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PhysicsDirectBodyState3D¶
Inherits: Object
Inherited By: PhysicsDirectBodyState3DExtension
Provides direct access to a physics body in the PhysicsServer3D.
Description¶
Provides direct access to a physics body in the PhysicsServer3D, allowing safe changes to physics properties. This object is passed via the direct state callback of RigidBody3D, and is intended for changing the direct state of that body. See RigidBody3D._integrate_forces.
Tutorials¶
Properties¶
Methods¶
Property Descriptions¶
The body's rotational velocity in radians per second.
Vector3 get_center_of_mass()
The body's center of mass position relative to the body's center in the global coordinate system.
Vector3 center_of_mass_local 🔗
Vector3 get_center_of_mass_local()
The body's center of mass position in the body's local coordinate system.
Vector3 get_inverse_inertia()
The inverse of the inertia of the body.
Basis inverse_inertia_tensor 🔗
Basis get_inverse_inertia_tensor()
The inverse of the inertia tensor of the body.
float get_inverse_mass()
The inverse of the mass of the body.
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!
If true, this body is currently sleeping (not active).
float get_step()
The timestep (delta) used for the simulation.
float get_total_angular_damp()
The rate at which the body stops rotating, if there are not any other forces moving it.
Vector3 get_total_gravity()
The total gravity vector being currently applied to this body.
float get_total_linear_damp()
The rate at which the body stops moving, if there are not any other forces moving it.
Transform3D transform 🔗
void set_transform(value: Transform3D)
Transform3D get_transform()
The body's transformation matrix.
Method Descriptions¶
void add_constant_central_force(force: Vector3 = Vector3(0, 0, 0)) 🔗
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(force: Vector3, position: Vector3 = 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(torque: Vector3) 🔗
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(force: Vector3 = Vector3(0, 0, 0)) 🔗
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(impulse: Vector3 = Vector3(0, 0, 0)) 🔗
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(force: Vector3, position: Vector3 = 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(impulse: Vector3, position: Vector3 = 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(torque: Vector3) 🔗
Applies a rotational force without affecting position. A force is time dependent and meant to be applied every physics update.
Note: inverse_inertia is required for this to work. To have inverse_inertia, an active CollisionShape3D must be a child of the node, or you can manually set inverse_inertia.
void apply_torque_impulse(impulse: Vector3) 🔗
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: inverse_inertia is required for this to work. To have inverse_inertia, an active CollisionShape3D must be a child of the node, or you can manually set inverse_inertia.
Vector3 get_constant_force() const 🔗
Returns the body's total constant positional forces applied during each physics update.
See add_constant_force and add_constant_central_force.
Vector3 get_constant_torque() const 🔗
Returns the body's total constant rotational forces applied during each physics update.
See add_constant_torque.
RID get_contact_collider(contact_idx: int) const 🔗
Returns the collider's RID.
int get_contact_collider_id(contact_idx: int) const 🔗
Returns the collider's object id.
Object get_contact_collider_object(contact_idx: int) const 🔗
Returns the collider object.
Vector3 get_contact_collider_position(contact_idx: int) const 🔗
Returns the position of the contact point on the collider in the global coordinate system.
int get_contact_collider_shape(contact_idx: int) const 🔗
Returns the collider's shape index.
Vector3 get_contact_collider_velocity_at_position(contact_idx: int) 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 RigidBody3D.contact_monitor.
Vector3 get_contact_impulse(contact_idx: int) const 🔗
Impulse created by the contact.
Vector3 get_contact_local_normal(contact_idx: int) const 🔗
Returns the local normal at the contact point.
Vector3 get_contact_local_position(contact_idx: int) const 🔗
Returns the position of the contact point on the body in the global coordinate system.
int get_contact_local_shape(contact_idx: int) const 🔗
Returns the local shape index of the collision.
Vector3 get_contact_local_velocity_at_position(contact_idx: int) const 🔗
Returns the linear velocity vector at the body's contact point.
PhysicsDirectSpaceState3D get_space_state() 🔗
Returns the current state of the space, useful for queries.
Vector3 get_velocity_at_local_position(local_position: Vector3) const 🔗
Returns the body's velocity at the given relative position, including both translation and rotation.
void integrate_forces() 🔗
Updates the body's linear and angular velocity by applying gravity and damping for the equivalent of one physics tick.
void set_constant_force(force: Vector3) 🔗
Sets the body's total constant positional forces applied during each physics update.
See add_constant_force and add_constant_central_force.
void set_constant_torque(torque: Vector3) 🔗
Sets the body's total constant rotational forces applied during each physics update.
See add_constant_torque.