godot-docs/classes/class_physicsdirectbodystate3d.rst

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.. _class_PhysicsDirectBodyState3D:

PhysicsDirectBodyState3D
========================

**Inherits:** :ref:`Object<class_Object>`

**Inherited By:** :ref:`PhysicsDirectBodyState3DExtension<class_PhysicsDirectBodyState3DExtension>`

Provides direct access to a physics body in the :ref:`PhysicsServer3D<class_PhysicsServer3D>`.

.. rst-class:: classref-introduction-group

Description
-----------

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 :ref:`RigidBody3D<class_RigidBody3D>`, and is intended for changing the direct state of that body. See :ref:`RigidBody3D._integrate_forces<class_RigidBody3D_private_method__integrate_forces>`.

.. rst-class:: classref-introduction-group

Tutorials
---------

- :doc:`Physics introduction <../tutorials/physics/physics_introduction>`

- :doc:`Ray-casting <../tutorials/physics/ray-casting>`

.. rst-class:: classref-reftable-group

Properties
----------

.. table::
   :widths: auto

   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`         | :ref:`angular_velocity<class_PhysicsDirectBodyState3D_property_angular_velocity>`             |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`         | :ref:`center_of_mass<class_PhysicsDirectBodyState3D_property_center_of_mass>`                 |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`         | :ref:`center_of_mass_local<class_PhysicsDirectBodyState3D_property_center_of_mass_local>`     |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`         | :ref:`inverse_inertia<class_PhysicsDirectBodyState3D_property_inverse_inertia>`               |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`Basis<class_Basis>`             | :ref:`inverse_inertia_tensor<class_PhysicsDirectBodyState3D_property_inverse_inertia_tensor>` |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`             | :ref:`inverse_mass<class_PhysicsDirectBodyState3D_property_inverse_mass>`                     |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`         | :ref:`linear_velocity<class_PhysicsDirectBodyState3D_property_linear_velocity>`               |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`Basis<class_Basis>`             | :ref:`principal_inertia_axes<class_PhysicsDirectBodyState3D_property_principal_inertia_axes>` |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`               | :ref:`sleeping<class_PhysicsDirectBodyState3D_property_sleeping>`                             |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`             | :ref:`step<class_PhysicsDirectBodyState3D_property_step>`                                     |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`             | :ref:`total_angular_damp<class_PhysicsDirectBodyState3D_property_total_angular_damp>`         |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`         | :ref:`total_gravity<class_PhysicsDirectBodyState3D_property_total_gravity>`                   |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`             | :ref:`total_linear_damp<class_PhysicsDirectBodyState3D_property_total_linear_damp>`           |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+
   | :ref:`Transform3D<class_Transform3D>` | :ref:`transform<class_PhysicsDirectBodyState3D_property_transform>`                           |
   +---------------------------------------+-----------------------------------------------------------------------------------------------+

