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/Godot 3.1

PhysicsDirectBodyState

Inherits: Object

Inherited By: BulletPhysicsDirectBodyState

Category: Core

Brief Description

Direct access object to a physics body in the PhysicsServer.

Properties

Vector3 angular_velocity
Vector3 center_of_mass
Vector3 inverse_inertia
float inverse_mass
Vector3 linear_velocity
Basis principal_inertia_axes
bool sleeping
float step
float total_angular_damp
Vector3 total_gravity
float total_linear_damp
Transform transform

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 ( )

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.

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)).

void add_force ( Vector3 force, Vector3 position )

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).

void apply_impulse ( Vector3 position, Vector3 j )

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 passed in vector.

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 that by default this returns 0 unless bodies are configured to log contacts. See RigidBody.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.

PhysicsDirectSpaceState get_space_state ( )

Returns the current state of the space, useful for queries.

void integrate_forces ( )

Calls the built-in force integration code.

© 2014–2019 Juan Linietsky, Ariel Manzur, Godot Engine contributors
Licensed under the MIT License.
http://docs.godotengine.org/en/3.1/classes/class_physicsdirectbodystate.html