diff --git a/doc/classes/Physics2DDirectBodyState.xml b/doc/classes/Physics2DDirectBodyState.xml
index 52c89248ff3..5b320a051f5 100644
--- a/doc/classes/Physics2DDirectBodyState.xml
+++ b/doc/classes/Physics2DDirectBodyState.xml
@@ -4,9 +4,10 @@
 		Direct access object to a physics body in the [Physics2DServer].
 	</brief_description>
 	<description>
-		Direct access object to a physics body in the [Physics2DServer]. This object is passed via the direct state callback of rigid/character bodies, and is intended for changing the direct state of that body.
+		Provides direct access to a physics body in the [Physics2DServer], allowing safe changes to physics properties. This object is passed via the direct state callback of rigid/character bodies, and is intended for changing the direct state of that body. See [method RigidBody2D._integrate_forces].
 	</description>
 	<tutorials>
+		<link>https://docs.godotengine.org/en/latest/tutorials/physics/ray-casting.html</link>
 	</tutorials>
 	<demos>
 	</demos>
@@ -17,6 +18,7 @@
 			<argument index="0" name="force" type="Vector2">
 			</argument>
 			<description>
+				Adds a constant directional force without affecting rotation.
 			</description>
 		</method>
 		<method name="add_force">
@@ -27,6 +29,7 @@
 			<argument index="1" name="force" type="Vector2">
 			</argument>
 			<description>
+				Adds a positioned force to the body. Both the force and the offset from the body origin are in global coordinates.
 			</description>
 		</method>
 		<method name="add_torque">
@@ -35,6 +38,7 @@
 			<argument index="0" name="torque" type="float">
 			</argument>
 			<description>
+				Adds a constant rotational force.
 			</description>
 		</method>
 		<method name="apply_central_impulse">
@@ -43,6 +47,7 @@
 			<argument index="0" name="impulse" type="Vector2">
 			</argument>
 			<description>
+				Applies a directional impulse without affecting rotation.
 			</description>
 		</method>
 		<method name="apply_impulse">
@@ -53,6 +58,7 @@
 			<argument index="1" name="impulse" type="Vector2">
 			</argument>
 			<description>
+				Applies a positioned impulse to the body. An impulse is time independent! Applying an impulse every frame would result in a framerate dependent force. For this reason it should only be used when simulating one-time impacts (use the "_force" functions otherwise). The offset uses the rotation of the global coordinate system, but is centered at the object's origin.
 			</description>
 		</method>
 		<method name="apply_torque_impulse">
@@ -61,6 +67,7 @@
 			<argument index="0" name="impulse" type="float">
 			</argument>
 			<description>
+				Applies a rotational impulse to the body.
 			</description>
 		</method>
 		<method name="get_contact_collider" qualifiers="const">
@@ -69,7 +76,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
-				Return the [RID] of the collider.
+				Returns the collider's [RID].
 			</description>
 		</method>
 		<method name="get_contact_collider_id" qualifiers="const">
@@ -78,7 +85,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
-				Return the object id of the collider.
+				Returns the collider's object id.
 			</description>
 		</method>
 		<method name="get_contact_collider_object" qualifiers="const">
@@ -87,7 +94,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
-				Return the collider object, this depends on how it was created (will return a scene node if such was used to create it).
+				Returns the collider object. This depends on how it was created (will return a scene node if such was used to create it).
 			</description>
 		</method>
 		<method name="get_contact_collider_position" qualifiers="const">
@@ -96,7 +103,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
-				Return the contact position in the collider.
+				Returns the contact position in the collider.
 			</description>
 		</method>
 		<method name="get_contact_collider_shape" qualifiers="const">
@@ -105,7 +112,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
-				Return the collider shape index.
+				Returns the collider's shape index.
 			</description>
 		</method>
 		<method name="get_contact_collider_shape_metadata" qualifiers="const">
@@ -114,7 +121,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
-				Return the metadata of the collided shape. This metadata is different from [method Object.get_meta], and is set with [method Physics2DServer.shape_set_data].
+				Returns the collided shape's metadata. This metadata is different from [method Object.get_meta], and is set with [method Physics2DServer.shape_set_data].
