Collision object physics API documentation

Version: alpha

FUNCTION
physics.raycast_async() requests a ray cast to be performed
physics.raycast() requests a ray cast to be performed
physics.create_joint() create a physics joint
physics.destroy_joint() destroy a physics joint
physics.get_joint_properties() get properties for a joint
physics.set_joint_properties() set properties for a joint
physics.get_joint_reaction_force() get the reaction force for a joint
physics.get_joint_reaction_torque() get the reaction torque for a joint
physics.set_gravity() set the gravity for collection
physics.get_gravity() get the gravity for collection
physics.set_hflip() flip the geometry horizontally for a collision object
physics.set_vflip() flip the geometry vertically for a collision object
physics.wakeup() explicitly wakeup a collision object
CONSTANT
physics.JOINT_TYPE_SPRING spring joint type
physics.JOINT_TYPE_FIXED fixed joint type
physics.JOINT_TYPE_HINGE hinge joint type
physics.JOINT_TYPE_SLIDER slider joint type
physics.JOINT_TYPE_WELD weld joint type
MESSAGE
apply_force applies a force on a collision object
collision_response reports a collision between two collision objects
contact_point_response reports a contact point between two collision objects
trigger_response reports interaction (enter/exit) between a trigger collision object and another collision object
ray_cast_response reports a ray cast hit
ray_cast_missed reports a ray cast miss
PROPERTIES
mass number collision object mass
linear_velocity vector3 collision object linear velocity
angular_velocity vector3 collision object angular velocity
linear_damping number collision object linear damping
angular_damping number collision object angular damping

Functions

physics.raycast_async()

physics.raycast_async(from,to,groups,[request_id])

Ray casts are used to test for intersections against collision objects in the physics world. Collision objects of types kinematic, dynamic and static are tested against. Trigger objects do not intersect with ray casts. Which collision objects to hit is filtered by their collision groups and can be configured through groups. The actual ray cast will be performed during the physics-update.

  • If an object is hit, the result will be reported via a ray_cast_response message.
  • If there is no object hit, the result will be reported via a ray_cast_missed message.

PARAMETERS

from vector3 the world position of the start of the ray
to vector3 the world position of the end of the ray
groups table a lua table containing the hashed groups for which to test collisions against
[request_id] number] a number between [0,-255 . It will be sent back in the response for identification, 0 by default

EXAMPLES

How to perform a ray cast asynchronously:
function init(self)
    self.my_groups = {hash("my_group1"), hash("my_group2")}
end

function update(self, dt)
    -- request ray cast
    physics.raycast_async(my_start, my_end, self.my_groups)
end

function on_message(self, message_id, message, sender)
    -- check for the response
    if message_id == hash("ray_cast_response") then
        -- act on the hit
    elseif message_id == hash("ray_cast_missed") then
        -- act on the miss
    end
end

physics.raycast()

physics.raycast(from,to,groups,options)

Ray casts are used to test for intersections against collision objects in the physics world. Collision objects of types kinematic, dynamic and static are tested against. Trigger objects do not intersect with ray casts. Which collision objects to hit is filtered by their collision groups and can be configured through groups.

PARAMETERS

from vector3 the world position of the start of the ray
to vector3 the world position of the end of the ray
groups table a lua table containing the hashed groups for which to test collisions against
options table a lua table containing options for the raycast.
all
boolean Set to true to return all ray cast hits. If false, it will only return the closest hit.

RETURNS

result table It returns a list. If missed it returns nil. See ray_cast_response for details on the returned values.

EXAMPLES

How to perform a ray cast synchronously:
function init(self)
    self.groups = {hash("world"), hash("enemy")}
end

function update(self, dt)
    -- request ray cast
    local result = physics.raycast(from, to, self.groups, {all=true})
    if result ~= nil then
        -- act on the hit (see 'ray_cast_response')
        for _,result in ipairs(results) do
            handle_result(result)
        end
    end
end

physics.create_joint()

physics.create_joint(joint_type,collisionobject_a,joint_id,position_a,collisionobject_b,position_b,[properties])

Create a physics joint between two collision object components. Note: Currently only supported in 2D physics.

