDynamicBody2D::get_applied_force);
 
-	ClassDB::bind_method(D_METHOD("set_applied_torque", "torque"), &RigidBody2D::set_applied_torque);
-	ClassDB::bind_method(D_METHOD("get_applied_torque"), &RigidBody2D::get_applied_torque);
+	ClassDB::bind_method(D_METHOD("set_applied_torque", "torque"), &RigidDynamicBody2D::set_applied_torque);
+	ClassDB::bind_method(D_METHOD("get_applied_torque"), &RigidDynamicBody2D::get_applied_torque);
 
-	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody2D::add_central_force);
-	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody2D::add_force, Vector2());
-	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody2D::add_torque);
+	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidDynamicBody2D::add_central_force);
+	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidDynamicBody2D::add_force, Vector2());
+	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidDynamicBody2D::add_torque);
 
-	ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody2D::set_sleeping);
-	ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody2D::is_sleeping);
+	ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidDynamicBody2D::set_sleeping);
+	ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidDynamicBody2D::is_sleeping);
 
-	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("set_can_sleep", "able_to_sleep"), &RigidDynamicBody2D::set_can_sleep);
+	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidDynamicBody2D::is_able_to_sleep);
 
-	ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody2D::get_colliding_bodies);
+	ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidDynamicBody2D::get_colliding_bodies);
 
 	GDVIRTUAL_BIND(_integrate_forces, "state");
 
@@ -964,7 +964,7 @@ void RigidBody2D::_bind_methods() {
 	BIND_ENUM_CONSTANT(CCD_MODE_CAST_SHAPE);
 }
 
-void RigidBody2D::_validate_property(PropertyInfo &property) const {
+void RigidDynamicBody2D::_validate_property(PropertyInfo &property) const {
 	if (center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM) {
 		if (property.name == "center_of_mass") {
 			property.usage = PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL;
@@ -972,18 +972,18 @@ void RigidBody2D::_validate_property(PropertyInfo &property) const {
 	}
 }
 
-RigidBody2D::RigidBody2D() :
+RigidDynamicBody2D::RigidDynamicBody2D() :
 		PhysicsBody2D(PhysicsServer2D::BODY_MODE_DYNAMIC) {
 	PhysicsServer2D::get_singleton()->body_set_state_sync_callback(get_rid(), this, _body_state_changed_callback);
 }
 
-RigidBody2D::~RigidBody2D() {
+RigidDynamicBody2D::~RigidDynamicBody2D() {
 	if (contact_monitor) {
 		memdelete(contact_monitor);
 	}
 }
 
-void RigidBody2D::_reload_physics_characteristics() {
+void RigidDynamicBody2D::_reload_physics_characteristics() {
 	if (physics_material_override.is_null()) {
 		PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_BOUNCE, 0);
 		PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_FRICTION, 1);
diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h
index 1d6437a3ad..e9930b13a0 100644
--- a/scene/2d/physics_body_2d.h
+++ b/scene/2d/physics_body_2d.h
@@ -113,8 +113,8 @@ private:
 	bool is_sync_to_physics_enabled() const;
 };
 
-class RigidBody2D : public PhysicsBody2D {
-	GDCLASS(RigidBody2D, PhysicsBody2D);
+class RigidDynamicBody2D : public PhysicsBody2D {
+	GDCLASS(RigidDynamicBody2D, PhysicsBody2D);
 
 public:
 	enum Mode {
@@ -177,7 +177,7 @@ private:
 			local_shape = p_ls;
 		}
 	};
-	struct RigidBody2D_RemoveAction {
+	struct RigidDynamicBody2D_RemoveAction {
 		RID rid;
 		ObjectID body_id;
 		ShapePair pair;
@@ -283,16 +283,16 @@ public:
 
 	virtual TypedArray<String> get_configuration_warnings() const override;
 
-	RigidBody2D();
-	~RigidBody2D();
+	RigidDynamicBody2D();
+	~RigidDynamicBody2D();
 
 private:
 	void _reload_physics_characteristics();
 };
 
-VARIANT_ENUM_CAST(RigidBody2D::Mode);
-VARIANT_ENUM_CAST(RigidBody2D::CenterOfMassMode);
-VARIANT_ENUM_CAST(RigidBody2D::CCDMode);
+VARIANT_ENUM_CAST(RigidDynamicBody2D::Mode);
+VARIANT_ENUM_CAST(RigidDynamicBody2D::CenterOfMassMode);
+VARIANT_ENUM_CAST(RigidDynamicBody2D::CCDMode);
 
 class CharacterBody2D : public PhysicsBody2D {
 	GDCLASS(CharacterBody2D, PhysicsBody2D);
diff --git a/scene/3d/collision_polygon_3d.cpp b/scene/3d/collision_polygon_3d.cpp
index d5835586f9..6328d9c67d 100644
--- a/scene/3d/collision_polygon_3d.cpp
+++ b/scene/3d/collision_polygon_3d.cpp
@@ -170,7 +170,7 @@ 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, CharacterBody3D, 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, RigidDynamicBody3D, 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 d4668a24f2..c79f956642 100644
--- a/scene/3d/collision_shape_3d.cpp
+++ b/scene/3d/collision_shape_3d.cpp
@@ -115,7 +115,7 @@ 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, CharacterBody3D, 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, RigidDynamicBody3D, CharacterBody3D, etc. to give them a shape."));
 	}
 
 	if (!shape.is_valid()) {
@@ -123,10 +123,10 @@ TypedArray<String> CollisionShape3D::get_configuration_warnings() const {
 	}
 
 	if (shape.is_valid() &&
-			Object::cast_to<RigidBody3D>(get_parent()) &&
+			Object::cast_to<RigidDynamicBody3D>(get_parent()) &&
 			Object::cast_to<ConcavePolygonShape3D>(*shape) &&
-			Object::cast_to<RigidBody3D>(get_parent())->get_mode() != RigidBody3D::MODE_STATIC) {
-		warnings.push_back(TTR("ConcavePolygonShape3D doesn't support RigidBody3D in another mode than static."));
+			Object::cast_to<RigidDynamicBody3D>(get_parent())->get_mode() != RigidDynamicBody3D::MODE_STATIC) {
+		warnings.push_back(TTR("ConcavePolygonShape3D doesn't support RigidDynamicBody3D in another mode than static."));
 	}
 
 	return warnings;
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index 00c6664e65..35f6d0930a 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -364,7 +364,7 @@ AnimatableBody3D::AnimatableBody3D() :
 	_update_kinematic_motion();
 }
 
-void RigidBody3D::_body_enter_tree(ObjectID p_id) {
+void RigidDynamicBody3D::_body_enter_tree(ObjectID p_id) {
 	Object *obj = ObjectDB::get_instance(p_id);
 	Node *node = Object::cast_to<Node>(obj);
 	ERR_FAIL_COND(!node);
@@ -387,7 +387,7 @@ void RigidBody3D::_body_enter_tree(ObjectID p_id) {
 	contact_monitor->locked = false;
 }
 
-void RigidBody3D::_body_exit_tree(ObjectID p_id) {
+void RigidDynamicBody3D::_body_exit_tree(ObjectID p_id) {
 	Object *obj = ObjectDB::get_instance(p_id);
 	Node *node = Object::cast_to<Node>(obj);
 	ERR_FAIL_COND(!node);
@@ -408,7 +408,7 @@ void RigidBody3D::_body_exit_tree(ObjectID p_id) {
 	contact_monitor->locked = false;
 }
 
-void RigidBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape) {
+void RigidDynamicBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape) {
 	bool body_in = p_status == 1;
 	ObjectID objid = p_instance;
 
@@ -427,8 +427,8 @@ void RigidBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instan
 			//E->get().rc=0;
 			E->get().in_tree = node && node->is_inside_tree();
 			if (node) {
-				node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree), make_binds(objid));
-				node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree), make_binds(objid));
+				node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidDynamicBody3D::_body_enter_tree), make_binds(objid));
+				node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidDynamicBody3D::_body_exit_tree), make_binds(objid));
 				if (E->get().in_tree) {
 					emit_signal(SceneStringNames::get_singleton()->body_entered, node);
 				}
@@ -454,8 +454,8 @@ void RigidBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instan
 
 		if (E->get().shapes.is_empty()) {
 			if (node) {
-				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree));
-				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree));
+				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidDynamicBody3D::_body_enter_tree));
+				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidDynamicBody3D::_body_exit_tree));
 				if (in_tree) {
 					emit_signal(SceneStringNames::get_singleton()->body_exited, node);
 				}
@@ -469,19 +469,19 @@ void RigidBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instan
 	}
 }
 
-struct _RigidBodyInOut {
+struct _RigidDynamicBodyInOut {
 	RID rid;
 	ObjectID id;
 	int shape = 0;
 	int local_shape = 0;
 };
 
-void RigidBody3D::_body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state) {
-	RigidBody3D *body = (RigidBody3D *)p_instance;
+void RigidDynamicBody3D::_body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state) {
+	RigidDynamicBody3D *body = (RigidDynamicBody3D *)p_instance;
 	body->_body_state_changed(p_state);
 }
 
-void RigidBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
+void RigidDynamicBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
 	set_ignore_transform_notification(true);
 	set_global_transform(p_state->get_transform());
 
@@ -512,9 +512,9 @@ void RigidBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
 			}
 		}
 
-		_RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(p_state->get_contact_count() * sizeof(_RigidBodyInOut));
+		_RigidDynamicBodyInOut *toadd = (_RigidDynamicBodyInOut *)alloca(p_state->get_contact_count() * sizeof(_RigidDynamicBodyInOut));
 		int toadd_count = 0; //state->get_contact_count();
-		RigidBody3D_RemoveAction *toremove = (RigidBody3D_RemoveAction *)alloca(rc * sizeof(RigidBody3D_RemoveAction));
+		RigidDynamicBody3D_RemoveAction *toremove = (RigidDynamicBody3D_RemoveAction *)alloca(rc * sizeof(RigidDynamicBody3D_RemoveAction));
 		int toremove_count = 0;
 