.. rst-class:: classref-reftable-group

Methods
-------

.. table::
   :widths: auto

   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`add_constant_central_force<class_PhysicsDirectBodyState3D_method_add_constant_central_force>`\ (\ force\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ )                           |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`add_constant_force<class_PhysicsDirectBodyState3D_method_add_constant_force>`\ (\ force\: :ref:`Vector3<class_Vector3>`, position\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ ) |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`add_constant_torque<class_PhysicsDirectBodyState3D_method_add_constant_torque>`\ (\ torque\: :ref:`Vector3<class_Vector3>`\ )                                                           |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`apply_central_force<class_PhysicsDirectBodyState3D_method_apply_central_force>`\ (\ force\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ )                                         |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`apply_central_impulse<class_PhysicsDirectBodyState3D_method_apply_central_impulse>`\ (\ impulse\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ )                                   |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`apply_force<class_PhysicsDirectBodyState3D_method_apply_force>`\ (\ force\: :ref:`Vector3<class_Vector3>`, position\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ )               |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`apply_impulse<class_PhysicsDirectBodyState3D_method_apply_impulse>`\ (\ impulse\: :ref:`Vector3<class_Vector3>`, position\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ )         |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`apply_torque<class_PhysicsDirectBodyState3D_method_apply_torque>`\ (\ torque\: :ref:`Vector3<class_Vector3>`\ )                                                                         |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`apply_torque_impulse<class_PhysicsDirectBodyState3D_method_apply_torque_impulse>`\ (\ impulse\: :ref:`Vector3<class_Vector3>`\ )                                                        |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`                                     | :ref:`get_constant_force<class_PhysicsDirectBodyState3D_method_get_constant_force>`\ (\ ) |const|                                                                                             |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`                                     | :ref:`get_constant_torque<class_PhysicsDirectBodyState3D_method_get_constant_torque>`\ (\ ) |const|                                                                                           |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`RID<class_RID>`                                             | :ref:`get_contact_collider<class_PhysicsDirectBodyState3D_method_get_contact_collider>`\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const|                                                    |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                                             | :ref:`get_contact_collider_id<class_PhysicsDirectBodyState3D_method_get_contact_collider_id>`\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const|                                              |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Object<class_Object>`                                       | :ref:`get_contact_collider_object<class_PhysicsDirectBodyState3D_method_get_contact_collider_object>`\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const|                                      |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`                                     | :ref:`get_contact_collider_position<class_PhysicsDirectBodyState3D_method_get_contact_collider_position>`\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const|                                  |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                                             | :ref:`get_contact_collider_shape<class_PhysicsDirectBodyState3D_method_get_contact_collider_shape>`\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const|                                        |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`                                     | :ref:`get_contact_collider_velocity_at_position<class_PhysicsDirectBodyState3D_method_get_contact_collider_velocity_at_position>`\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const|          |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                                             | :ref:`get_contact_count<class_PhysicsDirectBodyState3D_method_get_contact_count>`\ (\ ) |const|                                                                                               |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`                                     | :ref:`get_contact_impulse<class_PhysicsDirectBodyState3D_method_get_contact_impulse>`\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const|                                                      |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`                                     | :ref:`get_contact_local_normal<class_PhysicsDirectBodyState3D_method_get_contact_local_normal>`\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const|                                            |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`                                     | :ref:`get_contact_local_position<class_PhysicsDirectBodyState3D_method_get_contact_local_position>`\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const|                                        |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`int<class_int>`                                             | :ref:`get_contact_local_shape<class_PhysicsDirectBodyState3D_method_get_contact_local_shape>`\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const|                                              |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`                                     | :ref:`get_contact_local_velocity_at_position<class_PhysicsDirectBodyState3D_method_get_contact_local_velocity_at_position>`\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const|                |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`PhysicsDirectSpaceState3D<class_PhysicsDirectSpaceState3D>` | :ref:`get_space_state<class_PhysicsDirectBodyState3D_method_get_space_state>`\ (\ )                                                                                                           |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector3<class_Vector3>`                                     | :ref:`get_velocity_at_local_position<class_PhysicsDirectBodyState3D_method_get_velocity_at_local_position>`\ (\ local_position\: :ref:`Vector3<class_Vector3>`\ ) |const|                     |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`integrate_forces<class_PhysicsDirectBodyState3D_method_integrate_forces>`\ (\ )                                                                                                         |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`set_constant_force<class_PhysicsDirectBodyState3D_method_set_constant_force>`\ (\ force\: :ref:`Vector3<class_Vector3>`\ )                                                              |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | |void|                                                            | :ref:`set_constant_torque<class_PhysicsDirectBodyState3D_method_set_constant_torque>`\ (\ torque\: :ref:`Vector3<class_Vector3>`\ )                                                           |
   +-------------------------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+

.. rst-class:: classref-section-separator

----

.. rst-class:: classref-descriptions-group

Property Descriptions
---------------------

.. _class_PhysicsDirectBodyState3D_property_angular_velocity:

.. rst-class:: classref-property

:ref:`Vector3<class_Vector3>` **angular_velocity** :ref:`🔗<class_PhysicsDirectBodyState3D_property_angular_velocity>`

.. rst-class:: classref-property-setget

- |void| **set_angular_velocity**\ (\ value\: :ref:`Vector3<class_Vector3>`\ )
- :ref:`Vector3<class_Vector3>` **get_angular_velocity**\ (\ )

The body's rotational velocity in *radians* per second.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_center_of_mass:

.. rst-class:: classref-property

:ref:`Vector3<class_Vector3>` **center_of_mass** :ref:`🔗<class_PhysicsDirectBodyState3D_property_center_of_mass>`

.. rst-class:: classref-property-setget

- :ref:`Vector3<class_Vector3>` **get_center_of_mass**\ (\ )

