RigidBody3D¶

Inherits: PhysicsBody3D < CollisionObject3D < Node3D < Node < Object

A 3D physics body that is moved by a physics simulation.

Description¶

RigidBody3D implements full 3D physics. It cannot be controlled directly, instead, you must apply forces to it (gravity, impulses, etc.), and the physics simulation will calculate the resulting movement, rotation, react to collisions, and affect other physics bodies in its path.

The body's behavior can be adjusted via lock_rotation, freeze, and freeze_mode. By changing various properties of the object, such as mass, you can control how the physics simulation acts on it.

A rigid body will always maintain its shape and size, even when forces are applied to it. It is useful for objects that can be interacted with in an environment, such as a tree that can be knocked over or a stack of crates that can be pushed around.

If you need to override the default physics behavior, you can write a custom force integration function. See custom_integrator.

Note: Changing the 3D transform or linear_velocity of a RigidBody3D very often may lead to some unpredictable behaviors. If you need to directly affect the body, prefer _integrate_forces as it allows you to directly access the physics state.

Tutorials¶

Properties¶

float	angular_damp	`0.0`
DampMode	angular_damp_mode	`0`
Vector3	angular_velocity	`Vector3(0, 0, 0)`
bool	can_sleep	`true`
Vector3	center_of_mass	`Vector3(0, 0, 0)`
CenterOfMassMode	center_of_mass_mode	`0`
Vector3	constant_force	`Vector3(0, 0, 0)`
Vector3	constant_torque	`Vector3(0, 0, 0)`
bool	contact_monitor	`false`
bool	continuous_cd	`false`
bool	custom_integrator	`false`
bool	freeze	`false`
FreezeMode	freeze_mode	`0`
float	gravity_scale	`1.0`
Vector3	inertia	`Vector3(0, 0, 0)`
float	linear_damp	`0.0`
DampMode	linear_damp_mode	`0`
Vector3	linear_velocity	`Vector3(0, 0, 0)`
bool	lock_rotation	`false`
float	mass	`1.0`
int	max_contacts_reported	`0`
PhysicsMaterial	physics_material_override
bool	sleeping	`false`

Methods¶

void	_integrate_forces ( PhysicsDirectBodyState3D state ) virtual
void	add_constant_central_force ( Vector3 force )
void	add_constant_force ( Vector3 force, Vector3 position=Vector3(0, 0, 0) )
void	add_constant_torque ( Vector3 torque )
void	apply_central_force ( Vector3 force )
void	apply_central_impulse ( Vector3 impulse )
void	apply_force ( Vector3 force, Vector3 position=Vector3(0, 0, 0) )
void	apply_impulse ( Vector3 impulse, Vector3 position=Vector3(0, 0, 0) )
void	apply_torque ( Vector3 torque )
void	apply_torque_impulse ( Vector3 impulse )
Node3D[]	get_colliding_bodies ( ) const
int	get_contact_count ( ) const
Basis	get_inverse_inertia_tensor ( ) const
void	set_axis_velocity ( Vector3 axis_velocity )

Signals¶

body_entered ( Node body )

Emitted when a collision with another PhysicsBody3D or GridMap occurs. Requires contact_monitor to be set to true and max_contacts_reported to be set high enough to detect all the collisions. GridMaps are detected if the MeshLibrary has Collision Shape3Ds.

body the Node, if it exists in the tree, of the other PhysicsBody3D or GridMap.

body_exited ( Node body )

Emitted when the collision with another PhysicsBody3D or GridMap ends. Requires contact_monitor to be set to true and max_contacts_reported to be set high enough to detect all the collisions. GridMaps are detected if the MeshLibrary has Collision Shape3Ds.

body the Node, if it exists in the tree, of the other PhysicsBody3D or GridMap.

body_shape_entered ( RID body_rid, Node body, int body_shape_index, int local_shape_index )

Emitted when one of this RigidBody3D's Shape3Ds collides with another PhysicsBody3D or GridMap's Shape3Ds. Requires contact_monitor to be set to true and max_contacts_reported to be set high enough to detect all the collisions. GridMaps are detected if the MeshLibrary has Collision Shape3Ds.

body_rid the RID of the other PhysicsBody3D or MeshLibrary's CollisionObject3D used by the PhysicsServer3D.

body the Node, if it exists in the tree, of the other PhysicsBody3D or GridMap.

body_shape_index the index of the Shape3D of the other PhysicsBody3D or GridMap used by the PhysicsServer3D. Get the CollisionShape3D node with body.shape_owner_get_owner(body.shape_find_owner(body_shape_index)).

local_shape_index the index of the Shape3D of this RigidBody3D used by the PhysicsServer3D. Get the CollisionShape3D node with self.shape_owner_get_owner(self.shape_find_owner(local_shape_index)).

body_shape_exited ( RID body_rid, Node body, int body_shape_index, int local_shape_index )

