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virtualx-engine-docs/_sources/classes/class_physicsdirectbodystate.rst.txt

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2024-10-23 18:41:33 +02:00
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.. DO NOT EDIT THIS FILE!!!
.. Generated automatically from Godot engine sources.
.. Generator: https://github.com/godotengine/godot/tree/3.6/doc/tools/make_rst.py.
.. XML source: https://github.com/godotengine/godot/tree/3.6/doc/classes/PhysicsDirectBodyState.xml.
.. _class_PhysicsDirectBodyState:
PhysicsDirectBodyState
======================
**Inherits:** :ref:`Object<class_Object>`
Direct access object to a physics body in the :ref:`PhysicsServer<class_PhysicsServer>`.
.. rst-class:: classref-introduction-group
Description
-----------
Provides direct access to a physics body in the :ref:`PhysicsServer<class_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 :ref:`RigidBody._integrate_forces<class_RigidBody_method__integrate_forces>`.
.. rst-class:: classref-introduction-group
Tutorials
---------
- :doc:`Physics introduction <../tutorials/physics/physics_introduction>`
- :doc:`Ray-casting <../tutorials/physics/ray-casting>`
.. rst-class:: classref-reftable-group
Properties
----------
.. table::
:widths: auto
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`angular_velocity<class_PhysicsDirectBodyState_property_angular_velocity>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`center_of_mass<class_PhysicsDirectBodyState_property_center_of_mass>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`inverse_inertia<class_PhysicsDirectBodyState_property_inverse_inertia>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`inverse_mass<class_PhysicsDirectBodyState_property_inverse_mass>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`linear_velocity<class_PhysicsDirectBodyState_property_linear_velocity>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`Basis<class_Basis>` | :ref:`principal_inertia_axes<class_PhysicsDirectBodyState_property_principal_inertia_axes>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>` | :ref:`sleeping<class_PhysicsDirectBodyState_property_sleeping>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`step<class_PhysicsDirectBodyState_property_step>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`total_angular_damp<class_PhysicsDirectBodyState_property_total_angular_damp>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`total_gravity<class_PhysicsDirectBodyState_property_total_gravity>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`total_linear_damp<class_PhysicsDirectBodyState_property_total_linear_damp>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
| :ref:`Transform<class_Transform>` | :ref:`transform<class_PhysicsDirectBodyState_property_transform>` |
+-----------------------------------+---------------------------------------------------------------------------------------------+
.. rst-class:: classref-reftable-group
Methods
-------
.. table::
:widths: auto
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`add_central_force<class_PhysicsDirectBodyState_method_add_central_force>` **(** :ref:`Vector3<class_Vector3>` force **)** |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`add_force<class_PhysicsDirectBodyState_method_add_force>` **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position **)** |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`add_torque<class_PhysicsDirectBodyState_method_add_torque>` **(** :ref:`Vector3<class_Vector3>` torque **)** |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_central_impulse<class_PhysicsDirectBodyState_method_apply_central_impulse>` **(** :ref:`Vector3<class_Vector3>` j **)** |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_impulse<class_PhysicsDirectBodyState_method_apply_impulse>` **(** :ref:`Vector3<class_Vector3>` position, :ref:`Vector3<class_Vector3>` j **)** |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_torque_impulse<class_PhysicsDirectBodyState_method_apply_torque_impulse>` **(** :ref:`Vector3<class_Vector3>` j **)** |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`RID<class_RID>` | :ref:`get_contact_collider<class_PhysicsDirectBodyState_method_get_contact_collider>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_collider_id<class_PhysicsDirectBodyState_method_get_contact_collider_id>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Object<class_Object>` | :ref:`get_contact_collider_object<class_PhysicsDirectBodyState_method_get_contact_collider_object>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_collider_position<class_PhysicsDirectBodyState_method_get_contact_collider_position>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_collider_shape<class_PhysicsDirectBodyState_method_get_contact_collider_shape>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_collider_velocity_at_position<class_PhysicsDirectBodyState_method_get_contact_collider_velocity_at_position>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_count<class_PhysicsDirectBodyState_method_get_contact_count>` **(** **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`get_contact_impulse<class_PhysicsDirectBodyState_method_get_contact_impulse>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_local_normal<class_PhysicsDirectBodyState_method_get_contact_local_normal>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_local_position<class_PhysicsDirectBodyState_method_get_contact_local_position>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_local_shape<class_PhysicsDirectBodyState_method_get_contact_local_shape>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`PhysicsDirectSpaceState<class_PhysicsDirectSpaceState>` | :ref:`get_space_state<class_PhysicsDirectBodyState_method_get_space_state>` **(** **)** |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_velocity_at_local_position<class_PhysicsDirectBodyState_method_get_velocity_at_local_position>` **(** :ref:`Vector3<class_Vector3>` local_position **)** |const| |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`integrate_forces<class_PhysicsDirectBodyState_method_integrate_forces>` **(** **)** |
+---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
.. rst-class:: classref-section-separator
----
.. rst-class:: classref-descriptions-group
Property Descriptions
---------------------
.. _class_PhysicsDirectBodyState_property_angular_velocity:
.. rst-class:: classref-property
:ref:`Vector3<class_Vector3>` **angular_velocity**
.. rst-class:: classref-property-setget
- void **set_angular_velocity** **(** :ref:`Vector3<class_Vector3>` value **)**
- :ref:`Vector3<class_Vector3>` **get_angular_velocity** **(** **)**
The body's rotational velocity in axis-angle format. The magnitude of the vector is the rotation rate in *radians* per second.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_property_center_of_mass:
.. rst-class:: classref-property
:ref:`Vector3<class_Vector3>` **center_of_mass**
.. rst-class:: classref-property-setget
- :ref:`Vector3<class_Vector3>` **get_center_of_mass** **(** **)**
.. container:: contribute
There is currently no description for this property. Please help us by :ref:`contributing one <doc_updating_the_class_reference>`!
