Module body 

Rigid bodies: create, destroy, and configure simulation state.

Use create_body with a crate::types::BodyDef (from crate::types::default_body_def) to add a body to a crate::world::World. Attach collision with crate::shape, then apply forces / set transforms through the accessors in this module.

Port of body.h / body.c (lifecycle, mass, velocity, and query API).

SPDX-FileCopyrightText: 2025 Erin Catto SPDX-License-Identifier: MIT

Modules

body_flags

Body flag bits. (enum b3BodyFlags)

Structs

Body

Body organizational details that are not used in the solver. (b3Body)

BodyCastResult

Body cast result for ray and shape casts. (b3BodyCastResult)

BodyPlaneResult

Body plane result for movers. (b3BodyPlaneResult)

BodySim

Body simulation data used for integration of position and velocity. Transform data used for collision and solver preparation. (b3BodySim)

BodyState

Body state designed for fast conversion to and from SIMD via scatter-gather. Only awake dynamic and kinematic bodies have a body state. Used in the performance critical constraint solver. (b3BodyState, 56 bytes)

Constants

IDENTITY_BODY_STATE

Identity body state; notice delta_rotation is identity. (b3_identityBodyState)

Functions

body_apply_angular_impulse

(b3Body_ApplyAngularImpulse)

body_apply_force

(b3Body_ApplyForce)

body_apply_force_to_center

(b3Body_ApplyForceToCenter)

body_apply_linear_impulse

(b3Body_ApplyLinearImpulse)

body_apply_linear_impulse_to_center

(b3Body_ApplyLinearImpulseToCenter)

body_apply_mass_from_shapes

This updates the mass properties to the sum of the mass properties of the shapes. (b3Body_ApplyMassFromShapes)

body_apply_torque

(b3Body_ApplyTorque)

body_cast_ray

Cast a ray against a body’s shapes. Results are in world space relative to origin; body_transform (not the body’s stored pose) drives the geometry. (b3Body_CastRay)

body_cast_shape

Cast a shape proxy against a body’s shapes. (b3Body_CastShape)

body_collide_mover

Collide a capsule mover against a single body’s sphere/capsule/hull shapes. (b3Body_CollideMover)

body_compute_aabb

Union of shape AABBs, or a degenerate AABB at the body position when shapeless. (b3Body_ComputeAABB)

body_disable

Disable a body (move to the disabled set, remove proxies). (b3Body_Disable)

body_enable

Enable a disabled body. (b3Body_Enable)

body_enable_contact_recycling

(b3Body_EnableContactRecycling)

body_enable_hit_events

Enable hit events on all shapes attached to this body. (b3Body_EnableHitEvents)

body_enable_sleep

(b3Body_EnableSleep)

body_get_angular_damping

(b3Body_GetAngularDamping)

body_get_angular_velocity

(b3Body_GetAngularVelocity)

body_get_contact_capacity

Conservative and fast. (b3Body_GetContactCapacity)

body_get_contact_data

Touching contact data for a body, at most capacity entries. (b3Body_GetContactData)

body_get_gravity_scale

(b3Body_GetGravityScale)

body_get_inverse_mass

(b3Body_GetInverseMass)

body_get_joint_count

(b3Body_GetJointCount)

body_get_joints

Fills at most capacity joint ids. (b3Body_GetJoints)

body_get_linear_damping

(b3Body_GetLinearDamping)

body_get_linear_velocity

(b3Body_GetLinearVelocity)

body_get_local_center

(b3Body_GetLocalCenter)

body_get_local_point

(b3Body_GetLocalPoint)

body_get_local_point_velocity

(b3Body_GetLocalPointVelocity)

body_get_local_rotational_inertia

(b3Body_GetLocalRotationalInertia)

body_get_local_vector

(b3Body_GetLocalVector)

body_get_mass

(b3Body_GetMass)

body_get_mass_data

(b3Body_GetMassData)

body_get_motion_locks

(b3Body_GetMotionLocks)

body_get_name

(b3Body_GetName)

body_get_position

(b3Body_GetPosition)

body_get_shape_count

(b3Body_GetShapeCount)

body_get_shapes

Fills at most capacity shape ids. (b3Body_GetShapes)

body_get_sleep_threshold

(b3Body_GetSleepThreshold)

body_get_transform

body_get_type

(b3Body_GetType)

body_get_user_data

(b3Body_GetUserData)

body_get_world_center

(b3Body_GetWorldCenter)

body_get_world_inverse_rotational_inertia

(b3Body_GetWorldInverseRotationalInertia)

body_get_world_point

(b3Body_GetWorldPoint)

body_get_world_point_velocity

(b3Body_GetWorldPointVelocity)

body_get_world_vector

(b3Body_GetWorldVector)

body_is_awake

(b3Body_IsAwake)

body_is_bullet

(b3Body_IsBullet)

body_is_contact_recycling_enabled

(b3Body_IsContactRecyclingEnabled)

body_is_enabled

(b3Body_IsEnabled)

body_is_sleep_enabled

(b3Body_IsSleepEnabled)

body_is_valid

Body identifier validation. (b3Body_IsValid — world registry checks collapse to the world argument)

body_overlap_shape

Test whether a shape proxy overlaps any of a body’s shapes. (b3Body_OverlapShape)

body_set_angular_damping

(b3Body_SetAngularDamping)

body_set_angular_velocity

(b3Body_SetAngularVelocity)

body_set_awake

(b3Body_SetAwake)

body_set_bullet

(b3Body_SetBullet)

body_set_gravity_scale

(b3Body_SetGravityScale)

body_set_linear_damping

body_set_linear_velocity

(b3Body_SetLinearVelocity)

body_set_mass_data

(b3Body_SetMassData)

body_set_motion_locks

(b3Body_SetMotionLocks)

body_set_name

Set the body name (truncated to BODY_NAME_LENGTH). Uses the world name cache rather than C’s fixed char buffer. (b3Body_SetName)

body_set_sleep_threshold

(b3Body_SetSleepThreshold)

body_set_target_transform

Set a kinematic/dynamic body velocity so it reaches target in time_step. (b3Body_SetTargetTransform)

body_set_transform

(b3Body_SetTransform)

body_set_type

Change a body’s simulation type. (b3Body_SetType)

body_set_user_data

(b3Body_SetUserData) — Rust stores u64 instead of void*.

create_body

Create a rigid body given a definition. (b3CreateBody)

destroy_body

Destroy a rigid body. (b3DestroyBody)

get_body_full_id

Resolve a BodyId to the body index. (b3GetBodyFullId)

get_body_sim

(b3GetBodySim)

get_body_sim_mut

(b3GetBodySim) mutable

get_body_state_index

(b3GetBodyState) — None when the body is not in the awake set.

get_body_transform

Transform by body index. (b3GetBodyTransform)

get_body_transform_quick

Quick transform lookup. (b3GetBodyTransformQuick)

is_body_awake

True when the body is in the awake set. (b3IsBodyAwake)

make_body_id

Create a BodyId from a raw body index. (b3MakeBodyId)

should_bodies_collide

Joint collide_connected override. (b3ShouldBodiesCollide)

sync_body_flags

Sync non-transient flags from Body onto BodySim / BodyState. (b3SyncBodyFlags)

update_body_mass_data

Recompute mass, inertia, and extents from the body’s shapes. (b3UpdateBodyMassData)

wake_body

Wake a sleeping body. (b3WakeBody)

wake_body_with_lock

Wake with world lock. (b3WakeBodyWithLock)