RigidBody

Inherits: PhysicsBody < CollisionObject < Spatial < Node < Object

Inherited By: VehicleBody

Category: Core

Brief Description

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

Methods

void _integrate_forces ( PhysicsDirectBodyState state ) virtual
void add_central_force ( Vector3 force )
void add_force ( Vector3 force, Vector3 position )
void add_torque ( Vector3 torque )
void apply_central_impulse ( Vector3 impulse )
void apply_impulse ( Vector3 position, Vector3 impulse )
void apply_torque_impulse ( Vector3 impulse )
Array get_colliding_bodies ( ) const
void set_axis_velocity ( Vector3 axis_velocity )

Signals

  • body_entered ( Node body )

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

  • body_exited ( Node body )

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, Node 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, Node 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.

Enumerations

enum Mode:

  • MODE_RIGID = 0 — Rigid body mode. 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 mode. This behaves like a rigid body, but can not rotate.
  • MODE_KINEMATIC = 3 — Kinematic body mode. 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.

A RigidBody has 4 behavior modes: Rigid, Static, Character, and Kinematic.

Note: Don’t change a 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. If you need to directly affect the body’s state, use _integrate_forces, which allows you to directly access the physics state.

If you need to override the default physics behavior, you can write a custom force integration. See custom_integrator.

Property Descriptions

Setter set_angular_damp(value)
Getter get_angular_damp()

Damps RigidBody’s rotational forces.

Setter set_angular_velocity(value)
Getter get_angular_velocity()

RigidBody’s rotational velocity.

  • bool axis_lock_angular_x
Setter set_axis_lock(value)
Getter get_axis_lock()

Lock the body’s rotation in the x-axis.

  • bool axis_lock_angular_y
Setter set_axis_lock(value)
Getter get_axis_lock()

Lock the body’s rotation in the y-axis.

  • bool axis_lock_angular_z
Setter set_axis_lock(value)
Getter get_axis_lock()

Lock the body’s rotation in the z-axis.

  • bool axis_lock_linear_x
Setter set_axis_lock(value)
Getter get_axis_lock()

Lock the body’s movement in the x-axis.

  • bool axis_lock_linear_y
Setter set_axis_lock(value)
Getter get_axis_lock()

Lock the body’s movement in the y-axis.

  • bool axis_lock_linear_z
Setter set_axis_lock(value)
Getter get_axis_lock()

Lock the body’s movement in the z-axis.

Setter set_bounce(value)
Getter get_bounce()

RigidBody’s bounciness.

Setter set_can_sleep(value)
Getter is_able_to_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
Setter set_contact_monitor(value)
Getter is_contact_monitor_enabled()

If true, the RigidBody will emit signals when it collides with another RigidBody.

  • int contacts_reported
Setter set_max_contacts_reported(value)
Getter get_max_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
Setter set_use_continuous_collision_detection(value)
Getter is_using_continuous_collision_detection()

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
Setter set_use_custom_integrator(value)
Getter is_using_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.

Setter set_friction(value)
Getter get_friction()

The body’s friction, from 0 (frictionless) to 1 (max friction).

Setter set_gravity_scale(value)
Getter get_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.

Setter set_linear_damp(value)
Getter get_linear_damp()

The body’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.

Setter set_linear_velocity(value)
Getter get_linear_velocity()

The body’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.

Setter set_mass(value)
Getter get_mass()

The body’s mass.

Setter set_mode(value)
Getter get_mode()

The body mode from the MODE_* enum. Modes include: MODE_STATIC, MODE_KINEMATIC, MODE_RIGID, and MODE_CHARACTER.

Setter set_physics_material_override(value)
Getter get_physics_material_override()
Setter set_sleeping(value)
Getter is_sleeping()

If true, the body is sleeping and will not calculate forces until woken up by a collision or the apply_impulse method.

Setter set_weight(value)
Getter get_weight()

The body’s weight based on its mass and the global 3D gravity. Global values are set in “Project > Project Settings > Physics > 3d”.

Method Descriptions

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 the custom_integrator property allows you to disable the default behavior and do fully custom force integration for a body.

  • 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)).

Adds a constant force (i.e. acceleration).

  • void add_torque ( Vector3 torque )

Adds a constant rotational force (i.e. a motor) without affecting position.

  • void apply_central_impulse ( Vector3 impulse )

Applies a directional impulse without affecting rotation.

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

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 impulse )

Applies a torque impulse which will be affected by the body mass and shape. This will rotate the body around the passed in vector.

  • Array get_colliding_bodies ( ) const

Returns a list of the bodies colliding with this one. By default, number of max contacts reported is at 0, see the contacts_reported property to increase it. Note that 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.

  • 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.