Class PhysicsComponentExtensions

Utility functions acting on physics components.

Inheritance

Object

PhysicsComponentExtensions

Namespace: Unity.Physics.Extensions

Syntax

public static class PhysicsComponentExtensions

Methods

ApplyAngularImpulse(ref PhysicsVelocity, PhysicsMass, float3)

Declaration

public static void ApplyAngularImpulse(this ref PhysicsVelocity velocityData, in PhysicsMass massData, in float3 impulse)

Parameters

Type	Name	Description
PhysicsVelocity	velocityData
PhysicsMass	massData
Unity.Mathematics.float3	impulse

ApplyExplosionForce(ref PhysicsVelocity, PhysicsMass, PhysicsCollider, Translation, Rotation, Single, float3, Single, Single, float3, Single, ForceMode)

Converts a force into an impulse based on the force mode and the bodies mass and inertia properties. Equivalent to UnityEngine.Rigidbody.AddExplosionForce. ExplosionFilter is set to CollisionFIlter.Default ApplyExplosionForce(ref PhysicsVelocity, PhysicsMass, PhysicsCollider, Translation, Rotation, Single, float3, Single, Single, float3, CollisionFilter, Single, ForceMode)

Declaration

public static void ApplyExplosionForce(this ref PhysicsVelocity bodyVelocity, in PhysicsMass bodyMass, in PhysicsCollider bodyCollider, in Translation bodyPosition, in Rotation bodyOrientation, float explosionForce, in float3 explosionPosition, in float explosionRadius, in float timestep, in float3 up, in float upwardsModifier = 0F, ForceMode mode = ForceMode.Force)

Parameters

Type	Name	Description
PhysicsVelocity	bodyVelocity
PhysicsMass	bodyMass
PhysicsCollider	bodyCollider
Translation	bodyPosition
Rotation	bodyOrientation
Single	explosionForce
Unity.Mathematics.float3	explosionPosition
Single	explosionRadius
Single	timestep
Unity.Mathematics.float3	up
Single	upwardsModifier
ForceMode	mode

ApplyExplosionForce(ref PhysicsVelocity, PhysicsMass, PhysicsCollider, Translation, Rotation, Single, float3, Single, Single, float3, CollisionFilter, Single, ForceMode)

Converts a force into an impulse based on the force mode and the bodies mass and inertia properties. Equivalent to UnityEngine.Rigidbody.AddExplosionForce

Declaration

public static void ApplyExplosionForce(this ref PhysicsVelocity bodyVelocity, in PhysicsMass bodyMass, in PhysicsCollider bodyCollider, in Translation bodyPosition, in Rotation bodyOrientation, float explosionForce, in float3 explosionPosition, in float explosionRadius, in float timestep, in float3 up, in CollisionFilter explosionFilter, in float upwardsModifier = 0F, ForceMode mode = ForceMode.Force)

Parameters

Type	Name	Description
PhysicsVelocity	bodyVelocity	The body's PhysicsVelocity component.
PhysicsMass	bodyMass	The body's PhysicsMass component.
PhysicsCollider	bodyCollider	The body's PhysicsCollider component.
Translation	bodyPosition	The body's Translation component.
Rotation	bodyOrientation	The body's Rotation component.
Single	explosionForce	The force of the explosion (which may be modified by distance).
Unity.Mathematics.float3	explosionPosition	The centre of the sphere within which the explosion has its effect.
Single	explosionRadius	The radius of the sphere within which the explosion has its effect.
Single	timestep	The change in time from the current to the next frame.
Unity.Mathematics.float3	up	A vector defining the up direction, generally a unit vector in the opposite direction to PhysicsStep.Gravity.
CollisionFilter	explosionFilter	Filter determining whether an explosion should be applied to the body.
Single	upwardsModifier	Adjustment to the apparent position of the explosion to make it seem to lift objects.
ForceMode	mode	The method used to apply the force to its targets.

ApplyImpulse(ref PhysicsVelocity, PhysicsMass, Translation, Rotation, float3, float3)

Declaration

public static void ApplyImpulse(this ref PhysicsVelocity pv, in PhysicsMass pm, in Translation t, in Rotation r, in float3 impulse, in float3 point)

Parameters

Type	Name	Description
PhysicsVelocity	pv
PhysicsMass	pm
Translation	t
Rotation	r
Unity.Mathematics.float3	impulse
Unity.Mathematics.float3	point

ApplyLinearImpulse(ref PhysicsVelocity, PhysicsMass, float3)

Declaration

public static void ApplyLinearImpulse(this ref PhysicsVelocity velocityData, in PhysicsMass massData, in float3 impulse)

Parameters

Type	Name	Description
PhysicsVelocity	velocityData
PhysicsMass	massData
Unity.Mathematics.float3	impulse

GetAngularVelocityWorldSpace(PhysicsVelocity, PhysicsMass, Rotation)

Get the world-space angular velocity of a rigid body.

