API Reference

Class List

pc.RigidBodyComponent

Extends: pc.Component

The rigidbody component, when combined with a pc.CollisionComponent, allows your entities to be simulated using realistic physics. A rigidbody component will fall under gravity and collide with other rigid bodies. Using scripts, you can apply forces and impulses to rigid bodies.

Summary

Properties

angularDampingControls the rate at which a body loses angular velocity over time.
angularFactorScaling factor for angular movement of the body in each axis.
angularVelocityDefines the rotational speed of the body around each world axis.
frictionThe friction value used when contacts occur between two bodies.
groupThe collision group this body belongs to.
linearDampingControls the rate at which a body loses linear velocity over time.
linearFactorScaling factor for linear movement of the body in each axis.
linearVelocityDefines the speed of the body in a given direction.
maskThe collision mask sets which groups this body collides with.
massThe mass of the body.
restitutionInfluences the amount of energy lost when two rigid bodies collide.
typeThe rigid body type determines how the body is simulated.

Methods

activateForcibly activate the rigid body simulation
applyForceApply an force to the body at a point.
applyImpulseApply an impulse (instantaneous change of velocity) to the body at a point.
applyTorqueApply torque (rotational force) to the body.
applyTorqueImpulseApply a torque impulse (rotational force applied instantaneously) to the body.
isActiveReturns true if the rigid body is currently actively being simulated.
isKinematicReturns true if the rigid body is of type pc.BODYTYPE_KINEMATIC
isStaticReturns true if the rigid body is of type pc.BODYTYPE_STATIC
isStaticOrKinematicReturns true if the rigid body is of type pc.BODYTYPE_STATIC or pc.BODYTYPE_KINEMATIC
teleportTeleport an entity to a new world-space position, optionally setting orientation.

Inherited

Properties

enabledEnables or disables the component.

Details

Constructor

RigidBodyComponent(system, entity)

Create a new RigidBodyComponent

Parameters

systempc.RigidBodyComponentSystemThe ComponentSystem that created this component
entitypc.EntityThe entity this component is attached to

Properties

NumberangularDamping

Controls the rate at which a body loses angular velocity over time. Defaults to 0.

pc.Vec3angularFactor

Scaling factor for angular movement of the body in each axis. Defaults to 1 in all axes.

pc.Vec3angularVelocity

Defines the rotational speed of the body around each world axis.

Numberfriction

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.

Numbergroup

The collision group this body belongs to. Combine the group and the mask to prevent bodies colliding with each other. Defaults to 1.

NumberlinearDamping

Controls the rate at which a body loses linear velocity over time. Defaults to 0.

pc.Vec3linearFactor

Scaling factor for linear movement of the body in each axis. Defaults to 1 in all axes.

pc.Vec3linearVelocity

Defines the speed of the body in a given direction.

Numbermask

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.

Numbermass

The mass of the body. This is only relevant for pc.BODYTYPE_DYNAMIC bodies, other types have infinite mass. Defaults to 1.

Numberrestitution

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.

Stringtype

The rigid body type determines how the body is simulated. Can be:

  • pc.BODYTYPE_STATIC: infinite mass and cannot move.
  • pc.BODYTYPE_DYNAMIC: simulated according to applied forces.
  • pc.BODYTYPE_KINEMATIC: infinite mass and does not respond to forces but can still be moved by setting their velocity or position.
Defaults to pc.BODYTYPE_STATIC.

Methods

activate()

Forcibly activate the rigid body simulation

applyForce(x, [y], [z], [px], [py], [pz])

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.

// 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);

Parameters

xpc.Vec3, NumberA 3-dimensional vector representing the force in world-space or the x-component of the force in world-space.
ypc.Vec3, NumberAn 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.
zNumberThe z-component of the force in world-space.
pxNumberThe x-component of a world-space offset from the body's position where the force is applied.
pyNumberThe y-component of a world-space offset from the body's position where the force is applied.
pzNumberThe z-component of a world-space offset from the body's position where the force is applied.

applyImpulse(x, [y], [z], [px], [py], [pz])

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.

// 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);

Parameters

xpc.Vec3, NumberA 3-dimensional vector representing the impulse in world-space or the x-component of the impulse in world-space.
ypc.Vec3, NumberAn 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.
zNumberThe z-component of the impulse to apply in world-space.
pxNumberThe x-component of the point at which to apply the impulse in the local-space of the entity.
pyNumberThe y-component of the point at which to apply the impulse in the local-space of the entity.
pzNumberThe z-component of the point at which to apply the impulse in the local-space of the entity.

applyTorque(x, [y], [z])

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.

// Apply via vector
var torque = new pc.Vec3(0, 10, 0);
entity.rigidbody.applyTorque(torque);
// Apply via numbers
entity.rigidbody.applyTorque(0, 10, 0);

Parameters

xpc.Vec3, NumberA 3-dimensional vector representing the torque force in world-space or the x-component of the torque force in world-space.
yNumberThe y-component of the torque force in world-space.
zNumberThe z-component of the torque force in world-space.

applyTorqueImpulse(x, [y], [z])

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.

// Apply via vector
var torque = new pc.Vec3(0, 10, 0);
entity.rigidbody.applyTorqueImpulse(torque);
// Apply via numbers
entity.rigidbody.applyTorqueImpulse(0, 10, 0);

Parameters

xpc.Vec3, NumberA 3-dimensional vector representing the torque impulse in world-space or the x-component of the torque impulse in world-space.
yNumberThe y-component of the torque impulse in world-space.
zNumberThe z-component of the torque impulse in world-space.

isActive()

Returns true if the rigid body is currently actively being simulated. i.e. not 'sleeping'

Returns

Boolean True if the body is active

isKinematic()

Returns true if the rigid body is of type pc.BODYTYPE_KINEMATIC

Returns

Boolean True if kinematic

isStatic()

Returns true if the rigid body is of type pc.BODYTYPE_STATIC

Returns

Boolean True if static

isStaticOrKinematic()

Returns true if the rigid body is of type pc.BODYTYPE_STATIC or pc.BODYTYPE_KINEMATIC

Returns

Boolean True if static or kinematic

teleport(x, y, [z], [rx], [ry], [rz])

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.

// 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);

Parameters

xpc.Vec3, NumberA 3-dimensional vector holding the new position or the new position x-coordinate.
ypc.Vec3, pc.Quat, NumberA 3-dimensional vector or quaternion holding the new rotation or the new position y-coordinate.
zNumberThe new position z-coordinate.
rxNumberThe new Euler x-angle value.
ryNumberThe new Euler y-angle value.
rzNumberThe new Euler z-angle value.

Inherited

Properties

Booleanenabled

Enables or disables the component.