path: root/doc/classes/RigidBody3D.xml

<?xml version="1.0" encoding="UTF-8" ?>
<class name="RigidBody3D" inherits="PhysicsBody3D" version="4.0">
	<brief_description>
		Physics Body whose position is determined through physics simulation in 3D space.
	</brief_description>
	<description>
		This is the node that implements full 3D physics. This means that you do not control a RigidBody3D directly. Instead, you can apply forces to it (gravity, impulses, etc.), and the physics simulation will calculate the resulting movement, collision, bouncing, rotating, etc.
		A RigidBody3D has 4 behavior [member mode]s: Rigid, Static, Character, and Kinematic.
		[b]Note:[/b] Don't change a RigidBody3D's position every frame or very often. Sporadic changes work fine, but physics runs at a different granularity (fixed Hz) than usual rendering (process callback) and maybe even in a separate thread, so changing this from a process loop may result in strange behavior. If you need to directly affect the body's state, use [method _integrate_forces], which allows you to directly access the physics state.
		If you need to override the default physics behavior, you can write a custom force integration function. See [member custom_integrator].
		With Bullet physics (the default), the center of mass is the RigidBody3D center. With GodotPhysics, the center of mass is the average of the [CollisionShape3D] centers.
	</description>
	<tutorials>
		<link title="Physics introduction">https://docs.godotengine.org/en/latest/tutorials/physics/physics_introduction.html</link>
		<link title="3D Truck Town Demo">https://godotengine.org/asset-library/asset/524</link>
		<link title="3D Physics Tests Demo">https://godotengine.org/asset-library/asset/675</link>
	</tutorials>
	<methods>
		<method name="_integrate_forces" qualifiers="virtual">
			<return type="void">
			</return>
			<argument index="0" name="state" type="PhysicsDirectBodyState3D">
			</argument>
			<description>
				Called during physics processing, allowing you to read and safely modify the simulation state for the object. By default, it works in addition to the usual physics behavior, but the [member custom_integrator] property allows you to disable the default behavior and do fully custom force integration for a body.
			</description>
		</method>
		<method name="add_central_force">
			<return type="void">
			</return>
			<argument index="0" name="force" type="Vector3">
			</argument>
			<description>
				Adds a constant directional force (i.e. acceleration) without affecting rotation.
				This is equivalent to [code]add_force(force, Vector3(0,0,0))[/code].
			</description>
		</method>
		<method name="add_force">
			<return type="void">
			</return>
			<argument index="0" name="force" type="Vector3">
			</argument>
			<argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )">
			</argument>
			<description>
				Adds a constant directional force (i.e. acceleration).
				The position uses the rotation of the global coordinate system, but is centered at the object's origin.
			</description>
		</method>
		<method name="add_torque">
			<return type="void">
			</return>
			<argument index="0" name="torque" type="Vector3">
			</argument>
			<description>
				Adds a constant rotational force (i.e. a motor) without affecting position.
			</description>
		</method>
		<method name="apply_central_impulse">
			<return type="void">
			</return>
			<argument index="0" name="impulse" type="Vector3">
			</argument>
			<description>
				Applies a directional impulse without affecting rotation.
				This is equivalent to [code]apply_impulse(Vector3(0,0,0), impulse)[/code].
			</description>
		</method>
		<method name="apply_impulse">
			<return type="void">
			</return>
			<argument index="0" name="impulse" type="Vector3">
			</argument>
			<argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )">
			</argument>
			<description>
				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.
			</description>
		</method>
		<method name="apply_torque_impulse">
			<return type="void">
			</return>
			<argument index="0" name="impulse" type="Vector3">
			</argument>
			<description>
				Applies a torque impulse which will be affected by the body mass and shape. This will rotate the body around the [code]impulse[/code] vector passed.
			</description>
		</method>
		<method name="get_axis_lock" qualifiers="const">
			<return type="bool">
			</return>
			<argument index="0" name="axis" type="int" enum="PhysicsServer3D.BodyAxis">
			</argument>
			<description>
				Returns [code]true[/code] if the specified linear or rotational axis is locked.
			</description>
		</method>
		<method name="get_colliding_bodies" qualifiers="const">
			<return type="Array">
			</return>
			<description>
				Returns a list of the bodies colliding with this one. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions.
				[b]Note:[/b] The result of this test is not immediate after moving objects. For performance, list of collisions is updated once per frame and before the physics step. Consider using signals instead.
			</description>
		</method>
		<method name="get_inverse_inertia_tensor">
			<return type="Basis">
			</return>
			<description>
				Returns the inverse inertia tensor basis. This is used to calculate the angular acceleration resulting from a torque applied to the [RigidBody3D].
