diff --git a/doc/classes/PhysicsServer3D.xml b/doc/classes/PhysicsServer3D.xml
index 4735091f200..e40d73862b9 100644
--- a/doc/classes/PhysicsServer3D.xml
+++ b/doc/classes/PhysicsServer3D.xml
@@ -740,7 +740,7 @@
 			<param index="1" name="axis" type="int" enum="Vector3.Axis" />
 			<param index="2" name="flag" type="int" enum="PhysicsServer3D.G6DOFJointAxisFlag" />
 			<description>
-				Gets a generic_6_DOF_joint flag (see [enum G6DOFJointAxisFlag] constants).
+				Returns the value of a generic 6DOF joint flag. See [enum G6DOFJointAxisFlag] for the list of available flags.
 			</description>
 		</method>
 		<method name="generic_6dof_joint_get_param" qualifiers="const">
@@ -749,7 +749,7 @@
 			<param index="1" name="axis" type="int" enum="Vector3.Axis" />
 			<param index="2" name="param" type="int" enum="PhysicsServer3D.G6DOFJointAxisParam" />
 			<description>
-				Gets a generic_6_DOF_joint parameter (see [enum G6DOFJointAxisParam] constants).
+				Returns the value of a generic 6DOF joint parameter. See [enum G6DOFJointAxisParam] for the list of available parameters.
 			</description>
 		</method>
 		<method name="generic_6dof_joint_set_flag">
@@ -759,7 +759,7 @@
 			<param index="2" name="flag" type="int" enum="PhysicsServer3D.G6DOFJointAxisFlag" />
 			<param index="3" name="enable" type="bool" />
 			<description>
-				Sets a generic_6_DOF_joint flag (see [enum G6DOFJointAxisFlag] constants).
+				Sets the value of a given generic 6DOF joint flag. See [enum G6DOFJointAxisFlag] for the list of available flags.
 			</description>
 		</method>
 		<method name="generic_6dof_joint_set_param">
@@ -769,7 +769,7 @@
 			<param index="2" name="param" type="int" enum="PhysicsServer3D.G6DOFJointAxisParam" />
 			<param index="3" name="value" type="float" />
 			<description>
-				Sets a generic_6_DOF_joint parameter (see [enum G6DOFJointAxisParam] constants).
+				Sets the value of a given generic 6DOF joint parameter. See [enum G6DOFJointAxisParam] for the list of available parameters.
 			</description>
 		</method>
 		<method name="get_process_info">
@@ -876,6 +876,7 @@
 			<param index="3" name="body_B" type="RID" />
 			<param index="4" name="local_ref_B" type="Transform3D" />
 			<description>
+				Make the joint a generic six degrees of freedom (6DOF) joint. Use [method generic_6dof_joint_set_flag] and [method generic_6dof_joint_set_param] to set the joint's flags and parameters respectively.
 			</description>
 		</method>
 		<method name="joint_make_hinge">
@@ -1497,6 +1498,12 @@
 		<constant name="G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT" value="6" enum="G6DOFJointAxisParam">
 			The maximum force that the linear motor can apply while trying to reach the target velocity.
 		</constant>
+		<constant name="G6DOF_JOINT_LINEAR_SPRING_STIFFNESS" value="7" enum="G6DOFJointAxisParam">
+		</constant>
+		<constant name="G6DOF_JOINT_LINEAR_SPRING_DAMPING" value="8" enum="G6DOFJointAxisParam">
+		</constant>
+		<constant name="G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT" value="9" enum="G6DOFJointAxisParam">
+		</constant>
 		<constant name="G6DOF_JOINT_ANGULAR_LOWER_LIMIT" value="10" enum="G6DOFJointAxisParam">
 			The minimum rotation in negative direction to break loose and rotate around the axes.
 		</constant>
@@ -1524,18 +1531,34 @@
 		<constant name="G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT" value="18" enum="G6DOFJointAxisParam">
 			Maximum acceleration for the motor at the axes.
 		</constant>
+		<constant name="G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS" value="19" enum="G6DOFJointAxisParam">
+		</constant>
+		<constant name="G6DOF_JOINT_ANGULAR_SPRING_DAMPING" value="20" enum="G6DOFJointAxisParam">
+		</constant>
+		<constant name="G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT" value="21" enum="G6DOFJointAxisParam">
+		</constant>
+		<constant name="G6DOF_JOINT_MAX" value="22" enum="G6DOFJointAxisParam">
+			Represents the size of the [enum G6DOFJointAxisParam] enum.
+		</constant>
 		<constant name="G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="G6DOFJointAxisFlag">
 			If set, linear motion is possible within the given limits.
 		</constant>
 		<constant name="G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT" value="1" enum="G6DOFJointAxisFlag">
 			If set, rotational motion is possible.
 		</constant>
+		<constant name="G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING" value="2" enum="G6DOFJointAxisFlag">
+		</constant>
+		<constant name="G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING" value="3" enum="G6DOFJointAxisFlag">
+		</constant>
 		<constant name="G6DOF_JOINT_FLAG_ENABLE_MOTOR" value="4" enum="G6DOFJointAxisFlag">
 			If set, there is a rotational motor across these axes.
 		</constant>
 		<constant name="G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR" value="5" enum="G6DOFJointAxisFlag">
 			If set, there is a linear motor on this axis that targets a specific velocity.
 		</constant>
+		<constant name="G6DOF_JOINT_FLAG_MAX" value="6" enum="G6DOFJointAxisFlag">
+			Represents the size of the [enum G6DOFJointAxisFlag] enum.
+		</constant>
 		<constant name="SHAPE_WORLD_BOUNDARY" value="0" enum="ShapeType">
 			The [Shape3D] is a [WorldBoundaryShape3D].
 		</constant>
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index 15d43ff5dd0..f56ef11c14f 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -985,6 +985,9 @@ void PhysicsServer3D::_bind_methods() {
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_DAMPING);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_SPRING_STIFFNESS);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_SPRING_DAMPING);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LOWER_LIMIT);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_UPPER_LIMIT);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS);
@@ -994,11 +997,18 @@ void PhysicsServer3D::_bind_methods() {
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_ERP);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_SPRING_DAMPING);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_MAX);
 
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_MOTOR);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_MAX);
 
 	ClassDB::bind_method(D_METHOD("joint_get_type", "joint"), &PhysicsServer3D::joint_get_type);