RigidBody

Inherits: PhysicsBody < CollisionObject < Spatial < Node < Object

Category: Core

Brief Description

Physics Body whose position is determined through physics simulation in 3D space.

Member Functions

void _integrate_forces ( PhysicsDirectBodyState state ) virtual
void apply_impulse ( Vector3 position, Vector3 impulse )
Array get_colliding_bodies ( ) const
void set_axis_velocity ( Vector3 axis_velocity )

Signals

  • body_entered ( Object body )

Emitted when a body enters into contact with this one. Contact monitor and contacts reported must be enabled for this to work.

Emitted when a body shape exits contact with this one. Contact monitor and contacts reported must be enabled for this to work.

  • body_shape_entered ( int body_id, Object body, int body_shape, int local_shape )

Emitted when a body enters into contact with this one. Contact monitor and contacts reported must be enabled for this to work.

This signal not only receives the body that collided with this one, but also its RID (body_id), the shape index from the colliding body (body_shape), and the shape index from this body (local_shape) the other body collided with.

  • body_shape_exited ( int body_id, Object body, int body_shape, int local_shape )

Emitted when a body shape exits contact with this one. Contact monitor and contacts reported must be enabled for this to work.

This signal not only receives the body that stopped colliding with this one, but also its RID (body_id), the shape index from the colliding body (body_shape), and the shape index from this body (local_shape) the other body stopped colliding with.

  • sleeping_state_changed ( )

Emitted when the body changes its sleeping state. Either by sleeping or waking up.

Member Variables

  • float angular_damp - Damps RigidBody’s rotational forces.
  • Vector3 angular_velocity - RigidBody’s rotational velocity.
  • bool axis_lock_x
  • bool axis_lock_y
  • bool axis_lock_z
  • float bounce - RigidBody’s bounciness.
  • bool can_sleep - If true the RigidBody will not calculate forces and will act as a static body while there is no movement. It will wake up when forces are applied through other collisions or when the apply_impulse method is used.
  • bool contact_monitor - If true, the RigidBody will emit signals when it collides with another RigidBody.
  • int contacts_reported - The maximum contacts to report. Bodies can keep a log of the contacts with other bodies, this is enabled by setting the maximum amount of contacts reported to a number greater than 0.
  • bool continuous_cd - 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 less 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 - If true internal force integration will be disabled (like gravity or air friction) for this body. Other than collision response, the body will only move as determined by the _integrate_forces function, if defined.
  • float friction - The body friction, from 0 (frictionless) to 1 (max friction).
  • float gravity_scale - This is multiplied by the global 3D gravity setting found in “Project > Project Settings > Physics > 3d” to produce RigidBody’s gravity. E.g. a value of 1 will be normal gravity, 2 will apply double gravity, and 0.5 will apply half gravity to this object.
  • float linear_damp - RigidBody’s linear damp. Default value: -1, cannot be less than -1. If this value is different from -1, any linear damp derived from the world or areas will be overridden.
  • Vector3 linear_velocity - RigidBody’s linear velocity. Can be used sporadically, but DON’T SET THIS IN 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.
  • float mass - RigidBody’s mass.
  • int mode - The body mode from the MODE_* enum. Modes include: MODE_STATIC, MODE_KINEMATIC, MODE_RIGID, and MODE_CHARACTER.
  • bool sleeping - If true RigidBody is sleeping and will not calculate forces until woken up by a collision or the apply_impulse method.
  • float weight - RigidBody’s weight based on its mass and the global 3D gravity. Global values are set in “Project > Project Settings > Physics > 3d”.

Numeric Constants

  • MODE_RIGID = 0 — Rigid body. This is the “natural” state of a rigid body. It is affected by forces, and can move, rotate, and be affected by user code.
  • MODE_STATIC = 1 — Static mode. The body behaves like a StaticBody, and can only move by user code.
  • MODE_CHARACTER = 2 — Character body. This behaves like a rigid body, but can not rotate.
  • MODE_KINEMATIC = 3 — Kinematic body. The body behaves like a KinematicBody, and can only move by user code.

Description

This is the node that implements full 3D physics. This means that you do not control a RigidBody directly. Instead you can apply forces to it (gravity, impulses, etc.), and the physics simulation will calculate the resulting movement, collision, bouncing, rotating, etc.

This node can use custom force integration, for writing complex physics motion behavior per node.

This node can shift state between regular Rigid body, Kinematic, Character or Static.

Character mode forbids this node from being rotated.

As a warning, don’t change RigidBody’s position every frame or very often. Sporadic changes work fine, but physics runs at a different granularity (fixed hz) than usual rendering (process callback) and maybe even in a separate thread, so changing this from a process loop will yield strange behavior.

Member Function Description

Called during physics processing, allowing you to read and safely modify the simulation state for the object. By default it works in addition to the usual physics behavior, but set_use_custom_integrator allows you to disable the default behavior and do fully custom force integration for a body.

Apply a positioned impulse (which will be affected by the body mass and shape). This is the equivalent of hitting a billiard ball with a cue: a force that is applied once, and only once. Both the impulse and the offset from the body origin are in global coordinates.

  • Array get_colliding_bodies ( ) const

Return a list of the bodies colliding with this one. By default, number of max contacts reported is at 0 , see set_max_contacts_reported to increase it.

  • void set_axis_velocity ( Vector3 axis_velocity )

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