			</description>
		</method>
		<method name="set_axis_lock">
			<return type="void">
			</return>
			<argument index="0" name="axis" type="int" enum="PhysicsServer3D.BodyAxis">
			</argument>
			<argument index="1" name="lock" type="bool">
			</argument>
			<description>
				Locks the specified linear or rotational axis.
			</description>
		</method>
		<method name="set_axis_velocity">
			<return type="void">
			</return>
			<argument index="0" name="axis_velocity" type="Vector3">
			</argument>
			<description>
				Sets an axis velocity. The velocity in the given vector axis will be set as the given vector length. This is useful for jumping behavior.
			</description>
		</method>
	</methods>
	<members>
		<member name="angular_damp" type="float" setter="set_angular_damp" getter="get_angular_damp" default="-1.0">
			Damps RigidBody3D's rotational forces.
			See [member ProjectSettings.physics/3d/default_angular_damp] for more details about damping.
		</member>
		<member name="angular_velocity" type="Vector3" setter="set_angular_velocity" getter="get_angular_velocity" default="Vector3( 0, 0, 0 )">
			RigidBody3D's rotational velocity.
		</member>
		<member name="axis_lock_angular_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
			Lock the body's rotation in the X axis.
		</member>
		<member name="axis_lock_angular_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
			Lock the body's rotation in the Y axis.
		</member>
		<member name="axis_lock_angular_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
			Lock the body's rotation in the Z axis.
		</member>
		<member name="axis_lock_linear_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
			Lock the body's movement in the X axis.
		</member>
		<member name="axis_lock_linear_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
			Lock the body's movement in the Y axis.
		</member>
		<member name="axis_lock_linear_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
			Lock the body's movement in the Z axis.
		</member>
		<member name="can_sleep" type="bool" setter="set_can_sleep" getter="is_able_to_sleep" default="true">
			If [code]true[/code], the body can enter sleep mode when there is no movement. See [member sleeping].
			[b]Note:[/b] A RigidBody3D will never enter sleep mode automatically if its [member mode] is [constant MODE_CHARACTER]. It can still be put to sleep manually by setting its [member sleeping] property to [code]true[/code].
		</member>
		<member name="contact_monitor" type="bool" setter="set_contact_monitor" getter="is_contact_monitor_enabled" default="false">
			If [code]true[/code], the RigidBody3D will emit signals when it collides with another RigidBody3D. See also [member contacts_reported].
		</member>
		<member name="contacts_reported" type="int" setter="set_max_contacts_reported" getter="get_max_contacts_reported" default="0">
			The maximum number of contacts that will be recorded. Requires [member contact_monitor] to be set to [code]true[/code].
			[b]Note:[/b] The number of contacts is different from the number of collisions. Collisions between parallel edges will result in two contacts (one at each end), and collisions between parallel faces will result in four contacts (one at each corner).
		</member>
		<member name="continuous_cd" type="bool" setter="set_use_continuous_collision_detection" getter="is_using_continuous_collision_detection" default="false">
			If [code]true[/code], continuous collision detection is used.
			Continuous collision detection tries to predict where a moving body will collide, instead of moving it and correcting its movement if it collided. Continuous collision detection is more precise, and misses fewer impacts by small, fast-moving objects. Not using continuous collision detection is faster to compute, but can miss small, fast-moving objects.
		</member>
		<member name="custom_integrator" type="bool" setter="set_use_custom_integrator" getter="is_using_custom_integrator" default="false">
			If [code]true[/code], internal force integration will be disabled (like gravity or air friction) for this body. Other than collision response, the body will only move as determined by the [method _integrate_forces] function, if defined.
		</member>
		<member name="gravity_scale" type="float" setter="set_gravity_scale" getter="get_gravity_scale" default="1.0">
			This is multiplied by the global 3D gravity setting found in [b]Project &gt; Project Settings &gt; Physics &gt; 3d[/b] to produce RigidBody3D's gravity. For example, a value of 1 will be normal gravity, 2 will apply double gravity, and 0.5 will apply half gravity to this object.
		</member>
		<member name="linear_damp" type="float" setter="set_linear_damp" getter="get_linear_damp" default="-1.0">
			The body's linear damp. Cannot be less than -1.0. If this value is different from -1.0, any linear damp derived from the world or areas will be overridden.
			See [member ProjectSettings.physics/3d/default_linear_damp] for more details about damping.
		</member>
		<member name="linear_velocity" type="Vector3" setter="set_linear_velocity" getter="get_linear_velocity" default="Vector3( 0, 0, 0 )">
			The body's linear velocity. Can be used sporadically, but [b]don't set this every frame[/b], because physics may run in another thread and runs at a different granularity. Use [method _integrate_forces] as your process loop for precise control of the body state.