Emitted when the collision between one of this RigidBody3D's Shape3Ds and another PhysicsBody3D or GridMap's Shape3Ds ends. Requires contact_monitor to be set to true and max_contacts_reported to be set high enough to detect all the collisions. GridMaps are detected if the MeshLibrary has Collision Shape3Ds.

body_rid the RID of the other PhysicsBody3D or MeshLibrary's CollisionObject3D used by the PhysicsServer3D. GridMaps are detected if the Meshes have Shape3Ds.

body the Node, if it exists in the tree, of the other PhysicsBody3D or GridMap.

body_shape_index the index of the Shape3D of the other PhysicsBody3D or GridMap used by the PhysicsServer3D. Get the CollisionShape3D node with body.shape_owner_get_owner(body.shape_find_owner(body_shape_index)).

local_shape_index the index of the Shape3D of this RigidBody3D used by the PhysicsServer3D. Get the CollisionShape3D node with self.shape_owner_get_owner(self.shape_find_owner(local_shape_index)).

sleeping_state_changed ( )

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

Note: Changing the value sleeping 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 FreezeMode:

FreezeMode FREEZE_MODE_STATIC = 0

Static body freeze mode (default). The body is not affected by gravity and forces. It can be only moved by user code and doesn't collide with other bodies along its path.

FreezeMode FREEZE_MODE_KINEMATIC = 1

Kinematic body freeze mode. Similar to FREEZE_MODE_STATIC, but collides with other bodies along its path when moved. Useful for a frozen body that needs to be animated.

enum CenterOfMassMode:

CenterOfMassMode CENTER_OF_MASS_MODE_AUTO = 0

In this mode, the body's center of mass is calculated automatically based on its shapes. This assumes that the shapes' origins are also their center of mass.

CenterOfMassMode CENTER_OF_MASS_MODE_CUSTOM = 1

In this mode, the body's center of mass is set through center_of_mass. Defaults to the body's origin position.

enum DampMode:

DampMode DAMP_MODE_COMBINE = 0

In this mode, the body's damping value is added to any value set in areas or the default value.

DampMode DAMP_MODE_REPLACE = 1

In this mode, the body's damping value replaces any value set in areas or the default value.

Property Descriptions¶

float angular_damp = 0.0

void set_angular_damp ( float value )
float get_angular_damp ( )

Damps the body's rotation. By default, the body will use the Default Angular Damp in Project > Project Settings > Physics > 3d or any value override set by an Area3D the body is in. Depending on angular_damp_mode, you can set angular_damp to be added to or to replace the body's damping value.

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

DampMode angular_damp_mode = 0

void set_angular_damp_mode ( DampMode value )
DampMode get_angular_damp_mode ( )

Defines how angular_damp is applied. See DampMode for possible values.

Vector3 angular_velocity = Vector3(0, 0, 0)

void set_angular_velocity ( Vector3 value )
Vector3 get_angular_velocity ( )

The RigidBody3D's rotational velocity in radians per second.

bool can_sleep = true

void set_can_sleep ( bool value )
bool is_able_to_sleep ( )

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

Vector3 center_of_mass = Vector3(0, 0, 0)

void set_center_of_mass ( Vector3 value )
Vector3 get_center_of_mass ( )

The body's custom center of mass, relative to the body's origin position, when center_of_mass_mode is set to CENTER_OF_MASS_MODE_CUSTOM. This is the balanced point of the body, where applied forces only cause linear acceleration. Applying forces outside of the center of mass causes angular acceleration.

When center_of_mass_mode is set to CENTER_OF_MASS_MODE_AUTO (default value), the center of mass is automatically computed.

CenterOfMassMode center_of_mass_mode = 0

void set_center_of_mass_mode ( CenterOfMassMode value )
CenterOfMassMode get_center_of_mass_mode ( )

Defines the way the body's center of mass is set. See CenterOfMassMode for possible values.

Vector3 constant_force = Vector3(0, 0, 0)

void set_constant_force ( Vector3 value )
Vector3 get_constant_force ( )

The body's total constant positional forces applied during each physics update.

See add_constant_force and add_constant_central_force.

Vector3 constant_torque = Vector3(0, 0, 0)

void set_constant_torque ( Vector3 value )
Vector3 get_constant_torque ( )

The body's total constant rotational forces applied during each physics update.

See add_constant_torque.

bool contact_monitor = false

void set_contact_monitor ( bool value )
bool is_contact_monitor_enabled ( )

If true, the RigidBody3D will emit signals when it collides with another body.

Note: By default the maximum contacts reported is set to 0, meaning nothing will be recorded, see max_contacts_reported.

bool continuous_cd = false

void set_use_continuous_collision_detection ( bool value )
bool 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.

bool custom_integrator = false

void set_use_custom_integrator ( bool value )
bool 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.

bool freeze = false

void set_freeze_enabled ( bool value )
bool is_freeze_enabled ( )

If true, the body is frozen. Gravity and forces are not applied anymore.

See freeze_mode to set the body's behavior when frozen.

For a body that is always frozen, use StaticBody3D or AnimatableBody3D instead.

