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classes/class_physicsdirectbodystate3d.rst
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@@ -16,11 +16,15 @@ PhysicsDirectBodyState3D
Direct access object to a physics body in the :ref:`PhysicsServer3D<class_PhysicsServer3D>`.
.. rst-class:: classref-introduction-group
Description
-----------
Provides direct access to a physics body in the :ref:`PhysicsServer3D<class_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 :ref:`RigidBody3D._integrate_forces<class_RigidBody3D_method__integrate_forces>`.
.. rst-class:: classref-introduction-group
Tutorials
---------
@@ -28,321 +32,411 @@ Tutorials
- :doc:`Ray-casting <../tutorials/physics/ray-casting>`
.. rst-class:: classref-reftable-group
Properties
----------
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`angular_velocity<class_PhysicsDirectBodyState3D_property_angular_velocity>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`center_of_mass<class_PhysicsDirectBodyState3D_property_center_of_mass>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`center_of_mass_local<class_PhysicsDirectBodyState3D_property_center_of_mass_local>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`inverse_inertia<class_PhysicsDirectBodyState3D_property_inverse_inertia>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Basis<class_Basis>` | :ref:`inverse_inertia_tensor<class_PhysicsDirectBodyState3D_property_inverse_inertia_tensor>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`inverse_mass<class_PhysicsDirectBodyState3D_property_inverse_mass>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`linear_velocity<class_PhysicsDirectBodyState3D_property_linear_velocity>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Basis<class_Basis>` | :ref:`principal_inertia_axes<class_PhysicsDirectBodyState3D_property_principal_inertia_axes>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>` | :ref:`sleeping<class_PhysicsDirectBodyState3D_property_sleeping>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`step<class_PhysicsDirectBodyState3D_property_step>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`total_angular_damp<class_PhysicsDirectBodyState3D_property_total_angular_damp>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`total_gravity<class_PhysicsDirectBodyState3D_property_total_gravity>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`total_linear_damp<class_PhysicsDirectBodyState3D_property_total_linear_damp>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Transform3D<class_Transform3D>` | :ref:`transform<class_PhysicsDirectBodyState3D_property_transform>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
.. table::
:widths: auto
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`angular_velocity<class_PhysicsDirectBodyState3D_property_angular_velocity>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`center_of_mass<class_PhysicsDirectBodyState3D_property_center_of_mass>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`center_of_mass_local<class_PhysicsDirectBodyState3D_property_center_of_mass_local>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`inverse_inertia<class_PhysicsDirectBodyState3D_property_inverse_inertia>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Basis<class_Basis>` | :ref:`inverse_inertia_tensor<class_PhysicsDirectBodyState3D_property_inverse_inertia_tensor>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`inverse_mass<class_PhysicsDirectBodyState3D_property_inverse_mass>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`linear_velocity<class_PhysicsDirectBodyState3D_property_linear_velocity>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Basis<class_Basis>` | :ref:`principal_inertia_axes<class_PhysicsDirectBodyState3D_property_principal_inertia_axes>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>` | :ref:`sleeping<class_PhysicsDirectBodyState3D_property_sleeping>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`step<class_PhysicsDirectBodyState3D_property_step>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`total_angular_damp<class_PhysicsDirectBodyState3D_property_total_angular_damp>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`total_gravity<class_PhysicsDirectBodyState3D_property_total_gravity>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`total_linear_damp<class_PhysicsDirectBodyState3D_property_total_linear_damp>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
| :ref:`Transform3D<class_Transform3D>` | :ref:`transform<class_PhysicsDirectBodyState3D_property_transform>` |
+---------------------------------------+-----------------------------------------------------------------------------------------------+
.. rst-class:: classref-reftable-group
Methods
-------
