PhysicsDirectBodyState

Inherits: Object

Inherited By: BulletPhysicsDirectBodyState

Category: Core

Brief Description

Direct access object to a physics body in the PhysicsServer.

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

Setter set_angular_velocity(value)
Getter get_angular_velocity()

The body’s rotational velocity.


Getter get_center_of_mass()

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 )

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.


  • 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 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.


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


  • void integrate_forces ( )

Calls the built-in force integration code.