PARAMETERS

joint_type number the joint type
collisionobject_a string, hash, url first collision object
joint_id string, hash id of the joint
position_a vector3 local position where to attach the joint on the first collision object
collisionobject_b string, hash, url second collision object
position_b vector3 local position where to attach the joint on the second collision object
[properties] table optional joint specific properties table See each joint type for possible properties field. The one field that is accepted for all joint types is: - boolean collide_connected: Set this flag to true if the attached bodies should collide.

physics.destroy_joint()

physics.destroy_joint(collisionobject,joint_id)

Destroy an already physics joint. The joint has to be created before a destroy can be issued. Note: Currently only supported in 2D physics.

PARAMETERS

collisionobject string, hash, url collision object where the joint exist
joint_id string, hash id of the joint

physics.get_joint_properties()

physics.get_joint_properties(collisionobject,joint_id)

Get a table for properties for a connected joint. The joint has to be created before properties can be retrieved. Note: Currently only supported in 2D physics.

PARAMETERS

collisionobject string, hash, url collision object where the joint exist
joint_id string, hash id of the joint

RETURNS

table properties table. See the joint types for what fields are available, the only field available for all types is:
  • boolean collide_connected: Set this flag to true if the attached bodies should collide.

physics.set_joint_properties()

physics.set_joint_properties(collisionobject,joint_id,properties)

Updates the properties for an already connected joint. The joint has to be created before properties can be changed. Note: Currently only supported in 2D physics.

PARAMETERS

collisionobject string, hash, url collision object where the joint exist
joint_id string, hash id of the joint
properties table joint specific properties table Note: The collide_connected field cannot be updated/changed after a connection has been made.

physics.get_joint_reaction_force()

physics.get_joint_reaction_force(collisionobject,joint_id)

Get the reaction force for a joint. The joint has to be created before the reaction force can be calculated. Note: Currently only supported in 2D physics.

PARAMETERS

collisionobject string, hash, url collision object where the joint exist
joint_id string, hash id of the joint

RETURNS

force vector3 reaction force for the joint

physics.get_joint_reaction_torque()

physics.get_joint_reaction_torque(collisionobject,joint_id)

Get the reaction torque for a joint. The joint has to be created before the reaction torque can be calculated. Note: Currently only supported in 2D physics.

PARAMETERS

collisionobject string, hash, url collision object where the joint exist
joint_id string, hash id of the joint

RETURNS

torque float the reaction torque on bodyB in N*m.

physics.set_gravity()

physics.set_gravity(gravity)

Set the gravity in runtime. The gravity change is not global, it will only affect the collection that the function is called from. Note: For 2D physics the z component of the gravity vector will be ignored.

PARAMETERS

gravity vector3 the new gravity vector

EXAMPLES

function init(self)
    -- Set "upside down" gravity for this collection.
    physics.set_gravity(vmath.vector3(0, 10.0, 0))
end

physics.get_gravity()

physics.get_gravity()

Get the gravity in runtime. The gravity returned is not global, it will return the gravity for the collection that the function is called from. Note: For 2D physics the z component will always be zero.

PARAMETERS

RETURNS

vector3 gravity vector of collection

EXAMPLES

function init(self)
    local gravity = physics.get_gravity()
    -- Inverse gravity!
    gravity = -gravity
    physics.set_gravity(gravity)
end

physics.set_hflip()

physics.set_hflip(url,flip)

Flips the collision shapes horizontally for a collision object

PARAMETERS

url string, hash, url the collision object that should flip its shapes
flip boolean true if the collision object should flip its shapes, false if not

EXAMPLES

function init(self)
    self.fliph = true -- set on some condition
    physics.set_hflip("#collisionobject", self.fliph)
end

physics.set_vflip()

physics.set_vflip(url,flip)

Flips the collision shapes vertically for a collision object

PARAMETERS

url string, hash, url the collision object that should flip its shapes
flip boolean true if the collision object should flip its shapes, false if not

EXAMPLES

function init(self)
    self.flipv = true -- set on some condition
    physics.set_vflip("#collisionobject", self.flipv)
end

physics.wakeup()

physics.wakeup(url)

Collision objects tend to fall asleep when inactive for a small period of time for efficiency reasons. This function wakes them up.