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`add_constant_central_force<class_PhysicsDirectBodyState3D_method_add_constant_central_force>` **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`add_constant_force<class_PhysicsDirectBodyState3D_method_add_constant_force>` **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`add_constant_torque<class_PhysicsDirectBodyState3D_method_add_constant_torque>` **(** :ref:`Vector3<class_Vector3>` torque **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_central_force<class_PhysicsDirectBodyState3D_method_apply_central_force>` **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_central_impulse<class_PhysicsDirectBodyState3D_method_apply_central_impulse>` **(** :ref:`Vector3<class_Vector3>` impulse=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_force<class_PhysicsDirectBodyState3D_method_apply_force>` **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_impulse<class_PhysicsDirectBodyState3D_method_apply_impulse>` **(** :ref:`Vector3<class_Vector3>` impulse, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_torque<class_PhysicsDirectBodyState3D_method_apply_torque>` **(** :ref:`Vector3<class_Vector3>` torque **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_torque_impulse<class_PhysicsDirectBodyState3D_method_apply_torque_impulse>` **(** :ref:`Vector3<class_Vector3>` impulse **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_constant_force<class_PhysicsDirectBodyState3D_method_get_constant_force>` **(** **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_constant_torque<class_PhysicsDirectBodyState3D_method_get_constant_torque>` **(** **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`RID<class_RID>` | :ref:`get_contact_collider<class_PhysicsDirectBodyState3D_method_get_contact_collider>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_collider_id<class_PhysicsDirectBodyState3D_method_get_contact_collider_id>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Object<class_Object>` | :ref:`get_contact_collider_object<class_PhysicsDirectBodyState3D_method_get_contact_collider_object>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_collider_position<class_PhysicsDirectBodyState3D_method_get_contact_collider_position>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_collider_shape<class_PhysicsDirectBodyState3D_method_get_contact_collider_shape>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_collider_velocity_at_position<class_PhysicsDirectBodyState3D_method_get_contact_collider_velocity_at_position>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_count<class_PhysicsDirectBodyState3D_method_get_contact_count>` **(** **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`get_contact_impulse<class_PhysicsDirectBodyState3D_method_get_contact_impulse>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_local_normal<class_PhysicsDirectBodyState3D_method_get_contact_local_normal>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_local_position<class_PhysicsDirectBodyState3D_method_get_contact_local_position>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_local_shape<class_PhysicsDirectBodyState3D_method_get_contact_local_shape>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`PhysicsDirectSpaceState3D<class_PhysicsDirectSpaceState3D>` | :ref:`get_space_state<class_PhysicsDirectBodyState3D_method_get_space_state>` **(** **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_velocity_at_local_position<class_PhysicsDirectBodyState3D_method_get_velocity_at_local_position>` **(** :ref:`Vector3<class_Vector3>` local_position **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`integrate_forces<class_PhysicsDirectBodyState3D_method_integrate_forces>` **(** **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`set_constant_force<class_PhysicsDirectBodyState3D_method_set_constant_force>` **(** :ref:`Vector3<class_Vector3>` force **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`set_constant_torque<class_PhysicsDirectBodyState3D_method_set_constant_torque>` **(** :ref:`Vector3<class_Vector3>` torque **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
.. table::
:widths: auto
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`add_constant_central_force<class_PhysicsDirectBodyState3D_method_add_constant_central_force>` **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`add_constant_force<class_PhysicsDirectBodyState3D_method_add_constant_force>` **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`add_constant_torque<class_PhysicsDirectBodyState3D_method_add_constant_torque>` **(** :ref:`Vector3<class_Vector3>` torque **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_central_force<class_PhysicsDirectBodyState3D_method_apply_central_force>` **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_central_impulse<class_PhysicsDirectBodyState3D_method_apply_central_impulse>` **(** :ref:`Vector3<class_Vector3>` impulse=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_force<class_PhysicsDirectBodyState3D_method_apply_force>` **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_impulse<class_PhysicsDirectBodyState3D_method_apply_impulse>` **(** :ref:`Vector3<class_Vector3>` impulse, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_torque<class_PhysicsDirectBodyState3D_method_apply_torque>` **(** :ref:`Vector3<class_Vector3>` torque **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`apply_torque_impulse<class_PhysicsDirectBodyState3D_method_apply_torque_impulse>` **(** :ref:`Vector3<class_Vector3>` impulse **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_constant_force<class_PhysicsDirectBodyState3D_method_get_constant_force>` **(** **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_constant_torque<class_PhysicsDirectBodyState3D_method_get_constant_torque>` **(** **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`RID<class_RID>` | :ref:`get_contact_collider<class_PhysicsDirectBodyState3D_method_get_contact_collider>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_collider_id<class_PhysicsDirectBodyState3D_method_get_contact_collider_id>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Object<class_Object>` | :ref:`get_contact_collider_object<class_PhysicsDirectBodyState3D_method_get_contact_collider_object>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_collider_position<class_PhysicsDirectBodyState3D_method_get_contact_collider_position>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_collider_shape<class_PhysicsDirectBodyState3D_method_get_contact_collider_shape>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_collider_velocity_at_position<class_PhysicsDirectBodyState3D_method_get_contact_collider_velocity_at_position>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_count<class_PhysicsDirectBodyState3D_method_get_contact_count>` **(** **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`get_contact_impulse<class_PhysicsDirectBodyState3D_method_get_contact_impulse>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_local_normal<class_PhysicsDirectBodyState3D_method_get_contact_local_normal>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_local_position<class_PhysicsDirectBodyState3D_method_get_contact_local_position>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_contact_local_shape<class_PhysicsDirectBodyState3D_method_get_contact_local_shape>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`PhysicsDirectSpaceState3D<class_PhysicsDirectSpaceState3D>` | :ref:`get_space_state<class_PhysicsDirectBodyState3D_method_get_space_state>` **(** **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_velocity_at_local_position<class_PhysicsDirectBodyState3D_method_get_velocity_at_local_position>` **(** :ref:`Vector3<class_Vector3>` local_position **)** |const| |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`integrate_forces<class_PhysicsDirectBodyState3D_method_integrate_forces>` **(** **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`set_constant_force<class_PhysicsDirectBodyState3D_method_set_constant_force>` **(** :ref:`Vector3<class_Vector3>` force **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void | :ref:`set_constant_torque<class_PhysicsDirectBodyState3D_method_set_constant_torque>` **(** :ref:`Vector3<class_Vector3>` torque **)** |
+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
.. rst-class:: classref-section-separator
----
.. rst-class:: classref-descriptions-group
Property Descriptions
---------------------
.. _class_PhysicsDirectBodyState3D_property_angular_velocity:
- :ref:`Vector3<class_Vector3>` **angular_velocity**
.. rst-class:: classref-property
+----------+-----------------------------+
| *Setter* | set_angular_velocity(value) |
+----------+-----------------------------+
| *Getter* | get_angular_velocity() |
+----------+-----------------------------+
: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 *radians* per second.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_property_center_of_mass:
- :ref:`Vector3<class_Vector3>` **center_of_mass**
.. rst-class:: classref-property
+----------+----------------------+
| *Getter* | get_center_of_mass() |
+----------+----------------------+
:ref:`Vector3<class_Vector3>` **center_of_mass**
.. rst-class:: classref-property-setget
- :ref:`Vector3<class_Vector3>` **get_center_of_mass** **(** **)**
The body's center of mass position relative to the body's center in the global coordinate system.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_property_center_of_mass_local:
- :ref:`Vector3<class_Vector3>` **center_of_mass_local**
.. rst-class:: classref-property
+----------+----------------------------+
| *Getter* | get_center_of_mass_local() |
+----------+----------------------------+
:ref:`Vector3<class_Vector3>` **center_of_mass_local**
.. rst-class:: classref-property-setget
- :ref:`Vector3<class_Vector3>` **get_center_of_mass_local** **(** **)**
The body's center of mass position in the body's local coordinate system.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_property_inverse_inertia:
- :ref:`Vector3<class_Vector3>` **inverse_inertia**
.. rst-class:: classref-property
+----------+-----------------------+
| *Getter* | get_inverse_inertia() |
+----------+-----------------------+
: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_PhysicsDirectBodyState3D_property_inverse_inertia_tensor:
- :ref:`Basis<class_Basis>` **inverse_inertia_tensor**
.. rst-class:: classref-property
+----------+------------------------------+
| *Getter* | get_inverse_inertia_tensor() |
+----------+------------------------------+
:ref:`Basis<class_Basis>` **inverse_inertia_tensor**
.. rst-class:: classref-property-setget
- :ref:`Basis<class_Basis>` **get_inverse_inertia_tensor** **(** **)**
The inverse of the inertia tensor of the body.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_property_inverse_mass:
- :ref:`float<class_float>` **inverse_mass**
.. rst-class:: classref-property
+----------+--------------------+
| *Getter* | get_inverse_mass() |
+----------+--------------------+
: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_PhysicsDirectBodyState3D_property_linear_velocity:
- :ref:`Vector3<class_Vector3>` **linear_velocity**
.. rst-class:: classref-property
+----------+----------------------------+
| *Setter* | set_linear_velocity(value) |
+----------+----------------------------+
| *Getter* | get_linear_velocity() |
+----------+----------------------------+
: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_PhysicsDirectBodyState3D_property_principal_inertia_axes:
- :ref:`Basis<class_Basis>` **principal_inertia_axes**
.. rst-class:: classref-property
+----------+------------------------------+
| *Getter* | get_principal_inertia_axes() |
+----------+------------------------------+
: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_PhysicsDirectBodyState3D_property_sleeping:
- :ref:`bool<class_bool>` **sleeping**
.. rst-class:: classref-property
+----------+------------------------+
| *Setter* | set_sleep_state(value) |
+----------+------------------------+
| *Getter* | is_sleeping() |
+----------+------------------------+
: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_PhysicsDirectBodyState3D_property_step:
- :ref:`float<class_float>` **step**
.. rst-class:: classref-property
+----------+------------+
| *Getter* | get_step() |
+----------+------------+
: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_PhysicsDirectBodyState3D_property_total_angular_damp:
- :ref:`float<class_float>` **total_angular_damp**
.. rst-class:: classref-property
+----------+--------------------------+
| *Getter* | get_total_angular_damp() |
+----------+--------------------------+
: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_PhysicsDirectBodyState3D_property_total_gravity:
- :ref:`Vector3<class_Vector3>` **total_gravity**
.. rst-class:: classref-property
+----------+---------------------+
| *Getter* | get_total_gravity() |
+----------+---------------------+
: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_PhysicsDirectBodyState3D_property_total_linear_damp:
- :ref:`float<class_float>` **total_linear_damp**
.. rst-class:: classref-property
+----------+-------------------------+
| *Getter* | get_total_linear_damp() |
+----------+-------------------------+
: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_PhysicsDirectBodyState3D_property_transform:
- :ref:`Transform3D<class_Transform3D>` **transform**
.. rst-class:: classref-property
+----------+----------------------+
| *Setter* | set_transform(value) |
+----------+----------------------+
| *Getter* | get_transform() |
+----------+----------------------+
:ref:`Transform3D<class_Transform3D>` **transform**
.. rst-class:: classref-property-setget
- void **set_transform** **(** :ref:`Transform3D<class_Transform3D>` value **)**
- :ref:`Transform3D<class_Transform3D>` **get_transform** **(** **)**
The body's transformation matrix.
.. rst-class:: classref-section-separator
----
.. rst-class:: classref-descriptions-group
Method Descriptions
-------------------
.. _class_PhysicsDirectBodyState3D_method_add_constant_central_force:
- void **add_constant_central_force** **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)**
.. rst-class:: classref-method
void **add_constant_central_force** **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)**
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 :ref:`add_constant_force<class_PhysicsDirectBodyState3D_method_add_constant_force>` at the body's center of mass.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_add_constant_force:
- void **add_constant_force** **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)**
.. rst-class:: classref-method
void **add_constant_force** **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)**
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.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_add_constant_torque:
- void **add_constant_torque** **(** :ref:`Vector3<class_Vector3>` torque **)**
.. rst-class:: classref-method
void **add_constant_torque** **(** :ref:`Vector3<class_Vector3>` torque **)**
Adds a constant rotational force without affecting position that keeps being applied over time until cleared with ``constant_torque = Vector3(0, 0, 0)``.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_apply_central_force:
- void **apply_central_force** **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)**
.. rst-class:: classref-method
void **apply_central_force** **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)**
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 :ref:`apply_force<class_PhysicsDirectBodyState3D_method_apply_force>` at the body's center of mass.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_apply_central_impulse:
- void **apply_central_impulse** **(** :ref:`Vector3<class_Vector3>` impulse=Vector3(0, 0, 0) **)**
.. rst-class:: classref-method
void **apply_central_impulse** **(** :ref:`Vector3<class_Vector3>` impulse=Vector3(0, 0, 0) **)**
Applies a directional impulse without affecting rotation.