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_property_inverse_inertia:
.. rst-class:: classref-property
:ref:`Vector3<class_Vector3>` **inverse_inertia**
.. rst-class:: classref-property-setget
- :ref:`Vector3<class_Vector3>` **get_inverse_inertia** **(** **)**
The inverse of the inertia of the body.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_property_inverse_mass:
.. rst-class:: classref-property
:ref:`float<class_float>` **inverse_mass**
.. rst-class:: classref-property-setget
- :ref:`float<class_float>` **get_inverse_mass** **(** **)**
The inverse of the mass of the body.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_property_linear_velocity:
.. rst-class:: classref-property
:ref:`Vector3<class_Vector3>` **linear_velocity**
.. rst-class:: classref-property-setget
- void **set_linear_velocity** **(** :ref:`Vector3<class_Vector3>` value **)**
- :ref:`Vector3<class_Vector3>` **get_linear_velocity** **(** **)**
The body's linear velocity in units per second.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_property_principal_inertia_axes:
.. rst-class:: classref-property
:ref:`Basis<class_Basis>` **principal_inertia_axes**
.. rst-class:: classref-property-setget
- :ref:`Basis<class_Basis>` **get_principal_inertia_axes** **(** **)**
.. container:: contribute
There is currently no description for this property. Please help us by :ref:`contributing one <doc_updating_the_class_reference>`!
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_property_sleeping:
.. rst-class:: classref-property
:ref:`bool<class_bool>` **sleeping**
.. rst-class:: classref-property-setget
- void **set_sleep_state** **(** :ref:`bool<class_bool>` value **)**
- :ref:`bool<class_bool>` **is_sleeping** **(** **)**
If ``true``, this body is currently sleeping (not active).
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_property_step:
.. rst-class:: classref-property
:ref:`float<class_float>` **step**
.. rst-class:: classref-property-setget
- :ref:`float<class_float>` **get_step** **(** **)**
The timestep (delta) used for the simulation.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_property_total_angular_damp:
.. rst-class:: classref-property
:ref:`float<class_float>` **total_angular_damp**
.. rst-class:: classref-property-setget
- :ref:`float<class_float>` **get_total_angular_damp** **(** **)**
The rate at which the body stops rotating, if there are not any other forces moving it.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_property_total_gravity:
.. rst-class:: classref-property
:ref:`Vector3<class_Vector3>` **total_gravity**
.. rst-class:: classref-property-setget
- :ref:`Vector3<class_Vector3>` **get_total_gravity** **(** **)**
The total gravity vector being currently applied to this body.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_property_total_linear_damp:
.. rst-class:: classref-property
:ref:`float<class_float>` **total_linear_damp**
.. rst-class:: classref-property-setget
- :ref:`float<class_float>` **get_total_linear_damp** **(** **)**
The rate at which the body stops moving, if there are not any other forces moving it.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_property_transform:
.. rst-class:: classref-property
:ref:`Transform<class_Transform>` **transform**
.. rst-class:: classref-property-setget
- void **set_transform** **(** :ref:`Transform<class_Transform>` value **)**
- :ref:`Transform<class_Transform>` **get_transform** **(** **)**
The body's transformation matrix.
.. rst-class:: classref-section-separator
----
.. rst-class:: classref-descriptions-group
Method Descriptions
-------------------
.. _class_PhysicsDirectBodyState_method_add_central_force:
.. rst-class:: classref-method
void **add_central_force** **(** :ref:`Vector3<class_Vector3>` force **)**
Adds a constant directional force without affecting rotation.