 		//put the ones to add
@@ -580,7 +580,7 @@ void RigidBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
 	}
 }
 
-void RigidBody3D::_notification(int p_what) {
+void RigidDynamicBody3D::_notification(int p_what) {
 #ifdef TOOLS_ENABLED
 	switch (p_what) {
 		case NOTIFICATION_ENTER_TREE: {
@@ -598,7 +598,7 @@ void RigidBody3D::_notification(int p_what) {
 #endif
 }
 
-void RigidBody3D::set_mode(Mode p_mode) {
+void RigidDynamicBody3D::set_mode(Mode p_mode) {
 	mode = p_mode;
 	switch (p_mode) {
 		case MODE_DYNAMIC: {
@@ -617,21 +617,21 @@ void RigidBody3D::set_mode(Mode p_mode) {
 	update_configuration_warnings();
 }
 
-RigidBody3D::Mode RigidBody3D::get_mode() const {
+RigidDynamicBody3D::Mode RigidDynamicBody3D::get_mode() const {
 	return mode;
 }
 
-void RigidBody3D::set_mass(real_t p_mass) {
+void RigidDynamicBody3D::set_mass(real_t p_mass) {
 	ERR_FAIL_COND(p_mass <= 0);
 	mass = p_mass;
 	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass);
 }
 
-real_t RigidBody3D::get_mass() const {
+real_t RigidDynamicBody3D::get_mass() const {
 	return mass;
 }
 
-void RigidBody3D::set_inertia(const Vector3 &p_inertia) {
+void RigidDynamicBody3D::set_inertia(const Vector3 &p_inertia) {
 	ERR_FAIL_COND(p_inertia.x < 0);
 	ERR_FAIL_COND(p_inertia.y < 0);
 	ERR_FAIL_COND(p_inertia.z < 0);
@@ -640,11 +640,11 @@ void RigidBody3D::set_inertia(const Vector3 &p_inertia) {
 	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_INERTIA, inertia);
 }
 
-const Vector3 &RigidBody3D::get_inertia() const {
+const Vector3 &RigidDynamicBody3D::get_inertia() const {
 	return inertia;
 }
 
-void RigidBody3D::set_center_of_mass_mode(CenterOfMassMode p_mode) {
+void RigidDynamicBody3D::set_center_of_mass_mode(CenterOfMassMode p_mode) {
 	if (center_of_mass_mode == p_mode) {
 		return;
 	}
@@ -666,11 +666,11 @@ void RigidBody3D::set_center_of_mass_mode(CenterOfMassMode p_mode) {
 	}
 }
 
-RigidBody3D::CenterOfMassMode RigidBody3D::get_center_of_mass_mode() const {
+RigidDynamicBody3D::CenterOfMassMode RigidDynamicBody3D::get_center_of_mass_mode() const {
 	return center_of_mass_mode;
 }
 
-void RigidBody3D::set_center_of_mass(const Vector3 &p_center_of_mass) {
+void RigidDynamicBody3D::set_center_of_mass(const Vector3 &p_center_of_mass) {
 	if (center_of_mass == p_center_of_mass) {
 		return;
 	}
@@ -681,88 +681,88 @@ void RigidBody3D::set_center_of_mass(const Vector3 &p_center_of_mass) {
 	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS, center_of_mass);
 }
 
-const Vector3 &RigidBody3D::get_center_of_mass() const {
+const Vector3 &RigidDynamicBody3D::get_center_of_mass() const {
 	return center_of_mass;
 }
 
-void RigidBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
+void RigidDynamicBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
 	if (physics_material_override.is_valid()) {
-		if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics))) {
-			physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics));
+		if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidDynamicBody3D::_reload_physics_characteristics))) {
+			physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidDynamicBody3D::_reload_physics_characteristics));
 		}
 	}
 
 	physics_material_override = p_physics_material_override;
 
 	if (physics_material_override.is_valid()) {
-		physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics));
+		physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidDynamicBody3D::_reload_physics_characteristics));
 	}
 	_reload_physics_characteristics();
 }
 
-Ref<PhysicsMaterial> RigidBody3D::get_physics_material_override() const {
+Ref<PhysicsMaterial> RigidDynamicBody3D::get_physics_material_override() const {
 	return physics_material_override;
 }
 
-void RigidBody3D::set_gravity_scale(real_t p_gravity_scale) {
+void RigidDynamicBody3D::set_gravity_scale(real_t p_gravity_scale) {
 	gravity_scale = p_gravity_scale;
 	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale);
 }
 
-real_t RigidBody3D::get_gravity_scale() const {
+real_t RigidDynamicBody3D::get_gravity_scale() const {
 	return gravity_scale;
 }
 
-void RigidBody3D::set_linear_damp(real_t p_linear_damp) {
+void RigidDynamicBody3D::set_linear_damp(real_t p_linear_damp) {
 	ERR_FAIL_COND(p_linear_damp < -1);
 	linear_damp = p_linear_damp;
 	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp);
 }
 
-real_t RigidBody3D::get_linear_damp() const {
+real_t RigidDynamicBody3D::get_linear_damp() const {
 	return linear_damp;
 }
 
-void RigidBody3D::set_angular_damp(real_t p_angular_damp) {
+void RigidDynamicBody3D::set_angular_damp(real_t p_angular_damp) {
 	ERR_FAIL_COND(p_angular_damp < -1);
 	angular_damp = p_angular_damp;
 	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp);
 }
 
-real_t RigidBody3D::get_angular_damp() const {
+real_t RigidDynamicBody3D::get_angular_damp() const {
 	return angular_damp;
 }
 
-void RigidBody3D::set_axis_velocity(const Vector3 &p_axis) {
+void RigidDynamicBody3D::set_axis_velocity(const Vector3 &p_axis) {
 	Vector3 axis = p_axis.normalized();
 	linear_velocity -= axis * axis.dot(linear_velocity);
 	linear_velocity += p_axis;
 	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
 }
 
-void RigidBody3D::set_linear_velocity(const Vector3 &p_velocity) {
+void RigidDynamicBody3D::set_linear_velocity(const Vector3 &p_velocity) {
 	linear_velocity = p_velocity;
 	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
 }
 
-Vector3 RigidBody3D::get_linear_velocity() const {
+Vector3 RigidDynamicBody3D::get_linear_velocity() const {
 	return linear_velocity;
 }
 
-void RigidBody3D::set_angular_velocity(const Vector3 &p_velocity) {
+void RigidDynamicBody3D::set_angular_velocity(const Vector3 &p_velocity) {
 	angular_velocity = p_velocity;
 	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity);
 }
 
-Vector3 RigidBody3D::get_angular_velocity() const {
+Vector3 RigidDynamicBody3D::get_angular_velocity() const {
 	return angular_velocity;
 }
 
-Basis RigidBody3D::get_inverse_inertia_tensor() const {
+Basis RigidDynamicBody3D::get_inverse_inertia_tensor() const {
 	return inverse_inertia_tensor;
 }
 
-void RigidBody3D::set_use_custom_integrator(bool p_enable) {
+void RigidDynamicBody3D::set_use_custom_integrator(bool p_enable) {
 	if (custom_integrator == p_enable) {
 		return;
 	}
@@ -771,73 +771,73 @@ void RigidBody3D::set_use_custom_integrator(bool p_enable) {
 	PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable);
 }
 
-bool RigidBody3D::is_using_custom_integrator() {
+bool RigidDynamicBody3D::is_using_custom_integrator() {
 	return custom_integrator;
 }
 
-void RigidBody3D::set_sleeping(bool p_sleeping) {
+void RigidDynamicBody3D::set_sleeping(bool p_sleeping) {
 	sleeping = p_sleeping;
 	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_SLEEPING, sleeping);
 }
 
-void RigidBody3D::set_can_sleep(bool p_active) {
+void RigidDynamicBody3D::set_can_sleep(bool p_active) {
 	can_sleep = p_active;
 	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active);
 }
 
-bool RigidBody3D::is_able_to_sleep() const {
+bool RigidDynamicBody3D::is_able_to_sleep() const {
 	return can_sleep;
 }
 
-bool RigidBody3D::is_sleeping() const {
+bool RigidDynamicBody3D::is_sleeping() const {
 	return sleeping;
 }
 
-void RigidBody3D::set_max_contacts_reported(int p_amount) {
+void RigidDynamicBody3D::set_max_contacts_reported(int p_amount) {
 	max_contacts_reported = p_amount;
 	PhysicsServer3D::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount);
 }
 
-int RigidBody3D::get_max_contacts_reported() const {
+int RigidDynamicBody3D::get_max_contacts_reported() const {
 	return max_contacts_reported;
 }
 
-void RigidBody3D::add_central_force(const Vector3 &p_force) {
+void RigidDynamicBody3D::add_central_force(const Vector3 &p_force) {
 	PhysicsServer3D::get_singleton()->body_add_central_force(get_rid(), p_force);
 }
 
-void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
+void RigidDynamicBody3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
 	PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
 	singleton->body_add_force(get_rid(), p_force, p_position);
 }
 
-void RigidBody3D::add_torque(const Vector3 &p_torque) {
+void RigidDynamicBody3D::add_torque(const Vector3 &p_torque) {
 	PhysicsServer3D::get_singleton()->body_add_torque(get_rid(), p_torque);
 }
 
-void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) {
+void RigidDynamicBody3D::apply_central_impulse(const Vector3 &p_impulse) {
 	PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
 }
 