 			</description>
 		</method>
 		<method name="get_contact_collider_velocity_at_position" qualifiers="const">
@@ -123,14 +130,14 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
-				Return the linear velocity vector at contact point of the collider.
+				Returns the linear velocity vector at the collider's contact point.
 			</description>
 		</method>
 		<method name="get_contact_count" qualifiers="const">
 			<return type="int">
 			</return>
 			<description>
-				Return the amount of contacts this body has with other bodies. Note that by default this returns 0 unless bodies are configured to log contacts.
+				Returns the number of contacts this body has with other bodies. Note that by default this returns 0 unless bodies are configured to log contacts. See [member RigidBody2D.contact_monitor].
 			</description>
 		</method>
 		<method name="get_contact_local_normal" qualifiers="const">
@@ -139,7 +146,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
-				Return the local normal (of this body) of the contact point.
+				Returns the local normal at the contact point.
 			</description>
 		</method>
 		<method name="get_contact_local_position" qualifiers="const">
@@ -148,7 +155,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
-				Return the local position (of this body) of the contact point.
+				Returns the local position of the contact point.
 			</description>
 		</method>
 		<method name="get_contact_local_shape" qualifiers="const">
@@ -157,27 +164,27 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
-				Return the local shape index of the collision.
+				Returns the local shape index of the collision.
 			</description>
 		</method>
 		<method name="get_space_state">
 			<return type="Physics2DDirectSpaceState">
 			</return>
 			<description>
-				Return the current state of space, useful for queries.
+				Returns the current state of the space, useful for queries.
 			</description>
 		</method>
 		<method name="integrate_forces">
 			<return type="void">
 			</return>
 			<description>
-				Call the built-in force integration code.
+				Calls the built-in force integration code.
 			</description>
 		</method>
 	</methods>
 	<members>
 		<member name="angular_velocity" type="float" setter="set_angular_velocity" getter="get_angular_velocity">
-			The angular velocity of the body.
+			The body's rotational velocity.
 		</member>
 		<member name="inverse_inertia" type="float" setter="" getter="get_inverse_inertia">
 			The inverse of the inertia of the body.
@@ -186,10 +193,10 @@
 			The inverse of the mass of the body.
 		</member>
 		<member name="linear_velocity" type="Vector2" setter="set_linear_velocity" getter="get_linear_velocity">
-			The linear velocity of the body.
+			The body's linear velocity.
 		</member>
 		<member name="sleeping" type="bool" setter="set_sleep_state" getter="is_sleeping">
-			[code]true[/code] if this body is currently sleeping (not active).
+			If [code]true[/code], this body is currently sleeping (not active).
 		</member>
 		<member name="step" type="float" setter="" getter="get_step">
 			The timestep (delta) used for the simulation.
@@ -204,7 +211,7 @@
 			The rate at which the body stops moving, if there are not any other forces moving it.
 		</member>
 		<member name="transform" type="Transform2D" setter="set_transform" getter="get_transform">
-			The transformation matrix of the body.
+			The body's transformation matrix.
 		</member>
 	</members>
 	<constants>
diff --git a/doc/classes/PhysicsDirectBodyState.xml b/doc/classes/PhysicsDirectBodyState.xml
index cf718f06b20..10b51991287 100644
--- a/doc/classes/PhysicsDirectBodyState.xml
+++ b/doc/classes/PhysicsDirectBodyState.xml
@@ -1,14 +1,16 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <class name="PhysicsDirectBodyState" inherits="Object" category="Core" version="3.1">
 	<brief_description>
+		Direct access object to a physics body in the [PhysicsServer].
 	</brief_description>
 	<description>
+		Provides direct access to a physics body in the [PhysicsServer], allowing safe changes to physics properties. This object is passed via the direct state callback of rigid/character bodies, and is intended for changing the direct state of that body. See [method RigidBody._integrate_forces].
 	</description>
 	<tutorials>
 	</tutorials>
 	<demos>
 	</demos>
-	<methods>
+	<methods>(
 		<method name="add_central_force">
 			<return type="void">
 			</return>
@@ -27,7 +29,7 @@
 			<argument index="1" name="position" type="Vector3">
 			</argument>
 			<description>
-				Adds a constant force (i.e. acceleration).
