Attention

You are viewing PyUnity docs under the develop branch. As such, they are only applicable if you installed from source. Go to https://docs.pyunity.x10.bz/en/latest/ for the most recent release.

pyunity.physics.core module

Source code: pyunity/physics/core.py

---

Core classes of the PyUnity physics engine.

pyunity.physics.core.Infinity = inf

Type:    float

A representation of infinity

class pyunity.physics.core.PhysicMaterial

Bases: object

Class to store data on a collider’s material.

Parameters:

• restitution (float) – Bounciness of the material

• friction (float) – Friction of the material

restitution

Bounciness of the material

Type:

float

friction

Friction of the material

Type:

float

combine

Combining function. -1 means minimum, 0 means average, and 1 means maximum

Type:

int

exception(*args, **kwargs)

class pyunity.physics.core.Manifold

Bases: object

Class to store collision data.

Parameters:

• a (Collider) – The first collider

• b (Collider) – The second collider

• point (Vector3) – The collision point

• normal (Vector3) – The collision normal

• penetration (float) – How much the two colliders overlap

class pyunity.physics.core.Collider

Bases: Component

Collider base class.

offset = None

The offset from the centre of the Collider

Type:

Vector3

supportPoint(direction)

property pos

property rot

class pyunity.physics.core.SphereCollider

Bases: Collider

A spherical collider that cannot be deformed.

radius = 0.0

The radius of the SphereCollider

Type:

Vector3

SetSize(radius, offset)

Sets the size of the collider.

Parameters:

• radius (float) – The radius of the collider.

• offset (Vector3) – Offset of the collider.

property min

property max

collidingWith(other)

supportPoint(direction)

class pyunity.physics.core.BoxCollider

Bases: Collider

An axis-aligned box collider that cannot be deformed.

size = None

The distance between two farthest vertices of the collider

Type:

Vector3

SetSize(size, offset)

Sets the size of the collider.

Parameters:

• size (Vector3) – The dimensions of the collider.

• offset (Vector3) – Offset of the collider.

property min

property max

collidingWith(other)

supportPoint(direction)

class pyunity.physics.core.Rigidbody

Bases: Component

Class to let a GameObject follow physics rules.

velocity = None

Velocity of the Rigidbody

Type:

Vector3

rotVel = None

Rotational velocity of the Rigidbody

Type:

Vector3

force = None

Force acting on the Rigidbody. Reset every frame.

Type:

Vector3

torque = None

Rotational force acting on the Rigidbody. Reset every frame.

Type:

Vector3

physicMaterial = <pyunity.physics.core.PhysicMaterial object at 0x7fc4aa61a5b0>

Physics material of the Rigidbody

Type:

PhysicMaterial

property mass

Mass of the Rigidbody. Defaults to 100

property inertia

property pos

property rot

Move(dt)

Moves all colliders on the GameObject by the Rigidbody’s velocity times the delta time.

Parameters:

dt (float) – Time to simulate movement by

MovePos(offset)

Moves the rigidbody and its colliders by an offset.

Parameters:

offset (Vector3) – Offset to move

AddForce(force, point=Vector3(0, 0, 0))

Apply a force to the center of the Rigidbody.

Parameters:

• force (Vector3) – Force to apply

• point (Vector3, optional) – Point relative to center of mass in local space to apply force at

Notes

A force is a gradual change in velocity, whereas an impulse is just a jump in velocity.

AddImpulse(impulse)

Apply an impulse to the center of the Rigidbody.

Parameters:

impulse (Vector3) – Impulse to apply

Notes

A force is a gradual change in velocity, whereas an impulse is just a jump in velocity.

class pyunity.physics.core.SupportPoint

Bases: IgnoredMixin

class pyunity.physics.core.Triangle

Bases: IgnoredMixin

class pyunity.physics.core.CollManager

Bases: IgnoredMixin

Manages the collisions between all colliders.

rigidbodies

Dictionary of rigidbodies andthe colliders on the gameObject that the Rigidbody belongs to

Type:

dict

dummyRigidbody

A dummy rigidbody used when a GameObject has colliders but no rigidbody. It has infinite mass

Type:

Rigidbody

static supportPoint(a, b, direction)

static nextSimplex(args)

static lineSimplex(args)

static triSimplex(args)

static tetraSimplex(args)

static gjk(a, b)

static epa(a, b)

static AddEdge(edges, a, b)

static barycentric(p, a, b, c)

AddPhysicsInfo(scene)

Get all colliders and rigidbodies from a specified scene. This overwrites the collider and rigidbody lists, and so can be called whenever a new collider or rigidbody is added or removed.

Parameters:

scene (Scene) – Scene to search for physics info

Notes

This function will overwrite the pre-existing dictionary of rigidbodies. When there are colliders but no rigidbody is on the GameObject, then they are placed in the dictionary with a dummy Rigidbody that has infinite mass and a default physic material. Thus, they cannot move.

GetRestitution(a, b)

Get the restitution needed for two rigidbodies, based on their combine function

Parameters:

• a (Rigidbody) – Rigidbody 1

• b (Rigidbody) – Rigidbody 2

Returns:

Restitution

Return type:

float

CheckCollisions()

Goes through every pair exactly once, then checks their collisions and resolves them.

ResolveCollisions(a, b, point, restitution, normal, penetration)

correctInf(a, b, correction, target)

Step(dt)

Steps through the simulation at a given delta time.

Parameters:

dt (float) – Delta time to step

Notes

The simulation is stepped 10 times manually by the scene, so it is more precise.