		</member>
		<member name="mass" type="float" setter="set_mass" getter="get_mass" default="1.0">
			The body's mass.
		</member>
		<member name="mode" type="int" setter="set_mode" getter="get_mode" enum="RigidBody3D.Mode" default="0">
			The body mode. See [enum Mode] for possible values.
		</member>
		<member name="physics_material_override" type="PhysicsMaterial" setter="set_physics_material_override" getter="get_physics_material_override">
			The physics material override for the body.
			If a material is assigned to this property, it will be used instead of any other physics material, such as an inherited one.
		</member>
		<member name="sleeping" type="bool" setter="set_sleeping" getter="is_sleeping" default="false">
			If [code]true[/code], the body will not move and will not calculate forces until woken up by another body through, for example, a collision, or by using the [method apply_impulse] or [method add_force] methods.
		</member>
	</members>
	<signals>
		<signal name="body_entered">
			<argument index="0" name="body" type="Node">
			</argument>
			<description>
				Emitted when a collision with another [PhysicsBody3D] or [GridMap] occurs. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody3D] or [GridMap].
			</description>
		</signal>
		<signal name="body_exited">
			<argument index="0" name="body" type="Node">
			</argument>
			<description>
				Emitted when the collision with another [PhysicsBody3D] or [GridMap] ends. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody3D] or [GridMap].
			</description>
		</signal>
		<signal name="body_shape_entered">
			<argument index="0" name="body_id" type="int">
			</argument>
			<argument index="1" name="body" type="Node">
			</argument>
			<argument index="2" name="body_shape" type="int">
			</argument>
			<argument index="3" name="local_shape" type="int">
			</argument>
			<description>
				Emitted when one of this RigidBody3D's [Shape3D]s collides with another [PhysicsBody3D] or [GridMap]'s [Shape3D]s. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
				[code]body_id[/code] the [RID] of the other [PhysicsBody3D] or [MeshLibrary]'s [CollisionObject3D] used by the [PhysicsServer3D].
				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody3D] or [GridMap].
				[code]body_shape[/code] the index of the [Shape3D] of the other [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D].
				[code]local_shape[/code] the index of the [Shape3D] of this RigidBody3D used by the [PhysicsServer3D].
				[b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape3D]. Don't use multiple [CollisionShape3D]s when using a [ConcavePolygonShape3D] with Bullet physics if you need shape indices.
			</description>
		</signal>
		<signal name="body_shape_exited">
			<argument index="0" name="body_id" type="int">
			</argument>
			<argument index="1" name="body" type="Node">
			</argument>
			<argument index="2" name="body_shape" type="int">
			</argument>
			<argument index="3" name="local_shape" type="int">
			</argument>
			<description>
				Emitted when the collision between one of this RigidBody3D's [Shape3D]s and another [PhysicsBody3D] or [GridMap]'s [Shape3D]s ends. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
				[code]body_id[/code] the [RID] of the other [PhysicsBody3D] or [MeshLibrary]'s [CollisionObject3D] used by the [PhysicsServer3D]. [GridMap]s are detected if the Meshes have [Shape3D]s.
				[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody3D] or [GridMap].
				[code]body_shape[/code] the index of the [Shape3D] of the other [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D].
				[code]local_shape[/code] the index of the [Shape3D] of this RigidBody3D used by the [PhysicsServer3D].
				[b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape3D]. Don't use multiple [CollisionShape3D]s when using a [ConcavePolygonShape3D] with Bullet physics if you need shape indices.
			</description>
		</signal>
		<signal name="sleeping_state_changed">
			<description>
				Emitted when the physics engine changes the body's sleeping state.
				[b]Note:[/b] Changing the value [member sleeping] will not trigger this signal. It is only emitted if the sleeping state is changed by the physics engine or [code]emit_signal("sleeping_state_changed")[/code] is used.
			</description>
		</signal>
	</signals>
	<constants>
		<constant name="MODE_RIGID" value="0" enum="Mode">
			Rigid body mode. This is the "natural" state of a rigid body. It is affected by forces, and can move, rotate, and be affected by user code.
		</constant>
		<constant name="MODE_STATIC" value="1" enum="Mode">
			Static mode. The body behaves like a [StaticBody3D], and can only move by user code.
		</constant>
		<constant name="MODE_CHARACTER" value="2" enum="Mode">
			Character body mode. This behaves like a rigid body, but can not rotate.
		</constant>
		<constant name="MODE_KINEMATIC" value="3" enum="Mode">
			Kinematic body mode. The body behaves like a [KinematicBody3D], and can only move by user code.
		</constant>
	</constants>
</class>