@@ -350,21 +444,29 @@ An impulse is time-independent! Applying an impulse every frame would result in
This is equivalent to using :ref:`apply_impulse<class_PhysicsDirectBodyState3D_method_apply_impulse>` at the body's center of mass.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_apply_force:
- void **apply_force** **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)**
.. rst-class:: classref-method
void **apply_force** **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)**
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.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_apply_impulse:
- void **apply_impulse** **(** :ref:`Vector3<class_Vector3>` impulse, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)**
.. rst-class:: classref-method
void **apply_impulse** **(** :ref:`Vector3<class_Vector3>` impulse, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)**
Applies a positioned impulse to the body.
@@ -372,21 +474,29 @@ An impulse is time-independent! Applying an impulse every frame would result in
\ ``position`` is the offset from the body origin in global coordinates.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_apply_torque:
- void **apply_torque** **(** :ref:`Vector3<class_Vector3>` torque **)**
.. rst-class:: classref-method
void **apply_torque** **(** :ref:`Vector3<class_Vector3>` torque **)**
Applies a rotational force without affecting position. A force is time dependent and meant to be applied every physics update.
\ **Note:** :ref:`inverse_inertia<class_PhysicsDirectBodyState3D_property_inverse_inertia>` is required for this to work. To have :ref:`inverse_inertia<class_PhysicsDirectBodyState3D_property_inverse_inertia>`, an active :ref:`CollisionShape3D<class_CollisionShape3D>` must be a child of the node, or you can manually set :ref:`inverse_inertia<class_PhysicsDirectBodyState3D_property_inverse_inertia>`.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_apply_torque_impulse:
- void **apply_torque_impulse** **(** :ref:`Vector3<class_Vector3>` impulse **)**
.. rst-class:: classref-method
void **apply_torque_impulse** **(** :ref:`Vector3<class_Vector3>` impulse **)**
Applies a rotational impulse to the body without affecting the position.
@@ -394,155 +504,227 @@ An impulse is time-independent! Applying an impulse every frame would result in
\ **Note:** :ref:`inverse_inertia<class_PhysicsDirectBodyState3D_property_inverse_inertia>` is required for this to work. To have :ref:`inverse_inertia<class_PhysicsDirectBodyState3D_property_inverse_inertia>`, an active :ref:`CollisionShape3D<class_CollisionShape3D>` must be a child of the node, or you can manually set :ref:`inverse_inertia<class_PhysicsDirectBodyState3D_property_inverse_inertia>`.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_get_constant_force:
- :ref:`Vector3<class_Vector3>` **get_constant_force** **(** **)** |const|
.. rst-class:: classref-method
:ref:`Vector3<class_Vector3>` **get_constant_force** **(** **)** |const|
Returns the body's total constant positional forces applied during each physics update.
See :ref:`add_constant_force<class_PhysicsDirectBodyState3D_method_add_constant_force>` and :ref:`add_constant_central_force<class_PhysicsDirectBodyState3D_method_add_constant_central_force>`.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_get_constant_torque:
- :ref:`Vector3<class_Vector3>` **get_constant_torque** **(** **)** |const|
.. rst-class:: classref-method
:ref:`Vector3<class_Vector3>` **get_constant_torque** **(** **)** |const|
Returns the body's total constant rotational forces applied during each physics update.
