unity-cookbook/physics-slides.html

<!DOCTYPE html><html lang="en-US"><head><title>Unity Cookbook. Physics</title><meta property="og:title" content="Unity Cookbook. 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/*!
 * Marp default theme.
 *
 * @theme default
 * @author Yuki Hattori
 *
 * @auto-scaling true
 * @size 16:9 1280px 720px
 * @size 4:3 960px 720px
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<h1 id="physics">Physics</h1>
</section>
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<h2 id="unity-physics-engines">Unity physics engines</h2>
<ul>
<li data-marpit-fragment="1"><a href="https://docs.unity3d.com/Manual/PhysicsSection.html">Manual: Physics</a></li>
<li data-marpit-fragment="2">A physics engine is used to calculate accelerations, collisions, gravity and other forces
<ul>
<li data-marpit-fragment="3">In 3D, Unity uses NVIDIA's <strong>PhysX</strong> for its physics</li>
<li data-marpit-fragment="4">In 2D, Unity uses <strong>Box2D</strong></li>
</ul>
</li>
<li data-marpit-fragment="5">When you add a physics component to a GameObject, it is then part of the physics system
<ul>
<li data-marpit-fragment="6">Rigidbody, Rigidbody2D</li>
</ul>
</li>
</ul>
</section>
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<h2 id="built-in-physics-engines">Built-in physics engines</h2>
<ul>
<li data-marpit-fragment="1"><a href="https://docs.unity3d.com/Manual/PhysicsOverview.html">Manual: 3D Physics for object-oriented projects</a></li>
<li data-marpit-fragment="2"><a href="https://docs.unity3d.com/Manual/Physics2DReference.html">Manual: Physics reference 2D</a></li>
</ul>
</section>
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<h2 id="rigidbody">Rigidbody</h2>
<ul>
<li data-marpit-fragment="1">3D
<ul>
<li data-marpit-fragment="2"><a href="https://docs.unity3d.com/Manual/RigidbodiesOverview.html">Manual: Rigidbody overview</a></li>
<li data-marpit-fragment="3"><a href="https://docs.unity3d.com/Manual/class-Rigidbody.html">Manual: Rigidbody class</a></li>
<li data-marpit-fragment="4"><a href="https://docs.unity3d.com/ScriptReference/Rigidbody.html">Script Reference: Rigidbody</a></li>
</ul>
</li>
<li data-marpit-fragment="5">2D
<ul>
<li data-marpit-fragment="6"><a href="https://docs.unity3d.com/Manual/class-Rigidbody2D.html">Manual: Rigidbody 2D class</a></li>
<li data-marpit-fragment="7"><a href="https://docs.unity3d.com/ScriptReference/Rigidbody2D.html">Script Reference: Rigidbody 2D</a></li>
</ul>
</li>
<li data-marpit-fragment="8">Literally: a body (object) that does not deform, i.e., is rigid</li>
<li data-marpit-fragment="9">Takes over the movement of the GameObject it is attached to</li>
<li data-marpit-fragment="10"><em><strong>Note:</strong></em> Do not move it from a script by changing the Transform properties such as position and rotation
<ul>
<li data-marpit-fragment="11">Instead, you should apply <em><strong>forces</strong></em></li>
</ul>
</li>
</ul>
</section>
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<h3 id="the-rigidbody-components">The Rigidbody components</h3>
<div class="columns" markdown="1">
<div markdown="1">
<p><img src="imgs/rigidbody2D.png" alt="" /></p>
</div>
<div markdown="1">
<p><img src="imgs/rigidbody.png" alt="" /></p>
</div>
</div>
<ul>
<li data-marpit-fragment="1">Every rigidbody has a <em><strong>mass</strong></em>, which affects how much forces influence them</li>
<li data-marpit-fragment="2"><em><strong>Note:</strong></em> If you have problems having two non-moving Rigidbody2Ds collide, set <em>Sleeping Mode</em> to <em>Never Sleep</em></li>