Declaration

public static float3 GetAngularVelocityWorldSpace(this in PhysicsVelocity bodyVelocity, in PhysicsMass bodyMass, in Rotation bodyOrientation)

Parameters

Type	Name	Description
PhysicsVelocity	bodyVelocity	The body's PhysicsVelocity component.
PhysicsMass	bodyMass	The body's PhysicsMass component
Rotation	bodyOrientation	The body's Rotation component

Returns

Type	Description
Unity.Mathematics.float3	The angular velocity of a rigid body in world space

GetCenterOfMassWorldSpace(PhysicsMass, Translation, Rotation)

Get the center of mass in world space

Declaration

public static float3 GetCenterOfMassWorldSpace(this in PhysicsMass bodyMass, in Translation bodyPosition, in Rotation bodyOrientation)

Parameters

Type	Name	Description
PhysicsMass	bodyMass	The body's PhysicsMass component
Translation	bodyPosition	The body's Translation component
Rotation	bodyOrientation	The body's Rotation component

Returns

Type	Description
Unity.Mathematics.float3	The center of mass in world space

GetEffectiveMass(PhysicsMass, Translation, Rotation, float3, float3)

Get a body's effective mass in a given direction and from a particular point in world space.

Declaration

public static float GetEffectiveMass(this in PhysicsMass bodyMass, in Translation bodyPosition, in Rotation bodyOrientation, float3 impulse, float3 point)

Parameters

Type	Name	Description
PhysicsMass	bodyMass	The body's PhysicsMass component.
Translation	bodyPosition	The body's Translation component.
Rotation	bodyOrientation	The body's Rotation component.
Unity.Mathematics.float3	impulse	An impulse in world space.
Unity.Mathematics.float3	point	A point in world space.

Returns

Type	Description
Single	A body's effective mass with respect to the specified point and impulse.

GetImpulseFromForce(PhysicsMass, float3, ForceMode, Single, out float3, out PhysicsMass)

Converts a force into an impulse based on the force mode and the bodies mass and inertia properties.

Declaration

public static void GetImpulseFromForce(this in PhysicsMass bodyMass, in float3 force, in ForceMode mode, in float timestep, out float3 impulse, out PhysicsMass impulseMass)

Parameters

Type	Name	Description
PhysicsMass	bodyMass	The body's PhysicsMass component.
Unity.Mathematics.float3	force	The force to be applied to a body.
ForceMode	mode	The method used to apply the force to its targets.
Single	timestep	The change in time from the current to the next frame.
Unity.Mathematics.float3	impulse	A returned impulse proportional to the provided 'force' and based on the supplied 'mode'.
PhysicsMass	impulseMass	A returned PhysicsMass component to be passed to an Apply function.

GetLinearVelocity(PhysicsVelocity, PhysicsMass, Translation, Rotation, float3)

Get the linear velocity of a rigid body at a given point (in world space)

Declaration

public static float3 GetLinearVelocity(this in PhysicsVelocity bodyVelocity, PhysicsMass bodyMass, Translation bodyPosition, Rotation bodyOrientation, float3 point)

Parameters

Type	Name	Description
PhysicsVelocity	bodyVelocity	The body's PhysicsVelocity component.
PhysicsMass	bodyMass	The body's PhysicsMass component
Translation	bodyPosition	The body's Translation component
Rotation	bodyOrientation	The body's Rotation component
Unity.Mathematics.float3	point	A reference position in world space

Returns

Type	Description
Unity.Mathematics.float3	The linear velocity of a rigid body at a given point (in world space)

Integrate(PhysicsVelocity, PhysicsMass, Single, ref float3, ref quaternion)

Compute a future position and orientation for a dynamic rigid body based on its current trajectory, after a specified amount of time.

Declaration

public static void Integrate(this in PhysicsVelocity physicsVelocity, in PhysicsMass physicsMass, float timestep, ref float3 position, ref quaternion orientation)

Parameters

Type	Name	Description
PhysicsVelocity	physicsVelocity	The body's PhysicsVelocity component.
PhysicsMass	physicsMass	The body's PhysicsMass component.
Single	timestep	The change in time from the current to the next frame.
Unity.Mathematics.float3	position	The future position of the body.
Unity.Mathematics.quaternion	orientation	The future orientation of the body.

SetAngularVelocityWorldSpace(ref PhysicsVelocity, PhysicsMass, Rotation, float3)

Set the world-space angular velocity of a rigid body.

Declaration

public static void SetAngularVelocityWorldSpace(this ref PhysicsVelocity bodyVelocity, in PhysicsMass bodyMass, in Rotation bodyOrientation, in float3 angularVelocity)

Parameters

Type	Name	Description
PhysicsVelocity	bodyVelocity	The body's PhysicsVelocity component.
PhysicsMass	bodyMass	The body's PhysicsMass component
Rotation	bodyOrientation	The body's Rotation component
Unity.Mathematics.float3	angularVelocity	An angular velocity in world space specifying radians per second about each axis.

SetCenterOfMassWorldSpace(ref PhysicsMass, Translation, Rotation, float3)

Set the center of mass in world space

Declaration

public static void SetCenterOfMassWorldSpace(this ref PhysicsMass bodyMass, in Translation bodyPosition, in Rotation bodyOrientation, float3 com)

Parameters

Type	Name	Description
PhysicsMass	bodyMass	The body's PhysicsMass component
Translation	bodyPosition	The body's Translation component
Rotation	bodyOrientation	The body's Rotation component
Unity.Mathematics.float3	com	A position in world space for the new Center Of Mass