See :ref:`add_constant_torque<class_PhysicsDirectBodyState3D_method_add_constant_torque>`.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_get_contact_collider:
- :ref:`RID<class_RID>` **get_contact_collider** **(** :ref:`int<class_int>` contact_idx **)** |const|
.. 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_PhysicsDirectBodyState3D_method_get_contact_collider_id:
- :ref:`int<class_int>` **get_contact_collider_id** **(** :ref:`int<class_int>` contact_idx **)** |const|
.. 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_PhysicsDirectBodyState3D_method_get_contact_collider_object:
- :ref:`Object<class_Object>` **get_contact_collider_object** **(** :ref:`int<class_int>` contact_idx **)** |const|
.. 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_PhysicsDirectBodyState3D_method_get_contact_collider_position:
- :ref:`Vector3<class_Vector3>` **get_contact_collider_position** **(** :ref:`int<class_int>` contact_idx **)** |const|
.. 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_PhysicsDirectBodyState3D_method_get_contact_collider_shape:
- :ref:`int<class_int>` **get_contact_collider_shape** **(** :ref:`int<class_int>` contact_idx **)** |const|
.. 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_PhysicsDirectBodyState3D_method_get_contact_collider_velocity_at_position:
- :ref:`Vector3<class_Vector3>` **get_contact_collider_velocity_at_position** **(** :ref:`int<class_int>` contact_idx **)** |const|
.. 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_PhysicsDirectBodyState3D_method_get_contact_count:
- :ref:`int<class_int>` **get_contact_count** **(** **)** |const|
.. 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:`RigidBody3D.contact_monitor<class_RigidBody3D_property_contact_monitor>`.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_get_contact_impulse:
- :ref:`float<class_float>` **get_contact_impulse** **(** :ref:`int<class_int>` contact_idx **)** |const|
.. 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_PhysicsDirectBodyState3D_method_get_contact_local_normal:
- :ref:`Vector3<class_Vector3>` **get_contact_local_normal** **(** :ref:`int<class_int>` contact_idx **)** |const|
.. 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_PhysicsDirectBodyState3D_method_get_contact_local_position:
- :ref:`Vector3<class_Vector3>` **get_contact_local_position** **(** :ref:`int<class_int>` contact_idx **)** |const|
.. 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_PhysicsDirectBodyState3D_method_get_contact_local_shape:
- :ref:`int<class_int>` **get_contact_local_shape** **(** :ref:`int<class_int>` contact_idx **)** |const|
.. 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_PhysicsDirectBodyState3D_method_get_space_state:
- :ref:`PhysicsDirectSpaceState3D<class_PhysicsDirectSpaceState3D>` **get_space_state** **(** **)**
.. rst-class:: classref-method
:ref:`PhysicsDirectSpaceState3D<class_PhysicsDirectSpaceState3D>` **get_space_state** **(** **)**
Returns the current state of the space, useful for queries.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_get_velocity_at_local_position:
- :ref:`Vector3<class_Vector3>` **get_velocity_at_local_position** **(** :ref:`Vector3<class_Vector3>` local_position **)** |const|
.. 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_PhysicsDirectBodyState3D_method_integrate_forces:
- void **integrate_forces** **(** **)**
.. rst-class:: classref-method
void **integrate_forces** **(** **)**
Calls the built-in force integration code.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_set_constant_force:
- void **set_constant_force** **(** :ref:`Vector3<class_Vector3>` force **)**
.. rst-class:: classref-method
void **set_constant_force** **(** :ref:`Vector3<class_Vector3>` force **)**
Sets the body's total constant positional forces applied during each physics update.
See :ref:`add_constant_force<class_PhysicsDirectBodyState3D_method_add_constant_force>` and :ref:`add_constant_central_force<class_PhysicsDirectBodyState3D_method_add_constant_central_force>`.
.. rst-class:: classref-item-separator
----
.. _class_PhysicsDirectBodyState3D_method_set_constant_torque:
- void **set_constant_torque** **(** :ref:`Vector3<class_Vector3>` torque **)**
.. rst-class:: classref-method
void **set_constant_torque** **(** :ref:`Vector3<class_Vector3>` torque **)**
Sets the body's total constant rotational forces applied during each physics update.