</ul>
</section>
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<h2 id="types-of-rigidbodies">Types of rigidbodies</h2>
<ul>
<li data-marpit-fragment="1"><em><strong>Dynamic</strong></em>
<ul>
<li data-marpit-fragment="2">is part of the physics engine and behaves like a &quot;regular&quot; physics-based object</li>
<li data-marpit-fragment="3">can be controlled indirectly (with forces)</li>
</ul>
</li>
<li data-marpit-fragment="4"><em><strong>Kinematic</strong></em>
<ul>
<li data-marpit-fragment="5">is not affected by the physics system</li>
<li data-marpit-fragment="6">only queries the physics engine for collisions</li>
<li data-marpit-fragment="7">can be controlled directly:
<ul>
<li data-marpit-fragment="8">in 2D, use <code>Rigidbody2D.MovePosition</code>, <code>Rigidbody2D.MoveRotation</code></li>
<li data-marpit-fragment="9">in 3D, manipulate <code>transform.position</code></li>
</ul>
</li>
</ul>
</li>
<li data-marpit-fragment="10"><em><strong>Static</strong></em> (only 2D)
<ul>
<li data-marpit-fragment="11">an immovable object, can only collide with non-static rigidbodies</li>
</ul>
</li>
</ul>
</section>
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<h3 id="interpolation">Interpolation</h3>
<ul>
<li data-marpit-fragment="1"><a href="https://docs.unity3d.com/ScriptReference/Rigidbody-interpolation.html">Script Reference: Rigidbody Interpolation</a></li>
<li data-marpit-fragment="2">Interpolation allows you to smooth out the effect of running physics at a fixed frame rate.</li>
</ul>
</section>
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<h3 id="constraints">Constraints</h3>
<ul>
<li data-marpit-fragment="1"><a href="https://docs.unity3d.com/ScriptReference/Rigidbody-constraints.html">Script Reference: Rigidbody Constraints</a></li>
<li data-marpit-fragment="2">&quot;which degrees of freedom are allowed for the simulation of this Rigidbody&quot;</li>
<li data-marpit-fragment="3">You can freeze position or rotation of a given axis</li>
</ul>
</section>
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<h2 id="moving-dynamic-rigidbodies">Moving dynamic Rigidbodies</h2>
<ul>
<li data-marpit-fragment="1">
<p>You should interact with the physics system in <code>FixedUpdate</code>, not <code>Update</code></p>
</li>
<li data-marpit-fragment="2">
<p><a href="https://docs.unity3d.com/ScriptReference/Rigidbody.AddForce.html">Script Reference: Rigidbody.AddForce</a></p>
<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#"><span class="hljs-keyword">if</span> (Input.GetButton(<span class="hljs-string">&quot;Jump&quot;</span>))
{
    <span class="hljs-comment">//Apply a force to this Rigidbody in direction of this GameObjects up axis</span>
    m_Rigidbody.AddForce(transform.up * m_Thrust);
}
</code></pre>
</li>
<li data-marpit-fragment="3">
<p><a href="https://docs.unity3d.com/ScriptReference/Rigidbody.AddTorque.html">Script Reference: Rigidbody.AddTorque</a></p>
<pre is="marp-pre" data-auto-scaling="downscale-only"><code class="language-c#"><span class="hljs-built_in">float</span> turn = Input.GetAxis(<span class="hljs-string">&quot;Horizontal&quot;</span>);
rb.AddTorque(transform.up * torque * turn);
</code></pre>
</li>
</ul>
</section>
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<h2 id="force-modes">Force modes</h2>
<ul>
<li data-marpit-fragment="1">When applying a force, you can give the function a second argument: the mode with which the force is applied</li>
<li data-marpit-fragment="2"><a href="https://docs.unity3d.com/ScriptReference/ForceMode.html">ScriptReference: ForceMode</a> has a good example project showcasing all four modes
