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 dynamic bodies, and is intended for changing the direct state of that body. See [method RigidDynamicBody3D._integrate_forces]. https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html https://docs.godotengine.org/en/latest/tutorials/physics/ray-casting.html Adds a constant directional force without affecting rotation. This is equivalent to [code]add_force(force, Vector3(0,0,0))[/code]. Adds a positioned force to the body. Both the force and the offset from the body origin are in global coordinates. Adds a constant rotational force without affecting position. Applies a single directional impulse without affecting rotation. This is equivalent to [code]apply_impulse(Vector3(0, 0, 0), impulse)[/code]. 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. Apply a torque impulse (which will be affected by the body mass and shape). This will rotate the body around the vector [code]j[/code] passed as parameter. Returns the collider's [RID]. Returns the collider's object id. Returns the collider object. Returns the contact position in the collider. 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 RigidDynamicBody3D.contact_monitor]. Impulse created by the contact. Only implemented for Bullet physics. Returns the local normal at the contact point. Returns the local position of the contact point. Returns the local shape index of the collision. 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. The body's rotational velocity. The body's center of mass. The inverse of the inertia of the body. The inverse of the mass of the body. The body's linear velocity. 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.