+				Adds a positioned force to the body. Both the force and the offset from the body origin are in global coordinates.
 			</description>
 		</method>
 		<method name="add_torque">
@@ -36,7 +38,7 @@
 			<argument index="0" name="torque" type="Vector3">
 			</argument>
 			<description>
-				Adds a constant rotational force (i.e. a motor) without affecting position.
+				Adds a constant rotational force without affecting position.
 			</description>
 		</method>
 		<method name="apply_central_impulse">
@@ -75,6 +77,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
+				Returns the collider's [RID].
 			</description>
 		</method>
 		<method name="get_contact_collider_id" qualifiers="const">
@@ -83,6 +86,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
+				Returns the collider's object id.
 			</description>
 		</method>
 		<method name="get_contact_collider_object" qualifiers="const">
@@ -91,6 +95,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
+				Returns the collider object.
 			</description>
 		</method>
 		<method name="get_contact_collider_position" qualifiers="const">
@@ -99,6 +104,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
+				Returns the contact position in the collider.
 			</description>
 		</method>
 		<method name="get_contact_collider_shape" qualifiers="const">
@@ -107,6 +113,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
+				Returns the collider's shape index.
 			</description>
 		</method>
 		<method name="get_contact_collider_velocity_at_position" qualifiers="const">
@@ -115,12 +122,14 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
+				Returns the linear velocity vector at the collider's contact point.
 			</description>
 		</method>
 		<method name="get_contact_count" qualifiers="const">
 			<return type="int">
 			</return>
 			<description>
+				Returns the number of contacts this body has with other bodies. Note that by default this returns 0 unless bodies are configured to log contacts. See [member RigidBody.contact_monitor].
 			</description>
 		</method>
 		<method name="get_contact_impulse" qualifiers="const">
@@ -138,6 +147,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
+				Returns the local normal at the contact point.
 			</description>
 		</method>
 		<method name="get_contact_local_position" qualifiers="const">
@@ -146,6 +156,7 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
+				Returns the local position of the contact point.
 			</description>
 		</method>
 		<method name="get_contact_local_shape" qualifiers="const">
@@ -154,24 +165,27 @@
 			<argument index="0" name="contact_idx" type="int">
 			</argument>
 			<description>
+				Returns the local shape index of the collision.
 			</description>
 		</method>
 		<method name="get_space_state">
 			<return type="PhysicsDirectSpaceState">
 			</return>
 			<description>
+				Returns the current state of the space, useful for queries.
 			</description>
 		</method>
 		<method name="integrate_forces">
 			<return type="void">
 			</return>
 			<description>
+				Calls the built-in force integration code.
 			</description>
 		</method>
 	</methods>
 	<members>
 		<member name="angular_velocity" type="Vector3" setter="set_angular_velocity" getter="get_angular_velocity">
-			The angular velocity of the body.
+			The body's rotational velocity.
 		</member>
 		<member name="center_of_mass" type="Vector3" setter="" getter="get_center_of_mass">
 		</member>
@@ -182,12 +196,12 @@
 			The inverse of the mass of the body.
 		</member>
 		<member name="linear_velocity" type="Vector3" setter="set_linear_velocity" getter="get_linear_velocity">
-			The linear velocity of the body.
+			The body's linear velocity.
 		</member>
 		<member name="principal_inertia_axes" type="Basis" setter="" getter="get_principal_inertia_axes">
 		</member>
 		<member name="sleeping" type="bool" setter="set_sleep_state" getter="is_sleeping">
-			[code]true[/code] if this body is currently sleeping (not active).
+			If [code]true[/code], this body is currently sleeping (not active).
 		</member>
 		<member name="step" type="float" setter="" getter="get_step">
 			The timestep (delta) used for the simulation.
@@ -202,7 +216,7 @@
 			The rate at which the body stops moving, if there are not any other forces moving it.
 		</member>
 		<member name="transform" type="Transform" setter="set_transform" getter="get_transform">
-			The transformation matrix of the body.
+			The body's transformation matrix.
 		</member>
 	</members>
 	<constants>