@threlte/rapier
RigidBody
The real-time simulation of rigid bodies subjected to forces and contacts is the main feature of a physics engine for videogames, robotics, or animation. Rigid bodies are typically used to simulate the dynamics of non-deformable solids as well as to integrate the trajectory of solids which velocities are controlled by the user (e.g. moving platforms).
Note that rigid-bodies are only responsible for the dynamics and kinematics of the solid. Colliders can be attached to a rigid-body to specify its shape and enable collision-detection. A rigid-body without collider attached to it will not be affected by contacts (because there is no shape to compute contact against).
Properties
// optional
position: Position | undefined = undefined
scale: Scale | undefined = undefined
rotation: Rotation | undefined = undefined
lookAt: LookAt | undefined = undefined
type: 'fixed' | 'dynamic' | 'kinematicPosition' | 'kinematicVelocity' = 'dynamic'
canSleep: boolean = true
linearVelocity: Position = {}
angularVelocity: Rotation = {}
gravityScale: number = 1
ccd: boolean = false
lockRotations: boolean = false
lockTranslations: boolean = false
enabledRotations: Boolean3Array = [true, true, true]
enabledTranslations: Boolean3Array = [true, true, true]
dominance: number = 0
linearDamping: number = 0
angularDamping: number = 0
Bindings
RigidBody is a type imported from '@dimforge/rapier3d-compat'
rigidBody: RigidBody
Events
RigidBody, Collider and TempContactManifold are types imported from '@dimforge/rapier3d-compat'
sleep: void
wake: void
collisionenter: CustomEvent<{
targetCollider: Collider
targetRigidBody: RigidBody | null
manifold: TempContactManifold
flipped: boolean
}>
collisionexit: CustomEvent<{
targetCollider: Collider
targetRigidBody: RigidBody | null
}>
sensorenter: CustomEvent<{
targetCollider: Collider
targetRigidBody: RigidBody | null
}>
sensorexit: CustomEvent<{
targetCollider: Collider
targetRigidBody: RigidBody | null
}>
contact: CustomEvent<{
targetCollider: Collider
targetRigidBody: RigidBody | null
manifold: TempContactManifold
flipped: boolean
maxForceDirection: Vector
maxForceMagnitude: number
totalForce: Vector
totalForceMagnitude: number
}>