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ReStructuredText
739 lines
37 KiB
ReStructuredText
:github_url: hide
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.. DO NOT EDIT THIS FILE!!!
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.. Generated automatically from Godot engine sources.
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.. Generator: https://github.com/godotengine/godot/tree/4.0/doc/tools/make_rst.py.
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.. XML source: https://github.com/godotengine/godot/tree/4.0/doc/classes/PhysicsDirectBodyState3D.xml.
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.. _class_PhysicsDirectBodyState3D:
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PhysicsDirectBodyState3D
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========================
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**Inherits:** :ref:`Object<class_Object>`
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**Inherited By:** :ref:`PhysicsDirectBodyState3DExtension<class_PhysicsDirectBodyState3DExtension>`
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Direct access object to a physics body in the :ref:`PhysicsServer3D<class_PhysicsServer3D>`.
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.. rst-class:: classref-introduction-group
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Description
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-----------
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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>`.
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.. rst-class:: classref-introduction-group
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Tutorials
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---------
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- :doc:`Physics introduction <../tutorials/physics/physics_introduction>`
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- :doc:`Ray-casting <../tutorials/physics/ray-casting>`
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.. rst-class:: classref-reftable-group
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Properties
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----------
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.. table::
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:widths: auto
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`angular_velocity<class_PhysicsDirectBodyState3D_property_angular_velocity>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`center_of_mass<class_PhysicsDirectBodyState3D_property_center_of_mass>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`center_of_mass_local<class_PhysicsDirectBodyState3D_property_center_of_mass_local>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`inverse_inertia<class_PhysicsDirectBodyState3D_property_inverse_inertia>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`Basis<class_Basis>` | :ref:`inverse_inertia_tensor<class_PhysicsDirectBodyState3D_property_inverse_inertia_tensor>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`float<class_float>` | :ref:`inverse_mass<class_PhysicsDirectBodyState3D_property_inverse_mass>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`linear_velocity<class_PhysicsDirectBodyState3D_property_linear_velocity>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`Basis<class_Basis>` | :ref:`principal_inertia_axes<class_PhysicsDirectBodyState3D_property_principal_inertia_axes>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`bool<class_bool>` | :ref:`sleeping<class_PhysicsDirectBodyState3D_property_sleeping>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`float<class_float>` | :ref:`step<class_PhysicsDirectBodyState3D_property_step>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`float<class_float>` | :ref:`total_angular_damp<class_PhysicsDirectBodyState3D_property_total_angular_damp>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`total_gravity<class_PhysicsDirectBodyState3D_property_total_gravity>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`float<class_float>` | :ref:`total_linear_damp<class_PhysicsDirectBodyState3D_property_total_linear_damp>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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| :ref:`Transform3D<class_Transform3D>` | :ref:`transform<class_PhysicsDirectBodyState3D_property_transform>` |
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+---------------------------------------+-----------------------------------------------------------------------------------------------+
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.. rst-class:: classref-reftable-group
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Methods
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-------
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.. table::
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:widths: auto
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| void | :ref:`add_constant_central_force<class_PhysicsDirectBodyState3D_method_add_constant_central_force>` **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| 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) **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| void | :ref:`add_constant_torque<class_PhysicsDirectBodyState3D_method_add_constant_torque>` **(** :ref:`Vector3<class_Vector3>` torque **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| void | :ref:`apply_central_force<class_PhysicsDirectBodyState3D_method_apply_central_force>` **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| void | :ref:`apply_central_impulse<class_PhysicsDirectBodyState3D_method_apply_central_impulse>` **(** :ref:`Vector3<class_Vector3>` impulse=Vector3(0, 0, 0) **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| void | :ref:`apply_force<class_PhysicsDirectBodyState3D_method_apply_force>` **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| void | :ref:`apply_impulse<class_PhysicsDirectBodyState3D_method_apply_impulse>` **(** :ref:`Vector3<class_Vector3>` impulse, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| void | :ref:`apply_torque<class_PhysicsDirectBodyState3D_method_apply_torque>` **(** :ref:`Vector3<class_Vector3>` torque **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| void | :ref:`apply_torque_impulse<class_PhysicsDirectBodyState3D_method_apply_torque_impulse>` **(** :ref:`Vector3<class_Vector3>` impulse **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`get_constant_force<class_PhysicsDirectBodyState3D_method_get_constant_force>` **(** **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`get_constant_torque<class_PhysicsDirectBodyState3D_method_get_constant_torque>` **(** **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`RID<class_RID>` | :ref:`get_contact_collider<class_PhysicsDirectBodyState3D_method_get_contact_collider>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`int<class_int>` | :ref:`get_contact_collider_id<class_PhysicsDirectBodyState3D_method_get_contact_collider_id>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`Object<class_Object>` | :ref:`get_contact_collider_object<class_PhysicsDirectBodyState3D_method_get_contact_collider_object>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_collider_position<class_PhysicsDirectBodyState3D_method_get_contact_collider_position>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`int<class_int>` | :ref:`get_contact_collider_shape<class_PhysicsDirectBodyState3D_method_get_contact_collider_shape>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :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| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`int<class_int>` | :ref:`get_contact_count<class_PhysicsDirectBodyState3D_method_get_contact_count>` **(** **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_impulse<class_PhysicsDirectBodyState3D_method_get_contact_impulse>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_local_normal<class_PhysicsDirectBodyState3D_method_get_contact_local_normal>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`Vector3<class_Vector3>` | :ref:`get_contact_local_position<class_PhysicsDirectBodyState3D_method_get_contact_local_position>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`int<class_int>` | :ref:`get_contact_local_shape<class_PhysicsDirectBodyState3D_method_get_contact_local_shape>` **(** :ref:`int<class_int>` contact_idx **)** |const| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :ref:`PhysicsDirectSpaceState3D<class_PhysicsDirectSpaceState3D>` | :ref:`get_space_state<class_PhysicsDirectBodyState3D_method_get_space_state>` **(** **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| :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| |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| void | :ref:`integrate_forces<class_PhysicsDirectBodyState3D_method_integrate_forces>` **(** **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| void | :ref:`set_constant_force<class_PhysicsDirectBodyState3D_method_set_constant_force>` **(** :ref:`Vector3<class_Vector3>` force **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| void | :ref:`set_constant_torque<class_PhysicsDirectBodyState3D_method_set_constant_torque>` **(** :ref:`Vector3<class_Vector3>` torque **)** |
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+-------------------------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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.. rst-class:: classref-section-separator
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----
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.. rst-class:: classref-descriptions-group
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Property Descriptions
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---------------------
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.. _class_PhysicsDirectBodyState3D_property_angular_velocity:
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.. rst-class:: classref-property
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:ref:`Vector3<class_Vector3>` **angular_velocity**
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.. rst-class:: classref-property-setget
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- void **set_angular_velocity** **(** :ref:`Vector3<class_Vector3>` value **)**
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- :ref:`Vector3<class_Vector3>` **get_angular_velocity** **(** **)**
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The body's rotational velocity in *radians* per second.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_center_of_mass:
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.. rst-class:: classref-property
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:ref:`Vector3<class_Vector3>` **center_of_mass**
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.. rst-class:: classref-property-setget
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- :ref:`Vector3<class_Vector3>` **get_center_of_mass** **(** **)**
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The body's center of mass position relative to the body's center in the global coordinate system.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_center_of_mass_local:
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.. rst-class:: classref-property
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:ref:`Vector3<class_Vector3>` **center_of_mass_local**
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.. rst-class:: classref-property-setget
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- :ref:`Vector3<class_Vector3>` **get_center_of_mass_local** **(** **)**
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The body's center of mass position in the body's local coordinate system.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_inverse_inertia:
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.. rst-class:: classref-property
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:ref:`Vector3<class_Vector3>` **inverse_inertia**
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.. rst-class:: classref-property-setget
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- :ref:`Vector3<class_Vector3>` **get_inverse_inertia** **(** **)**
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The inverse of the inertia of the body.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_inverse_inertia_tensor:
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.. rst-class:: classref-property
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:ref:`Basis<class_Basis>` **inverse_inertia_tensor**
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.. rst-class:: classref-property-setget
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- :ref:`Basis<class_Basis>` **get_inverse_inertia_tensor** **(** **)**
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The inverse of the inertia tensor of the body.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_inverse_mass:
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.. rst-class:: classref-property
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:ref:`float<class_float>` **inverse_mass**
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.. rst-class:: classref-property-setget
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- :ref:`float<class_float>` **get_inverse_mass** **(** **)**
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The inverse of the mass of the body.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_linear_velocity:
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.. rst-class:: classref-property
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:ref:`Vector3<class_Vector3>` **linear_velocity**
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.. rst-class:: classref-property-setget
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- void **set_linear_velocity** **(** :ref:`Vector3<class_Vector3>` value **)**
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- :ref:`Vector3<class_Vector3>` **get_linear_velocity** **(** **)**
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The body's linear velocity in units per second.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_principal_inertia_axes:
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.. rst-class:: classref-property
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:ref:`Basis<class_Basis>` **principal_inertia_axes**
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.. rst-class:: classref-property-setget
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- :ref:`Basis<class_Basis>` **get_principal_inertia_axes** **(** **)**
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.. container:: contribute
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There is currently no description for this property. Please help us by :ref:`contributing one <doc_updating_the_class_reference>`!
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_sleeping:
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.. rst-class:: classref-property
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:ref:`bool<class_bool>` **sleeping**
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.. rst-class:: classref-property-setget
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- void **set_sleep_state** **(** :ref:`bool<class_bool>` value **)**
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- :ref:`bool<class_bool>` **is_sleeping** **(** **)**
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If ``true``, this body is currently sleeping (not active).
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_step:
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.. rst-class:: classref-property
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:ref:`float<class_float>` **step**
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.. rst-class:: classref-property-setget
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- :ref:`float<class_float>` **get_step** **(** **)**
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The timestep (delta) used for the simulation.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_total_angular_damp:
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.. rst-class:: classref-property
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:ref:`float<class_float>` **total_angular_damp**
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.. rst-class:: classref-property-setget
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- :ref:`float<class_float>` **get_total_angular_damp** **(** **)**
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The rate at which the body stops rotating, if there are not any other forces moving it.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_total_gravity:
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.. rst-class:: classref-property
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:ref:`Vector3<class_Vector3>` **total_gravity**
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.. rst-class:: classref-property-setget
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- :ref:`Vector3<class_Vector3>` **get_total_gravity** **(** **)**
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The total gravity vector being currently applied to this body.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_total_linear_damp:
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.. rst-class:: classref-property
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:ref:`float<class_float>` **total_linear_damp**
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.. rst-class:: classref-property-setget
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- :ref:`float<class_float>` **get_total_linear_damp** **(** **)**
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The rate at which the body stops moving, if there are not any other forces moving it.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_property_transform:
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.. rst-class:: classref-property
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:ref:`Transform3D<class_Transform3D>` **transform**
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.. rst-class:: classref-property-setget
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- void **set_transform** **(** :ref:`Transform3D<class_Transform3D>` value **)**
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- :ref:`Transform3D<class_Transform3D>` **get_transform** **(** **)**
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The body's transformation matrix.
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.. rst-class:: classref-section-separator
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----
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.. rst-class:: classref-descriptions-group
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Method Descriptions
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-------------------
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.. _class_PhysicsDirectBodyState3D_method_add_constant_central_force:
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.. rst-class:: classref-method
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void **add_constant_central_force** **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)**
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Adds a constant directional force without affecting rotation that keeps being applied over time until cleared with ``constant_force = Vector3(0, 0, 0)``.
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This is equivalent to using :ref:`add_constant_force<class_PhysicsDirectBodyState3D_method_add_constant_force>` at the body's center of mass.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_add_constant_force:
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.. rst-class:: classref-method
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void **add_constant_force** **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)**
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Adds a constant positioned force to the body that keeps being applied over time until cleared with ``constant_force = Vector3(0, 0, 0)``.