-void RigidBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+void RigidDynamicBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
 	PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
 	singleton->body_apply_impulse(get_rid(), p_impulse, p_position);
 }
 
-void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) {
+void RigidDynamicBody3D::apply_torque_impulse(const Vector3 &p_impulse) {
 	PhysicsServer3D::get_singleton()->body_apply_torque_impulse(get_rid(), p_impulse);
 }
 
-void RigidBody3D::set_use_continuous_collision_detection(bool p_enable) {
+void RigidDynamicBody3D::set_use_continuous_collision_detection(bool p_enable) {
 	ccd = p_enable;
 	PhysicsServer3D::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable);
 }
 
-bool RigidBody3D::is_using_continuous_collision_detection() const {
+bool RigidDynamicBody3D::is_using_continuous_collision_detection() const {
 	return ccd;
 }
 
-void RigidBody3D::set_contact_monitor(bool p_enabled) {
+void RigidDynamicBody3D::set_contact_monitor(bool p_enabled) {
 	if (p_enabled == is_contact_monitor_enabled()) {
 		return;
 	}
@@ -851,8 +851,8 @@ void RigidBody3D::set_contact_monitor(bool p_enabled) {
 			Node *node = Object::cast_to<Node>(obj);
 
 			if (node) {
-				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree));
-				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree));
+				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidDynamicBody3D::_body_enter_tree));
+				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidDynamicBody3D::_body_exit_tree));
 			}
 		}
 
@@ -864,11 +864,11 @@ void RigidBody3D::set_contact_monitor(bool p_enabled) {
 	}
 }
 
-bool RigidBody3D::is_contact_monitor_enabled() const {
+bool RigidDynamicBody3D::is_contact_monitor_enabled() const {
 	return contact_monitor != nullptr;
 }
 
-Array RigidBody3D::get_colliding_bodies() const {
+Array RigidDynamicBody3D::get_colliding_bodies() const {
 	ERR_FAIL_COND_V(!contact_monitor, Array());
 
 	Array ret;
@@ -886,83 +886,83 @@ Array RigidBody3D::get_colliding_bodies() const {
 	return ret;
 }
 
-TypedArray<String> RigidBody3D::get_configuration_warnings() const {
+TypedArray<String> RigidDynamicBody3D::get_configuration_warnings() const {
 	Transform3D t = get_transform();
 
 	TypedArray<String> warnings = Node::get_configuration_warnings();
 
 	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."));
+		warnings.push_back(TTR("Size changes to RigidDynamicBody (in dynamic modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."));
 	}
 
 	return warnings;
 }
 
-void RigidBody3D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidBody3D::set_mode);
-	ClassDB::bind_method(D_METHOD("get_mode"), &RigidBody3D::get_mode);
+void RigidDynamicBody3D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidDynamicBody3D::set_mode);
+	ClassDB::bind_method(D_METHOD("get_mode"), &RigidDynamicBody3D::get_mode);
 
-	ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody3D::set_mass);
-	ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody3D::get_mass);
+	ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidDynamicBody3D::set_mass);
+	ClassDB::bind_method(D_METHOD("get_mass"), &RigidDynamicBody3D::get_mass);
 
-	ClassDB::bind_method(D_METHOD("set_inertia", "inertia"), &RigidBody3D::set_inertia);
-	ClassDB::bind_method(D_METHOD("get_inertia"), &RigidBody3D::get_inertia);
+	ClassDB::bind_method(D_METHOD("set_inertia", "inertia"), &RigidDynamicBody3D::set_inertia);
+	ClassDB::bind_method(D_METHOD("get_inertia"), &RigidDynamicBody3D::get_inertia);
 
-	ClassDB::bind_method(D_METHOD("set_center_of_mass_mode", "mode"), &RigidBody3D::set_center_of_mass_mode);
-	ClassDB::bind_method(D_METHOD("get_center_of_mass_mode"), &RigidBody3D::get_center_of_mass_mode);
+	ClassDB::bind_method(D_METHOD("set_center_of_mass_mode", "mode"), &RigidDynamicBody3D::set_center_of_mass_mode);
+	ClassDB::bind_method(D_METHOD("get_center_of_mass_mode"), &RigidDynamicBody3D::get_center_of_mass_mode);
 
-	ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &RigidBody3D::set_center_of_mass);
-	ClassDB::bind_method(D_METHOD("get_center_of_mass"), &RigidBody3D::get_center_of_mass);
+	ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &RigidDynamicBody3D::set_center_of_mass);
+	ClassDB::bind_method(D_METHOD("get_center_of_mass"), &RigidDynamicBody3D::get_center_of_mass);
 
-	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody3D::set_physics_material_override);
-	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody3D::get_physics_material_override);
+	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidDynamicBody3D::set_physics_material_override);
+	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidDynamicBody3D::get_physics_material_override);
 
-	ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody3D::set_linear_velocity);
-	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody3D::get_linear_velocity);
+	ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidDynamicBody3D::set_linear_velocity);
+	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidDynamicBody3D::get_linear_velocity);
 
-	ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody3D::set_angular_velocity);
-	ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity);
+	ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidDynamicBody3D::set_angular_velocity);
+	ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidDynamicBody3D::get_angular_velocity);
 
-	ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidBody3D::get_inverse_inertia_tensor);
+	ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidDynamicBody3D::get_inverse_inertia_tensor);
 
-	ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody3D::set_gravity_scale);
-	ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody3D::get_gravity_scale);
+	ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidDynamicBody3D::set_gravity_scale);
+	ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidDynamicBody3D::get_gravity_scale);
 
-	ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody3D::set_linear_damp);
-	ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody3D::get_linear_damp);
+	ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidDynamicBody3D::set_linear_damp);
+	ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidDynamicBody3D::get_linear_damp);
 
-	ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody3D::set_angular_damp);
-	ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody3D::get_angular_damp);
+	ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidDynamicBody3D::set_angular_damp);
+	ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidDynamicBody3D::get_angular_damp);
 
-	ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody3D::set_max_contacts_reported);
-	ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody3D::get_max_contacts_reported);
+	ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidDynamicBody3D::set_max_contacts_reported);
+	ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidDynamicBody3D::get_max_contacts_reported);
 
-	ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody3D::set_use_custom_integrator);
-	ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody3D::is_using_custom_integrator);
+	ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidDynamicBody3D::set_use_custom_integrator);
+	ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidDynamicBody3D::is_using_custom_integrator);
 
-	ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody3D::set_contact_monitor);
-	ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody3D::is_contact_monitor_enabled);
+	ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidDynamicBody3D::set_contact_monitor);
+	ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidDynamicBody3D::is_contact_monitor_enabled);
 
-	ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidBody3D::set_use_continuous_collision_detection);
-	ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidBody3D::is_using_continuous_collision_detection);
+	ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidDynamicBody3D::set_use_continuous_collision_detection);
+	ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidDynamicBody3D::is_using_continuous_collision_detection);
 
-	ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody3D::set_axis_velocity);
+	ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidDynamicBody3D::set_axis_velocity);
 
-	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody3D::add_central_force);
-	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody3D::add_force, Vector3());
-	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody3D::add_torque);
+	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidDynamicBody3D::add_central_force);
+	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidDynamicBody3D::add_force, Vector3());
+	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidDynamicBody3D::add_torque);
 
-	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody3D::apply_central_impulse);
-	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody3D::apply_impulse, Vector3());
-	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody3D::apply_torque_impulse);
+	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidDynamicBody3D::apply_central_impulse);
+	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidDynamicBody3D::apply_impulse, Vector3());
+	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidDynamicBody3D::apply_torque_impulse);
 
-	ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody3D::set_sleeping);
-	ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody3D::is_sleeping);
+	ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidDynamicBody3D::set_sleeping);
+	ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidDynamicBody3D::is_sleeping);
 
-	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_can_sleep", "able_to_sleep"), &RigidDynamicBody3D::set_can_sleep);
+	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidDynamicBody3D::is_able_to_sleep);
 
-	ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody3D::get_colliding_bodies);
+	ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidDynamicBody3D::get_colliding_bodies);
 
 	GDVIRTUAL_BIND(_integrate_forces, "state");
 
@@ -1002,7 +1002,7 @@ void RigidBody3D::_bind_methods() {
 	BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_CUSTOM);
 }
 
-void RigidBody3D::_validate_property(PropertyInfo &property) const {
+void RigidDynamicBody3D::_validate_property(PropertyInfo &property) const {
 	if (center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM) {
 		if (property.name == "center_of_mass") {
 			property.usage = PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL;
@@ -1010,18 +1010,18 @@ void RigidBody3D::_validate_property(PropertyInfo &property) const {
 	}
 }
 
-RigidBody3D::RigidBody3D() :
+RigidDynamicBody3D::RigidDynamicBody3D() :
 		PhysicsBody3D(PhysicsServer3D::BODY_MODE_DYNAMIC) {
 	PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), this, _body_state_changed_callback);
 }
 
-RigidBody3D::~RigidBody3D() {
+RigidDynamicBody3D::~RigidDynamicBody3D() {
 	if (contact_monitor) {
 		memdelete(contact_monitor);
 	}
 }
 
-void RigidBody3D::_reload_physics_characteristics() {
+void RigidDynamicBody3D::_reload_physics_characteristics() {
 	if (physics_material_override.is_null()) {
 		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0);
 		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1);
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h
index 8e6463f838..d29241cdce 100644
--- a/scene/3d/physics_body_3d.h
+++ b/scene/3d/physics_body_3d.h
@@ -129,8 +129,8 @@ private:
 	bool is_sync_to_physics_enabled() const;
 };
 
