RigidDynamicBody3D

Inherits: PhysicsBody3D < CollisionObject3D < Node3D < Node < Object

Inherited By: VehicleBody3D

Physics Body which is moved by 3D physics simulation. Useful for objects that have gravity and can be pushed by other objects.

Description

This is the node that implements full 3D physics. This means that you do not control a RigidDynamicBody3D directly. Instead, you can apply forces to it (gravity, impulses, etc.), and the physics simulation will calculate the resulting movement, collision, bouncing, rotating, etc.

You can switch the body's behavior using lock_rotation, freeze, and freeze_mode.

Note: Don't change a RigidDynamicBody3D'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 may result in 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 function. See custom_integrator.

Methods

void

_integrate_forces ( PhysicsDirectBodyState3D state ) virtual

void

add_central_force ( Vector3 force )

void

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

void

add_torque ( Vector3 torque )

void

apply_central_impulse ( Vector3 impulse )

void

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

void

apply_torque_impulse ( Vector3 impulse )

Array

get_colliding_bodies ( ) const

Basis

get_inverse_inertia_tensor ( ) const

void

set_axis_velocity ( Vector3 axis_velocity )

Signals

  • body_entered ( Node body )

Emitted when a collision with another PhysicsBody3D or GridMap occurs. Requires contact_monitor to be set to true and 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 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 RigidDynamicBody3D's Shape3Ds collides with another PhysicsBody3D or GridMap's Shape3Ds. Requires contact_monitor to be set to true and 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_index).

local_shape_index the index of the Shape3D of this RigidDynamicBody3D used by the PhysicsServer3D. Get the CollisionShape3D node with self.shape_owner_get_owner(local_shape_index).

Note: Bullet physics cannot identify the shape index when using a ConcavePolygonShape3D. Don't use multiple CollisionShape3Ds when using a ConcavePolygonShape3D with Bullet physics if you need shape indices.


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

Emitted when the collision between one of this RigidDynamicBody3D's Shape3Ds and another PhysicsBody3D or GridMap's Shape3Ds ends. Requires contact_monitor to be set to true and 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_index).

local_shape_index the index of the Shape3D of this RigidDynamicBody3D used by the PhysicsServer3D. Get the CollisionShape3D node with self.shape_owner_get_owner(local_shape_index).

Note: Bullet physics cannot identify the shape index when using a ConcavePolygonShape3D. Don't use multiple CollisionShape3Ds when using a ConcavePolygonShape3D with Bullet physics if you need shape indices.


  • 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.

Enumerations

enum FreezeMode:

  • FREEZE_MODE_STATIC = 0 --- 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 --- 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.


enum CenterOfMassMode:

  • CENTER_OF_MASS_MODE_AUTO = 0 --- In this mode, the body's center of mass is calculated automatically based on its shapes.

  • CENTER_OF_MASS_MODE_CUSTOM = 1 --- In this mode, the body's center of mass is set through center_of_mass. Defaults to the body's origin position.


enum DampMode:

  • DAMP_MODE_COMBINE = 0 --- In this mode, the body's damping value is added to any value set in areas or the default value.

  • DAMP_MODE_REPLACE = 1 --- In this mode, the body's damping value replaces any value set in areas or the default value.

Property Descriptions

Default

0.0

Setter

set_angular_damp(value)

Getter

get_angular_damp()

Damps the body's rotation. By default, the body will use the Default Angular Damp in Project > Project Settings > Physics > 3d 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.


Default

0

Setter

set_angular_damp_mode(value)

Getter

get_angular_damp_mode()

Defines how angular_damp is applied. See DampMode for possible values.


Default

Vector3(0, 0, 0)

Setter

set_angular_velocity(value)

Getter

get_angular_velocity()

RigidDynamicBody3D's rotational velocity.


Default

true

Setter

set_can_sleep(value)

Getter

is_able_to_sleep()

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


Default

Vector3(0, 0, 0)

Setter

set_center_of_mass(value)

Getter

get_center_of_mass()

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 computed.


Default

0

Setter

set_center_of_mass_mode(value)

Getter

get_center_of_mass_mode()

Defines the way the body's center of mass is set. See CenterOfMassMode for possible values.


  • bool contact_monitor

Default

false

Setter

set_contact_monitor(value)

Getter

is_contact_monitor_enabled()

If true, the RigidDynamicBody3D will emit signals when it collides with another RigidDynamicBody3D. See also contacts_reported.


  • int contacts_reported

Default

0

Setter

set_max_contacts_reported(value)

Getter

get_max_contacts_reported()

The maximum number of contacts that will be recorded. Requires contact_monitor to be set to true.

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).


  • bool continuous_cd

Default

false

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 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

Default

false

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.


Default

false

Setter

set_freeze_enabled(value)

Getter

is_freeze_enabled()

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.


Default

0

Setter

set_freeze_mode(value)

Getter

get_freeze_mode()

The body's freeze mode. Can be used to set the body's behavior when freeze is enabled. See FreezeMode for possible values.

For a body that is always frozen, use StaticBody3D or AnimatableBody3D instead.


Default

1.0

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 RigidDynamicBody3D's gravity. For example, a value of 1 will be normal gravity, 2 will apply double gravity, and 0.5 will apply half gravity to this object.


Default

Vector3(0, 0, 0)

Setter

set_inertia(value)

Getter

get_inertia()

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).


Default

0.0

Setter

set_linear_damp(value)

Getter

get_linear_damp()

Damps the body's movement. By default, the body will use the Default Linear Damp in Project > Project Settings > Physics > 3d 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.


Default

0

Setter

set_linear_damp_mode(value)

Getter

get_linear_damp_mode()

Defines how linear_damp is applied. See DampMode for possible values.


Default

Vector3(0, 0, 0)

Setter

set_linear_velocity(value)

Getter

get_linear_velocity()

The body's linear velocity. 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

Default

false

Setter

set_lock_rotation_enabled(value)

Getter

is_lock_rotation_enabled()

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


Default

1.0

Setter

set_mass(value)

Getter

get_mass()

The body's mass.


Setter

set_physics_material_override(value)

Getter

get_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.


Default

false

Setter

set_sleeping(value)

Getter

is_sleeping()

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 add_force methods.

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 (i.e. acceleration) without affecting rotation.

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


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

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


  • 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).


  • 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 )

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


  • Array get_colliding_bodies ( ) const

Returns a list of the bodies colliding with this one. Requires contact_monitor to be set to true and 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.


  • 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 RigidDynamicBody3D.


  • 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.