This is equivalent to ``add_force(force, Vector3(0,0,0))``.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_add_force:
.. rst-class:: classref-method
void **add_force** **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position **)**
Adds a positioned force to the body. Both the force and the offset from the body origin are in global coordinates.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_add_torque:
.. rst-class:: classref-method
void **add_torque** **(** :ref:`Vector3<class_Vector3>` torque **)**
Adds a constant rotational force without affecting position.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_apply_central_impulse:
.. rst-class:: classref-method
void **apply_central_impulse** **(** :ref:`Vector3<class_Vector3>` j **)**
Applies a single directional impulse without affecting rotation.
This is equivalent to ``apply_impulse(Vector3(0, 0, 0), impulse)``.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_apply_impulse:
.. rst-class:: classref-method
void **apply_impulse** **(** :ref:`Vector3<class_Vector3>` position, :ref:`Vector3<class_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.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_apply_torque_impulse:
.. rst-class:: classref-method
void **apply_torque_impulse** **(** :ref:`Vector3<class_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.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_contact_collider:
.. rst-class:: classref-method
:ref:`RID<class_RID>` **get_contact_collider** **(** :ref:`int<class_int>` contact_idx **)** |const|
Returns the collider's :ref:`RID<class_RID>`.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_contact_collider_id:
.. rst-class:: classref-method
:ref:`int<class_int>` **get_contact_collider_id** **(** :ref:`int<class_int>` contact_idx **)** |const|
Returns the collider's object id.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_contact_collider_object:
.. rst-class:: classref-method
:ref:`Object<class_Object>` **get_contact_collider_object** **(** :ref:`int<class_int>` contact_idx **)** |const|
Returns the collider object.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_contact_collider_position:
.. rst-class:: classref-method
:ref:`Vector3<class_Vector3>` **get_contact_collider_position** **(** :ref:`int<class_int>` contact_idx **)** |const|
Returns the contact position in the collider.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_contact_collider_shape:
.. rst-class:: classref-method
:ref:`int<class_int>` **get_contact_collider_shape** **(** :ref:`int<class_int>` contact_idx **)** |const|
Returns the collider's shape index.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_contact_collider_velocity_at_position:
.. rst-class:: classref-method
:ref:`Vector3<class_Vector3>` **get_contact_collider_velocity_at_position** **(** :ref:`int<class_int>` contact_idx **)** |const|
Returns the linear velocity vector at the collider's contact point.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_contact_count:
.. rst-class:: classref-method
:ref:`int<class_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 :ref:`RigidBody.contact_monitor<class_RigidBody_property_contact_monitor>`.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_contact_impulse:
.. rst-class:: classref-method
:ref:`float<class_float>` **get_contact_impulse** **(** :ref:`int<class_int>` contact_idx **)** |const|
Impulse created by the contact. Only implemented for Bullet physics.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_contact_local_normal:
.. rst-class:: classref-method
:ref:`Vector3<class_Vector3>` **get_contact_local_normal** **(** :ref:`int<class_int>` contact_idx **)** |const|
Returns the local normal at the contact point.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_contact_local_position:
.. rst-class:: classref-method
:ref:`Vector3<class_Vector3>` **get_contact_local_position** **(** :ref:`int<class_int>` contact_idx **)** |const|
Returns the local position of the contact point.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_contact_local_shape:
.. rst-class:: classref-method
:ref:`int<class_int>` **get_contact_local_shape** **(** :ref:`int<class_int>` contact_idx **)** |const|
Returns the local shape index of the collision.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_space_state:
.. rst-class:: classref-method
:ref:`PhysicsDirectSpaceState<class_PhysicsDirectSpaceState>` **get_space_state** **(** **)**
Returns the current state of the space, useful for queries.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_get_velocity_at_local_position:
.. rst-class:: classref-method
:ref:`Vector3<class_Vector3>` **get_velocity_at_local_position** **(** :ref:`Vector3<class_Vector3>` local_position **)** |const|
Returns the body's velocity at the given relative position, including both translation and rotation.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState_method_integrate_forces:
.. rst-class:: classref-method
void **integrate_forces** **(** **)**
Calls the built-in force integration code.
.. |virtual| replace:: :abbr:`virtual (This method should typically be overridden by the user to have any effect.)`
.. |const| replace:: :abbr:`const (This method has no side effects. It doesn't modify any of the instance's member variables.)`
.. |vararg| replace:: :abbr:`vararg (This method accepts any number of arguments after the ones described here.)`
.. |static| replace:: :abbr:`static (This method doesn't need an instance to be called, so it can be called directly using the class name.)`
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