diff --git a/doc/classes/PhysicsServer3D.xml b/doc/classes/PhysicsServer3D.xml
index e835724e3680..a7b55387a49f 100644
--- a/doc/classes/PhysicsServer3D.xml
+++ b/doc/classes/PhysicsServer3D.xml
@@ -990,6 +990,14 @@
 				Returns the shape data.
 			</description>
 		</method>
+		<method name="shape_get_margin" qualifiers="const">
+			<return type="float" />
+			<param index="0" name="shape" type="RID" />
+			<description>
+				Returns the collision margin for the shape.
+				[b]Note:[/b] This is not used in Godot Physics, so will always return [code]0[/code].
+			</description>
+		</method>
 		<method name="shape_get_type" qualifiers="const">
 			<return type="int" enum="PhysicsServer3D.ShapeType" />
 			<param index="0" name="shape" type="RID" />
@@ -1005,6 +1013,15 @@
 				Sets the shape data that defines its shape and size. The data to be passed depends on the kind of shape created [method shape_get_type].
 			</description>
 		</method>
+		<method name="shape_set_margin">
+			<return type="void" />
+			<param index="0" name="shape" type="RID" />
+			<param index="1" name="margin" type="float" />
+			<description>
+				Sets the collision margin for the shape.
+				[b]Note:[/b] This is not used in Godot Physics.
+			</description>
+		</method>
 		<method name="slider_joint_get_param" qualifiers="const">
 			<return type="float" />
 			<param index="0" name="joint" type="RID" />
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index f56ef11c14f4..cda04e0aae75 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -704,9 +704,11 @@ void PhysicsServer3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("custom_shape_create"), &PhysicsServer3D::custom_shape_create);
 
 	ClassDB::bind_method(D_METHOD("shape_set_data", "shape", "data"), &PhysicsServer3D::shape_set_data);
+	ClassDB::bind_method(D_METHOD("shape_set_margin", "shape", "margin"), &PhysicsServer3D::shape_set_margin);
 
 	ClassDB::bind_method(D_METHOD("shape_get_type", "shape"), &PhysicsServer3D::shape_get_type);
 	ClassDB::bind_method(D_METHOD("shape_get_data", "shape"), &PhysicsServer3D::shape_get_data);
+	ClassDB::bind_method(D_METHOD("shape_get_margin", "shape"), &PhysicsServer3D::shape_get_margin);
 
 	ClassDB::bind_method(D_METHOD("space_create"), &PhysicsServer3D::space_create);
 	ClassDB::bind_method(D_METHOD("space_set_active", "space", "active"), &PhysicsServer3D::space_set_active);