RigidBody3D

float angular_damp = 0.0

Damps the body's rotation. By default, the body will use the ProjectSettings.physics/3d/default_angular_damp project setting or any value override set by an Area3D the body is in. Depending on angular_damp_mode, you can set angular_damp to be added to or to replace the body's damping value. See ProjectSettings.physics/3d/default_angular_damp for more details about damping.

int angular_damp_mode = 0

Defines how angular_damp is applied.

Vector3 angular_velocity = Vector3(0, 0, 0)

The RigidBody3D's rotational velocity in radians per second.

bool can_sleep = true

If true, the body can enter sleep mode when there is no movement. See sleeping.

Vector3 center_of_mass = Vector3(0, 0, 0)

The body's custom center of mass, relative to the body's origin position, when center_of_mass_mode is set to CENTER_OF_MASS_MODE_CUSTOM. This is the balanced point of the body, where applied forces only cause linear acceleration. Applying forces outside of the center of mass causes angular acceleration. When center_of_mass_mode is set to CENTER_OF_MASS_MODE_AUTO (default value), the center of mass is automatically determined, but this does not update the value of center_of_mass.

int center_of_mass_mode = 0

Defines the way the body's center of mass is set.

Vector3 constant_force = Vector3(0, 0, 0)

The body's total constant positional forces applied during each physics update. See add_constant_force() and add_constant_central_force().

Vector3 constant_torque = Vector3(0, 0, 0)

The body's total constant rotational forces applied during each physics update. See add_constant_torque().

bool contact_monitor = false

If true, the RigidBody3D will emit signals when it collides with another body. Note: By default the maximum contacts reported is set to 0, meaning nothing will be recorded, see max_contacts_reported.

bool continuous_cd = false

If true, continuous collision detection is used. Continuous collision detection tries to predict where a moving body will collide, instead of moving it and correcting its movement if it collided. Continuous collision detection is more precise, and misses fewer impacts by small, fast-moving objects. Not using continuous collision detection is faster to compute, but can miss small, fast-moving objects.

bool custom_integrator = false

If true, the standard force integration (like gravity or damping) will be disabled for this body. Other than collision response, the body will only move as determined by the _integrate_forces() method, if that virtual method is overridden. Setting this property will call the method PhysicsServer3D.body_set_omit_force_integration() internally.

bool freeze = false

If true, the body is frozen. Gravity and forces are not applied anymore. See freeze_mode to set the body's behavior when frozen. For a body that is always frozen, use StaticBody3D or AnimatableBody3D instead.

int freeze_mode = 0

The body's freeze mode. Can be used to set the body's behavior when freeze is enabled. For a body that is always frozen, use StaticBody3D or AnimatableBody3D instead.

float gravity_scale = 1.0

This is multiplied by ProjectSettings.physics/3d/default_gravity to produce this body's gravity. For example, a value of 1.0 will apply normal gravity, 2.0 will apply double the gravity, and 0.5 will apply half the gravity to this body.

Vector3 inertia = Vector3(0, 0, 0)

The body's moment of inertia. This is like mass, but for rotation: it determines how much torque it takes to rotate the body on each axis. The moment of inertia is usually computed automatically from the mass and the shapes, but this property allows you to set a custom value. If set to Vector3.ZERO, inertia is automatically computed (default value). Note: This value does not change when inertia is automatically computed. Use PhysicsServer3D to get the computed inertia.

			@onready var ball = $Ball

			func get_ball_inertia():
				return PhysicsServer3D.body_get_direct_state(ball.get_rid()).inverse_inertia.inverse()
			

			private RigidBody3D _ball;

			public override void _Ready()
			{
				_ball = GetNode<RigidBody3D>("Ball");
			}

			private Vector3 GetBallInertia()
			{
				return PhysicsServer3D.BodyGetDirectState(_ball.GetRid()).InverseInertia.Inverse();
			}
			

float linear_damp = 0.0

Damps the body's movement. By default, the body will use the ProjectSettings.physics/3d/default_linear_damp project setting or any value override set by an Area3D the body is in. Depending on linear_damp_mode, you can set linear_damp to be added to or to replace the body's damping value. See ProjectSettings.physics/3d/default_linear_damp for more details about damping.

int linear_damp_mode = 0

Defines how linear_damp is applied.

