Constructor
new RigidBodyComponent(system, entity)
Create a new RigidBodyComponent
Parameters:
Name | Type | Description |
---|---|---|
system |
pc.RigidBodyComponentSystem | The ComponentSystem that created this component |
entity |
pc.Entity | The entity this component is attached to |
Properties:
Name | Type | Description |
---|---|---|
mass |
Number | The mass of the body. This is only relevant for pc.BODYTYPE_DYNAMIC bodies, other types have infinite mass. Defaults to 1. |
linearVelocity |
pc.Vec3 | Defines the speed of the body in a given direction. |
angularVelocity |
pc.Vec3 | Defines the rotational speed of the body around each world axis. |
linearDamping |
Number | Controls the rate at which a body loses linear velocity over time. Defaults to 0. |
angularDamping |
Number | Controls the rate at which a body loses angular velocity over time. Defaults to 0. |
linearFactor |
pc.Vec3 | Scaling factor for linear movement of the body in each axis. Defaults to 1 in all axes. |
angularFactor |
pc.Vec3 | Scaling factor for angular movement of the body in each axis. Defaults to 1 in all axes. |
friction |
Number | The friction value used when contacts occur between two bodies. A higher value indicates more friction. Should be set in the range 0 to 1. Defaults to 0.5. |
restitution |
Number | Influences the amount of energy lost when two rigid bodies collide. The calculation multiplies the restitution values for both colliding bodies. A multiplied value of 0 means that all energy is lost in the collision while a value of 1 means that no energy is lost. Should be set in the range 0 to 1. Defaults to 0. |
group |
Number | The collision group this body belongs to. Combine the group and the mask to prevent bodies colliding with each other. Defaults to 1. |
mask |
Number | The collision mask sets which groups this body collides with. It is a bitfield of 16 bits, the first 8 bits are reserved for engine use. Defaults to 65535. |
type |
String | The rigid body type determines how the body is simulated. Can be:
|
Extends
Methods
(private) _updateKinematic(dt)
Kinematic objects maintain their own linear and angular velocities. This method updates their transform
based on their current velocity. It is called in every frame in the main physics update loop, after the simulation is stepped.
Parameters:
Name | Type | Description |
---|---|---|
dt |
Number | Delta time for the current frame. |
activate()
Forcibly activate the rigid body simulation
applyForce(x, yopt, zopt, pxopt, pyopt, pzopt)
Apply an force to the body at a point. By default, the force is applied at the origin of the
body. However, the force can be applied at an offset this point by specifying a world space vector from
the body's origin to the point of application. This function has two valid signatures. You can either
specify the force (and optional relative point) via 3D-vector or numbers.
Parameters:
Name | Type | Attributes | Description |
---|---|---|---|
x |
pc.Vec3 | Number | A 3-dimensional vector representing the force in world-space or the x-component of the force in world-space. | |
y |
pc.Vec3 | Number |
<optional> |
An optional 3-dimensional vector representing the relative point at which to apply the impulse in world-space or the y-component of the force in world-space. |
z |
Number |
<optional> |
The z-component of the force in world-space. |
px |
Number |
<optional> |
The x-component of a world-space offset from the body's position where the force is applied. |
py |
Number |
<optional> |
The y-component of a world-space offset from the body's position where the force is applied. |
pz |
Number |
<optional> |
The z-component of a world-space offset from the body's position where the force is applied. |
Examples
// Apply an approximation of gravity at the body's center
this.entity.rigidbody.applyForce(0, -10, 0);
// Apply an approximation of gravity at 1 unit down the world Z from the center of the body
this.entity.rigidbody.applyForce(0, -10, 0, 0, 0, 1);
// Apply a force at the body's center
// Calculate a force vector pointing in the world space direction of the entity
var force = this.entity.forward.clone().scale(100);
// Apply the force
this.entity.rigidbody.applyForce(force);
// Apply a force at some relative offset from the body's center
// Calculate a force vector pointing in the world space direction of the entity
var force = this.entity.forward.clone().scale(100);
// Calculate the world space relative offset
var relativePos = new pc.Vec3();
var childEntity = this.entity.findByName('Engine');
relativePos.sub2(childEntity.getPosition(), this.entity.getPosition());
// Apply the force
this.entity.rigidbody.applyForce(force, relativePos);
applyImpulse(x, yopt, zopt, pxopt, pyopt, pzopt)
Apply an impulse (instantaneous change of velocity) to the body at a point.
This function has two valid signatures. You can either specify the impulse (and optional relative
point) via 3D-vector or numbers.
