Class PhysicsComponentExtensions

Utility functions acting on physics components.

Inheritance
Object
PhysicsComponentExtensions
Inherited Members
Namespace: Unity.Physics.Extensions
Syntax
public static class PhysicsComponentExtensions

Methods

ApplyAngularImpulse(ref PhysicsVelocity, in PhysicsMass, Single, in float3)

Applies the angular impulse.

Declaration
public static void ApplyAngularImpulse(this ref PhysicsVelocity velocityData, in PhysicsMass massData, float bodyScale, in float3 impulse)
Parameters
Type Name Description
PhysicsVelocity velocityData

[in,out] Information describing the velocity.

PhysicsMass massData

Information describing the mass.

Single bodyScale

The body scale.

float3 impulse

The impulse.

ApplyAngularImpulse(ref PhysicsVelocity, in PhysicsMass, in float3)

Applies the angular impulse.

Declaration
public static void ApplyAngularImpulse(this ref PhysicsVelocity velocityData, in PhysicsMass massData, in float3 impulse)
Parameters
Type Name Description
PhysicsVelocity velocityData

[in,out] Information describing the velocity.

PhysicsMass massData

Information describing the mass.

float3 impulse

The impulse.

ApplyExplosionForce(ref PhysicsVelocity, in PhysicsMass, in PhysicsCollider, in float3, in quaternion, Single, in float3, in Single, in Single, in float3, in 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 Assumes that there is no scale.

Declaration
public static void ApplyExplosionForce(this ref PhysicsVelocity bodyVelocity, in PhysicsMass bodyMass, in PhysicsCollider bodyCollider, in float3 bodyPosition, in quaternion 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

[in,out] The body velocity.

PhysicsMass bodyMass

The body mass.

PhysicsCollider bodyCollider

The body collider.

float3 bodyPosition

The body position.

quaternion bodyOrientation

The body orientation.

Single explosionForce

The explosion force.

float3 explosionPosition

The explosion position.

Single explosionRadius

The explosion radius.

Single timestep

The timestep.

float3 up

The up.

Single upwardsModifier

(Optional) The upwards modifier.

ForceMode mode

(Optional) The mode.

ApplyExplosionForce(ref PhysicsVelocity, in PhysicsMass, in PhysicsCollider, in float3, in quaternion, in Single, Single, in float3, in Single, in Single, in float3, in CollisionFilter, in 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 float3 bodyPosition, in quaternion bodyOrientation, in float bodyScale, 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

[in,out] The body's PhysicsVelocity component.

PhysicsMass bodyMass

The body's PhysicsMass component.

PhysicsCollider bodyCollider

The body's PhysicsCollider component.

float3 bodyPosition

The body's world-space position.

quaternion bodyOrientation

The body's world-space rotation.

Single bodyScale

The body's world-space scale.

Single explosionForce

The force of the explosion (which may be modified by distance).

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.

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

(Optional) Adjustment to the apparent position of the explosion to make it seem to lift objects.

ForceMode mode

(Optional) The method used to apply the force to its targets.

ApplyImpulse(ref PhysicsVelocity, in PhysicsMass, in float3, in quaternion, Single, in float3, in float3)

Applies the impulse.

Declaration
public static void ApplyImpulse(this ref PhysicsVelocity pv, in PhysicsMass pm, in float3 t, in quaternion r, float bodyScale, in float3 impulse, in float3 point)
Parameters
Type Name Description
PhysicsVelocity pv

[in,out] The velocity.

PhysicsMass pm

The mass.

float3 t

The body position.

quaternion r

Tge body rotation.

Single bodyScale

The body scale.

float3 impulse

The impulse.

float3 point

The point.

ApplyImpulse(ref PhysicsVelocity, in PhysicsMass, in float3, in quaternion, in float3, in float3)

Applies the impulse.

Declaration
public static void ApplyImpulse(this ref PhysicsVelocity pv, in PhysicsMass pm, in float3 t, in quaternion r, in float3 impulse, in float3 point)
Parameters
Type Name Description
PhysicsVelocity pv

[in,out] The velocity.

PhysicsMass pm

The mass.

float3 t

The body position.

quaternion r

The body rotation.

float3 impulse

The impulse.

float3 point

The point.

ApplyLinearImpulse(ref PhysicsVelocity, in PhysicsMass, Single, in float3)

Applies the linear impulse.

Declaration
public static void ApplyLinearImpulse(this ref PhysicsVelocity velocityData, in PhysicsMass massData, float bodyScale, in float3 impulse)
Parameters
Type Name Description
PhysicsVelocity velocityData

[in,out] Information describing the velocity.

PhysicsMass massData

Information describing the mass.

Single bodyScale

The body scale.

float3 impulse

The impulse.

ApplyLinearImpulse(ref PhysicsVelocity, in PhysicsMass, in float3)

Applies the linear impulse.

Declaration
public static void ApplyLinearImpulse(this ref PhysicsVelocity velocityData, in PhysicsMass massData, in float3 impulse)
Parameters
Type Name Description
PhysicsVelocity velocityData

[in,out] Information describing the velocity.

PhysicsMass massData

Information describing the mass.

float3 impulse

The impulse.

ApplyScale(in PhysicsMass, Single)

Scale the mass of the body using provided scale.

Declaration
public static PhysicsMass ApplyScale(this in PhysicsMass pm, float uniformScale)
Parameters
Type Name Description
PhysicsMass pm

The body's PhysicsMass component.

Single uniformScale

The body's uniform scale. If this value is approximately 1.0, the function will early-out with no effect.
Returns
Type Description
PhysicsMass

A body's physics mass with respect to it's scale.

