Class TCastleRigidBody

This item has no description.

Source: transform/castletransform_physics.inc (line 885).

This item has no description.

Source: transform/castletransform_physics.inc (line 886).

Utility function to set common values for physics in 2D games. Locks moving along the Z axis, locks rotating along the X and Y axes.

Source: transform/castletransform_physics.inc (line 891).

Transformations that we collide with currently.

Source: transform/castletransform_physics.inc (line 894).

First object hit by the ray, calculated using the physics engine.

Returns the TRayCastResult record. Read TRayCastResult.Hit (boolean), TRayCastResult.Transform (guaranteed to be Nil when TRayCastResult.Hit is False) and other fields to know what was hit.

The given RayOrigin, RayDirection, MaxDistance are in the parent coordinate system of associated TCastleTransform. For example query like this works naturally:

// MyTransform.Translation, MyTransform.Direction
// are in MyTransform.Parent coordinate system
Hit := MyTransform.RigidBody.PhysicsRayCast(
  MyTransform.Translation,
  MyTransform.Direction, MaxDistance);

It returns TRayCastResult, with information there consistently in the same coordinate system as inputs. So TRayCastResult.Distance, TRayCastResult.Point, TRayCastResult.Normal are also in parent coordinate system of associated TCastleTransform.

Collisions taken / not taken into account:

• Ignores the collider of this rigid body, to not accidentally collide with your own collider.

• Ignores collisions beyond MaxDistance, if MaxDistance <> MaxSingle. Passing some MaxDistance may also optimize the calculation.

• Only collisions with the physics colliders (TCastleCollider) are considered.

By default, the ray hits all physics layers, but you can choose physics layers in CollisionLayers attribute.

Note: The TCastleTransform.Pickable property is ignored by this method, i.e. it considers all colliders regardless of their TCastleTransform.Pickable value. The TCastleTransform.Pickable is only taken into account by the routines of the old physics system (see https://castle-engine.io/physics#_old_system_for_collisions_and_gravity ). In the new system, a similar role is filled by physics layers.

Source: transform/castletransform_physics.inc (line 940).

Check if moving a sphere in the given direction would collide with anything in the world. Suitable to check if moving this rigid body, approximating this body as a sphere, would collide with anything.

Returns the TRayCastResult record. Read TRayCastResult.Hit (boolean), TRayCastResult.Transform (guaranteed to be Nil when TRayCastResult.Hit is False) and other fields to know what was hit.

The given SphereOrigin, SphereRadius, SphereDirection, MaxDistance are in the parent coordinate system of associated TCastleTransform. For example query like this works naturally:

// MyTransform.Translation, MyTransform.Direction
// are in MyTransform.Parent coordinate system
Hit := MyTransform.RigidBody.PhysicsSphereCast(
  MyTransform.Translation, 2,
  MyTransform.Direction, MaxDistance);

It returns TRayCastResult, with information there consistently in the same coordinate system as inputs. So TRayCastResult.Distance, TRayCastResult.Point, TRayCastResult.Normal are also in parent coordinate system of associated TCastleTransform.

Collisions taken / not taken into account:

• Ignores all colliders that overlap sphere at the initial position, before it is moved by SphereDirection.

• Always ignores the collider of this rigid body, to not accidentally collide with your own collider.

• Ignores collisions that would occur is sphere is moved by move than MaxDistance, if MaxDistance <> MaxSingle. Passing some MaxDistance may also optimize the calculation.

• Only collisions with the physics colliders (TCastleCollider) are considered.

By default, the sphere hits all physics layers, but you can choose physics layers in CollisionLayers attribute.

Note: The TCastleTransform.Pickable property is ignored by this method, i.e. it considers all colliders regardless of their TCastleTransform.Pickable value. The TCastleTransform.Pickable is only taken into account by the routines of the old physics system (see https://castle-engine.io/physics#_old_system_for_collisions_and_gravity ). In the new system, a similar role is filled by physics layers.

Source: transform/castletransform_physics.inc (line 995).

This item has no description. Showing description inherited from TCastleComponent.PropertySections.

Section where to show property in the editor.

Source: transform/castletransform_physics.inc (line 1000).

Push this rigid body. The body is pushed from a Position and along the direction of Force. Longer length of Force makes a stronger push.

The forces affecting each body are reset every frame (only the body velocity is preserved across frames). If you want to keep applying this force (e.g. it is a wind that continues pushing in given direction) you should call this method every frame. It automatically accounts for the delta time (because the force will actually be applied later, with delta time, to velocity) so no need to multiply the arguments with SecondsPassed. That is, adding force means Velocity += Force * SecondsPassed / Mass.

By changing Position from which you push, you can change the angular velocity, i.e. different Position makes the body spin in different ways. Note that Position too distant from the body center may result in unrealistically strong push. If Position is exactly at body center, then angular velocity will not be affected.

Force and Position are in the world coordinate system.