-class RigidBody3D : public PhysicsBody3D {
-	GDCLASS(RigidBody3D, PhysicsBody3D);
+class RigidDynamicBody3D : public PhysicsBody3D {
+	GDCLASS(RigidDynamicBody3D, PhysicsBody3D);
 
 public:
 	enum Mode {
@@ -191,7 +191,7 @@ protected:
 			tagged = false;
 		}
 	};
-	struct RigidBody3D_RemoveAction {
+	struct RigidDynamicBody3D_RemoveAction {
 		RID rid;
 		ObjectID body_id;
 		ShapePair pair;
@@ -291,15 +291,15 @@ public:
 
 	virtual TypedArray<String> get_configuration_warnings() const override;
 
-	RigidBody3D();
-	~RigidBody3D();
+	RigidDynamicBody3D();
+	~RigidDynamicBody3D();
 
 private:
 	void _reload_physics_characteristics();
 };
 
-VARIANT_ENUM_CAST(RigidBody3D::Mode);
-VARIANT_ENUM_CAST(RigidBody3D::CenterOfMassMode);
+VARIANT_ENUM_CAST(RigidDynamicBody3D::Mode);
+VARIANT_ENUM_CAST(RigidDynamicBody3D::CenterOfMassMode);
 
 class KinematicCollision3D;
 
diff --git a/scene/3d/soft_body_3d.cpp b/scene/3d/soft_dynamic_body_3d.cpp
index 7eb189e890..a886c61263 100644
--- a/scene/3d/soft_body_3d.cpp
+++ b/scene/3d/soft_dynamic_body_3d.cpp
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  soft_body_3d.cpp                                                     */
+/*  soft_dynamic_body_3d.cpp                                             */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,13 +28,13 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "soft_body_3d.h"
+#include "soft_dynamic_body_3d.h"
 
 #include "scene/3d/physics_body_3d.h"
 
-SoftBodyRenderingServerHandler::SoftBodyRenderingServerHandler() {}
+SoftDynamicBodyRenderingServerHandler::SoftDynamicBodyRenderingServerHandler() {}
 
-void SoftBodyRenderingServerHandler::prepare(RID p_mesh, int p_surface) {
+void SoftDynamicBodyRenderingServerHandler::prepare(RID p_mesh, int p_surface) {
 	clear();
 
 	ERR_FAIL_COND(!p_mesh.is_valid());
@@ -56,7 +56,7 @@ void SoftBodyRenderingServerHandler::prepare(RID p_mesh, int p_surface) {
 	offset_normal = surface_offsets[RS::ARRAY_NORMAL];
 }
 
-void SoftBodyRenderingServerHandler::clear() {
+void SoftDynamicBodyRenderingServerHandler::clear() {
 	buffer.resize(0);
 	stride = 0;
 	offset_vertices = 0;
@@ -66,41 +66,41 @@ void SoftBodyRenderingServerHandler::clear() {
 	mesh = RID();
 }
 
-void SoftBodyRenderingServerHandler::open() {
+void SoftDynamicBodyRenderingServerHandler::open() {
 	write_buffer = buffer.ptrw();
 }
 
-void SoftBodyRenderingServerHandler::close() {
+void SoftDynamicBodyRenderingServerHandler::close() {
 	write_buffer = nullptr;
 }
 
-void SoftBodyRenderingServerHandler::commit_changes() {
+void SoftDynamicBodyRenderingServerHandler::commit_changes() {
 	RS::get_singleton()->mesh_surface_update_vertex_region(mesh, surface, 0, buffer);
 }
 
-void SoftBodyRenderingServerHandler::set_vertex(int p_vertex_id, const void *p_vector3) {
+void SoftDynamicBodyRenderingServerHandler::set_vertex(int p_vertex_id, const void *p_vector3) {
 	memcpy(&write_buffer[p_vertex_id * stride + offset_vertices], p_vector3, sizeof(float) * 3);
 }
 
-void SoftBodyRenderingServerHandler::set_normal(int p_vertex_id, const void *p_vector3) {
+void SoftDynamicBodyRenderingServerHandler::set_normal(int p_vertex_id, const void *p_vector3) {
 	memcpy(&write_buffer[p_vertex_id * stride + offset_normal], p_vector3, sizeof(float) * 3);
 }
 
-void SoftBodyRenderingServerHandler::set_aabb(const AABB &p_aabb) {
+void SoftDynamicBodyRenderingServerHandler::set_aabb(const AABB &p_aabb) {
 	RS::get_singleton()->mesh_set_custom_aabb(mesh, p_aabb);
 }
 
-SoftBody3D::PinnedPoint::PinnedPoint() {
+SoftDynamicBody3D::PinnedPoint::PinnedPoint() {
 }
 
-SoftBody3D::PinnedPoint::PinnedPoint(const PinnedPoint &obj_tocopy) {
+SoftDynamicBody3D::PinnedPoint::PinnedPoint(const PinnedPoint &obj_tocopy) {
 	point_index = obj_tocopy.point_index;
 	spatial_attachment_path = obj_tocopy.spatial_attachment_path;
 	spatial_attachment = obj_tocopy.spatial_attachment;
 	offset = obj_tocopy.offset;
 }
 
-SoftBody3D::PinnedPoint &SoftBody3D::PinnedPoint::operator=(const PinnedPoint &obj) {
+SoftDynamicBody3D::PinnedPoint &SoftDynamicBody3D::PinnedPoint::operator=(const PinnedPoint &obj) {
 	point_index = obj.point_index;
 	spatial_attachment_path = obj.spatial_attachment_path;
 	spatial_attachment = obj.spatial_attachment;
@@ -108,7 +108,7 @@ SoftBody3D::PinnedPoint &SoftBody3D::PinnedPoint::operator=(const PinnedPoint &o
 	return *this;
 }
 
-void SoftBody3D::_update_pickable() {
+void SoftDynamicBody3D::_update_pickable() {
 	if (!is_inside_tree()) {
 		return;
 	}
@@ -116,7 +116,7 @@ void SoftBody3D::_update_pickable() {
 	PhysicsServer3D::get_singleton()->soft_body_set_ray_pickable(physics_rid, pickable);
 }
 
-bool SoftBody3D::_set(const StringName &p_name, const Variant &p_value) {
+bool SoftDynamicBody3D::_set(const StringName &p_name, const Variant &p_value) {
 	String name = p_name;
 	String which = name.get_slicec('/', 0);
 
@@ -133,7 +133,7 @@ bool SoftBody3D::_set(const StringName &p_name, const Variant &p_value) {
 	return false;
 }
 
-bool SoftBody3D::_get(const StringName &p_name, Variant &r_ret) const {
+bool SoftDynamicBody3D::_get(const StringName &p_name, Variant &r_ret) const {
 	String name = p_name;
 	String which = name.get_slicec('/', 0);
 
@@ -160,7 +160,7 @@ bool SoftBody3D::_get(const StringName &p_name, Variant &r_ret) const {
 	return false;
 }
 
-void SoftBody3D::_get_property_list(List<PropertyInfo> *p_list) const {
+void SoftDynamicBody3D::_get_property_list(List<PropertyInfo> *p_list) const {
 	const int pinned_points_indices_size = pinned_points.size();
 
 	p_list->push_back(PropertyInfo(Variant::PACKED_INT32_ARRAY, "pinned_points"));
@@ -172,7 +172,7 @@ void SoftBody3D::_get_property_list(List<PropertyInfo> *p_list) const {
 	}
 }
 
-bool SoftBody3D::_set_property_pinned_points_indices(const Array &p_indices) {
+bool SoftDynamicBody3D::_set_property_pinned_points_indices(const Array &p_indices) {
 	const int p_indices_size = p_indices.size();
 
 	{ // Remove the pined points on physics server that will be removed by resize
@@ -201,7 +201,7 @@ bool SoftBody3D::_set_property_pinned_points_indices(const Array &p_indices) {
 	return true;
 }
 
-bool SoftBody3D::_set_property_pinned_points_attachment(int p_item, const String &p_what, const Variant &p_value) {
+bool SoftDynamicBody3D::_set_property_pinned_points_attachment(int p_item, const String &p_what, const Variant &p_value) {
 	if (pinned_points.size() <= p_item) {
 		return false;
 	}
@@ -220,7 +220,7 @@ bool SoftBody3D::_set_property_pinned_points_attachment(int p_item, const String
 	return true;
 }
 
-bool SoftBody3D::_get_property_pinned_points(int p_item, const String &p_what, Variant &r_ret) const {
+bool SoftDynamicBody3D::_get_property_pinned_points(int p_item, const String &p_what, Variant &r_ret) const {
 	if (pinned_points.size() <= p_item) {
 		return false;
 	}
@@ -239,15 +239,7 @@ bool SoftBody3D::_get_property_pinned_points(int p_item, const String &p_what, V
 	return true;
 }
 
-void SoftBody3D::_softbody_changed() {
-	prepare_physics_server();
-	_reset_points_offsets();
-#ifdef TOOLS_ENABLED
-	update_configuration_warnings();
-#endif
-}
-
-void SoftBody3D::_notification(int p_what) {
+void SoftDynamicBody3D::_notification(int p_what) {
 	switch (p_what) {
 		case NOTIFICATION_ENTER_WORLD: {
 			if (Engine::get_singleton()->is_editor_hint()) {
@@ -312,56 +304,56 @@ void SoftBody3D::_notification(int p_what) {
 	}
 }
 
-void SoftBody3D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("get_physics_rid"), &SoftBody3D::get_physics_rid);
+void SoftDynamicBody3D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("get_physics_rid"), &SoftDynamicBody3D::get_physics_rid);
 
-	ClassDB::bind_method(D_METHOD("set_collision_mask", "collision_mask"), &SoftBody3D::set_collision_mask);
-	ClassDB::bind_method(D_METHOD("get_collision_mask"), &SoftBody3D::get_collision_mask);
+	ClassDB::bind_method(D_METHOD("set_collision_mask", "collision_mask"), &SoftDynamicBody3D::set_collision_mask);
+	ClassDB::bind_method(D_METHOD("get_collision_mask"), &SoftDynamicBody3D::get_collision_mask);
 