PARAMETERS

url string, hash, url the collision object to wake.
function on_input(self, action_id, action)
    if action_id == hash("test") and action.pressed then
        physics.wakeup("#collisionobject")
    end
end

Constants

physics.JOINT_TYPE_SPRING

The following properties are available when connecting a joint of JOINT_TYPE_SPRING type:

length number The natural length between the anchor points.
frequency number The mass-spring-damper frequency in Hertz. A value of 0 disables softness.
damping number The damping ratio. 0 = no damping, 1 = critical damping.

physics.JOINT_TYPE_FIXED

The following properties are available when connecting a joint of JOINT_TYPE_FIXED type:

max_length number The maximum length of the rope.

physics.JOINT_TYPE_HINGE

The following properties are available when connecting a joint of JOINT_TYPE_HINGE type:

reference_angle number The bodyB angle minus bodyA angle in the reference state (radians).
lower_angle number The lower angle for the joint limit (radians).
upper_angle number The upper angle for the joint limit (radians).
max_motor_torque number The maximum motor torque used to achieve the desired motor speed. Usually in N-m.
motor_speed number The desired motor speed. Usually in radians per second.
enable_limit boolean A flag to enable joint limits.
enable_motor boolean A flag to enable the joint motor.
joint_angle number] [mark:READ ONLY Current joint angle in radians. (Read only field, available from physics.get_joint_properties())
joint_speed number] [mark:READ ONLY Current joint angle speed in radians per second. (Read only field, available from physics.get_joint_properties())

physics.JOINT_TYPE_SLIDER

The following properties are available when connecting a joint of JOINT_TYPE_SLIDER type:

local_axis_a vector3 The local translation unit axis in bodyA.
reference_angle number The constrained angle between the bodies: bodyB_angle - bodyA_angle.
enable_limit boolean Enable/disable the joint limit.
lower_translation number The lower translation limit, usually in meters.
upper_translation number The upper translation limit, usually in meters.
enable_motor boolean Enable/disable the joint motor.
max_motor_force number The maximum motor torque, usually in N-m.
motor_speed number The desired motor speed in radians per second.
joint_translation number] [mark:READ ONLY Current joint translation, usually in meters. (Read only field, available from physics.get_joint_properties())
joint_speed number] [mark:READ ONLY Current joint translation speed, usually in meters per second. (Read only field, available from physics.get_joint_properties())

physics.JOINT_TYPE_WELD

The following properties are available when connecting a joint of JOINT_TYPE_WELD type:

reference_angle number] [mark:READ ONLY The bodyB angle minus bodyA angle in the reference state (radians).
frequency number The mass-spring-damper frequency in Hertz. Rotation only. Disable softness with a value of 0.
damping number The damping ratio. 0 = no damping, 1 = critical damping.

Messages

apply_force

Post this message to a collision-object-component to apply the specified force on the collision object. The collision object must be dynamic.

force vector3 the force to be applied on the collision object, measured in Newton
position vector3 the position where the force should be applied

EXAMPLES

Assuming the instance of the script has a collision-object-component with id "co":
-- apply a force of 1 Newton towards world-x at the center of the game object instance
msg.post("#co", "apply_force", {force = vmath.vector3(1, 0, 0), position = go.get_world_position()})

collision_response

This message is broadcasted to every component of an instance that has a collision object, when the collision object collides with another collision object. For a script to take action when such a collision happens, it should check for this message in its on_message callback function. This message only reports that a collision actually happened and will only be sent once per colliding pair and frame. To retrieve more detailed information, check for the contact_point_response instead.

other_id hash the id of the instance the collision object collided with
other_position vector3 the world position of the instance the collision object collided with
other_group hash the collision group of the other collision object (hash)
own_group hash the collision group of the own collision object (hash)

EXAMPLES

How to take action when a collision occurs:
function on_message(self, message_id, message, sender)
    -- check for the message
    if message_id == hash("collision_response") then
        -- take action
    end
end

contact_point_response

This message is broadcasted to every component of an instance that has a collision object, when the collision object has contact points with respect to another collision object. For a script to take action when such contact points occur, it should check for this message in its on_message callback function. Since multiple contact points can occur for two colliding objects, this message can be sent multiple times in the same frame for the same two colliding objects. To only be notified once when the collision occurs, check for the collision_response message instead.

position vector3 world position of the contact point
normal vector3 normal in world space of the contact point, which points from the other object towards the current object
relative_velocity vector3 the relative velocity of the collision object as observed from the other object
distance number the penetration distance between the objects, which is always positive
applied_impulse number the impulse the contact resulted in
life_time number life time of the contact, not currently used
mass number the mass of the current collision object in kg
other_mass number the mass of the other collision object in kg
other_id hash the id of the instance the collision object is in contact with
other_position vector3 the world position of the other collision object
other_group hash the collision group of the other collision object (hash)
own_group hash the collision group of the own collision object (hash)