The body's center of mass position relative to the body's center in the global coordinate system.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_center_of_mass_local:

.. rst-class:: classref-property

:ref:`Vector3<class_Vector3>` **center_of_mass_local** :ref:`🔗<class_PhysicsDirectBodyState3D_property_center_of_mass_local>`

.. rst-class:: classref-property-setget

- :ref:`Vector3<class_Vector3>` **get_center_of_mass_local**\ (\ )

The body's center of mass position in the body's local coordinate system.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_inverse_inertia:

.. rst-class:: classref-property

:ref:`Vector3<class_Vector3>` **inverse_inertia** :ref:`🔗<class_PhysicsDirectBodyState3D_property_inverse_inertia>`

.. rst-class:: classref-property-setget

- :ref:`Vector3<class_Vector3>` **get_inverse_inertia**\ (\ )

The inverse of the inertia of the body.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_inverse_inertia_tensor:

.. rst-class:: classref-property

:ref:`Basis<class_Basis>` **inverse_inertia_tensor** :ref:`🔗<class_PhysicsDirectBodyState3D_property_inverse_inertia_tensor>`

.. rst-class:: classref-property-setget

- :ref:`Basis<class_Basis>` **get_inverse_inertia_tensor**\ (\ )

The inverse of the inertia tensor of the body.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_inverse_mass:

.. rst-class:: classref-property

:ref:`float<class_float>` **inverse_mass** :ref:`🔗<class_PhysicsDirectBodyState3D_property_inverse_mass>`

.. rst-class:: classref-property-setget

- :ref:`float<class_float>` **get_inverse_mass**\ (\ )

The inverse of the mass of the body.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_linear_velocity:

.. rst-class:: classref-property

:ref:`Vector3<class_Vector3>` **linear_velocity** :ref:`🔗<class_PhysicsDirectBodyState3D_property_linear_velocity>`

.. rst-class:: classref-property-setget

- |void| **set_linear_velocity**\ (\ value\: :ref:`Vector3<class_Vector3>`\ )
- :ref:`Vector3<class_Vector3>` **get_linear_velocity**\ (\ )

The body's linear velocity in units per second.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_principal_inertia_axes:

.. rst-class:: classref-property

:ref:`Basis<class_Basis>` **principal_inertia_axes** :ref:`🔗<class_PhysicsDirectBodyState3D_property_principal_inertia_axes>`

.. rst-class:: classref-property-setget

- :ref:`Basis<class_Basis>` **get_principal_inertia_axes**\ (\ )

.. container:: contribute

	There is currently no description for this property. Please help us by :ref:`contributing one <doc_updating_the_class_reference>`!

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_sleeping:

.. rst-class:: classref-property

:ref:`bool<class_bool>` **sleeping** :ref:`🔗<class_PhysicsDirectBodyState3D_property_sleeping>`

.. rst-class:: classref-property-setget

- |void| **set_sleep_state**\ (\ value\: :ref:`bool<class_bool>`\ )
- :ref:`bool<class_bool>` **is_sleeping**\ (\ )

If ``true``, this body is currently sleeping (not active).

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_step:

.. rst-class:: classref-property

:ref:`float<class_float>` **step** :ref:`🔗<class_PhysicsDirectBodyState3D_property_step>`

.. rst-class:: classref-property-setget

- :ref:`float<class_float>` **get_step**\ (\ )

The timestep (delta) used for the simulation.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_total_angular_damp:

.. rst-class:: classref-property

:ref:`float<class_float>` **total_angular_damp** :ref:`🔗<class_PhysicsDirectBodyState3D_property_total_angular_damp>`

.. rst-class:: classref-property-setget

- :ref:`float<class_float>` **get_total_angular_damp**\ (\ )

The rate at which the body stops rotating, if there are not any other forces moving it.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_total_gravity:

.. rst-class:: classref-property

:ref:`Vector3<class_Vector3>` **total_gravity** :ref:`🔗<class_PhysicsDirectBodyState3D_property_total_gravity>`

.. rst-class:: classref-property-setget

- :ref:`Vector3<class_Vector3>` **get_total_gravity**\ (\ )

The total gravity vector being currently applied to this body.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_total_linear_damp:

.. rst-class:: classref-property

:ref:`float<class_float>` **total_linear_damp** :ref:`🔗<class_PhysicsDirectBodyState3D_property_total_linear_damp>`

