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<?xml version="1.0" encoding="UTF-8" ?>
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<class name= "PhysicsDirectBodyState3D" inherits= "Object" xmlns:xsi= "http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation= "../class.xsd" >
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<brief_description >
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Provides direct access to a physics body in the [PhysicsServer3D].
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</brief_description>
<description >
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Provides direct access to a physics body in the [PhysicsServer3D], allowing safe changes to physics properties. This object is passed via the direct state callback of [RigidBody3D], and is intended for changing the direct state of that body. See [method RigidBody3D._integrate_forces].
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</description>
<tutorials >
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<link title= "Physics introduction" > $DOCS_URL/tutorials/physics/physics_introduction.html</link>
<link title= "Ray-casting" > $DOCS_URL/tutorials/physics/ray-casting.html</link>
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</tutorials>
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<methods >
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<method name= "add_constant_central_force" >
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<return type= "void" />
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<param index= "0" name= "force" type= "Vector3" default= "Vector3(0, 0, 0)" />
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<description >
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Adds a constant directional force without affecting rotation that keeps being applied over time until cleared with [code]constant_force = Vector3(0, 0, 0)[/code].
This is equivalent to using [method add_constant_force] at the body's center of mass.
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</description>
</method>
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<method name= "add_constant_force" >
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<return type= "void" />
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<param index= "0" name= "force" type= "Vector3" />
<param index= "1" name= "position" type= "Vector3" default= "Vector3(0, 0, 0)" />
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<description >
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Adds a constant positioned force to the body that keeps being applied over time until cleared with [code]constant_force = Vector3(0, 0, 0)[/code].
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[param position] is the offset from the body origin in global coordinates.
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</description>
</method>
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<method name= "add_constant_torque" >
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<return type= "void" />
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<param index= "0" name= "torque" type= "Vector3" />
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<description >
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Adds a constant rotational force without affecting position that keeps being applied over time until cleared with [code]constant_torque = Vector3(0, 0, 0)[/code].
</description>
</method>
<method name= "apply_central_force" >
<return type= "void" />
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<param index= "0" name= "force" type= "Vector3" default= "Vector3(0, 0, 0)" />
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<description >
Applies a directional force without affecting rotation. A force is time dependent and meant to be applied every physics update.
This is equivalent to using [method apply_force] at the body's center of mass.
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</description>
</method>
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<method name= "apply_central_impulse" >
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<return type= "void" />
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<param index= "0" name= "impulse" type= "Vector3" default= "Vector3(0, 0, 0)" />
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<description >
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Applies a directional impulse without affecting rotation.
An impulse is time-independent! Applying an impulse every frame would result in a framerate-dependent force. For this reason, it should only be used when simulating one-time impacts (use the "_force" functions otherwise).
This is equivalent to using [method apply_impulse] at the body's center of mass.
</description>
</method>
<method name= "apply_force" >
<return type= "void" />
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<param index= "0" name= "force" type= "Vector3" />
<param index= "1" name= "position" type= "Vector3" default= "Vector3(0, 0, 0)" />
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<description >
Applies a positioned force to the body. A force is time dependent and meant to be applied every physics update.
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[param position] is the offset from the body origin in global coordinates.
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</description>
</method>
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<method name= "apply_impulse" >
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<return type= "void" />
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<param index= "0" name= "impulse" type= "Vector3" />
<param index= "1" name= "position" type= "Vector3" default= "Vector3(0, 0, 0)" />
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<description >
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Applies a positioned impulse to the body.
An impulse is time-independent! Applying an impulse every frame would result in a framerate-dependent force. For this reason, it should only be used when simulating one-time impacts (use the "_force" functions otherwise).
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[param position] is the offset from the body origin in global coordinates.
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</description>
</method>
<method name= "apply_torque" >
<return type= "void" />
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<param index= "0" name= "torque" type= "Vector3" />
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<description >
Applies a rotational force without affecting position. A force is time dependent and meant to be applied every physics update.
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[b]Note:[/b] [member inverse_inertia] is required for this to work. To have [member inverse_inertia], an active [CollisionShape3D] must be a child of the node, or you can manually set [member inverse_inertia].
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</description>
</method>
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<method name= "apply_torque_impulse" >
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<return type= "void" />
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<param index= "0" name= "impulse" type= "Vector3" />
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<description >
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Applies a rotational impulse to the body without affecting the position.
An impulse is time-independent! Applying an impulse every frame would result in a framerate-dependent force. For this reason, it should only be used when simulating one-time impacts (use the "_force" functions otherwise).
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[b]Note:[/b] [member inverse_inertia] is required for this to work. To have [member inverse_inertia], an active [CollisionShape3D] must be a child of the node, or you can manually set [member inverse_inertia].
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</description>
</method>
<method name= "get_constant_force" qualifiers= "const" >
<return type= "Vector3" />
<description >
Returns the body's total constant positional forces applied during each physics update.
See [method add_constant_force] and [method add_constant_central_force].
</description>
</method>
<method name= "get_constant_torque" qualifiers= "const" >
<return type= "Vector3" />
<description >
Returns the body's total constant rotational forces applied during each physics update.
See [method add_constant_torque].
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</description>
</method>
<method name= "get_contact_collider" qualifiers= "const" >
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<return type= "RID" />
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<param index= "0" name= "contact_idx" type= "int" />
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<description >
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Returns the collider's [RID].
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</description>
</method>
<method name= "get_contact_collider_id" qualifiers= "const" >
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<return type= "int" />
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<param index= "0" name= "contact_idx" type= "int" />
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<description >
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Returns the collider's object id.
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</description>
</method>
<method name= "get_contact_collider_object" qualifiers= "const" >
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<return type= "Object" />
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<param index= "0" name= "contact_idx" type= "int" />
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<description >
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Returns the collider object.
