Table of Contents

Class PhysicsDirectBodyState3D

Provides direct access to a physics body in the PhysicsServer3D.

Inheritance
PhysicsDirectBodyState3D
Derived

Remarks

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 RigidBody3D, and is intended for changing the direct state of that body. See RigidBody3D._integrate_forces.

See Also

Physics introduction
Ray-casting

Properties

angular_velocity

The body's rotational velocity in radians per second.

var angular_velocity : Vector3

Property Value

Vector3

Remarks

  • void set_angular_velocity(Vector3 value)
  • Vector3 get_angular_velocity

center_of_mass

The body's center of mass position relative to the body's center in the global coordinate system.

var center_of_mass : Vector3

Property Value

Vector3

Remarks

center_of_mass_local

The body's center of mass position in the body's local coordinate system.

var center_of_mass_local : Vector3

Property Value

Vector3

Remarks

inverse_inertia

The inverse of the inertia of the body.

var inverse_inertia : Vector3

Property Value

Vector3

Remarks

inverse_inertia_tensor

The inverse of the inertia tensor of the body.

var inverse_inertia_tensor : Basis

Property Value

Basis

Remarks

  • Basis get_inverse_inertia_tensor

inverse_mass

The inverse of the mass of the body.

var inverse_mass : float

Property Value

float

Remarks

linear_velocity

The body's linear velocity in units per second.

var linear_velocity : Vector3

Property Value

Vector3

Remarks

principal_inertia_axes 

var principal_inertia_axes : Basis

Property Value

Basis

Remarks

  • Basis get_principal_inertia_axes

sleeping

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

var sleeping : bool

Property Value

bool

Remarks

  • void set_sleep_state(bool value)
  • bool is_sleeping

step

The timestep (delta) used for the simulation.

var step : float

Property Value

float

Remarks

total_angular_damp

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

var total_angular_damp : float

Property Value

float

Remarks

  • float get_total_angular_damp

total_gravity

The total gravity vector being currently applied to this body.

var total_gravity : Vector3

Property Value

Vector3

Remarks

total_linear_damp

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

var total_linear_damp : float

Property Value

float

Remarks

  • float get_total_linear_damp

transform

The body's transformation matrix.

var transform : Transform3D

Property Value

Transform3D

Remarks

Methods

add_constant_central_force(Vector3)

Adds a constant directional force without affecting rotation that keeps being applied over time until cleared with constant_force = Vector3(0, 0, 0).

This is equivalent to using PhysicsDirectBodyState3D.add_constant_force at the body's center of mass.

void add_constant_central_force(Vector3 force)

Parameters

force Vector3

add_constant_force(Vector3, Vector3)

Adds a constant positioned force to the body that keeps being applied over time until cleared with constant_force = Vector3(0, 0, 0).

position is the offset from the body origin in global coordinates.

void add_constant_force(Vector3 force, Vector3 position)

Parameters

force Vector3
position Vector3

add_constant_torque(Vector3)

Adds a constant rotational force without affecting position that keeps being applied over time until cleared with constant_torque = Vector3(0, 0, 0).

void add_constant_torque(Vector3 torque)

Parameters

torque Vector3

apply_central_force(Vector3)

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 PhysicsDirectBodyState3D.apply_force at the body's center of mass.

void apply_central_force(Vector3 force)

Parameters

force Vector3

apply_central_impulse(Vector3)

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 PhysicsDirectBodyState3D.apply_impulse at the body's center of mass.

void apply_central_impulse(Vector3 impulse)

Parameters

impulse Vector3

apply_force(Vector3, Vector3)

Applies a positioned force to the body. A force is time dependent and meant to be applied every physics update.

position is the offset from the body origin in global coordinates.

void apply_force(Vector3 force, Vector3 position)

Parameters

force Vector3
position Vector3

apply_impulse(Vector3, Vector3)

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).

position is the offset from the body origin in global coordinates.

void apply_impulse(Vector3 impulse, Vector3 position)

Parameters

impulse Vector3
position Vector3

apply_torque(Vector3)

Applies a rotational force without affecting position. A force is time dependent and meant to be applied every physics update.