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\ ``position`` is the offset from the body origin in global coordinates.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_add_constant_torque:
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.. rst-class:: classref-method
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void **add_constant_torque** **(** :ref:`Vector3<class_Vector3>` torque **)**
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Adds a constant rotational force without affecting position that keeps being applied over time until cleared with ``constant_torque = Vector3(0, 0, 0)``.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_apply_central_force:
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.. rst-class:: classref-method
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void **apply_central_force** **(** :ref:`Vector3<class_Vector3>` force=Vector3(0, 0, 0) **)**
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Applies a directional force without affecting rotation. A force is time dependent and meant to be applied every physics update.
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This is equivalent to using :ref:`apply_force<class_PhysicsDirectBodyState3D_method_apply_force>` at the body's center of mass.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_apply_central_impulse:
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.. rst-class:: classref-method
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void **apply_central_impulse** **(** :ref:`Vector3<class_Vector3>` impulse=Vector3(0, 0, 0) **)**
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Applies a directional impulse without affecting rotation.
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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).
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This is equivalent to using :ref:`apply_impulse<class_PhysicsDirectBodyState3D_method_apply_impulse>` at the body's center of mass.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_apply_force:
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.. rst-class:: classref-method
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void **apply_force** **(** :ref:`Vector3<class_Vector3>` force, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)**
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Applies a positioned force to the body. A force is time dependent and meant to be applied every physics update.
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\ ``position`` is the offset from the body origin in global coordinates.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_apply_impulse:
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.. rst-class:: classref-method
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void **apply_impulse** **(** :ref:`Vector3<class_Vector3>` impulse, :ref:`Vector3<class_Vector3>` position=Vector3(0, 0, 0) **)**
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Applies a positioned impulse to the body.
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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).
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\ ``position`` is the offset from the body origin in global coordinates.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_apply_torque:
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.. rst-class:: classref-method
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void **apply_torque** **(** :ref:`Vector3<class_Vector3>` torque **)**
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Applies a rotational force without affecting position. A force is time dependent and meant to be applied every physics update.
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\ **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>`.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_apply_torque_impulse:
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.. rst-class:: classref-method
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void **apply_torque_impulse** **(** :ref:`Vector3<class_Vector3>` impulse **)**
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Applies a rotational impulse to the body without affecting the position.
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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).
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\ **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>`.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_constant_force:
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.. rst-class:: classref-method
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:ref:`Vector3<class_Vector3>` **get_constant_force** **(** **)** |const|
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Returns the body's total constant positional forces applied during each physics update.
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See :ref:`add_constant_force<class_PhysicsDirectBodyState3D_method_add_constant_force>` and :ref:`add_constant_central_force<class_PhysicsDirectBodyState3D_method_add_constant_central_force>`.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_constant_torque:
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.. rst-class:: classref-method
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:ref:`Vector3<class_Vector3>` **get_constant_torque** **(** **)** |const|
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Returns the body's total constant rotational forces applied during each physics update.
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See :ref:`add_constant_torque<class_PhysicsDirectBodyState3D_method_add_constant_torque>`.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_contact_collider:
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.. rst-class:: classref-method
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:ref:`RID<class_RID>` **get_contact_collider** **(** :ref:`int<class_int>` contact_idx **)** |const|
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Returns the collider's :ref:`RID<class_RID>`.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_contact_collider_id:
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.. rst-class:: classref-method
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:ref:`int<class_int>` **get_contact_collider_id** **(** :ref:`int<class_int>` contact_idx **)** |const|
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Returns the collider's object id.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_contact_collider_object:
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.. rst-class:: classref-method
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:ref:`Object<class_Object>` **get_contact_collider_object** **(** :ref:`int<class_int>` contact_idx **)** |const|
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Returns the collider object.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_contact_collider_position:
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.. rst-class:: classref-method
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:ref:`Vector3<class_Vector3>` **get_contact_collider_position** **(** :ref:`int<class_int>` contact_idx **)** |const|
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Returns the contact position in the collider.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_contact_collider_shape:
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.. rst-class:: classref-method
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:ref:`int<class_int>` **get_contact_collider_shape** **(** :ref:`int<class_int>` contact_idx **)** |const|
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Returns the collider's shape index.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_contact_collider_velocity_at_position:
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.. rst-class:: classref-method
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:ref:`Vector3<class_Vector3>` **get_contact_collider_velocity_at_position** **(** :ref:`int<class_int>` contact_idx **)** |const|
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Returns the linear velocity vector at the collider's contact point.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_contact_count:
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.. rst-class:: classref-method
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:ref:`int<class_int>` **get_contact_count** **(** **)** |const|
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Returns the number of contacts this body has with other bodies.