EXAMPLES

How to take action when a contact point occurs:
function on_message(self, message_id, message, sender)
    -- check for the message
    if message_id == hash("contact_point_response") then
        -- take action
    end
end

trigger_response

This message is broadcasted to every component of an instance that has a collision object, when the collision object interacts with another collision object and one of them is a trigger. For a script to take action when such an interaction happens, it should check for this message in its on_message callback function. This message only reports that an interaction actually happened and will only be sent once per colliding pair and frame. To retrieve more detailed information, check for the contact_point_response instead.

other_id hash the id of the instance the collision object collided with (hash)
enter boolean if the interaction was an entry or not
other_group hash the collision group of the triggering collision object (hash)
own_group hash the collision group of the own collision object (hash)

EXAMPLES

How to take action when a trigger interaction occurs:
function on_message(self, message_id, message, sender)
    -- check for the message
    if message_id == hash("trigger_response") then
        if message.enter then
            -- take action for entry
        else
            -- take action for exit
        end
    end
end

ray_cast_response

This message is sent back to the sender of a ray_cast_request, if the ray hit a collision object. See physics.raycast_async for examples of how to use it.

fraction number the fraction of the hit measured along the ray, where 0 is the start of the ray and 1 is the end
position vector3 the world position of the hit
normal vector3 the normal of the surface of the collision object where it was hit
id hash the instance id of the hit collision object
group hash the collision group of the hit collision object as a hashed name
request_id number id supplied when the ray cast was requested

ray_cast_missed

This message is sent back to the sender of a ray_cast_request, if the ray didn't hit any collision object. See physics.raycast_async for examples of how to use it.

request_id number id supplied when the ray cast was requested

Properties

mass

READ ONLY Returns the defined physical mass of the collision object component as a number.

EXAMPLES

How to query a collision object component's mass:
-- get mass from collision object component "boulder"
local mass = go.get("#boulder", "mass")
-- do something useful
assert(mass > 1)

linear_velocity

The current linear velocity of the collision object component as a vector3. The velocity is measured in units/s (pixels/s).

EXAMPLES

How to query and modify a collision object component's linear velocity:
-- get linear velocity from collision object "collisionobject" in gameobject "ship"
local source = "ship#collisionobject"
local velocity = go.get(source, "linear_velocity")
-- decrease it by 10%
go.set(source, "linear_velocity", velocity * 0.9)
-- apply the velocity on target game object "boulder"'s collision object as a force
local target = "boulder#collisionobject"
local pos = go.get_position(target)
msg.post(target, "apply_force", { force = velocity, position = pos })

angular_velocity

The current angular velocity of the collision object component as a vector3. The velocity is measured as a rotation around the vector with a speed equivalent to the vector length in radians/s.

EXAMPLES

How to query and modify a collision object component's angular velocity:
-- get angular velocity from collision object "collisionobject" in gameobject "boulder"
local velocity = go.get("boulder#collisionobject", "angular_velocity")
-- do something interesting
if velocity.z < 0 then
    -- clockwise rotation
    ...
else
    -- counter clockwise rotation
    ...
end
-- decrease it by 10%
velocity.z = velocity.z * 0.9
go.set("boulder#collisionobject", "angular_velocity", velocity * 0.9)

linear_damping

The linear damping value for the collision object. Setting this value alters the damping of linear motion of the object. Valid values are between 0 (no damping) and 1 (full damping).

EXAMPLES

How to increase a collision object component's linear damping:
-- get linear damping from collision object "collisionobject" in gameobject "floater"
local target = "floater#collisionobject"
local damping = go.get(target, "linear_damping")
-- increase it by 10% if it's below 0.9
if damping <= 0.9 then
    go.set(target, "linear_damping", damping * 1.1)
end

angular_damping

The angular damping value for the collision object. Setting this value alters the damping of angular motion of the object (rotation). Valid values are between 0 (no damping) and 1 (full damping).

EXAMPLES

How to decrease a collision object component's angular damping:
-- get angular damping from collision object "collisionobject" in gameobject "floater"
local target = "floater#collisionobject"
local damping = go.get(target, "angular_damping")
-- decrease it by 10%
go.set(target, "angular_damping", damping * 0.9)