Vector3 linear_velocity = Vector3(0, 0, 0)

The body's linear velocity in units per second. Can be used sporadically, but don't set this every frame, because physics may run in another thread and runs at a different granularity. Use _integrate_forces() as your process loop for precise control of the body state.

bool lock_rotation = false

If true, the body cannot rotate. Gravity and forces only apply linear movement.

float mass = 1.0

The body's mass.

int max_contacts_reported = 0

The maximum number of contacts that will be recorded. Requires a value greater than 0 and contact_monitor to be set to true to start to register contacts. Use get_contact_count() to retrieve the count or get_colliding_bodies() to retrieve bodies that have been collided with. Note: The number of contacts is different from the number of collisions. Collisions between parallel edges will result in two contacts (one at each end), and collisions between parallel faces will result in four contacts (one at each corner).

PhysicsMaterial physics_material_override

The physics material override for the body. If a material is assigned to this property, it will be used instead of any other physics material, such as an inherited one.

bool sleeping = false

If true, the body will not move and will not calculate forces until woken up by another body through, for example, a collision, or by using the apply_impulse() or apply_force() methods.

void _integrate_forces(PhysicsDirectBodyState3D state) virtual

Called during physics processing, allowing you to read and safely modify the simulation state for the object. By default, it is called before the standard force integration, but the custom_integrator property allows you to disable the standard force integration and do fully custom force integration for a body.

void add_constant_central_force(Vector3 force)

Adds a constant directional force without affecting rotation that keeps being applied over time until cleared with constant_force = Vector3(0, 0, 0). This is equivalent to using add_constant_force() at the body's center of mass.

void add_constant_force(Vector3 force, Vector3 position = Vector3(0, 0, 0))

Adds a constant positioned force to the body that keeps being applied over time until cleared with constant_force = Vector3(0, 0, 0). position is the offset from the body origin in global coordinates.

void add_constant_torque(Vector3 torque)

Adds a constant rotational force without affecting position that keeps being applied over time until cleared with constant_torque = Vector3(0, 0, 0).

void apply_central_force(Vector3 force)

Applies a directional force without affecting rotation. A force is time dependent and meant to be applied every physics update. This is equivalent to using apply_force() at the body's center of mass.

void apply_central_impulse(Vector3 impulse)

Applies a directional impulse without affecting rotation. 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). This is equivalent to using apply_impulse() at the body's center of mass.

void apply_force(Vector3 force, Vector3 position = Vector3(0, 0, 0))

Applies a positioned force to the body. A force is time dependent and meant to be applied every physics update. position is the offset from the body origin in global coordinates.

void apply_impulse(Vector3 impulse, Vector3 position = Vector3(0, 0, 0))

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). position is the offset from the body origin in global coordinates.

void apply_torque(Vector3 torque)

Applies a rotational force without affecting position. A force is time dependent and meant to be applied every physics update. Note: inertia is required for this to work. To have inertia, an active CollisionShape3D must be a child of the node, or you can manually set inertia.

void apply_torque_impulse(Vector3 impulse)

Applies a rotational impulse to the body without affecting the position. 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). Note: inertia is required for this to work. To have inertia, an active CollisionShape3D must be a child of the node, or you can manually set inertia.

Node3D[] get_colliding_bodies() const

Returns a list of the bodies colliding with this one. Requires contact_monitor to be set to true and max_contacts_reported to be set high enough to detect all the collisions. Note: The result of this test is not immediate after moving objects. For performance, list of collisions is updated once per frame and before the physics step. Consider using signals instead.

int get_contact_count() const

Returns the number of contacts this body has with other bodies. By default, this returns 0 unless bodies are configured to monitor contacts (see contact_monitor). Note: To retrieve the colliding bodies, use get_colliding_bodies().