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</description>
</method>
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<method name= "get_contact_collider_position" qualifiers= "const" >
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<return type= "Vector3" />
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<param index= "0" name= "contact_idx" type= "int" />
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<description >
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Returns the position of the contact point on the collider in the global coordinate system.
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</description>
</method>
<method name= "get_contact_collider_shape" qualifiers= "const" >
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<return type= "int" />
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<param index= "0" name= "contact_idx" type= "int" />
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<description >
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Returns the collider's shape index.
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</description>
</method>
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<method name= "get_contact_collider_velocity_at_position" qualifiers= "const" >
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<return type= "Vector3" />
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<param index= "0" name= "contact_idx" type= "int" />
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<description >
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Returns the linear velocity vector at the collider's contact point.
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</description>
</method>
<method name= "get_contact_count" qualifiers= "const" >
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<return type= "int" />
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<description >
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Returns the number of contacts this body has with other bodies.
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[b]Note:[/b] By default, this returns 0 unless bodies are configured to monitor contacts. See [member RigidBody3D.contact_monitor].
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</description>
</method>
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<method name= "get_contact_impulse" qualifiers= "const" >
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<return type= "Vector3" />
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<param index= "0" name= "contact_idx" type= "int" />
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<description >
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Impulse created by the contact.
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</description>
</method>
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<method name= "get_contact_local_normal" qualifiers= "const" >
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<return type= "Vector3" />
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<param index= "0" name= "contact_idx" type= "int" />
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<description >
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Returns the local normal at the contact point.
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</description>
</method>
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<method name= "get_contact_local_position" qualifiers= "const" >
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<return type= "Vector3" />
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<param index= "0" name= "contact_idx" type= "int" />
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<description >
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Returns the position of the contact point on the body in the global coordinate system.
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</description>
</method>
<method name= "get_contact_local_shape" qualifiers= "const" >
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<return type= "int" />
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<param index= "0" name= "contact_idx" type= "int" />
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<description >
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Returns the local shape index of the collision.
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</description>
</method>
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<method name= "get_contact_local_velocity_at_position" qualifiers= "const" >
<return type= "Vector3" />
<param index= "0" name= "contact_idx" type= "int" />
<description >
Returns the linear velocity vector at the body's contact point.
</description>
</method>
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<method name= "get_space_state" >
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<return type= "PhysicsDirectSpaceState3D" />
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<description >
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Returns the current state of the space, useful for queries.
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</description>
</method>
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<method name= "get_velocity_at_local_position" qualifiers= "const" >
<return type= "Vector3" />
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<param index= "0" name= "local_position" type= "Vector3" />
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<description >
Returns the body's velocity at the given relative position, including both translation and rotation.
</description>
</method>
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<method name= "integrate_forces" >
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<return type= "void" />
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<description >
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Updates the body's linear and angular velocity by applying gravity and damping for the equivalent of one physics tick.
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</description>
</method>
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<method name= "set_constant_force" >
<return type= "void" />
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<param index= "0" name= "force" type= "Vector3" />
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<description >
Sets the body's total constant positional forces applied during each physics update.
See [method add_constant_force] and [method add_constant_central_force].
</description>
</method>
<method name= "set_constant_torque" >
<return type= "void" />
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<param index= "0" name= "torque" type= "Vector3" />
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<description >
Sets the body's total constant rotational forces applied during each physics update.
See [method add_constant_torque].
</description>
</method>
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</methods>
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<members >
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<member name= "angular_velocity" type= "Vector3" setter= "set_angular_velocity" getter= "get_angular_velocity" >
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The body's rotational velocity in [i]radians[/i] per second.
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</member>
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<member name= "center_of_mass" type= "Vector3" setter= "" getter= "get_center_of_mass" >
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The body's center of mass position relative to the body's center in the global coordinate system.
</member>
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<member name= "center_of_mass_local" type= "Vector3" setter= "" getter= "get_center_of_mass_local" >
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The body's center of mass position in the body's local coordinate system.
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</member>
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<member name= "inverse_inertia" type= "Vector3" setter= "" getter= "get_inverse_inertia" >
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The inverse of the inertia of the body.
</member>
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<member name= "inverse_inertia_tensor" type= "Basis" setter= "" getter= "get_inverse_inertia_tensor" >
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The inverse of the inertia tensor of the body.
</member>
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<member name= "inverse_mass" type= "float" setter= "" getter= "get_inverse_mass" >
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The inverse of the mass of the body.
</member>
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<member name= "linear_velocity" type= "Vector3" setter= "set_linear_velocity" getter= "get_linear_velocity" >
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The body's linear velocity in units per second.
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</member>
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<member name= "principal_inertia_axes" type= "Basis" setter= "" getter= "get_principal_inertia_axes" >
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</member>
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<member name= "sleeping" type= "bool" setter= "set_sleep_state" getter= "is_sleeping" >
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If [code]true[/code], this body is currently sleeping (not active).
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</member>
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<member name= "step" type= "float" setter= "" getter= "get_step" >
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The timestep (delta) used for the simulation.
</member>
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<member name= "total_angular_damp" type= "float" setter= "" getter= "get_total_angular_damp" >
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The rate at which the body stops rotating, if there are not any other forces moving it.
</member>
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<member name= "total_gravity" type= "Vector3" setter= "" getter= "get_total_gravity" >
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The total gravity vector being currently applied to this body.
</member>
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<member name= "total_linear_damp" type= "float" setter= "" getter= "get_total_linear_damp" >
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The rate at which the body stops moving, if there are not any other forces moving it.
</member>
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<member name= "transform" type= "Transform3D" setter= "set_transform" getter= "get_transform" >
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The body's transformation matrix.
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</member>
</members>
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</class>