Class PhysicsWorldExtensions

Utility functions acting on a physics world.

Inheritance

object

PhysicsWorldExtensions

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 PhysicsWorldExtensions

Methods

ApplyAngularImpulse(PhysicsWorld, int, float3)

Apply an angular impulse to a rigidBodyIndex (in world space)

Declaration

public static void ApplyAngularImpulse(this PhysicsWorld world, int rigidBodyIndex, float3 angularImpulse)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.
float3	angularImpulse	The angular impulse.

ApplyImpulse(PhysicsWorld, int, float3, float3)

Apply an impulse to a rigid body at a point (in world space)

Declaration

public static void ApplyImpulse(this PhysicsWorld world, int rigidBodyIndex, float3 linearImpulse, float3 point)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.
float3	linearImpulse	The linear impulse.
float3	point	The point.

ApplyLinearImpulse(PhysicsWorld, int, float3)

Apply a linear impulse to a rigid body (in world space)

Declaration

public static void ApplyLinearImpulse(this PhysicsWorld world, int rigidBodyIndex, float3 linearImpulse)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.
float3	linearImpulse	The linear impulse.

CalculateVelocityToTarget(PhysicsWorld, int, RigidTransform, float, out float3, out float3)

Calculate a linear and angular velocity required to move the given rigid body to the given target transform in the given time step.

Declaration

public static void CalculateVelocityToTarget(this PhysicsWorld world, int rigidBodyIndex, RigidTransform targetTransform, float timestep, out float3 requiredLinearVelocity, out float3 requiredAngularVelocity)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.
RigidTransform	targetTransform	Target transform.
float	timestep	The timestep.
float3	requiredLinearVelocity	[out] The required linear velocity.
float3	requiredAngularVelocity	[out] The required angular velocity.

GetAngularVelocity(in PhysicsWorld, int)

Get the angular velocity of a rigid body around it's center of mass (in world space)

Declaration

public static float3 GetAngularVelocity(this in PhysicsWorld world, int rigidBodyIndex)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.

Returns

Type	Description
float3	The angular velocity.

GetCenterOfMass(in PhysicsWorld, int)

Get the Rigid Bodies Center of Mass (in World Space)

Declaration

public static float3 GetCenterOfMass(this in PhysicsWorld world, int rigidBodyIndex)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.

Returns

Type	Description
float3	The center of mass.

GetCollisionFilter(in PhysicsWorld, int)

An in PhysicsWorld extension method that gets collision filter.

Declaration

public static CollisionFilter GetCollisionFilter(this in PhysicsWorld world, int rigidBodyIndex)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.

Returns

Type	Description
CollisionFilter	The collision filter.

GetEffectiveMass(in PhysicsWorld, int, float3, float3)

Get the effective mass of a Rigid Body in a given direction and from a particular point (in World Space)

Declaration

public static float GetEffectiveMass(this in PhysicsWorld world, int rigidBodyIndex, float3 impulse, float3 point)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.
float3	impulse	The impulse.
float3	point	The point.

Returns

Type	Description
float	The effective mass.

GetLinearVelocity(in PhysicsWorld, int)

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

Declaration

public static float3 GetLinearVelocity(this in PhysicsWorld world, int rigidBodyIndex)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.

Returns

Type	Description
float3	The linear velocity.

GetLinearVelocity(in PhysicsWorld, int, float3)

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

Declaration

public static float3 GetLinearVelocity(this in PhysicsWorld world, int rigidBodyIndex, float3 point)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.
float3	point	The point.

Returns

Type	Description
float3	The linear velocity.

GetMass(in PhysicsWorld, int)

An in PhysicsWorld extension method that gets the mass.

Declaration

public static float GetMass(this in PhysicsWorld world, int rigidBodyIndex)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.

Returns

Type	Description
float	The mass.

GetPosition(in PhysicsWorld, int)

An in PhysicsWorld extension method that gets a position of a body in World Space.

Declaration

public static float3 GetPosition(this in PhysicsWorld world, int rigidBodyIndex)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.

Returns

Type	Description
float3	The position.

GetRotation(in PhysicsWorld, int)

An in PhysicsWorld extension method that gets a rotation.

Declaration

public static quaternion GetRotation(this in PhysicsWorld world, int rigidBodyIndex)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.

Returns

Type	Description
quaternion	The rotation.

SetAngularVelocity(PhysicsWorld, int, float3)

Set the angular velocity of a rigid body (in world space)

Declaration

public static void SetAngularVelocity(this PhysicsWorld world, int rigidBodyIndex, float3 angularVelocity)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.
float3	angularVelocity	The angular velocity.

SetLinearVelocity(PhysicsWorld, int, float3)

Set the linear velocity of a rigid body (in world space)

Declaration

public static void SetLinearVelocity(this PhysicsWorld world, int rigidBodyIndex, float3 linearVelocity)

Parameters

Type	Name	Description
PhysicsWorld	world	The world to act on.
int	rigidBodyIndex	Zero-based index of the rigid body.
float3	linearVelocity	The linear velocity.