RigidBody

Inherited By:

Physics Body whose position is determined through physics simulation in 3D space.

This is the node that implements full 3D physics. This means that you do not control a RigidBody 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 RigidBody has 4 behavior modes: Rigid, Static, Character, and Kinematic.

Note: Don’t change a RigidBody’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 , 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 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 centers.

Tutorials

Methods

void	( PhysicsDirectBodyState state ) virtual
void	( Vector3 force )
void	( Vector3 force, position )
void	add_torque ( torque )
void	apply_central_impulse ( impulse )
void	apply_impulse ( position, Vector3 impulse )
void	( Vector3 impulse )
	get_axis_lock ( axis ) const
Array	( ) const
Basis	( )
void	set_axis_lock ( axis, bool lock )
void	( Vector3 axis_velocity )

body_entered ( body )

Emitted when a body enters into contact with this one. Requires contact_monitor to be set to true and to be set high enough to detect all the collisions.

body_exited ( Node body )

Emitted when a body shape exits contact with this one. Requires to be set to and contacts_reported to be set high enough to detect all the collisions.

body_shape_entered ( body_id, Node body, body_shape, int local_shape )

Emitted when a body enters into contact with this one. Requires to be set to true and contacts_reported to be set high enough to detect all the collisions.

This signal not only receives the body that collided with this one, but also its (body_id), the shape index from the colliding body (body_shape), and the shape index from this body (local_shape) the other body collided with.

body_shape_exited ( int body_id, body, int body_shape, local_shape )

Emitted when a body shape exits contact with this one. Requires contact_monitor to be set to true and to be set high enough to detect all the collisions.

This signal not only receives the body that stopped colliding with this one, but also its RID (body_id), the shape index from the colliding body (body_shape), and the shape index from this body (local_shape) the other body stopped colliding with.

sleeping_state_changed ( )

Emitted when the physics engine changes the body’s sleeping state.

Note: Changing the value will not trigger this signal. It is only emitted if the sleeping state is changed by the physics engine or emit_signal("sleeping_state_changed") is used.

Enumerations

enum Mode:

MODE_RIGID = 0 —- 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.
MODE_CHARACTER = 2 —- Character body mode. This behaves like a rigid body, but can not rotate.
MODE_KINEMATIC = 3 —- Kinematic body mode. The body behaves like a KinematicBody, and can only move by user code.

angular_damp

Default	`-1.0`
Setter	set_angular_damp(value)
Getter	get_angular_damp()

Damps RigidBody’s rotational forces.

See ProjectSettings.physics/3d/default_angular_damp for more details about damping.

angular_velocity

Default	`Vector3( 0, 0, 0 )`
Setter	set_angular_velocity(value)
Getter	get_angular_velocity()

RigidBody’s rotational velocity.

bool axis_lock_angular_x

Default	`false`
Setter	set_axis_lock(value)
Getter	get_axis_lock()

Lock the body’s rotation in the X axis.

axis_lock_angular_y

Default	`false`
Setter	set_axis_lock(value)
Getter	get_axis_lock()

bool axis_lock_angular_z

Default	`false`
Setter	set_axis_lock(value)
Getter	get_axis_lock()

Lock the body’s rotation in the Z axis.

axis_lock_linear_x

Default	`false`
Setter	set_axis_lock(value)
Getter	get_axis_lock()

Lock the body’s movement in the X axis.

bool axis_lock_linear_y

Lock the body’s movement in the Y axis.

axis_lock_linear_z

Default	`false`
Setter	set_axis_lock(value)
Getter	get_axis_lock()

Lock the body’s movement in the Z axis.

float bounce

Setter	set_bounce(value)
Getter	get_bounce()

The body’s bounciness. Values range from 0 (no bounce) to 1 (full bounciness).

Deprecated, use instead via physics_material_override.

can_sleep

Default	`true`
Setter	set_can_sleep(value)
Getter	is_able_to_sleep()

If , the body can enter sleep mode when there is no movement. See sleeping.

Note: A RigidBody3D will never enter sleep mode automatically if its is MODE_CHARACTER. It can still be put to sleep manually by setting its property to true.

bool contact_monitor

Default	`false`
Setter	set_contact_monitor(value)
Getter	is_contact_monitor_enabled()

If true, the RigidBody will emit signals when it collides with another RigidBody. See also .

int contacts_reported

Default	`0`
Setter	set_max_contacts_reported(value)
Getter	get_max_contacts_reported()

The maximum number of contacts that will be recorded. Requires to be set to true.

Note: 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).

bool continuous_cd

Default	`false`
Setter	set_use_continuous_collision_detection(value)
Getter	is_using_continuous_collision_detection()

If true, 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.

custom_integrator

Default	`false`
Setter	set_use_custom_integrator(value)
Getter	is_using_custom_integrator()

If true, 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 _integrate_forces function, if defined.

friction

The body’s friction, from 0 (frictionless) to 1 (max friction).

Deprecated, use PhysicsMaterial.friction instead via .

Default	`1.0`
Setter	set_gravity_scale(value)
Getter	get_gravity_scale()

This is multiplied by the global 3D gravity setting found in Project > Project Settings > Physics > 3d to produce RigidBody’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.

float linear_damp

Default	`-1.0`
Setter	set_linear_damp(value)
Getter	get_linear_damp()

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 for more details about damping.

Vector3 linear_velocity

Default	`Vector3( 0, 0, 0 )`
Setter	set_linear_velocity(value)
Getter	get_linear_velocity()

The body’s linear velocity. Can be used sporadically, but don’t set this every frame, because physics may run in another thread and runs at a different granularity. Use as your process loop for precise control of the body state.

float mass

Default	`1.0`
Setter	set_mass(value)
Getter	get_mass()

mode

Default	`0`
Setter	set_mode(value)
Getter	get_mode()

The body mode. See Mode for possible values.

physics_material_override

Setter	set_physics_material_override(value)
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.

bool sleeping

Default	`false`
Setter	set_sleeping(value)
Getter	is_sleeping()

If true, 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 or add_force methods.

weight

The body’s weight based on its mass and the global 3D gravity. Global values are set in Project > Project Settings > Physics > 3d.

Method Descriptions

void _integrate_forces ( PhysicsDirectBodyState state ) virtual

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 property allows you to disable the default behavior and do fully custom force integration for a body.

void add_central_force ( Vector3 force )

Adds a constant directional force (i.e. acceleration) without affecting rotation.

This is equivalent to add_force(force, Vector3(0,0,0)).

void add_force ( force, Vector3 position )

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.

void add_torque ( torque )

Adds a constant rotational force (i.e. a motor) without affecting position.

void apply_central_impulse ( Vector3 impulse )

Applies a directional impulse without affecting rotation.

This is equivalent to apply_impulse(Vector3(0,0,0), impulse).

void apply_impulse ( position, Vector3 impulse )

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.

void apply_torque_impulse ( impulse )

Applies a torque impulse which will be affected by the body mass and shape. This will rotate the body around the impulse vector passed.

bool get_axis_lock ( axis ) const

Returns if the specified linear or rotational axis is locked.

Array get_colliding_bodies ( ) const

Returns a list of the bodies colliding with this one. Requires to be set to true and contacts_reported to be set high enough to detect all the collisions.

Note: 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.

get_inverse_inertia_tensor ( )

Returns the inverse inertia tensor basis. This is used to calculate the angular acceleration resulting from a torque applied to the RigidBody.

Locks the specified linear or rotational axis.

void set_axis_velocity ( Vector3 axis_velocity )