Parameters:
Name | Type | Attributes | Default | Description |
---|---|---|---|---|
x |
pc.Vec3 | Number | A 3-dimensional vector representing the impulse in world-space or the x-component of the impulse in world-space. | ||
y |
pc.Vec3 | Number |
<optional> |
An optional 3-dimensional vector representing the relative point at which to apply the impulse in the local-space of the entity or the y-component of the impulse to apply in world-space. | |
z |
Number |
<optional> |
The z-component of the impulse to apply in world-space. | |
px |
Number |
<optional> |
0 | The x-component of the point at which to apply the impulse in the local-space of the entity. |
py |
Number |
<optional> |
0 | The y-component of the point at which to apply the impulse in the local-space of the entity. |
pz |
Number |
<optional> |
0 | The z-component of the point at which to apply the impulse in the local-space of the entity. |
Examples
// Apply an impulse along the world-space positive y-axis at the entity's position.
var impulse = new pc.Vec3(0, 10, 0);
entity.rigidbody.applyImpulse(impulse);
// Apply an impulse along the world-space positive y-axis at 1 unit down the positive
// z-axis of the entity's local-space.
var impulse = new pc.Vec3(0, 10, 0);
var relativePoint = new pc.Vec3(0, 0, 1);
entity.rigidbody.applyImpulse(impulse, relativePoint);
// Apply an impulse along the world-space positive y-axis at the entity's position.
entity.rigidbody.applyImpulse(0, 10, 0);
// Apply an impulse along the world-space positive y-axis at 1 unit down the positive
// z-axis of the entity's local-space.
entity.rigidbody.applyImpulse(0, 10, 0, 0, 0, 1);
applyTorque(x, yopt, zopt)
Apply torque (rotational force) to the body. This function has two valid signatures.
You can either specify the torque force with a 3D-vector or with 3 numbers.
Parameters:
Name | Type | Attributes | Description |
---|---|---|---|
x |
pc.Vec3 | Number | A 3-dimensional vector representing the torque force in world-space or the x-component of the torque force in world-space. | |
y |
Number |
<optional> |
The y-component of the torque force in world-space. |
z |
Number |
<optional> |
The z-component of the torque force in world-space. |
Examples
// Apply via vector
var torque = new pc.Vec3(0, 10, 0);
entity.rigidbody.applyTorque(torque);
// Apply via numbers
entity.rigidbody.applyTorque(0, 10, 0);
applyTorqueImpulse(x, yopt, zopt)
Apply a torque impulse (rotational force applied instantaneously) to the body.
This function has two valid signatures. You can either specify the torque force with a 3D-vector
or with 3 numbers.
Parameters:
Name | Type | Attributes | Description |
---|---|---|---|
x |
pc.Vec3 | Number | A 3-dimensional vector representing the torque impulse in world-space or the x-component of the torque impulse in world-space. | |
y |
Number |
<optional> |
The y-component of the torque impulse in world-space. |
z |
Number |
<optional> |
The z-component of the torque impulse in world-space. |
Examples
// Apply via vector
var torque = new pc.Vec3(0, 10, 0);
entity.rigidbody.applyTorqueImpulse(torque);
// Apply via numbers
entity.rigidbody.applyTorqueImpulse(0, 10, 0);
(private) createBody()
If the Entity has a Collision shape attached then create a rigid body using this shape. This method destroys the existing body.
isActive() → {Boolean}
Returns true if the rigid body is currently actively being simulated. i.e. not 'sleeping'
Returns:
True if the body is active
- Type
- Boolean
isKinematic() → {Boolean}
Returns true if the rigid body is of type pc.BODYTYPE_KINEMATIC
Returns:
True if kinematic
- Type
- Boolean
isStatic() → {Boolean}
Returns true if the rigid body is of type pc.BODYTYPE_STATIC
Returns:
True if static
- Type
- Boolean
isStaticOrKinematic() → {Boolean}
Returns true if the rigid body is of type pc.BODYTYPE_STATIC or pc.BODYTYPE_KINEMATIC
Returns:
True if static or kinematic
- Type
- Boolean
(private) syncBodyToEntity()
Update the Entity transform from the rigid body.
This is called internally after the simulation is stepped, to keep the Entity transform in sync with the rigid body transform.
(private) syncEntityToBody()
Set the rigid body transform to be the same as the Entity transform.
This must be called after any Entity transformation functions (e.g. pc.Entity#setPosition) are called
in order to update the rigid body to match the Entity.
teleport(x, y, zopt, rxopt, ryopt, rzopt)
Teleport an entity to a new world-space position, optionally setting orientation. This function
should only be called for rigid bodies that are dynamic. This function has three valid signatures.
The first takes a 3-dimensional vector for the position and an optional 3-dimensional vector for Euler rotation.
The second takes a 3-dimensional vector for the position and an optional quaternion for rotation.
The third takes 3 numbers for the position and an optional 3 numbers for Euler rotation.
Parameters:
Name | Type | Attributes | Description |
---|---|---|---|
x |
pc.Vec3 | Number | A 3-dimensional vector holding the new position or the new position x-coordinate. | |
y |
pc.Vec3 | pc.Quat | Number | A 3-dimensional vector or quaternion holding the new rotation or the new position y-coordinate. | |
z |
Number |
<optional> |
The new position z-coordinate. |
rx |
Number |
<optional> |
The new Euler x-angle value. |
ry |
Number |
<optional> |
The new Euler y-angle value. |
rz |
Number |
<optional> |
The new Euler z-angle value. |
Examples
// Teleport the entity to the origin
entity.rigidbody.teleport(pc.Vec3.ZERO);
// Teleport the entity to the origin
entity.rigidbody.teleport(0, 0, 0);
// Teleport the entity to world-space coordinate [1, 2, 3] and reset orientation
var position = new pc.Vec3(1, 2, 3);
entity.rigidbody.teleport(position, pc.Vec3.ZERO);
// Teleport the entity to world-space coordinate [1, 2, 3] and reset orientation
entity.rigidbody.teleport(1, 2, 3, 0, 0, 0);