I really doubt Bodhidharma had anything to do with martial arts, only meditation and physical conditioning, but who knows.
Only my opinion, but martial arts (that are not only Asian, you can find them everywhere) and their spiritual or philosophical sides are developed after.
The origin of every martial art is war and combat: kill and survive. If you want someone to be capable to fight, the first is basic physical conditioning and weapons, the longer possible the first. So spears, arches and things like that are the most useful to give to untrained people to go to war. And shields. Maybe some kind of swords, but not very easy to make, or cheap, and being closer is more dangerous. So, first a method with simple techniques to have a bunch of people repeating them.
Grappling is the most natural way of fighting, then hitting somehow (with your body or with a tool), biting, scratching, you know, things to survive. But this is natural fighting, not enough to a real combat, where you need weapons and a way to avoid the new warriors being killed too soon.
The only spiritual or philosophical element here is the mindset you need the warrior to have to face its death and kill other people. Zen Buddhism approach is very useful ´cause somehow there are no ego, there´s not me handling a sword, I´m only a channel, and killing it´s easier this way.
Then, with the time, the “art” aspect is being built, oftenly as a way to justify itself and its particularities. There are a romantic vision of killing arts but they are, were or should be far more pragmatic.
Nowadays what we call martial arts are a different thing in most cases, and pragmatism and effectiveness don´t have to be the goal. The tradition, philosophy, development of specific skills, etc. are good enough reasons to respect and practice them. But people should be aware of the romantic explanations of each one´s history and supposed effectiveness if they are interested in the martial side, ´cause reality hurts, and sometimes it can be a serious thing if you think you are prepared for something you really aren´t. It took me more than 12 years to fully comprehend that what I felt was a false sense of security and that I wasn´t prepared to fight.
For those who are not interested in fighting, studying a martial art is of course respectable, and there can be so many reasons to do it, but it´s better if they´re conscious of what is a fight and what is not.