.. rst-class:: classref-property-setget

- :ref:`float<class_float>` **get_total_linear_damp**\ (\ )

The rate at which the body stops moving, if there are not any other forces moving it.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_property_transform:

.. rst-class:: classref-property

:ref:`Transform3D<class_Transform3D>` **transform** :ref:`🔗<class_PhysicsDirectBodyState3D_property_transform>`

.. rst-class:: classref-property-setget

- |void| **set_transform**\ (\ value\: :ref:`Transform3D<class_Transform3D>`\ )
- :ref:`Transform3D<class_Transform3D>` **get_transform**\ (\ )

The body's transformation matrix.

.. rst-class:: classref-section-separator

----

.. rst-class:: classref-descriptions-group

Method Descriptions
-------------------

.. _class_PhysicsDirectBodyState3D_method_add_constant_central_force:

.. rst-class:: classref-method

|void| **add_constant_central_force**\ (\ force\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_add_constant_central_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 :ref:`add_constant_force<class_PhysicsDirectBodyState3D_method_add_constant_force>` at the body's center of mass.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_add_constant_force:

.. rst-class:: classref-method

|void| **add_constant_force**\ (\ force\: :ref:`Vector3<class_Vector3>`, position\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_add_constant_force>`

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.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_add_constant_torque:

.. rst-class:: classref-method

|void| **add_constant_torque**\ (\ torque\: :ref:`Vector3<class_Vector3>`\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_add_constant_torque>`

Adds a constant rotational force without affecting position that keeps being applied over time until cleared with ``constant_torque = Vector3(0, 0, 0)``.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_apply_central_force:

.. rst-class:: classref-method

|void| **apply_central_force**\ (\ force\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_apply_central_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 :ref:`apply_force<class_PhysicsDirectBodyState3D_method_apply_force>` at the body's center of mass.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_apply_central_impulse:

.. rst-class:: classref-method

|void| **apply_central_impulse**\ (\ impulse\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_apply_central_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 :ref:`apply_impulse<class_PhysicsDirectBodyState3D_method_apply_impulse>` at the body's center of mass.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_apply_force:

.. rst-class:: classref-method

|void| **apply_force**\ (\ force\: :ref:`Vector3<class_Vector3>`, position\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_apply_force>`

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.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_apply_impulse:

.. rst-class:: classref-method

|void| **apply_impulse**\ (\ impulse\: :ref:`Vector3<class_Vector3>`, position\: :ref:`Vector3<class_Vector3>` = Vector3(0, 0, 0)\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_apply_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 (use the "_force" functions otherwise).

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

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_apply_torque:

.. rst-class:: classref-method

|void| **apply_torque**\ (\ torque\: :ref:`Vector3<class_Vector3>`\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_apply_torque>`

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

\ **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>`.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_apply_torque_impulse:

.. rst-class:: classref-method

|void| **apply_torque_impulse**\ (\ impulse\: :ref:`Vector3<class_Vector3>`\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_apply_torque_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:** :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>`.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_get_constant_force:

.. rst-class:: classref-method

:ref:`Vector3<class_Vector3>` **get_constant_force**\ (\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_constant_force>`

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

See :ref:`add_constant_force<class_PhysicsDirectBodyState3D_method_add_constant_force>` and :ref:`add_constant_central_force<class_PhysicsDirectBodyState3D_method_add_constant_central_force>`.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_get_constant_torque:

.. rst-class:: classref-method

:ref:`Vector3<class_Vector3>` **get_constant_torque**\ (\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_constant_torque>`

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

See :ref:`add_constant_torque<class_PhysicsDirectBodyState3D_method_add_constant_torque>`.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_get_contact_collider:

.. rst-class:: classref-method

:ref:`RID<class_RID>` **get_contact_collider**\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_collider>`

Returns the collider's :ref:`RID<class_RID>`.

.. rst-class:: classref-item-separator

----

.. _class_PhysicsDirectBodyState3D_method_get_contact_collider_id:

.. rst-class:: classref-method

:ref:`int<class_int>` **get_contact_collider_id**\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_collider_id>`

Returns the collider's object id.

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.. _class_PhysicsDirectBodyState3D_method_get_contact_collider_object:

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:ref:`Object<class_Object>` **get_contact_collider_object**\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_collider_object>`

Returns the collider object.