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\ **Note:** By default, this returns 0 unless bodies are configured to monitor contacts. See :ref:`RigidBody3D.contact_monitor<class_RigidBody3D_property_contact_monitor>`.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_contact_impulse:
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.. rst-class:: classref-method
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:ref:`Vector3<class_Vector3>` **get_contact_impulse** **(** :ref:`int<class_int>` contact_idx **)** |const|
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Impulse created by the contact.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_contact_local_normal:
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.. rst-class:: classref-method
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:ref:`Vector3<class_Vector3>` **get_contact_local_normal** **(** :ref:`int<class_int>` contact_idx **)** |const|
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Returns the local normal at the contact point.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_contact_local_position:
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.. rst-class:: classref-method
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:ref:`Vector3<class_Vector3>` **get_contact_local_position** **(** :ref:`int<class_int>` contact_idx **)** |const|
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Returns the local position of the contact point.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_contact_local_shape:
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.. rst-class:: classref-method
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:ref:`int<class_int>` **get_contact_local_shape** **(** :ref:`int<class_int>` contact_idx **)** |const|
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Returns the local shape index of the collision.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_space_state:
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.. rst-class:: classref-method
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:ref:`PhysicsDirectSpaceState3D<class_PhysicsDirectSpaceState3D>` **get_space_state** **(** **)**
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Returns the current state of the space, useful for queries.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_get_velocity_at_local_position:
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.. rst-class:: classref-method
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:ref:`Vector3<class_Vector3>` **get_velocity_at_local_position** **(** :ref:`Vector3<class_Vector3>` local_position **)** |const|
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Returns the body's velocity at the given relative position, including both translation and rotation.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_integrate_forces:
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.. rst-class:: classref-method
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void **integrate_forces** **(** **)**
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Calls the built-in force integration code.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_set_constant_force:
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.. rst-class:: classref-method
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void **set_constant_force** **(** :ref:`Vector3<class_Vector3>` force **)**
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Sets the body's total constant positional forces applied during each physics update.
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See :ref:`add_constant_force<class_PhysicsDirectBodyState3D_method_add_constant_force>` and :ref:`add_constant_central_force<class_PhysicsDirectBodyState3D_method_add_constant_central_force>`.
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.. rst-class:: classref-item-separator
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----
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.. _class_PhysicsDirectBodyState3D_method_set_constant_torque:
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.. rst-class:: classref-method
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void **set_constant_torque** **(** :ref:`Vector3<class_Vector3>` torque **)**
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Sets the body's total constant rotational forces applied during each physics update.
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See :ref:`add_constant_torque<class_PhysicsDirectBodyState3D_method_add_constant_torque>`.
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.. |virtual| replace:: :abbr:`virtual (This method should typically be overridden by the user to have any effect.)`
|
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.. |const| replace:: :abbr:`const (This method has no side effects. It doesn't modify any of the instance's member variables.)`
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.. |vararg| replace:: :abbr:`vararg (This method accepts any number of arguments after the ones described here.)`
|
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.. |constructor| replace:: :abbr:`constructor (This method is used to construct a type.)`
|
|
.. |static| replace:: :abbr:`static (This method doesn't need an instance to be called, so it can be called directly using the class name.)`
|
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.. |operator| replace:: :abbr:`operator (This method describes a valid operator to use with this type as left-hand operand.)`
|