Source: transform/castletransform_physics.inc (line 1021).

Push this rigid body. The body is pushed along the direction of Force. Longer length of Force makes a stronger push.

This is similar to AddForceAtPosition, but the Force (direction) can be in local or global coordinate system (depending on ForceInLocalCoordinates). Moreover it doesn't take as parameter any Position: the force always acts from the origin of this body.

Just like with AddForceAtPosition, the forces affecting each body are reset every frame (only the body velocity is preserved across frames). If you want to keep applying this force (e.g. it is a wind that continues pushing in given direction) you should call this method every frame. It automatically accounts for the delta time (because the force will actually be applied later, with delta time, to velocity) so no need to multiply the arguments with SecondsPassed.

Source: transform/castletransform_physics.inc (line 1040).

Rotate this rigid body with physics. Longer length of Torque makes a stronger push. Torque is in world coordinates.

Just like with AddForceAtPosition, the forces affecting each body are reset every frame (only the body velocity is preserved across frames). If you want to keep applying this force (e.g. it is a whirlwind that continues rotating) you should call this method every frame. It automatically accounts for the delta time (because the force will actually be applied later, with delta time, to velocity) so no need to multiply the arguments with SecondsPassed.

Source: transform/castletransform_physics.inc (line 1053).

Apply a one-time instant increase in speed, that pushes the body (increasing velocity). Impulse is a direction along which to push, Point is the position from which you push. Longer length of Impulse makes a stronger push.

Impulse and Point are both in world coordinates.

Adding impulse means Velocity += Force / Mass. To be more precise, adding impulse directly increases LinearVelocity and AngularVelocity. Unlike AddForceAtPosition, the velocity increase is not multiplied by the delta of time, so it is not expected you will call this every frame. (If you do, you should take care to multiply Impulse by SecondsPassed.)

Same notes as for Position of AddForceAtPosition: By changing Point from which you push, you can change the angular velocity, i.e. different Point makes the body spin in different ways. Note that Point too distant from the body center may result in unrealistically strong push. If Point is exactly at body center, then angular velocity will not be affected.

Source: transform/castletransform_physics.inc (line 1073).

Returns true when rigid body behavior exists, and is added to Castle Transform, and this transform ExistsInRoot = true.

Source: transform/castletransform_physics.inc (line 1077).

For performance reasons, physics engine puts the body to "sleep" when it didn't move (too much) in the recent frames. This means the body will not move anymore "by itself", i.e. until something will collide with it. In general, the body should be "woken up" automatically when something collides with it, so the mechanism should be invisible to you, but sometimes it is necessary to wake up a body explicitly.

Source: transform/castletransform_physics.inc (line 1086).

For performance reasons, physics engine puts the body to "sleep" when it didn't move (too much) in the recent frames. Use this to read current state.

Source: transform/castletransform_physics.inc (line 1093).

Current rotating velocity of this body. You can query it (as it changes, affected by forces) and set it at any point. In world coordinates.

See https://en.wikipedia.org/wiki/Angular_velocity about the exact meaning of angular velocity. The vector direction (AngularVelocity.Normalize) determines the axis around which we rotate. The vector length (AngularVelocity.Length) determines the speed (in radians/second) with which we rotate.

Source: transform/castletransform_physics.inc (line 1104).

Current moving velocity of this body. You can query it (as it changes, affected by forces) and set it at any point. In world coordinates.

Source: transform/castletransform_physics.inc (line 1109).

Warning: this symbol is deprecated: use AngularVelocity

This item has no description.

Source: transform/castletransform_physics.inc (line 1112).

Warning: this symbol is deprecated: use LinearVelocity

This item has no description.

Source: transform/castletransform_physics.inc (line 1114).

Occurs when TCastleRigidBody starts colliding with another TCastleRigidBody.

It can occur repeatedly for the same body (in the same time instant) if the collision has many points of contact.

Warning: Do not free the related TCastleTransform or TCastleRigidBody or TCastleCollider components upon receiving this event. Right now, it would free an underlying physics engine object, and this would crash the physics engine.

Instead, you can:

• Schedule any component to free it later, using ApplicationProperties.FreeDelayed.

• Schedule TCastleTransform for removal/freeing later using TCastleTransform.RemoveDelayed.

• Or set TCastleTransform.Exists to False and maybe free it later using your own mechanism.

Source: transform/castletransform_physics.inc (line 1139).

Occurs when TCastleRigidBody stops colliding with another TCastleRigidBody.

Just like at OnCollisionEnter: Do not free the related components upon receiving this event. See the OnCollisionEnter documentation for details of this limitation and solutions.

Source: transform/castletransform_physics.inc (line 1147).

Occurs when TCastleRigidBody still collides with another TCastleRigidBody.

Just like at OnCollisionEnter: Do not free the related components upon receiving this event. See the OnCollisionEnter documentation for details of this limitation and solutions.

Source: transform/castletransform_physics.inc (line 1155).