-	ClassDB::bind_method(D_METHOD("set_collision_layer", "collision_layer"), &SoftBody3D::set_collision_layer);
-	ClassDB::bind_method(D_METHOD("get_collision_layer"), &SoftBody3D::get_collision_layer);
+	ClassDB::bind_method(D_METHOD("set_collision_layer", "collision_layer"), &SoftDynamicBody3D::set_collision_layer);
+	ClassDB::bind_method(D_METHOD("get_collision_layer"), &SoftDynamicBody3D::get_collision_layer);
 
-	ClassDB::bind_method(D_METHOD("set_collision_mask_value", "layer_number", "value"), &SoftBody3D::set_collision_mask_value);
-	ClassDB::bind_method(D_METHOD("get_collision_mask_value", "layer_number"), &SoftBody3D::get_collision_mask_value);
+	ClassDB::bind_method(D_METHOD("set_collision_mask_value", "layer_number", "value"), &SoftDynamicBody3D::set_collision_mask_value);
+	ClassDB::bind_method(D_METHOD("get_collision_mask_value", "layer_number"), &SoftDynamicBody3D::get_collision_mask_value);
 
-	ClassDB::bind_method(D_METHOD("set_collision_layer_value", "layer_number", "value"), &SoftBody3D::set_collision_layer_value);
-	ClassDB::bind_method(D_METHOD("get_collision_layer_value", "layer_number"), &SoftBody3D::get_collision_layer_value);
+	ClassDB::bind_method(D_METHOD("set_collision_layer_value", "layer_number", "value"), &SoftDynamicBody3D::set_collision_layer_value);
+	ClassDB::bind_method(D_METHOD("get_collision_layer_value", "layer_number"), &SoftDynamicBody3D::get_collision_layer_value);
 
-	ClassDB::bind_method(D_METHOD("set_parent_collision_ignore", "parent_collision_ignore"), &SoftBody3D::set_parent_collision_ignore);
-	ClassDB::bind_method(D_METHOD("get_parent_collision_ignore"), &SoftBody3D::get_parent_collision_ignore);
+	ClassDB::bind_method(D_METHOD("set_parent_collision_ignore", "parent_collision_ignore"), &SoftDynamicBody3D::set_parent_collision_ignore);
+	ClassDB::bind_method(D_METHOD("get_parent_collision_ignore"), &SoftDynamicBody3D::get_parent_collision_ignore);
 
-	ClassDB::bind_method(D_METHOD("set_disable_mode", "mode"), &SoftBody3D::set_disable_mode);
-	ClassDB::bind_method(D_METHOD("get_disable_mode"), &SoftBody3D::get_disable_mode);
+	ClassDB::bind_method(D_METHOD("set_disable_mode", "mode"), &SoftDynamicBody3D::set_disable_mode);
+	ClassDB::bind_method(D_METHOD("get_disable_mode"), &SoftDynamicBody3D::get_disable_mode);
 
-	ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &SoftBody3D::get_collision_exceptions);
-	ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &SoftBody3D::add_collision_exception_with);
-	ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &SoftBody3D::remove_collision_exception_with);
+	ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &SoftDynamicBody3D::get_collision_exceptions);
+	ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &SoftDynamicBody3D::add_collision_exception_with);
+	ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &SoftDynamicBody3D::remove_collision_exception_with);
 
-	ClassDB::bind_method(D_METHOD("set_simulation_precision", "simulation_precision"), &SoftBody3D::set_simulation_precision);
-	ClassDB::bind_method(D_METHOD("get_simulation_precision"), &SoftBody3D::get_simulation_precision);
+	ClassDB::bind_method(D_METHOD("set_simulation_precision", "simulation_precision"), &SoftDynamicBody3D::set_simulation_precision);
+	ClassDB::bind_method(D_METHOD("get_simulation_precision"), &SoftDynamicBody3D::get_simulation_precision);
 
-	ClassDB::bind_method(D_METHOD("set_total_mass", "mass"), &SoftBody3D::set_total_mass);
-	ClassDB::bind_method(D_METHOD("get_total_mass"), &SoftBody3D::get_total_mass);
+	ClassDB::bind_method(D_METHOD("set_total_mass", "mass"), &SoftDynamicBody3D::set_total_mass);
+	ClassDB::bind_method(D_METHOD("get_total_mass"), &SoftDynamicBody3D::get_total_mass);
 
-	ClassDB::bind_method(D_METHOD("set_linear_stiffness", "linear_stiffness"), &SoftBody3D::set_linear_stiffness);
-	ClassDB::bind_method(D_METHOD("get_linear_stiffness"), &SoftBody3D::get_linear_stiffness);
+	ClassDB::bind_method(D_METHOD("set_linear_stiffness", "linear_stiffness"), &SoftDynamicBody3D::set_linear_stiffness);
+	ClassDB::bind_method(D_METHOD("get_linear_stiffness"), &SoftDynamicBody3D::get_linear_stiffness);
 
-	ClassDB::bind_method(D_METHOD("set_pressure_coefficient", "pressure_coefficient"), &SoftBody3D::set_pressure_coefficient);
-	ClassDB::bind_method(D_METHOD("get_pressure_coefficient"), &SoftBody3D::get_pressure_coefficient);
+	ClassDB::bind_method(D_METHOD("set_pressure_coefficient", "pressure_coefficient"), &SoftDynamicBody3D::set_pressure_coefficient);
+	ClassDB::bind_method(D_METHOD("get_pressure_coefficient"), &SoftDynamicBody3D::get_pressure_coefficient);
 
-	ClassDB::bind_method(D_METHOD("set_damping_coefficient", "damping_coefficient"), &SoftBody3D::set_damping_coefficient);
-	ClassDB::bind_method(D_METHOD("get_damping_coefficient"), &SoftBody3D::get_damping_coefficient);
+	ClassDB::bind_method(D_METHOD("set_damping_coefficient", "damping_coefficient"), &SoftDynamicBody3D::set_damping_coefficient);
+	ClassDB::bind_method(D_METHOD("get_damping_coefficient"), &SoftDynamicBody3D::get_damping_coefficient);
 
-	ClassDB::bind_method(D_METHOD("set_drag_coefficient", "drag_coefficient"), &SoftBody3D::set_drag_coefficient);
-	ClassDB::bind_method(D_METHOD("get_drag_coefficient"), &SoftBody3D::get_drag_coefficient);
+	ClassDB::bind_method(D_METHOD("set_drag_coefficient", "drag_coefficient"), &SoftDynamicBody3D::set_drag_coefficient);
+	ClassDB::bind_method(D_METHOD("get_drag_coefficient"), &SoftDynamicBody3D::get_drag_coefficient);
 
-	ClassDB::bind_method(D_METHOD("get_point_transform", "point_index"), &SoftBody3D::get_point_transform);
+	ClassDB::bind_method(D_METHOD("get_point_transform", "point_index"), &SoftDynamicBody3D::get_point_transform);
 
-	ClassDB::bind_method(D_METHOD("set_point_pinned", "point_index", "pinned", "attachment_path"), &SoftBody3D::pin_point, DEFVAL(NodePath()));
-	ClassDB::bind_method(D_METHOD("is_point_pinned", "point_index"), &SoftBody3D::is_point_pinned);
+	ClassDB::bind_method(D_METHOD("set_point_pinned", "point_index", "pinned", "attachment_path"), &SoftDynamicBody3D::pin_point, DEFVAL(NodePath()));
+	ClassDB::bind_method(D_METHOD("is_point_pinned", "point_index"), &SoftDynamicBody3D::is_point_pinned);
 
-	ClassDB::bind_method(D_METHOD("set_ray_pickable", "ray_pickable"), &SoftBody3D::set_ray_pickable);
-	ClassDB::bind_method(D_METHOD("is_ray_pickable"), &SoftBody3D::is_ray_pickable);
+	ClassDB::bind_method(D_METHOD("set_ray_pickable", "ray_pickable"), &SoftDynamicBody3D::set_ray_pickable);
+	ClassDB::bind_method(D_METHOD("is_ray_pickable"), &SoftDynamicBody3D::is_ray_pickable);
 
 	ADD_GROUP("Collision", "collision_");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
@@ -383,7 +375,7 @@ void SoftBody3D::_bind_methods() {
 	BIND_ENUM_CONSTANT(DISABLE_MODE_KEEP_ACTIVE);
 }
 
-TypedArray<String> SoftBody3D::get_configuration_warnings() const {
+TypedArray<String> SoftDynamicBody3D::get_configuration_warnings() const {
 	TypedArray<String> warnings = Node::get_configuration_warnings();
 
 	if (get_mesh().is_null()) {
@@ -392,13 +384,13 @@ TypedArray<String> SoftBody3D::get_configuration_warnings() const {
 
 	Transform3D t = get_transform();
 	if ((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 SoftBody3D will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."));
+		warnings.push_back(TTR("Size changes to SoftDynamicBody3D will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."));
 	}
 
 	return warnings;
 }
 
-void SoftBody3D::_update_physics_server() {
+void SoftDynamicBody3D::_update_physics_server() {
 	if (!simulation_started) {
 		return;
 	}
@@ -414,7 +406,7 @@ void SoftBody3D::_update_physics_server() {
 	}
 }
 
-void SoftBody3D::_draw_soft_mesh() {
+void SoftDynamicBody3D::_draw_soft_mesh() {
 	if (get_mesh().is_null()) {
 		return;
 	}
@@ -437,7 +429,7 @@ void SoftBody3D::_draw_soft_mesh() {
 	rendering_server_handler.commit_changes();
 }
 
