Module dynamics 

Structures related to dynamics: bodies, impulse_joints, etc.

Structs

AxesMask

Flags affecting the behavior of the constraints solver for a given contact manifold.

BodyPair

A pair of rigid body handles.

CCDSolver

Continuous Collision Detection solver that prevents fast objects from tunneling through geometry.

FixedJoint

A joint that rigidly connects two bodies together (like welding them).

FixedJointBuilder

Create fixed joints using the builder pattern.

GenericJoint

A generic joint.

GenericJointBuilder

Create generic joints using the builder pattern.

ImpulseJoint

An impulse-based joint attached to two bodies.

ImpulseJointHandle

The unique identifier of a joint added to the joint set. The unique identifier of a collider added to a collider set.

ImpulseJointSet

The collection that stores all joints connecting rigid bodies in your physics world.

IntegrationParameters

Configuration parameters that control the physics simulation quality and behavior.

InverseKinematicsOption

Options for the jacobian-based Inverse Kinematics solver for multibodies.

IslandManager

System that manages which bodies are active (awake) vs sleeping to optimize performance.

JointAxesMask

A bit mask identifying multiple degrees of freedom of a joint.

JointLimits

Limits that restrict a joint’s range of motion along one axis.

JointMotor

A powered motor that drives a joint toward a target position/velocity.

LockedAxes

Flags that lock specific movement axes to prevent translation or rotation.

MassProperties

The mass properties of a rigid body.

Multibody

An articulated body simulated using the reduced-coordinates approach.

MultibodyIndex

The temporary index of a multibody added to a MultibodyJointSet.

MultibodyJoint

An joint attached to two bodies based on the reduced coordinates formalism.

MultibodyJointHandle

The unique handle of an multibody_joint added to a MultibodyJointSet.

MultibodyJointSet

A set of rigid bodies that can be handled by a physics pipeline.

MultibodyLink

One link of a multibody.

MultibodyLinkId

Indexes usable to get a multibody link from a MultibodyJointSet.

PinSlotJoint

A pin slot joint, locks all relative motion between two bodies except for translation along the joint’s principal axis and relative rotations. This joint is also known as a groove joint in Godot.

PinSlotJointBuilder

Create pin slot joints using the builder pattern.

PrismaticJoint

A sliding joint that allows movement along one axis only (like a piston or sliding door).

PrismaticJointBuilder

Create prismatic joints using the builder pattern.

RevoluteJoint

A hinge joint that allows rotation around one axis (like a door hinge or wheel axle).

RevoluteJointBuilder

Create revolute joints using the builder pattern.

RigidBody

A physical object that can move, rotate, and collide with other objects in your simulation.

RigidBodyActivation

Controls when a body goes to sleep (becomes inactive to save CPU).

RigidBodyBuilder

A builder for creating rigid bodies with custom properties.

RigidBodyCcd

Information used for Continuous-Collision-Detection.

RigidBodyChanges

Flags describing how the rigid-body has been modified by the user.

RigidBodyColliders

The set of colliders attached to this rigid-bodies.

RigidBodyDamping

Damping factors to progressively slow down a rigid-body.

RigidBodyDominance

The dominance groups of a rigid-body.

RigidBodyForces

The user-defined external forces applied to this rigid-body.

RigidBodyHandle

The unique handle of a rigid body added to a RigidBodySet.

RigidBodyIds

Internal identifiers used by the physics engine.

RigidBodyMassProps

The mass properties of a rigid-body.

RigidBodyPosition

The position of this rigid-body.

RigidBodySet

The collection that stores all rigid bodies in your physics world.

RigidBodyVelocity

The velocities of this rigid-body.

RopeJoint

A distance-limiting joint (like a rope or cable connecting two objects).

RopeJointBuilder

Create rope joints using the builder pattern.

SphericalJoint

A ball-and-socket joint that allows free rotation but no translation (like a shoulder joint).

SphericalJointBuilder

Create spherical joints using the builder pattern.

SpringCoefficients

Coefficients for a spring, typically used for configuring constraint softness for contacts and joints.

SpringJoint

A spring joint that pulls/pushes two bodies toward a target distance (like a spring or shock absorber).

SpringJointBuilder

A SpringJoint joint using the builder pattern.

Enums

CoefficientCombineRule

How to combine friction/restitution values when two colliders touch.

FrictionModel

Friction models used for all contact constraints between two rigid-bodies.

JointAxis

Identifiers of degrees of freedoms of a joint.

JointEnabled

Enum indicating whether or not a joint is enabled.

MotorModel

How motor stiffness/damping values are interpreted (mass-dependent vs mass-independent).

RigidBodyAdditionalMassProps

Mass and angular inertia added to a rigid-body on top of its attached colliders’ contributions.

RigidBodyType

The type of a rigid body, determining how it responds to forces and movement.

Functions

unit_joint_limit_constraint

Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.

unit_joint_motor_constraint

Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.

Type Aliases

BodyStatusDeprecated

The type of a body, governing the way it is affected by external forces.