PhysicsDirectBodyState

Direct access object to a physics body in the PhysicsServer.

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 .

Tutorials

• Ray-casting

Methods

• Vector3 angular_velocity

The body’s rotational velocity in axis-angle format. The magnitude of the vector is the rotation rate in radians per second.

• center_of_mass

• Vector3 inverse_inertia

The inverse of the inertia of the body.

• inverse_mass

The inverse of the mass of the body.

The body’s linear velocity in units per second.

• Basis principal_inertia_axes

• sleeping

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

• float step

The timestep (delta) used for the simulation.

• total_angular_damp

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

• Vector3 total_gravity

The total gravity vector being currently applied to this body.

• total_linear_damp

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

• Transform 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 .

• void add_force ( 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 ( 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 .

• void apply_impulse ( 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.

Apply a torque impulse (which will be affected by the body mass and shape). This will rotate the body around the vector passed as parameter.

• get_contact_collider ( int contact_idx ) const

Returns the collider’s .

• int get_contact_collider_id ( contact_idx ) const

Returns the collider’s object id.

• Object get_contact_collider_object ( contact_idx ) const

Returns the collider object.

• Vector3 get_contact_collider_position ( contact_idx ) const

Returns the contact position in the collider.

• int get_contact_collider_shape ( contact_idx ) const

Returns the collider’s shape index.

• Vector3 get_contact_collider_velocity_at_position ( 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 .

• float get_contact_impulse ( contact_idx ) const

Impulse created by the contact. Only implemented for Bullet physics.

• Vector3 get_contact_local_normal ( contact_idx ) const

Returns the local normal at the contact point.

• Vector3 get_contact_local_position ( contact_idx ) const

Returns the local position of the contact point.

• int get_contact_local_shape ( 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.