-void SoftBody3D::prepare_physics_server() {
+void SoftDynamicBody3D::prepare_physics_server() {
 #ifdef TOOLS_ENABLED
 	if (Engine::get_singleton()->is_editor_hint()) {
 		if (get_mesh().is_valid()) {
@@ -453,16 +445,16 @@ void SoftBody3D::prepare_physics_server() {
 	if (get_mesh().is_valid() && (is_enabled() || (disable_mode != DISABLE_MODE_REMOVE))) {
 		become_mesh_owner();
 		PhysicsServer3D::get_singleton()->soft_body_set_mesh(physics_rid, get_mesh());
-		RS::get_singleton()->connect("frame_pre_draw", callable_mp(this, &SoftBody3D::_draw_soft_mesh));
+		RS::get_singleton()->connect("frame_pre_draw", callable_mp(this, &SoftDynamicBody3D::_draw_soft_mesh));
 	} else {
 		PhysicsServer3D::get_singleton()->soft_body_set_mesh(physics_rid, nullptr);
-		if (RS::get_singleton()->is_connected("frame_pre_draw", callable_mp(this, &SoftBody3D::_draw_soft_mesh))) {
-			RS::get_singleton()->disconnect("frame_pre_draw", callable_mp(this, &SoftBody3D::_draw_soft_mesh));
+		if (RS::get_singleton()->is_connected("frame_pre_draw", callable_mp(this, &SoftDynamicBody3D::_draw_soft_mesh))) {
+			RS::get_singleton()->disconnect("frame_pre_draw", callable_mp(this, &SoftDynamicBody3D::_draw_soft_mesh));
 		}
 	}
 }
 
-void SoftBody3D::become_mesh_owner() {
+void SoftDynamicBody3D::become_mesh_owner() {
 	if (mesh.is_null()) {
 		return;
 	}
@@ -475,7 +467,7 @@ void SoftBody3D::become_mesh_owner() {
 
 		ERR_FAIL_COND(!mesh->get_surface_count());
 
-		// Get current mesh array and create new mesh array with necessary flag for softbody
+		// Get current mesh array and create new mesh array with necessary flag for SoftDynamicBody
 		Array surface_arrays = mesh->surface_get_arrays(0);
 		Array surface_blend_arrays = mesh->surface_get_blend_shape_arrays(0);
 		Dictionary surface_lods = mesh->surface_get_lods(0);
@@ -496,25 +488,25 @@ void SoftBody3D::become_mesh_owner() {
 	}
 }
 
-void SoftBody3D::set_collision_mask(uint32_t p_mask) {
+void SoftDynamicBody3D::set_collision_mask(uint32_t p_mask) {
 	collision_mask = p_mask;
 	PhysicsServer3D::get_singleton()->soft_body_set_collision_mask(physics_rid, p_mask);
 }
 
-uint32_t SoftBody3D::get_collision_mask() const {
+uint32_t SoftDynamicBody3D::get_collision_mask() const {
 	return collision_mask;
 }
 
-void SoftBody3D::set_collision_layer(uint32_t p_layer) {
+void SoftDynamicBody3D::set_collision_layer(uint32_t p_layer) {
 	collision_layer = p_layer;
 	PhysicsServer3D::get_singleton()->soft_body_set_collision_layer(physics_rid, p_layer);
 }
 
-uint32_t SoftBody3D::get_collision_layer() const {
+uint32_t SoftDynamicBody3D::get_collision_layer() const {
 	return collision_layer;
 }
 
-void SoftBody3D::set_collision_layer_value(int p_layer_number, bool p_value) {
+void SoftDynamicBody3D::set_collision_layer_value(int p_layer_number, bool p_value) {
 	ERR_FAIL_COND_MSG(p_layer_number < 1, "Collision layer number must be between 1 and 32 inclusive.");
 	ERR_FAIL_COND_MSG(p_layer_number > 32, "Collision layer number must be between 1 and 32 inclusive.");
 	uint32_t collision_layer = get_collision_layer();
@@ -526,13 +518,13 @@ void SoftBody3D::set_collision_layer_value(int p_layer_number, bool p_value) {
 	set_collision_layer(collision_layer);
 }
 
-bool SoftBody3D::get_collision_layer_value(int p_layer_number) const {
+bool SoftDynamicBody3D::get_collision_layer_value(int p_layer_number) const {
 	ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Collision layer number must be between 1 and 32 inclusive.");
 	ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Collision layer number must be between 1 and 32 inclusive.");
 	return get_collision_layer() & (1 << (p_layer_number - 1));
 }
 
-void SoftBody3D::set_collision_mask_value(int p_layer_number, bool p_value) {
+void SoftDynamicBody3D::set_collision_mask_value(int p_layer_number, bool p_value) {
 	ERR_FAIL_COND_MSG(p_layer_number < 1, "Collision layer number must be between 1 and 32 inclusive.");
 	ERR_FAIL_COND_MSG(p_layer_number > 32, "Collision layer number must be between 1 and 32 inclusive.");
 	uint32_t mask = get_collision_mask();
@@ -544,13 +536,13 @@ void SoftBody3D::set_collision_mask_value(int p_layer_number, bool p_value) {
 	set_collision_mask(mask);
 }
 
-bool SoftBody3D::get_collision_mask_value(int p_layer_number) const {
+bool SoftDynamicBody3D::get_collision_mask_value(int p_layer_number) const {
 	ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Collision layer number must be between 1 and 32 inclusive.");
 	ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Collision layer number must be between 1 and 32 inclusive.");
 	return get_collision_mask() & (1 << (p_layer_number - 1));
 }
 
-void SoftBody3D::set_disable_mode(DisableMode p_mode) {
+void SoftDynamicBody3D::set_disable_mode(DisableMode p_mode) {
 	if (disable_mode == p_mode) {
 		return;
 	}
@@ -568,30 +560,30 @@ void SoftBody3D::set_disable_mode(DisableMode p_mode) {
 	}
 }
 
-SoftBody3D::DisableMode SoftBody3D::get_disable_mode() const {
+SoftDynamicBody3D::DisableMode SoftDynamicBody3D::get_disable_mode() const {
 	return disable_mode;
 }
 
-void SoftBody3D::set_parent_collision_ignore(const NodePath &p_parent_collision_ignore) {
+void SoftDynamicBody3D::set_parent_collision_ignore(const NodePath &p_parent_collision_ignore) {
 	parent_collision_ignore = p_parent_collision_ignore;
 }
 
-const NodePath &SoftBody3D::get_parent_collision_ignore() const {
+const NodePath &SoftDynamicBody3D::get_parent_collision_ignore() const {
 	return parent_collision_ignore;
 }
 
-void SoftBody3D::set_pinned_points_indices(Vector<SoftBody3D::PinnedPoint> p_pinned_points_indices) {
+void SoftDynamicBody3D::set_pinned_points_indices(Vector<SoftDynamicBody3D::PinnedPoint> p_pinned_points_indices) {
 	pinned_points = p_pinned_points_indices;
 	for (int i = pinned_points.size() - 1; 0 <= i; --i) {
 		pin_point(p_pinned_points_indices[i].point_index, true);
 	}
 }
 
-Vector<SoftBody3D::PinnedPoint> SoftBody3D::get_pinned_points_indices() {
+Vector<SoftDynamicBody3D::PinnedPoint> SoftDynamicBody3D::get_pinned_points_indices() {
 	return pinned_points;
 }
 
-Array SoftBody3D::get_collision_exceptions() {
+Array SoftDynamicBody3D::get_collision_exceptions() {
 	List<RID> exceptions;
 	PhysicsServer3D::get_singleton()->soft_body_get_collision_exceptions(physics_rid, &exceptions);
 	Array ret;
@@ -604,77 +596,77 @@ Array SoftBody3D::get_collision_exceptions() {
 	return ret;
 }
 
-void SoftBody3D::add_collision_exception_with(Node *p_node) {
+void SoftDynamicBody3D::add_collision_exception_with(Node *p_node) {
 	ERR_FAIL_NULL(p_node);
 	CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node);
 	ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject3Ds.");
 	PhysicsServer3D::get_singleton()->soft_body_add_collision_exception(physics_rid, collision_object->get_rid());
 }
 
-void SoftBody3D::remove_collision_exception_with(Node *p_node) {
+void SoftDynamicBody3D::remove_collision_exception_with(Node *p_node) {
 	ERR_FAIL_NULL(p_node);
 	CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node);
 	ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject3Ds.");
 	PhysicsServer3D::get_singleton()->soft_body_remove_collision_exception(physics_rid, collision_object->get_rid());
 }
 
-int SoftBody3D::get_simulation_precision() {
+int SoftDynamicBody3D::get_simulation_precision() {
 	return PhysicsServer3D::get_singleton()->soft_body_get_simulation_precision(physics_rid);
 }
 
-void SoftBody3D::set_simulation_precision(int p_simulation_precision) {
+void SoftDynamicBody3D::set_simulation_precision(int p_simulation_precision) {
 	PhysicsServer3D::get_singleton()->soft_body_set_simulation_precision(physics_rid, p_simulation_precision);
 }
 
-real_t SoftBody3D::get_total_mass() {
+real_t SoftDynamicBody3D::get_total_mass() {
 	return PhysicsServer3D::get_singleton()->soft_body_get_total_mass(physics_rid);
 }
 
-void SoftBody3D::set_total_mass(real_t p_total_mass) {
+void SoftDynamicBody3D::set_total_mass(real_t p_total_mass) {
 	PhysicsServer3D::get_singleton()->soft_body_set_total_mass(physics_rid, p_total_mass);
 }
 
-void SoftBody3D::set_linear_stiffness(real_t p_linear_stiffness) {
+void SoftDynamicBody3D::set_linear_stiffness(real_t p_linear_stiffness) {
 	PhysicsServer3D::get_singleton()->soft_body_set_linear_stiffness(physics_rid, p_linear_stiffness);
 }
 
