PhysicsDirectBodyState¶

Inherits: Object

Direct access object to a physics body in the PhysicsServer.

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 RigidBody._integrate_forces.

Tutorials¶

Methods¶

void	add_central_force ( Vector3 force )
void	add_force ( Vector3 force, Vector3 position )
void	add_torque ( Vector3 torque )
void	apply_central_impulse ( Vector3 j )
void	apply_impulse ( Vector3 position, Vector3 j )
void	apply_torque_impulse ( Vector3 j )
RID	get_contact_collider ( int contact_idx ) const
int	get_contact_collider_id ( int contact_idx ) const
Object	get_contact_collider_object ( int contact_idx ) const
Vector3	get_contact_collider_position ( int contact_idx ) const
int	get_contact_collider_shape ( int contact_idx ) const
Vector3	get_contact_collider_velocity_at_position ( int contact_idx ) const
int	get_contact_count ( ) const
float	get_contact_impulse ( int contact_idx ) const
Vector3	get_contact_local_normal ( int contact_idx ) const
Vector3	get_contact_local_position ( int contact_idx ) const
int	get_contact_local_shape ( int contact_idx ) const
PhysicsDirectSpaceState	get_space_state ( )
Vector3	get_velocity_at_local_position ( Vector3 local_position ) const
void	integrate_forces ( )

Property Descriptions¶

Vector3 angular_velocity

void set_angular_velocity ( Vector3 value )
Vector3 get_angular_velocity ( )

The body's rotational velocity in axis-angle format. The magnitude of the vector is the rotation rate in radians per second.

Vector3 center_of_mass

Vector3 get_center_of_mass ( )

There is currently no description for this property. Please help us by contributing one!

Vector3 inverse_inertia

Vector3 get_inverse_inertia ( )

The inverse of the inertia of the body.

float inverse_mass

float get_inverse_mass ( )

The inverse of the mass of the body.

Vector3 linear_velocity

void set_linear_velocity ( Vector3 value )
Vector3 get_linear_velocity ( )

The body's linear velocity in units per second.

Basis principal_inertia_axes

Basis get_principal_inertia_axes ( )

There is currently no description for this property. Please help us by contributing one!

bool sleeping

void set_sleep_state ( bool value )
bool is_sleeping ( )

If true, this body is currently sleeping (not active).

float step

float get_step ( )

The timestep (delta) used for the simulation.

float total_angular_damp

float get_total_angular_damp ( )

The rate at which the body stops rotating, if there are not any other forces moving it.

Vector3 total_gravity

Vector3 get_total_gravity ( )

The total gravity vector being currently applied to this body.

float total_linear_damp

float get_total_linear_damp ( )

The rate at which the body stops moving, if there are not any other forces moving it.

Transform transform

void set_transform ( Transform value )
Transform get_transform ( )

The body's transformation matrix.

Method Descriptions¶

void add_central_force ( Vector3 force )

Adds a constant directional force without affecting rotation.

This is equivalent to add_force(force, Vector3(0,0,0)).

void add_force ( Vector3 force, Vector3 position )

Adds a positioned force to the body. Both the force and the offset from the body origin are in global coordinates.

void add_torque ( Vector3 torque )

Adds a constant rotational force without affecting position.

void apply_central_impulse ( Vector3 j )

Applies a single directional impulse without affecting rotation.

This is equivalent to apply_impulse(Vector3(0, 0, 0), impulse).

void apply_impulse ( Vector3 position, Vector3 j )

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. The position uses the rotation of the global coordinate system, but is centered at the object's origin.

void apply_torque_impulse ( Vector3 j )

Apply a torque impulse (which will be affected by the body mass and shape). This will rotate the body around the vector j passed as parameter.

RID get_contact_collider ( int contact_idx ) const

Returns the collider's RID.

int get_contact_collider_id ( int contact_idx ) const

Returns the collider's object id.

Object get_contact_collider_object ( int contact_idx ) const

Returns the collider object.

Vector3 get_contact_collider_position ( int contact_idx ) const

Returns the contact position in the collider.

int get_contact_collider_shape ( int contact_idx ) const

Returns the collider's shape index.

Vector3 get_contact_collider_velocity_at_position ( int contact_idx ) const

Returns the linear velocity vector at the collider's contact point.

int get_contact_count ( ) const

Returns the number of contacts this body has with other bodies.

Note: By default, this returns 0 unless bodies are configured to monitor contacts. See RigidBody.contact_monitor.

float get_contact_impulse ( int contact_idx ) const

Impulse created by the contact. Only implemented for Bullet physics.

Vector3 get_contact_local_normal ( int contact_idx ) const

Returns the local normal at the contact point.

Vector3 get_contact_local_position ( int contact_idx ) const

Returns the local position of the contact point.

int get_contact_local_shape ( int contact_idx ) const

Returns the local shape index of the collision.

PhysicsDirectSpaceState get_space_state ( )

Returns the current state of the space, useful for queries.

Vector3 get_velocity_at_local_position ( Vector3 local_position ) const

Returns the body's velocity at the given relative position, including both translation and rotation.

void integrate_forces ( )

Calls the built-in force integration code.