Note: inverse_inertia is required for this to work. To have inverse_inertia, an active CollisionShape3D must be a child of the node, or you can manually set inverse_inertia.

void apply_torque(Vector3 torque)

Parameters

torque Vector3

apply_torque_impulse(Vector3)

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).

Note: inverse_inertia is required for this to work. To have inverse_inertia, an active CollisionShape3D must be a child of the node, or you can manually set inverse_inertia.

void apply_torque_impulse(Vector3 impulse)

Parameters

impulse Vector3

get_constant_force

Qualifiers: const

Returns the body's total constant positional forces applied during each physics update.

See PhysicsDirectBodyState3D.add_constant_force and PhysicsDirectBodyState3D.add_constant_central_force.

Vector3 get_constant_force

get_constant_torque

Qualifiers: const

Returns the body's total constant rotational forces applied during each physics update.

See PhysicsDirectBodyState3D.add_constant_torque.

Vector3 get_constant_torque

get_contact_collider(int)

Qualifiers: const

Returns the collider's RID.

RID get_contact_collider(int contact_idx)

Parameters

contact_idx int

get_contact_collider_id(int)

Qualifiers: const

Returns the collider's object id.

int get_contact_collider_id(int contact_idx)

Parameters

contact_idx int

get_contact_collider_object(int)

Qualifiers: const

Returns the collider object.

Object get_contact_collider_object(int contact_idx)

Parameters

contact_idx int

get_contact_collider_position(int)

Qualifiers: const

Returns the position of the contact point on the collider in the global coordinate system.

Vector3 get_contact_collider_position(int contact_idx)

Parameters

contact_idx int

get_contact_collider_shape(int)

Qualifiers: const

Returns the collider's shape index.

int get_contact_collider_shape(int contact_idx)

Parameters

contact_idx int

get_contact_collider_velocity_at_position(int)

Qualifiers: const

Returns the linear velocity vector at the collider's contact point.

Vector3 get_contact_collider_velocity_at_position(int contact_idx)

Parameters

contact_idx int

get_contact_count

Qualifiers: 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 contact_monitor.

int get_contact_count

get_contact_impulse(int)

Qualifiers: const

Impulse created by the contact.

Vector3 get_contact_impulse(int contact_idx)

Parameters

contact_idx int

get_contact_local_normal(int)

Qualifiers: const

Returns the local normal at the contact point.

Vector3 get_contact_local_normal(int contact_idx)

Parameters

contact_idx int

get_contact_local_position(int)

Qualifiers: const

Returns the position of the contact point on the body in the global coordinate system.

Vector3 get_contact_local_position(int contact_idx)

Parameters

contact_idx int

get_contact_local_shape(int)

Qualifiers: const

Returns the local shape index of the collision.

int get_contact_local_shape(int contact_idx)

Parameters

contact_idx int

get_contact_local_velocity_at_position(int)

Qualifiers: const

Returns the linear velocity vector at the body's contact point.

Vector3 get_contact_local_velocity_at_position(int contact_idx)

Parameters

contact_idx int

get_space_state

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

PhysicsDirectSpaceState3D get_space_state

get_velocity_at_local_position(Vector3)

Qualifiers: const

Returns the body's velocity at the given relative position, including both translation and rotation.

Vector3 get_velocity_at_local_position(Vector3 local_position)

Parameters

local_position Vector3

integrate_forces

Updates the body's linear and angular velocity by applying gravity and damping for the equivalent of one physics tick.

void integrate_forces

set_constant_force(Vector3)

Sets the body's total constant positional forces applied during each physics update.

See PhysicsDirectBodyState3D.add_constant_force and PhysicsDirectBodyState3D.add_constant_central_force.

void set_constant_force(Vector3 force)

Parameters

force Vector3

set_constant_torque(Vector3)

Sets the body's total constant rotational forces applied during each physics update.

See PhysicsDirectBodyState3D.add_constant_torque.

void set_constant_torque(Vector3 torque)

Parameters

torque Vector3