-real_t SoftBody3D::get_linear_stiffness() {
+real_t SoftDynamicBody3D::get_linear_stiffness() {
 	return PhysicsServer3D::get_singleton()->soft_body_get_linear_stiffness(physics_rid);
 }
 
-real_t SoftBody3D::get_pressure_coefficient() {
+real_t SoftDynamicBody3D::get_pressure_coefficient() {
 	return PhysicsServer3D::get_singleton()->soft_body_get_pressure_coefficient(physics_rid);
 }
 
-void SoftBody3D::set_pressure_coefficient(real_t p_pressure_coefficient) {
+void SoftDynamicBody3D::set_pressure_coefficient(real_t p_pressure_coefficient) {
 	PhysicsServer3D::get_singleton()->soft_body_set_pressure_coefficient(physics_rid, p_pressure_coefficient);
 }
 
-real_t SoftBody3D::get_damping_coefficient() {
+real_t SoftDynamicBody3D::get_damping_coefficient() {
 	return PhysicsServer3D::get_singleton()->soft_body_get_damping_coefficient(physics_rid);
 }
 
-void SoftBody3D::set_damping_coefficient(real_t p_damping_coefficient) {
+void SoftDynamicBody3D::set_damping_coefficient(real_t p_damping_coefficient) {
 	PhysicsServer3D::get_singleton()->soft_body_set_damping_coefficient(physics_rid, p_damping_coefficient);
 }
 
-real_t SoftBody3D::get_drag_coefficient() {
+real_t SoftDynamicBody3D::get_drag_coefficient() {
 	return PhysicsServer3D::get_singleton()->soft_body_get_drag_coefficient(physics_rid);
 }
 
-void SoftBody3D::set_drag_coefficient(real_t p_drag_coefficient) {
+void SoftDynamicBody3D::set_drag_coefficient(real_t p_drag_coefficient) {
 	PhysicsServer3D::get_singleton()->soft_body_set_drag_coefficient(physics_rid, p_drag_coefficient);
 }
 
-Vector3 SoftBody3D::get_point_transform(int p_point_index) {
+Vector3 SoftDynamicBody3D::get_point_transform(int p_point_index) {
 	return PhysicsServer3D::get_singleton()->soft_body_get_point_global_position(physics_rid, p_point_index);
 }
 
-void SoftBody3D::pin_point_toggle(int p_point_index) {
+void SoftDynamicBody3D::pin_point_toggle(int p_point_index) {
 	pin_point(p_point_index, !(-1 != _has_pinned_point(p_point_index)));
 }
 
-void SoftBody3D::pin_point(int p_point_index, bool pin, const NodePath &p_spatial_attachment_path) {
+void SoftDynamicBody3D::pin_point(int p_point_index, bool pin, const NodePath &p_spatial_attachment_path) {
 	_pin_point_on_physics_server(p_point_index, pin);
 	if (pin) {
 		_add_pinned_point(p_point_index, p_spatial_attachment_path);
@@ -683,41 +675,33 @@ void SoftBody3D::pin_point(int p_point_index, bool pin, const NodePath &p_spatia
 	}
 }
 
-bool SoftBody3D::is_point_pinned(int p_point_index) const {
+bool SoftDynamicBody3D::is_point_pinned(int p_point_index) const {
 	return -1 != _has_pinned_point(p_point_index);
 }
 
-void SoftBody3D::set_ray_pickable(bool p_ray_pickable) {
+void SoftDynamicBody3D::set_ray_pickable(bool p_ray_pickable) {
 	ray_pickable = p_ray_pickable;
 	_update_pickable();
 }
 
-bool SoftBody3D::is_ray_pickable() const {
+bool SoftDynamicBody3D::is_ray_pickable() const {
 	return ray_pickable;
 }
 
-SoftBody3D::SoftBody3D() :
+SoftDynamicBody3D::SoftDynamicBody3D() :
 		physics_rid(PhysicsServer3D::get_singleton()->soft_body_create()) {
 	PhysicsServer3D::get_singleton()->body_attach_object_instance_id(physics_rid, get_instance_id());
 }
 
-SoftBody3D::~SoftBody3D() {
+SoftDynamicBody3D::~SoftDynamicBody3D() {
 	PhysicsServer3D::get_singleton()->free(physics_rid);
 }
 
-void SoftBody3D::reset_softbody_pin() {
-	PhysicsServer3D::get_singleton()->soft_body_remove_all_pinned_points(physics_rid);
-	const PinnedPoint *pps = pinned_points.ptr();
-	for (int i = pinned_points.size() - 1; 0 < i; --i) {
-		PhysicsServer3D::get_singleton()->soft_body_pin_point(physics_rid, pps[i].point_index, true);
-	}
-}
-
-void SoftBody3D::_make_cache_dirty() {
+void SoftDynamicBody3D::_make_cache_dirty() {
 	pinned_points_cache_dirty = true;
 }
 
-void SoftBody3D::_update_cache_pin_points_datas() {
+void SoftDynamicBody3D::_update_cache_pin_points_datas() {
 	if (!pinned_points_cache_dirty) {
 		return;
 	}
@@ -730,17 +714,17 @@ void SoftBody3D::_update_cache_pin_points_datas() {
 			w[i].spatial_attachment = Object::cast_to<Node3D>(get_node(w[i].spatial_attachment_path));
 		}
 		if (!w[i].spatial_attachment) {
-			ERR_PRINT("Node3D node not defined in the pinned point, this is undefined behavior for SoftBody3D!");
+			ERR_PRINT("Node3D node not defined in the pinned point, this is undefined behavior for SoftDynamicBody3D!");
 		}
 	}
 }
 
-void SoftBody3D::_pin_point_on_physics_server(int p_point_index, bool pin) {
+void SoftDynamicBody3D::_pin_point_on_physics_server(int p_point_index, bool pin) {
 	PhysicsServer3D::get_singleton()->soft_body_pin_point(physics_rid, p_point_index, pin);
 }
 
-void SoftBody3D::_add_pinned_point(int p_point_index, const NodePath &p_spatial_attachment_path) {
-	SoftBody3D::PinnedPoint *pinned_point;
+void SoftDynamicBody3D::_add_pinned_point(int p_point_index, const NodePath &p_spatial_attachment_path) {
+	SoftDynamicBody3D::PinnedPoint *pinned_point;
 	if (-1 == _get_pinned_point(p_point_index, pinned_point)) {
 		// Create new
 		PinnedPoint pp;
@@ -765,7 +749,7 @@ void SoftBody3D::_add_pinned_point(int p_point_index, const NodePath &p_spatial_
 	}
 }
 
-void SoftBody3D::_reset_points_offsets() {
+void SoftDynamicBody3D::_reset_points_offsets() {
 	if (!Engine::get_singleton()->is_editor_hint()) {
 		return;
 	}
@@ -787,25 +771,25 @@ void SoftBody3D::_reset_points_offsets() {
 	}
 }
 
-void SoftBody3D::_remove_pinned_point(int p_point_index) {
+void SoftDynamicBody3D::_remove_pinned_point(int p_point_index) {
 	const int id(_has_pinned_point(p_point_index));
 	if (-1 != id) {
 		pinned_points.remove(id);
 	}
 }
 
-int SoftBody3D::_get_pinned_point(int p_point_index, SoftBody3D::PinnedPoint *&r_point) const {
+int SoftDynamicBody3D::_get_pinned_point(int p_point_index, SoftDynamicBody3D::PinnedPoint *&r_point) const {
 	const int id = _has_pinned_point(p_point_index);
 	if (-1 == id) {
 		r_point = nullptr;
 		return -1;
 	} else {
-		r_point = const_cast<SoftBody3D::PinnedPoint *>(&pinned_points.ptr()[id]);
+		r_point = const_cast<SoftDynamicBody3D::PinnedPoint *>(&pinned_points.ptr()[id]);
 		return id;
 	}
 }
 
-int SoftBody3D::_has_pinned_point(int p_point_index) const {
+int SoftDynamicBody3D::_has_pinned_point(int p_point_index) const {
 	const PinnedPoint *r = pinned_points.ptr();
 	for (int i = pinned_points.size() - 1; 0 <= i; --i) {
 		if (p_point_index == r[i].point_index) {
diff --git a/scene/3d/soft_body_3d.h b/scene/3d/soft_dynamic_body_3d.h
index 46b185a32c..0b4b3021cd 100644
--- a/scene/3d/soft_body_3d.h
+++ b/scene/3d/soft_dynamic_body_3d.h
@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  soft_body_3d.h                                                       */
+/*  soft_dynamic_body_3d.h                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,16 +28,16 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef SOFT_PHYSICS_BODY_H
-#define SOFT_PHYSICS_BODY_H
+#ifndef SOFT_DYNAMIC_BODY_H
+#define SOFT_DYNAMIC_BODY_H
 
 #include "scene/3d/mesh_instance_3d.h"
 #include "servers/physics_server_3d.h"
 
-class SoftBody3D;
+class SoftDynamicBody3D;
 
-class SoftBodyRenderingServerHandler : public RenderingServerHandler {
-	friend class SoftBody3D;
+class SoftDynamicBodyRenderingServerHandler : public RenderingServerHandler {
+	friend class SoftDynamicBody3D;
 
 	RID mesh;
 	int surface = 0;
@@ -49,7 +49,7 @@ class SoftBodyRenderingServerHandler : public RenderingServerHandler {
 	uint8_t *write_buffer = nullptr;
 
 private:
-	SoftBodyRenderingServerHandler();
+	SoftDynamicBodyRenderingServerHandler();
 	bool is_ready() { return mesh.is_valid(); }
 	void prepare(RID p_mesh_rid, int p_surface);
 	void clear();
@@ -63,8 +63,8 @@ public:
 	void set_aabb(const AABB &p_aabb) override;
 };
 
