PhysicsDirectBodyState3D

Inherits: Object

Direct access object 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 dynamic bodies, and is intended for changing the direct state of that body. See RigidDynamicBody3D._integrate_forces.

Methods

void

add_central_force ( Vector3 force=Vector3(0, 0, 0) )

void

add_force ( Vector3 force, Vector3 position=Vector3(0, 0, 0) )

void

add_torque ( Vector3 torque )

void

apply_central_impulse ( Vector3 impulse=Vector3(0, 0, 0) )

void

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

void

apply_torque_impulse ( Vector3 impulse )

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

PhysicsDirectSpaceState3D

get_space_state ( )

Vector3

get_velocity_at_local_position ( Vector3 local_position ) const

void

integrate_forces ( )

Property Descriptions

Setter

set_angular_velocity(value)

Getter

get_angular_velocity()

The body's rotational velocity.


Getter

get_center_of_mass()

The body's center of mass position relative to the body's center in the global coordinate system.


Getter

get_center_of_mass_local()

The body's center of mass position in the body's local coordinate system.


Getter

get_inverse_inertia()

The inverse of the inertia of the body.


Getter

get_inverse_mass()

The inverse of the mass of the body.


Setter

set_linear_velocity(value)

Getter

get_linear_velocity()

The body's linear velocity.


  • Basis principal_inertia_axes

Getter

get_principal_inertia_axes()


Setter

set_sleep_state(value)

Getter

is_sleeping()

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


Getter

get_step()

The timestep (delta) used for the simulation.


  • float total_angular_damp

Getter

get_total_angular_damp()

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


Getter

get_total_gravity()

The total gravity vector being currently applied to this body.


  • float total_linear_damp

Getter

get_total_linear_damp()

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


Setter

set_transform(value)

Getter

get_transform()

The body's transformation matrix.

Method Descriptions

  • void add_central_force ( Vector3 force=Vector3(0, 0, 0) )

Adds a constant directional force without affecting rotation.

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


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 impulse=Vector3(0, 0, 0) )

Applies a single directional impulse without affecting rotation.

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


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


  • void apply_torque_impulse ( Vector3 impulse )

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 RigidDynamicBody3D.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.


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.