Class PhysicsComponentExtensions

Utility functions acting on physics components.

Inheritance

object

PhysicsComponentExtensions

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Namespace: Unity.Physics.Extensions

Assembly: Unity.Physics.dll

Syntax

public static class PhysicsComponentExtensions

Methods

ApplyAngularImpulse(ref PhysicsVelocity, in PhysicsMass, float, 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.
float	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, float, in float3, in float, in float, in float3, in float, 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. ApplyExplosionForce(ref PhysicsVelocity, PhysicsMass, PhysicsCollider, float3, quaternion, float, float, float3, float, float, float3, CollisionFilter,float, ForceMode)

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 = 0, 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.
float	explosionForce	The explosion force.
float3	explosionPosition	The explosion position.
float	explosionRadius	The explosion radius.
float	timestep	The timestep.
float3	up	The up.
float	upwardsModifier	(Optional) The upwards modifier.
ForceMode	mode	(Optional) The mode.

ApplyExplosionForce(ref PhysicsVelocity, in PhysicsMass, in PhysicsCollider, in float3, in quaternion, in float, float, in float3, in float, in float, in float3, in CollisionFilter, in float, 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 = 0, 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.
float	bodyScale	The body's world-space scale.
float	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.
float	explosionRadius	The radius of the sphere within which the explosion has its effect.
float	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.
float	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, float, 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.
float	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, float, 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.
float	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, float)

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.
float	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, float, 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.
float	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

quaternion

GetEffectiveMass(in PhysicsMass, in float3, in quaternion, in float, 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.
float	bodyScale	The body's uniform scale.
float3	impulse	An impulse in world space.
float3	point	A point in world space.

Returns

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

Remarks

Assumes that there is no scale.

GetImpulseFromForce(in PhysicsMass, float, in float3, in ForceMode, in float, 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.
float	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.
float	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 float, 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, float, in float3, in ForceMode, in float, 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.
float	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, float, 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.
float	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.

MakeUnique(ref PhysicsCollider, in Entity, EntityCommandBuffer)

Makes this collider unique if this is not already the case.

Declaration

public static void MakeUnique(this ref PhysicsCollider collider, in Entity entity, EntityCommandBuffer ecb)

Parameters

Type	Name	Description
PhysicsCollider	collider	The PhysicsCollider component representing the collider.
Entity	entity	The entity which contains the PhysicsCollider component.
EntityCommandBuffer	ecb	An entity command buffer, required for this operation.

MakeUnique(ref PhysicsCollider, in Entity, ParallelWriter, int)

Makes this collider unique if this is not already the case. This function can be used in a job.

Declaration

public static void MakeUnique(this ref PhysicsCollider collider, in Entity entity, EntityCommandBuffer.ParallelWriter ecbParallelWriter, int sortKey)

Parameters

Type	Name	Description
PhysicsCollider	collider	The PhysicsCollider component representing the collider.
Entity	entity	The entity which contains the PhysicsCollider component.
EntityCommandBuffer.ParallelWriter	ecbParallelWriter	An entity command buffer's parallel writer, required for this operation.
int	sortKey	A unique index required for adding a component through the provided ecbParallelWriter. See AddComponent<T>(int, Entity, T) for details.

MakeUnique(ref PhysicsCollider, in Entity, EntityManager)

Makes this collider unique if this is not already the case.

Declaration

public static void MakeUnique(this ref PhysicsCollider collider, in Entity entity, EntityManager entityManager)

Parameters

Type	Name	Description
PhysicsCollider	collider	The PhysicsCollider component representing the collider.
Entity	entity	The entity which contains the PhysicsCollider component.
EntityManager	entityManager	An entity manager, required for this operation.

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.

ToMesh(in PhysicsCollider)

Converts a PhysicsCollider to a Mesh.

Declaration

public static Mesh ToMesh(this in PhysicsCollider collider)

Parameters

Type	Name	Description
PhysicsCollider	collider	The collider to convert to a mesh.

Returns

Type	Description
Mesh	The created mesh.