PhysicsDirectBodyState¶
Inherits: Object
Direct access object to a physics body in the PhysicsServer.
Description¶
Provides direct access to a physics body in the PhysicsServer, allowing safe changes to physics properties. This object is passed via the direct state callback of rigid/character bodies, and is intended for changing the direct state of that body. See RigidBody._integrate_forces.
Properties¶
Methods¶
| void | add_central_force ( Vector3 force ) |
| void | add_force ( Vector3 force, Vector3 position ) |
| void | add_torque ( Vector3 torque ) |
| void | apply_central_impulse ( Vector3 j ) |
| void | apply_impulse ( Vector3 position, Vector3 j ) |
| void | apply_torque_impulse ( Vector3 j ) |
| 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 |
| PhysicsDirectSpaceState | get_space_state ( ) |
| void | integrate_forces ( ) |
Property Descriptions¶
- Vector3 angular_velocity
| Setter | set_angular_velocity(value) |
| Getter | get_angular_velocity() |
The body’s rotational velocity.
- Vector3 center_of_mass
| Getter | get_center_of_mass() |
- Vector3 inverse_inertia
| Getter | get_inverse_inertia() |
The inverse of the inertia of the body.
- float inverse_mass
| Getter | get_inverse_mass() |
The inverse of the mass of the body.
- Vector3 linear_velocity
| Setter | set_linear_velocity(value) |
| Getter | get_linear_velocity() |
The body’s linear velocity.
- Basis principal_inertia_axes
| Getter | get_principal_inertia_axes() |
- bool sleeping
| Setter | set_sleep_state(value) |
| Getter | is_sleeping() |
If true, this body is currently sleeping (not active).
- float step
| 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.
- Vector3 total_gravity
| 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.
- Transform transform
| Setter | set_transform(value) |
| Getter | get_transform() |
The body’s transformation matrix.
Method Descriptions¶
- 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 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 j )
Applies a single 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 j )
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.
Returns the collider’s RID.
Returns the collider’s object id.
Returns the collider object.
Returns the contact position in the collider.
Returns the collider’s shape index.
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 RigidBody.contact_monitor.
Impulse created by the contact. Only implemented for Bullet physics.
Returns the local normal at the contact point.
Returns the local position of the contact point.
Returns the local shape index of the collision.
- PhysicsDirectSpaceState get_space_state ( )
Returns the current state of the space, useful for queries.
Calls the built-in force integration code.