Basis get_inverse_inertia_tensor() const

Returns the inverse inertia tensor basis. This is used to calculate the angular acceleration resulting from a torque applied to the RigidBody3D.

void set_axis_velocity(Vector3 axis_velocity)

Sets an axis velocity. The velocity in the given vector axis will be set as the given vector length. This is useful for jumping behavior.

body_entered(Node body)

Emitted when a collision with another PhysicsBody3D or GridMap occurs. Requires contact_monitor to be set to true and max_contacts_reported to be set high enough to detect all the collisions. GridMaps are detected if the MeshLibrary has Collision Shape3Ds. body the Node, if it exists in the tree, of the other PhysicsBody3D or GridMap.

body_exited(Node body)

Emitted when the collision with another PhysicsBody3D or GridMap ends. Requires contact_monitor to be set to true and max_contacts_reported to be set high enough to detect all the collisions. GridMaps are detected if the MeshLibrary has Collision Shape3Ds. body the Node, if it exists in the tree, of the other PhysicsBody3D or GridMap.

body_shape_entered(RID body_rid, Node body, int body_shape_index, int local_shape_index)

Emitted when one of this RigidBody3D's Shape3Ds collides with another PhysicsBody3D or GridMap's Shape3Ds. Requires contact_monitor to be set to true and max_contacts_reported to be set high enough to detect all the collisions. GridMaps are detected if the MeshLibrary has Collision Shape3Ds. body_rid the RID of the other PhysicsBody3D or MeshLibrary's CollisionObject3D used by the PhysicsServer3D. body the Node, if it exists in the tree, of the other PhysicsBody3D or GridMap. body_shape_index the index of the Shape3D of the other PhysicsBody3D or GridMap used by the PhysicsServer3D. Get the CollisionShape3D node with body.shape_owner_get_owner(body.shape_find_owner(body_shape_index)). local_shape_index the index of the Shape3D of this RigidBody3D used by the PhysicsServer3D. Get the CollisionShape3D node with self.shape_owner_get_owner(self.shape_find_owner(local_shape_index)).

body_shape_exited(RID body_rid, Node body, int body_shape_index, int local_shape_index)

Emitted when the collision between one of this RigidBody3D's Shape3Ds and another PhysicsBody3D or GridMap's Shape3Ds ends. Requires contact_monitor to be set to true and max_contacts_reported to be set high enough to detect all the collisions. GridMaps are detected if the MeshLibrary has Collision Shape3Ds. body_rid the RID of the other PhysicsBody3D or MeshLibrary's CollisionObject3D used by the PhysicsServer3D. GridMaps are detected if the Meshes have Shape3Ds. body the Node, if it exists in the tree, of the other PhysicsBody3D or GridMap. body_shape_index the index of the Shape3D of the other PhysicsBody3D or GridMap used by the PhysicsServer3D. Get the CollisionShape3D node with body.shape_owner_get_owner(body.shape_find_owner(body_shape_index)). local_shape_index the index of the Shape3D of this RigidBody3D used by the PhysicsServer3D. Get the CollisionShape3D node with self.shape_owner_get_owner(self.shape_find_owner(local_shape_index)).

sleeping_state_changed()

Emitted when the physics engine changes the body's sleeping state. Note: Changing the value sleeping will not trigger this signal. It is only emitted if the sleeping state is changed by the physics engine or emit_signal("sleeping_state_changed") is used.

FREEZE_MODE_STATIC = 0

Enum: FreezeMode

Static body freeze mode (default). The body is not affected by gravity and forces. It can be only moved by user code and doesn't collide with other bodies along its path.

FREEZE_MODE_KINEMATIC = 1

Enum: FreezeMode

Kinematic body freeze mode. Similar to FREEZE_MODE_STATIC, but collides with other bodies along its path when moved. Useful for a frozen body that needs to be animated.

CENTER_OF_MASS_MODE_AUTO = 0

Enum: CenterOfMassMode

In this mode, the body's center of mass is calculated automatically based on its shapes. This assumes that the shapes' origins are also their center of mass.

CENTER_OF_MASS_MODE_CUSTOM = 1

Enum: CenterOfMassMode

In this mode, the body's center of mass is set through center_of_mass. Defaults to the body's origin position.

DAMP_MODE_COMBINE = 0

Enum: DampMode

In this mode, the body's damping value is added to any value set in areas or the default value.

DAMP_MODE_REPLACE = 1

Enum: DampMode

In this mode, the body's damping value replaces any value set in areas or the default value.