FreezeMode freeze_mode = 0

void set_freeze_mode ( FreezeMode value )
FreezeMode get_freeze_mode ( )

The body's freeze mode. Can be used to set the body's behavior when freeze is enabled. See FreezeMode for possible values.

For a body that is always frozen, use StaticBody3D or AnimatableBody3D instead.

float gravity_scale = 1.0

void set_gravity_scale ( float value )
float get_gravity_scale ( )

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

Vector3 inertia = Vector3(0, 0, 0)

void set_inertia ( Vector3 value )
Vector3 get_inertia ( )

The body's moment of inertia. This is like mass, but for rotation: it determines how much torque it takes to rotate the body on each axis. The moment of inertia is usually computed automatically from the mass and the shapes, but this property allows you to set a custom value.

If set to Vector3.ZERO, inertia is automatically computed (default value).

Note: This value does not change when inertia is automatically computed. Use PhysicsServer3D to get the computed inertia.

@onready var ball = $Ball

func get_ball_inertia():
    return PhysicsServer3D.body_get_direct_state(ball.get_rid()).inverse_inertia.inverse()

private RigidBody3D _ball;

public override void _Ready()
{
    _ball = GetNode<RigidBody3D>("Ball");
}

private Vector3 GetBallInertia()
{
    return PhysicsServer3D.BodyGetDirectState(_ball.GetRid()).InverseInertia.Inverse();
}

float linear_damp = 0.0

void set_linear_damp ( float value )
float get_linear_damp ( )

Damps the body's movement. By default, the body will use the Default Linear Damp in Project > Project Settings > Physics > 3d or any value override set by an Area3D the body is in. Depending on linear_damp_mode, you can set linear_damp to be added to or to replace the body's damping value.

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

DampMode linear_damp_mode = 0

void set_linear_damp_mode ( DampMode value )
DampMode get_linear_damp_mode ( )

Defines how linear_damp is applied. See DampMode for possible values.

Vector3 linear_velocity = Vector3(0, 0, 0)

void set_linear_velocity ( Vector3 value )
Vector3 get_linear_velocity ( )

The body's linear velocity in units per second. 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 _integrate_forces as your process loop for precise control of the body state.

bool lock_rotation = false

void set_lock_rotation_enabled ( bool value )
bool is_lock_rotation_enabled ( )

If true, the body cannot rotate. Gravity and forces only apply linear movement.

float mass = 1.0

void set_mass ( float value )
float get_mass ( )

The body's mass.

int max_contacts_reported = 0

void set_max_contacts_reported ( int value )
int get_max_contacts_reported ( )

The maximum number of contacts that will be recorded. Requires a value greater than 0 and contact_monitor to be set to true to start to register contacts. Use get_contact_count to retrieve the count or get_colliding_bodies to retrieve bodies that have been collided with.

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).

PhysicsMaterial physics_material_override

void set_physics_material_override ( PhysicsMaterial value )
PhysicsMaterial 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 = false

void set_sleeping ( bool value )
bool 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 apply_impulse or apply_force methods.

Method Descriptions¶

void _integrate_forces ( PhysicsDirectBodyState3D 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 custom_integrator property allows you to disable the default behavior and do fully custom force integration for a body.

void add_constant_central_force ( Vector3 force )

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 add_constant_force at the body's center of mass.

void add_constant_force ( Vector3 force, 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.

void add_constant_torque ( 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).

void apply_central_force ( Vector3 force )

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 apply_force at the body's center of mass.

void apply_central_impulse ( Vector3 impulse )

Applies a directional impulse without affecting rotation.

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).

This is equivalent to using apply_impulse at the body's center of mass.

void apply_force ( Vector3 force, 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.

void apply_impulse ( Vector3 impulse, Vector3 position=Vector3(0, 0, 0) )

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 (use the "_force" functions otherwise).

position is the offset from the body origin in global coordinates.

void apply_torque ( Vector3 torque )

Applies a rotational force without affecting position. A force is time dependent and meant to be applied every physics update.

Note: inertia is required for this to work. To have inertia, an active CollisionShape3D must be a child of the node, or you can manually set inertia.

void apply_torque_impulse ( Vector3 impulse )

Applies a rotational impulse to the body without affecting the position.

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).

Note: inertia is required for this to work. To have inertia, an active CollisionShape3D must be a child of the node, or you can manually set inertia.

Node3D[] get_colliding_bodies ( ) const

Returns a list of the bodies colliding with this one. Requires contact_monitor to be set to true and max_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.

int get_contact_count ( ) const

Returns the number of contacts this body has with other bodies. By default, this returns 0 unless bodies are configured to monitor contacts (see contact_monitor).

Note: To retrieve the colliding bodies, use get_colliding_bodies.

Basis get_inverse_inertia_tensor ( ) const

Returns the inverse inertia tensor basis. This is used to calculate the angular acceleration resulting from a torque applied to the RigidBody3D.

void set_axis_velocity ( Vector3 axis_velocity )

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.