rigid_body_creation_and_insertion

A rigid-body is created by a World.createRigidBody method. The initial state of the rigid-body to create is described by an instance of the RigidBodyDesc class.

Each rigid-body create by the physics world is given an integer identifier rigidBody.handle. This identifier is guaranteed to the different from any identifier of rigid-bodies still existing (or that existed) in the physics world.

info

The following example shows several setters that can be called to customize the rigid-body being built. The input values are just random so using this example as-is will not lead to a useful result.

Example 2D

// The world that will contain our rigid-bodies.
let world = new RAPIER.World({ x: 0.0, y: -9.81 });

// Builder for a fixed rigid-body.
let example1 = RAPIER.RigidBodyDesc.fixed();
// Builder for a dynamic rigid-body.
let example2 = RAPIER.RigidBodyDesc.dynamic();
// Builder for a kinematic rigid-body controlled at the velocity level.
let example3 = RAPIER.RigidBodyDesc.kinematicVelocityBased();
// Builder for a kinematic rigid-body controlled at the position level.
let example4 = RAPIER.RigidBodyDesc.kinematicPositionBased();
// Builder for a body with a status specified by an enum.
let rigidBodyDesc = new RAPIER.RigidBodyDesc(RAPIER.RigidBodyType.Dynamic)
    // The rigid body translation.
    // Default: zero vector.
    .setTranslation(0.0, 5.0)
    // The rigid body rotation.
    // Default: no rotation.
    .setRotation(5.0)
    // The linear velocity of this body.
    // Default: zero velocity.
    .setLinvel(1.0, 2.0)
    // The angular velocity of this body.
    // Default: zero velocity.
    .setAngvel(2.0)
    // The scaling factor applied to the gravity affecting the rigid-body.
    // Default: 1.0
    .setGravityScale(0.5)
    // Whether or not this body can sleep.
    // Default: true
    .setCanSleep(true)
    // Whether or not CCD is enabled for this rigid-body.
    // Default: false
    .setCcdEnabled(false);

// All done, actually build the rigid-body.
let rigidBody = world.createRigidBody(rigidBodyDesc);
// The integer handle of the rigid-body can be read from the `handle` field. 
let rigidBodyHandle = rigidBody.handle;

Example 3D

// The world that will contain our rigid-bodies.
let world = new RAPIER.World({ x: 0.0, y: -9.81, z: 0.0 });

// Builder for a fixed rigid-body.
let example1 = RAPIER.RigidBodyDesc.fixed();
// Builder for a dynamic rigid-body.
let example2 = RAPIER.RigidBodyDesc.dynamic();
// Builder for a kinematic rigid-body controlled at the velocity level.
let example3 = RAPIER.RigidBodyDesc.kinematicVelocityBased();
// Builder for a kinematic rigid-body controlled at the position level.
let example4 = RAPIER.RigidBodyDesc.kinematicPositionBased();
// Builder for a body with a status specified by an enum.
let rigidBodyDesc = new RAPIER.RigidBodyDesc(RAPIER.RigidBodyType.Dynamic)
    // The rigid body translation.
    // Default: zero vector.
    .setTranslation(0.0, 5.0, 1.0)
    // The rigid body rotation, given as a quaternion.
    // Default: no rotation.
    .setRotation({ w: 1.0, x: 0.0, y: 0.0, z: 0.0 })
    // The linear velocity of this body.
    // Default: zero velocity.
    .setLinvel(1.0, 3.0, 4.0)
    // The angular velocity of this body.
    // Default: zero velocity.
    .setAngvel({ x: 3.0, y: 0.0, z: 1.0 })
    // The scaling factor applied to the gravity affecting the rigid-body.
    // Default: 1.0
    .setGravityScale(0.5)
    // Whether or not this body can sleep.
    // Default: true
    .setCanSleep(true)
    // Whether or not CCD is enabled for this rigid-body.
    // Default: false
    .setCcdEnabled(false);

// All done, actually build the rigid-body.
let rigidBody = world.createRigidBody(rigidBodyDesc);
// The integer handle of the rigid-body can be read from the `handle` field. 
let rigidBodyHandle = rigidBody.handle;

info

Typically, the inertia and center of mass are automatically set to the inertia and center of mass resulting from the shapes of the colliders attached to the rigid-body. But they can also be set manually.