-class SoftBody3D : public MeshInstance3D {
-	GDCLASS(SoftBody3D, MeshInstance3D);
+class SoftDynamicBody3D : public MeshInstance3D {
+	GDCLASS(SoftDynamicBody3D, MeshInstance3D);
 
 public:
 	enum DisableMode {
@@ -84,7 +84,7 @@ public:
 	};
 
 private:
-	SoftBodyRenderingServerHandler rendering_server_handler;
+	SoftDynamicBodyRenderingServerHandler rendering_server_handler;
 
 	RID physics_rid;
 
@@ -106,8 +106,6 @@ private:
 
 	void _update_pickable();
 
-	void _softbody_changed();
-
 protected:
 	bool _set(const StringName &p_name, const Variant &p_value);
 	bool _get(const StringName &p_name, Variant &r_ret) const;
@@ -184,12 +182,10 @@ public:
 	void set_ray_pickable(bool p_ray_pickable);
 	bool is_ray_pickable() const;
 
-	SoftBody3D();
-	~SoftBody3D();
+	SoftDynamicBody3D();
+	~SoftDynamicBody3D();
 
 private:
-	void reset_softbody_pin();
-
 	void _make_cache_dirty();
 	void _update_cache_pin_points_datas();
 
@@ -202,6 +198,6 @@ private:
 	int _has_pinned_point(int p_point_index) const;
 };
 
-VARIANT_ENUM_CAST(SoftBody3D::DisableMode);
+VARIANT_ENUM_CAST(SoftDynamicBody3D::DisableMode);
 
-#endif // SOFT_PHYSICS_BODY_H
+#endif // SOFT_DYNAMIC_BODY_H
diff --git a/scene/3d/vehicle_body_3d.cpp b/scene/3d/vehicle_body_3d.cpp
index daeea81891..bc3bb81ed4 100644
--- a/scene/3d/vehicle_body_3d.cpp
+++ b/scene/3d/vehicle_body_3d.cpp
@@ -803,7 +803,7 @@ void VehicleBody3D::_update_friction(PhysicsDirectBodyState3D *s) {
 }
 
 void VehicleBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
-	RigidBody3D::_body_state_changed(p_state);
+	RigidDynamicBody3D::_body_state_changed(p_state);
 
 	real_t step = p_state->get_step();
 
diff --git a/scene/3d/vehicle_body_3d.h b/scene/3d/vehicle_body_3d.h
index f29c3d89b7..a798c76c1f 100644
--- a/scene/3d/vehicle_body_3d.h
+++ b/scene/3d/vehicle_body_3d.h
@@ -150,8 +150,8 @@ public:
 	VehicleWheel3D();
 };
 
-class VehicleBody3D : public RigidBody3D {
-	GDCLASS(VehicleBody3D, RigidBody3D);
+class VehicleBody3D : public RigidDynamicBody3D {
+	GDCLASS(VehicleBody3D, RigidDynamicBody3D);
 
 	real_t engine_force = 0.0;
 	real_t brake = 0.0;
diff --git a/scene/register_scene_types.cpp b/scene/register_scene_types.cpp
index 25c8e3e0b7..3a4a814330 100644
--- a/scene/register_scene_types.cpp
+++ b/scene/register_scene_types.cpp
@@ -234,7 +234,7 @@
 #include "scene/3d/remote_transform_3d.h"
 #include "scene/3d/skeleton_3d.h"
 #include "scene/3d/skeleton_ik_3d.h"
-#include "scene/3d/soft_body_3d.h"
+#include "scene/3d/soft_dynamic_body_3d.h"
 #include "scene/3d/spring_arm_3d.h"
 #include "scene/3d/sprite_3d.h"
 #include "scene/3d/vehicle_body_3d.h"
@@ -489,13 +489,13 @@ void register_scene_types() {
 	GDREGISTER_VIRTUAL_CLASS(PhysicsBody3D);
 	GDREGISTER_CLASS(StaticBody3D);
 	GDREGISTER_CLASS(AnimatableBody3D);
-	GDREGISTER_CLASS(RigidBody3D);
+	GDREGISTER_CLASS(RigidDynamicBody3D);
 	GDREGISTER_CLASS(KinematicCollision3D);
 	GDREGISTER_CLASS(CharacterBody3D);
 	GDREGISTER_CLASS(SpringArm3D);
 
 	GDREGISTER_CLASS(PhysicalBone3D);
-	GDREGISTER_CLASS(SoftBody3D);
+	GDREGISTER_CLASS(SoftDynamicBody3D);
 
 	GDREGISTER_CLASS(SkeletonIK3D);
 	GDREGISTER_CLASS(BoneAttachment3D);
@@ -649,7 +649,7 @@ void register_scene_types() {
 	GDREGISTER_VIRTUAL_CLASS(PhysicsBody2D);
 	GDREGISTER_CLASS(StaticBody2D);
 	GDREGISTER_CLASS(AnimatableBody2D);
-	GDREGISTER_CLASS(RigidBody2D);
+	GDREGISTER_CLASS(RigidDynamicBody2D);
 	GDREGISTER_CLASS(CharacterBody2D);
 	GDREGISTER_CLASS(KinematicCollision2D);
 	GDREGISTER_CLASS(Area2D);
@@ -955,13 +955,14 @@ void register_scene_types() {
 	ClassDB::add_compatibility_class("RayShape", "SeparationRayShape3D");
 	ClassDB::add_compatibility_class("RayShape2D", "SeparationRayShape2D");
 	ClassDB::add_compatibility_class("RemoteTransform", "RemoteTransform3D");
-	ClassDB::add_compatibility_class("RigidBody", "RigidBody3D");
+	ClassDB::add_compatibility_class("RigidBody", "RigidDynamicBody3D");
+	ClassDB::add_compatibility_class("RigidBody2D", "RigidDynamicBody2D");
 	ClassDB::add_compatibility_class("Shape", "Shape3D");
 	ClassDB::add_compatibility_class("ShortCut", "Shortcut");
 	ClassDB::add_compatibility_class("Skeleton", "Skeleton3D");
 	ClassDB::add_compatibility_class("SkeletonIK", "SkeletonIK3D");
 	ClassDB::add_compatibility_class("SliderJoint", "SliderJoint3D");
-	ClassDB::add_compatibility_class("SoftBody", "SoftBody3D");
+	ClassDB::add_compatibility_class("SoftBody", "SoftDynamicBody3D");
 	ClassDB::add_compatibility_class("Spatial", "Node3D");
 	ClassDB::add_compatibility_class("SpatialGizmo", "Node3DGizmo");
 	ClassDB::add_compatibility_class("SpatialMaterial", "StandardMaterial3D");
diff --git a/scene/resources/immediate_mesh.cpp b/scene/resources/immediate_mesh.cpp
index 05d1a7bf94..fe7124de9e 100644
--- a/scene/resources/immediate_mesh.cpp
+++ b/scene/resources/immediate_mesh.cpp
@@ -335,9 +335,6 @@ int ImmediateMesh::surface_get_array_len(int p_idx) const {
 int ImmediateMesh::surface_get_array_index_len(int p_idx) const {
 	return 0;
 }
-bool ImmediateMesh::surface_is_softbody_friendly(int p_idx) const {
-	return false;
-}
 Array ImmediateMesh::surface_get_arrays(int p_surface) const {
 	ERR_FAIL_INDEX_V(p_surface, int(surfaces.size()), Array());
 	return RS::get_singleton()->mesh_surface_get_arrays(mesh, p_surface);
diff --git a/scene/resources/immediate_mesh.h b/scene/resources/immediate_mesh.h
index 7010d40719..6673ee6f3d 100644
--- a/scene/resources/immediate_mesh.h
+++ b/scene/resources/immediate_mesh.h
@@ -94,7 +94,6 @@ public:
 	virtual int get_surface_count() const override;
 	virtual int surface_get_array_len(int p_idx) const override;
 	virtual int surface_get_array_index_len(int p_idx) const override;
-	virtual bool surface_is_softbody_friendly(int p_idx) const override;
 	virtual Array surface_get_arrays(int p_surface) const override;
 	virtual Array surface_get_blend_shape_arrays(int p_surface) const override;
 	virtual Dictionary surface_get_lods(int p_surface) const override;
diff --git a/scene/resources/mesh.cpp b/scene/resources/mesh.cpp
index ad589a605e..98f584855d 100644
--- a/scene/resources/mesh.cpp
+++ b/scene/resources/mesh.cpp
@@ -156,11 +156,6 @@ void Mesh::generate_debug_mesh_indices(Vector<Vector3> &r_points) {
 	}
 }
 
-bool Mesh::surface_is_softbody_friendly(int p_idx) const {
-	const uint32_t surface_format = surface_get_format(p_idx);
-	return (surface_format & Mesh::ARRAY_FLAG_USE_DYNAMIC_UPDATE);
-}
-
 Vector<Face3> Mesh::get_faces() const {
 	Ref<TriangleMesh> tm = generate_triangle_mesh();
 	if (tm.is_valid()) {
diff --git a/scene/resources/mesh.h b/scene/resources/mesh.h
index 27b0eb098b..0ddc2054fb 100644
--- a/scene/resources/mesh.h
+++ b/scene/resources/mesh.h
@@ -131,7 +131,6 @@ public:
 	virtual int get_surface_count() const = 0;
 	virtual int surface_get_array_len(int p_idx) const = 0;
 	virtual int surface_get_array_index_len(int p_idx) const = 0;
-	virtual bool surface_is_softbody_friendly(int p_idx) const;
 	virtual Array surface_get_arrays(int p_surface) const = 0;
 	virtual Array surface_get_blend_shape_arrays(int p_surface) const = 0;
 	virtual Dictionary surface_get_lods(int p_surface) const = 0;