Remarks

Do not use this function to scale physics mass for simulation purposes, that is done automatically by physics systems. Use it if you need PhysicsMass in one of your functions if the body has a non-identity scale component, and do not write back this mass to the body's entity components.

GetAngularVelocityWorldSpace(in PhysicsVelocity, in PhysicsMass, in quaternion)

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

Declaration
public static float3 GetAngularVelocityWorldSpace(this in PhysicsVelocity bodyVelocity, in PhysicsMass bodyMass, in quaternion bodyOrientation)
Parameters
Type Name Description
PhysicsVelocity bodyVelocity

The body's PhysicsVelocity component.

PhysicsMass bodyMass

The body's PhysicsMass component.

quaternion bodyOrientation

The body's world-space rotation.

Returns
Type Description
float3

The angular velocity of a rigid body in world space.

GetCenterOfMassWorldSpace(in PhysicsMass, Single, in float3, in quaternion)

Get the center of mass in world space.

Declaration
public static float3 GetCenterOfMassWorldSpace(this in PhysicsMass bodyMass, float bodyScale, in float3 bodyPosition, in quaternion bodyOrientation)
Parameters
Type Name Description
PhysicsMass bodyMass

The body's PhysicsMass component.

Single bodyScale

The body's uniform scale.

float3 bodyPosition

The body's world-space position.

quaternion bodyOrientation

The body's world-space rotation.

Returns
Type Description
float3

The center of mass in world space.

GetCenterOfMassWorldSpace(in PhysicsMass, in float3, in quaternion)

Get the center of mass in world space. Assumes that there is no scale.

Declaration
public static float3 GetCenterOfMassWorldSpace(this in PhysicsMass bodyMass, in float3 bodyPosition, in quaternion bodyOrientation)
Parameters
Type Name Description
PhysicsMass bodyMass

The body mass.

float3 bodyPosition

The body position.

quaternion bodyOrientation

The body orientation.

Returns
Type Description
float3

The center of mass world space.

See Also

GetEffectiveMass(in PhysicsMass, in float3, in quaternion, in Single, 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 float3 bodyPosition, in quaternion bodyOrientation, in float bodyScale, float3 impulse, float3 point)
Parameters
Type Name Description
PhysicsMass bodyMass

The body's PhysicsMass component.

float3 bodyPosition

The body's world-space position.

quaternion bodyOrientation

The body's world-space rotation.

Single bodyScale

The body's uniform scale.

float3 impulse

An impulse in world space.

float3 point

A point in world space.

Returns
Type Description
Single

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

GetEffectiveMass(in PhysicsMass, in float3, in quaternion, 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 float3 bodyPosition, in quaternion bodyOrientation, float3 impulse, float3 point)
Parameters
Type Name Description
PhysicsMass bodyMass

The body mass.

float3 bodyPosition

The body position.

quaternion bodyOrientation

The body orientation.

float3 impulse

The impulse.

float3 point

The point.

Returns
Type Description
Single

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

Remarks

Assumes that there is no scale.

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

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

Declaration
public static void GetImpulseFromForce(this in PhysicsMass bodyMass, float bodyScale, 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.

Single bodyScale

The body's uniform scale.

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.

float3 impulse

[out] A returned impulse proportional to the provided 'force' and based on the supplied 'mode'.

PhysicsMass impulseMass

[out] A returned PhysicsMass component to be passed to an Apply function.

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

Converts a force into an impulse based on the force mode and the bodies mass and inertia properties. Assumes that there is no scale. GetImpulseFromForce(in PhysicsMass, Single, in float3, in ForceMode, in Single, out float3, out PhysicsMass)

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 mass.

float3 force

The force.

ForceMode mode

The mode.

Single timestep

The timestep.

float3 impulse

[out] The impulse.

PhysicsMass impulseMass

[out] The impulse mass.

GetLinearVelocity(in PhysicsVelocity, PhysicsMass, float3, quaternion, 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, float3 bodyPosition, quaternion bodyOrientation, float3 point)
Parameters
Type Name Description
PhysicsVelocity bodyVelocity

The body's PhysicsVelocity component.

PhysicsMass bodyMass

The body's PhysicsMass component.

float3 bodyPosition

The body's world-space position.

quaternion bodyOrientation

The body's world-space rotation.

float3 point

A reference position in world space.

Returns
Type Description
float3

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

Integrate(in PhysicsVelocity, in 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.

float3 position

[in,out] The future position of the body.

quaternion orientation

[in,out] The future orientation of the body.

SetAngularVelocityWorldSpace(ref PhysicsVelocity, in PhysicsMass, in quaternion, in float3)

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

Declaration
public static void SetAngularVelocityWorldSpace(this ref PhysicsVelocity bodyVelocity, in PhysicsMass bodyMass, in quaternion bodyOrientation, in float3 angularVelocity)
Parameters
Type Name Description
PhysicsVelocity bodyVelocity

[in,out] The body's PhysicsVelocity component.

PhysicsMass bodyMass

The body's PhysicsMass component.

quaternion bodyOrientation

The body's world-space rotation.

float3 angularVelocity

An angular velocity in world space specifying radians per second about each axis.

SetCenterOfMassWorldSpace(ref PhysicsMass, in float3, in quaternion, float3)

Set the center of mass in world space.

Declaration
public static void SetCenterOfMassWorldSpace(this ref PhysicsMass bodyMass, in float3 bodyPosition, in quaternion bodyOrientation, float3 com)
Parameters
Type Name Description
PhysicsMass bodyMass

[in,out] The body's PhysicsMass component.

float3 bodyPosition

The body's world-space position.

quaternion bodyOrientation

The body's world-space rotation.

float3 com

A position in world space for the new Center Of Mass.