Direct access object to a physics body in the [PhysicsServer3D]. Provides direct access to a physics body in the [PhysicsServer3D], allowing safe changes to physics properties. This object is passed via the direct state callback of rigid bodies, and is intended for changing the direct state of that body. See [method RigidBody3D._integrate_forces]. $DOCS_URL/tutorials/physics/physics_introduction.html $DOCS_URL/tutorials/physics/ray-casting.html Adds a constant directional force without affecting rotation that keeps being applied over time until cleared with [code]constant_force = Vector3(0, 0, 0)[/code]. This is equivalent to using [method add_constant_force] at the body's center of mass. Adds a constant positioned force to the body that keeps being applied over time until cleared with [code]constant_force = Vector3(0, 0, 0)[/code]. [param position] is the offset from the body origin in global coordinates. Adds a constant rotational force without affecting position that keeps being applied over time until cleared with [code]constant_torque = Vector3(0, 0, 0)[/code]. Applies a directional force without affecting rotation. A force is time dependent and meant to be applied every physics update. This is equivalent to using [method apply_force] at the body's center of mass. Applies a directional impulse without affecting rotation. 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 (use the "_force" functions otherwise). This is equivalent to using [method apply_impulse] at the body's center of mass. Applies a positioned force to the body. A force is time dependent and meant to be applied every physics update. [param position] is the offset from the body origin in global coordinates. 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 (use the "_force" functions otherwise). [param position] is the offset from the body origin in global coordinates. Applies a rotational force without affecting position. A force is time dependent and meant to be applied every physics update. [b]Note:[/b] [member inverse_inertia] is required for this to work. To have [member inverse_inertia], an active [CollisionShape3D] must be a child of the node, or you can manually set [member inverse_inertia]. Applies a rotational impulse to the body without affecting the position. 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 (use the "_force" functions otherwise). [b]Note:[/b] [member inverse_inertia] is required for this to work. To have [member inverse_inertia], an active [CollisionShape3D] must be a child of the node, or you can manually set [member inverse_inertia]. Returns the body's total constant positional forces applied during each physics update. See [method add_constant_force] and [method add_constant_central_force]. Returns the body's total constant rotational forces applied during each physics update. See [method add_constant_torque]. Returns the collider's [RID]. Returns the collider's object id. Returns the collider object. Returns the position of the contact point on the collider in the global coordinate system. Returns the collider's shape index. Returns the linear velocity vector at the collider's contact point. Returns the number of contacts this body has with other bodies. [b]Note:[/b] By default, this returns 0 unless bodies are configured to monitor contacts. See [member RigidBody3D.contact_monitor]. Impulse created by the contact. Returns the local normal at the contact point. Returns the position of the contact point on the body in the global coordinate system. Returns the local shape index of the collision. Returns the linear velocity vector at the body's contact point. Returns the current state of the space, useful for queries. Returns the body's velocity at the given relative position, including both translation and rotation. Calls the built-in force integration code. Sets the body's total constant positional forces applied during each physics update. See [method add_constant_force] and [method add_constant_central_force]. Sets the body's total constant rotational forces applied during each physics update. See [method add_constant_torque]. The body's rotational velocity in [i]radians[/i] per second. The body's center of mass position relative to the body's center in the global coordinate system. The body's center of mass position in the body's local coordinate system. The inverse of the inertia of the body. The inverse of the inertia tensor of the body. The inverse of the mass of the body. The body's linear velocity in units per second. If [code]true[/code], this body is currently sleeping (not active). The timestep (delta) used for the simulation. The rate at which the body stops rotating, if there are not any other forces moving it. The total gravity vector being currently applied to this body. The rate at which the body stops moving, if there are not any other forces moving it. The body's transformation matrix.