This is the node that implements full 3D physics. This means that you do not control a RigidDynamicBody3D directly. Instead, you can apply forces to it (gravity, impulses, etc.), and the physics simulation will calculate the resulting movement, collision, bouncing, rotating, etc.
[b]Note:[/b] Don't change a RigidDynamicBody3D'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 [method _integrate_forces], which allows you to directly access the physics state.
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 [member custom_integrator] property allows you to disable the default behavior and do fully custom force integration for a body.
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.
Returns a list of the bodies colliding with this one. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions.
[b]Note:[/b] 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.
Returns the inverse inertia tensor basis. This is used to calculate the angular acceleration resulting from a torque applied to the [RigidDynamicBody3D].
Damps the body's rotation. By default, the body will use the [b]Default Angular Damp[/b] in [b]Project > Project Settings > Physics > 3d[/b] or any value override set by an [Area3D] the body is in. Depending on [member angular_damp_mode], you can set [member angular_damp] to be added to or to replace the body's damping value.
The body's custom center of mass, relative to the body's origin position, when [member center_of_mass_mode] is set to [constant 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 [member center_of_mass_mode] is set to [constant CENTER_OF_MASS_MODE_AUTO] (default value), the center of mass is automatically computed.
The maximum number of contacts that will be recorded. Requires [member contact_monitor] to be set to [code]true[/code].
[b]Note:[/b] 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).
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.
If [code]true[/code], 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 [method _integrate_forces] function, if defined.
This is multiplied by the global 3D gravity setting found in [b]Project > Project Settings > Physics > 3d[/b] to produce RigidDynamicBody3D'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.
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 [code]Vector3.ZERO[/code], inertia is automatically computed (default value).
Damps the body's movement. By default, the body will use the [b]Default Linear Damp[/b] in [b]Project > Project Settings > Physics > 3d[/b] or any value override set by an [Area3D] the body is in. Depending on [member linear_damp_mode], you can set [member linear_damp] to be added to or to replace the body's damping value.
The body's linear velocity. Can be used sporadically, but [b]don't set this every frame[/b], because physics may run in another thread and runs at a different granularity. Use [method _integrate_forces] as your process loop for precise control of the body state.
If [code]true[/code], 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 [method apply_impulse] or [method add_force] methods.
Emitted when a collision with another [PhysicsBody3D] or [GridMap] occurs. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody3D] or [GridMap].
Emitted when the collision with another [PhysicsBody3D] or [GridMap] ends. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
[code]body[/code] the [Node], if it exists in the tree, of the other [PhysicsBody3D] or [GridMap].
Emitted when one of this RigidDynamicBody3D's [Shape3D]s collides with another [PhysicsBody3D] or [GridMap]'s [Shape3D]s. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
[code]body_shape_index[/code] the index of the [Shape3D] of the other [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]body.shape_owner_get_owner(body_shape_index)[/code].
[code]local_shape_index[/code] the index of the [Shape3D] of this RigidDynamicBody3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
[b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape3D]. Don't use multiple [CollisionShape3D]s when using a [ConcavePolygonShape3D] with Bullet physics if you need shape indices.
Emitted when the collision between one of this RigidDynamicBody3D's [Shape3D]s and another [PhysicsBody3D] or [GridMap]'s [Shape3D]s ends. Requires [member contact_monitor] to be set to [code]true[/code] and [member contacts_reported] to be set high enough to detect all the collisions. [GridMap]s are detected if the [MeshLibrary] has Collision [Shape3D]s.
[code]body_rid[/code] the [RID] of the other [PhysicsBody3D] or [MeshLibrary]'s [CollisionObject3D] used by the [PhysicsServer3D]. [GridMap]s are detected if the Meshes have [Shape3D]s.
[code]body_shape_index[/code] the index of the [Shape3D] of the other [PhysicsBody3D] or [GridMap] used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]body.shape_owner_get_owner(body_shape_index)[/code].
[code]local_shape_index[/code] the index of the [Shape3D] of this RigidDynamicBody3D used by the [PhysicsServer3D]. Get the [CollisionShape3D] node with [code]self.shape_owner_get_owner(local_shape_index)[/code].
[b]Note:[/b] Bullet physics cannot identify the shape index when using a [ConcavePolygonShape3D]. Don't use multiple [CollisionShape3D]s when using a [ConcavePolygonShape3D] with Bullet physics if you need shape indices.
Emitted when the physics engine changes the body's sleeping state.
[b]Note:[/b] Changing the value [member sleeping] will not trigger this signal. It is only emitted if the sleeping state is changed by the physics engine or [code]emit_signal("sleeping_state_changed")[/code] is used.
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.
Kinematic body freeze mode. Similar to [constant FREEZE_MODE_STATIC], but collides with other bodies along its path when moved. Useful for a frozen body that needs to be animated.
