:github_url: hide .. 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` Direct access object to a physics body in the :ref:`PhysicsServer`. .. rst-class:: classref-introduction-group Description ----------- Provides direct access to a physics body in the :ref:`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`. .. 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` | :ref:`angular_velocity` | +-----------------------------------+---------------------------------------------------------------------------------------------+ | :ref:`Vector3` | :ref:`center_of_mass` | +-----------------------------------+---------------------------------------------------------------------------------------------+ | :ref:`Vector3` | :ref:`inverse_inertia` | +-----------------------------------+---------------------------------------------------------------------------------------------+ | :ref:`float` | :ref:`inverse_mass` | +-----------------------------------+---------------------------------------------------------------------------------------------+ | :ref:`Vector3` | :ref:`linear_velocity` | +-----------------------------------+---------------------------------------------------------------------------------------------+ | :ref:`Basis` | :ref:`principal_inertia_axes` | +-----------------------------------+---------------------------------------------------------------------------------------------+ | :ref:`bool` | :ref:`sleeping` | +-----------------------------------+---------------------------------------------------------------------------------------------+ | :ref:`float` | :ref:`step` | +-----------------------------------+---------------------------------------------------------------------------------------------+ | :ref:`float` | :ref:`total_angular_damp` | +-----------------------------------+---------------------------------------------------------------------------------------------+ | :ref:`Vector3` | :ref:`total_gravity` | +-----------------------------------+---------------------------------------------------------------------------------------------+ | :ref:`float` | :ref:`total_linear_damp` | +-----------------------------------+---------------------------------------------------------------------------------------------+ | :ref:`Transform` | :ref:`transform` | +-----------------------------------+---------------------------------------------------------------------------------------------+ .. rst-class:: classref-reftable-group Methods ------- .. table:: :widths: auto +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | void | :ref:`add_central_force` **(** :ref:`Vector3` force **)** | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | void | :ref:`add_force` **(** :ref:`Vector3` force, :ref:`Vector3` position **)** | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | void | :ref:`add_torque` **(** :ref:`Vector3` torque **)** | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | void | :ref:`apply_central_impulse` **(** :ref:`Vector3` j **)** | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | void | :ref:`apply_impulse` **(** :ref:`Vector3` position, :ref:`Vector3` j **)** | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | void | :ref:`apply_torque_impulse` **(** :ref:`Vector3` j **)** | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`RID` | :ref:`get_contact_collider` **(** :ref:`int` contact_idx **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`int` | :ref:`get_contact_collider_id` **(** :ref:`int` contact_idx **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`Object` | :ref:`get_contact_collider_object` **(** :ref:`int` contact_idx **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`Vector3` | :ref:`get_contact_collider_position` **(** :ref:`int` contact_idx **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`int` | :ref:`get_contact_collider_shape` **(** :ref:`int` contact_idx **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`Vector3` | :ref:`get_contact_collider_velocity_at_position` **(** :ref:`int` contact_idx **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`int` | :ref:`get_contact_count` **(** **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`float` | :ref:`get_contact_impulse` **(** :ref:`int` contact_idx **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`Vector3` | :ref:`get_contact_local_normal` **(** :ref:`int` contact_idx **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`Vector3` | :ref:`get_contact_local_position` **(** :ref:`int` contact_idx **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`int` | :ref:`get_contact_local_shape` **(** :ref:`int` contact_idx **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`PhysicsDirectSpaceState` | :ref:`get_space_state` **(** **)** | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | :ref:`Vector3` | :ref:`get_velocity_at_local_position` **(** :ref:`Vector3` local_position **)** |const| | +---------------------------------------------------------------+---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | void | :ref:`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` **angular_velocity** .. rst-class:: classref-property-setget - void **set_angular_velocity** **(** :ref:`Vector3` value **)** - :ref:`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` **center_of_mass** .. rst-class:: classref-property-setget - :ref:`Vector3` **get_center_of_mass** **(** **)** .. container:: contribute There is currently no description for this property. Please help us by :ref:`contributing one `! .. rst-class:: classref-item-separator ---- .. _class_PhysicsDirectBodyState_property_inverse_inertia: .. rst-class:: classref-property :ref:`Vector3` **inverse_inertia** .. rst-class:: classref-property-setget - :ref:`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` **inverse_mass** .. rst-class:: classref-property-setget - :ref:`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` **linear_velocity** .. rst-class:: classref-property-setget - void **set_linear_velocity** **(** :ref:`Vector3` value **)** - :ref:`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` **principal_inertia_axes** .. rst-class:: classref-property-setget - :ref:`Basis` **get_principal_inertia_axes** **(** **)** .. container:: contribute There is currently no description for this property. Please help us by :ref:`contributing one `! .. rst-class:: classref-item-separator ---- .. _class_PhysicsDirectBodyState_property_sleeping: .. rst-class:: classref-property :ref:`bool` **sleeping** .. rst-class:: classref-property-setget - void **set_sleep_state** **(** :ref:`bool` value **)** - :ref:`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` **step** .. rst-class:: classref-property-setget - :ref:`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` **total_angular_damp** .. rst-class:: classref-property-setget - :ref:`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` **total_gravity** .. rst-class:: classref-property-setget - :ref:`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` **total_linear_damp** .. rst-class:: classref-property-setget - :ref:`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` **transform** .. rst-class:: classref-property-setget - void **set_transform** **(** :ref:`Transform` value **)** - :ref:`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` 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` force, :ref:`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` 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` 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` position, :ref:`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` 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` **get_contact_collider** **(** :ref:`int` contact_idx **)** |const| Returns the collider's :ref:`RID`. .. rst-class:: classref-item-separator ---- .. _class_PhysicsDirectBodyState_method_get_contact_collider_id: .. rst-class:: classref-method :ref:`int` **get_contact_collider_id** **(** :ref:`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` **get_contact_collider_object** **(** :ref:`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` **get_contact_collider_position** **(** :ref:`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` **get_contact_collider_shape** **(** :ref:`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` **get_contact_collider_velocity_at_position** **(** :ref:`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` **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`. .. rst-class:: classref-item-separator ---- .. _class_PhysicsDirectBodyState_method_get_contact_impulse: .. rst-class:: classref-method :ref:`float` **get_contact_impulse** **(** :ref:`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` **get_contact_local_normal** **(** :ref:`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` **get_contact_local_position** **(** :ref:`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` **get_contact_local_shape** **(** :ref:`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` **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` **get_velocity_at_local_position** **(** :ref:`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.)`