Struct Body
- Namespace
- Box3D
- Assembly
- Box3D.NET.dll
A rigid body: a position, an orientation and a velocity, with shapes attached to give it collision geometry.
public readonly record struct Body : IEquatable<Body>Implements
Inherited Members
Extension Methods
Examples
Body crate = world.CreateBody(BodyDefinition.Dynamic(new Vector3(0, 10, 0)));
crate.AddBox(Box.Cube(0.5f));
crate.LinearVelocity = new Vector3(5.0f, 0.0f, 0.0f);
crate.ApplyForceToCenter(new Vector3(0.0f, 100.0f, 0.0f));
world.Step(1.0f / 60.0f);
Console.WriteLine(crate.Position);Remarks
Like Box3D.Shape, a body is a handle rather than an object. It is a small value the world resolves, so copying is free and copies refer to the same body. It owns nothing, so it is not System.IDisposable; use Box3D.Body.Destroy to remove it, or destroy the world to remove everything.
A body with no shapes has no collision geometry and no mass. Create the body, then attach shapes to it.
Properties
- AngularDamping
-
Gets or sets the angular damping.
- AngularVelocity
-
Gets or sets the angular velocity, in radians per second.
- Bounds
-
Gets the world-space bounding box covering every attached shape.
- CanSleep
-
Gets or sets a value indicating whether the body is allowed to sleep.
- CenterOfMass
-
Gets the world position of the centre of mass.
- GravityScale
-
Gets or sets the multiplier applied to gravity for this body.
- IsAwake
-
Gets or sets a value indicating whether the body is awake.
- IsBullet
-
Gets or sets a value indicating whether the body uses continuous collision as a bullet.
- IsEnabled
-
Gets a value indicating whether the body takes part in the simulation.
- IsValid
-
Gets a value indicating whether this handle refers to a live body.
- LinearDamping
-
Gets or sets the linear damping.
- LinearVelocity
-
Gets or sets the linear velocity of the centre of mass, usually in metres per second.
- LocalCenterOfMass
-
Gets the centre of mass in body-local space.
- Mass
-
Gets the mass, usually in kilograms.
- MotionLocks
-
Gets or sets the axes the body may not move along or rotate about.
- Position
-
Gets the world position of the body origin.
- Rotation
-
Gets the world rotation.
- ShapeCount
-
Gets the number of shapes attached to this body.
- Type
-
Gets or sets how the body participates in the simulation.
- UserData
-
Gets or sets the application identifier attached to this body.
- World
-
Gets the world this body belongs to.
Methods
- AddBox(Box, ShapeDefinition?)
-
Attaches a box to this body.
- AddCapsule(Capsule, ShapeDefinition?)
-
Attaches a capsule to this body.
- AddCompound(CompoundGeometry, ShapeDefinition?)
-
Attaches a baked compound to this body, which must be static.
- AddHeightField(HeightField, ShapeDefinition?)
-
Attaches a height field to this body, which must be static.
- AddHull(ConvexHull, ShapeDefinition?)
-
Attaches a convex hull to this body.
- AddMesh(CollisionMesh, Vector3?, ShapeDefinition?)
-
Attaches a triangle mesh to this body, which must be static.
- AddSphere(Sphere, ShapeDefinition?)
-
Attaches a sphere to this body.
- ApplyAngularImpulse(Vector3, bool)
-
Changes the angular velocity immediately.
- ApplyForce(Vector3, Vector3, bool)
-
Applies a force at a world-space point, producing torque if it is off-centre.
- ApplyForceToCenter(Vector3, bool)
-
Applies a force at the centre of mass, producing no rotation.
- ApplyImpulse(Vector3, Vector3, bool)
-
Changes the velocity immediately at a world-space point, adding spin if it is off-centre.
- ApplyImpulseToCenter(Vector3, bool)
-
Changes the velocity immediately, with no rotation.
- ApplyTorque(Vector3, bool)
-
Applies a torque, changing angular velocity without moving the body.
- Destroy()
-
Destroys this body along with every shape and joint attached to it.
- Disable()
-
Removes the body from the simulation without destroying it.
- Enable()
-
Returns a disabled body to the simulation.
- GetShapes(Span<Shape>)
-
Copies the handles of every shape on this body into the supplied span.
- GetVelocityAt(Vector3)
-
Gets the velocity of a point attached to this body.
- MoveTowards(Vector3, Quaternion, float, bool)
-
Sets the velocity needed to arrive at a target pose after one time step.
- RecomputeMass()
-
Recomputes the mass properties from the attached shapes and their densities.
- SetTransform(Vector3, Quaternion?)
-
Teleports the body.
- ToLocalPoint(Vector3)
-
Converts a point from world space into body-local space.
- ToLocalVector(Vector3)
-
Converts a direction from world space into body-local space.
- ToWorldPoint(Vector3)
-
Converts a point from body-local space into world space.
- ToWorldVector(Vector3)
-
Converts a direction from body-local space into world space.