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.. _class_PhysicsDirectBodyState3D_method_get_contact_collider_position:

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:ref:`Vector3<class_Vector3>` **get_contact_collider_position**\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_collider_position>`

Returns the position of the contact point on the collider in the global coordinate system.

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.. _class_PhysicsDirectBodyState3D_method_get_contact_collider_shape:

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:ref:`int<class_int>` **get_contact_collider_shape**\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_collider_shape>`

Returns the collider's shape index.

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.. _class_PhysicsDirectBodyState3D_method_get_contact_collider_velocity_at_position:

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:ref:`Vector3<class_Vector3>` **get_contact_collider_velocity_at_position**\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_collider_velocity_at_position>`

Returns the linear velocity vector at the collider's contact point.

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.. _class_PhysicsDirectBodyState3D_method_get_contact_count:

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:ref:`int<class_int>` **get_contact_count**\ (\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_count>`

Returns the number of contacts this body has with other bodies.

\ **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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.. _class_PhysicsDirectBodyState3D_method_get_contact_impulse:

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:ref:`Vector3<class_Vector3>` **get_contact_impulse**\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_impulse>`

Impulse created by the contact.

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.. _class_PhysicsDirectBodyState3D_method_get_contact_local_normal:

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:ref:`Vector3<class_Vector3>` **get_contact_local_normal**\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_local_normal>`

Returns the local normal at the contact point.

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.. _class_PhysicsDirectBodyState3D_method_get_contact_local_position:

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:ref:`Vector3<class_Vector3>` **get_contact_local_position**\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_local_position>`

Returns the position of the contact point on the body in the global coordinate system.

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.. _class_PhysicsDirectBodyState3D_method_get_contact_local_shape:

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:ref:`int<class_int>` **get_contact_local_shape**\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_local_shape>`

Returns the local shape index of the collision.

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.. _class_PhysicsDirectBodyState3D_method_get_contact_local_velocity_at_position:

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:ref:`Vector3<class_Vector3>` **get_contact_local_velocity_at_position**\ (\ contact_idx\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_contact_local_velocity_at_position>`

Returns the linear velocity vector at the body's contact point.

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.. _class_PhysicsDirectBodyState3D_method_get_space_state:

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:ref:`PhysicsDirectSpaceState3D<class_PhysicsDirectSpaceState3D>` **get_space_state**\ (\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_space_state>`

Returns the current state of the space, useful for queries.

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.. _class_PhysicsDirectBodyState3D_method_get_velocity_at_local_position:

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:ref:`Vector3<class_Vector3>` **get_velocity_at_local_position**\ (\ local_position\: :ref:`Vector3<class_Vector3>`\ ) |const| :ref:`🔗<class_PhysicsDirectBodyState3D_method_get_velocity_at_local_position>`

Returns the body's velocity at the given relative position, including both translation and rotation.

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.. _class_PhysicsDirectBodyState3D_method_integrate_forces:

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|void| **integrate_forces**\ (\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_integrate_forces>`

Updates the body's linear and angular velocity by applying gravity and damping for the equivalent of one physics tick.

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.. _class_PhysicsDirectBodyState3D_method_set_constant_force:

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|void| **set_constant_force**\ (\ force\: :ref:`Vector3<class_Vector3>`\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_set_constant_force>`

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

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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.. _class_PhysicsDirectBodyState3D_method_set_constant_torque:

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|void| **set_constant_torque**\ (\ torque\: :ref:`Vector3<class_Vector3>`\ ) :ref:`🔗<class_PhysicsDirectBodyState3D_method_set_constant_torque>`

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

See :ref:`add_constant_torque<class_PhysicsDirectBodyState3D_method_add_constant_torque>`.

.. |virtual| replace:: :abbr:`virtual (This method should typically be overridden by the user to have any effect.)`
.. |const| replace:: :abbr:`const (This method has no side effects. It doesn't modify any of the instance's member variables.)`
.. |vararg| replace:: :abbr:`vararg (This method accepts any number of arguments after the ones described here.)`
.. |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.)`
.. |operator| replace:: :abbr:`operator (This method describes a valid operator to use with this type as left-hand operand.)`
.. |bitfield| replace:: :abbr:`BitField (This value is an integer composed as a bitmask of the following flags.)`
.. |void| replace:: :abbr:`void (No return value.)`