<ul>
<li data-marpit-fragment="3"><code>ForceMode.Force</code> is the default: the resulting acceleration is dampened by the mass of the rigidbody</li>
<li data-marpit-fragment="4"><code>ForceMode.Acceleration</code> gives acceleration directly, disregarding the mass of the body.</li>
<li data-marpit-fragment="5"><code>ForceMode.Impulse</code> gives the body a <strong>velocity</strong> (dampened by its mass), not an acceleration, resulting in snappier movement</li>
<li data-marpit-fragment="6"><code>ForceMode.VelocityChange</code> is like impulse, but disregards the mass of the body.</li>
</ul>
</li>
<li data-marpit-fragment="7"><em><strong>Note:</strong></em> Rigidbody2D only supports <code>ForceMode.Force</code> and <code>ForceMode.Acceleration</code>!</li>
</ul>
</section>
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="11" data-marpit-fragments="6" data-paginate="true" data-class="invert" data-background-color="#5d275d" data-theme="borbtheme" data-heading-divider="3" lang="en-US" class="invert" data-marpit-pagination="11" style="--paginate:true;--class:invert;--background-color:#5d275d;--theme:borbtheme;--heading-divider:3;background-color:#5d275d;background-image:none;" data-marpit-pagination-total="15">
<h2 id="extra-more-functions">Extra: More functions</h2>

<ul>
<li data-marpit-fragment="1"><a href="https://docs.unity3d.com/ScriptReference/Rigidbody.AddRelativeForce.html">Rigidbody.AddRelativeForce</a>
<ul>
<li data-marpit-fragment="2">Adds a force to the rigidbody relative to its coordinate system.</li>
</ul>
</li>
<li data-marpit-fragment="3"><a href="https://docs.unity3d.com/ScriptReference/Rigidbody.AddRelativeTorque.html">Rigidbody.AddRelativeTorque</a>
<ul>
<li data-marpit-fragment="4">Adds a torque to the rigidbody relative to its coordinate system.</li>
</ul>
</li>
<li data-marpit-fragment="5"><a href="https://docs.unity3d.com/ScriptReference/Rigidbody.AddForceAtPosition.html">Rigidbody.AddForceAtPosition</a>
<ul>
<li data-marpit-fragment="6">Applies force at position. As a result this will apply <em><strong>a torque and a force</strong></em> on the object.</li>
</ul>
</li>
</ul>
</section>
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="12" data-marpit-fragments="8" data-paginate="true" data-class="invert" data-footer="See [Hyperphysics](http://hyperphysics.phy-astr.gsu.edu/hbase/rotq.html) for more info about angular quantities" data-theme="borbtheme" data-heading-divider="3" lang="en-US" class="invert" data-marpit-pagination="12" style="--paginate:true;--class:invert;--footer:See [Hyperphysics](http://hyperphysics.phy-astr.gsu.edu/hbase/rotq.html) for more info about angular quantities;--theme:borbtheme;--heading-divider:3;" data-marpit-pagination-total="15">
<h2 id="changing-the-velocity-directly">Changing the velocity directly</h2>
<ul>
<li data-marpit-fragment="1">You can also manipulate rigidbody velocity directly
<ul>
<li data-marpit-fragment="2"><em><strong>Do this only if you don't get desired effects with AddForce or AddTorque</strong></em></li>
</ul>
</li>
<li data-marpit-fragment="3">Velocity
<ul>
<li data-marpit-fragment="4"><a href="https://docs.unity3d.com/ScriptReference/Rigidbody-velocity.html">Script reference: Rigidbody.velocity</a> (Vector3)</li>
<li data-marpit-fragment="5"><a href="https://docs.unity3d.com/ScriptReference/Rigidbody2D-velocity.html">Script reference: Rigidbody2D.velocity</a> (Vector2)</li>
</ul>
</li>
<li data-marpit-fragment="6">Angular velocity
<ul>
<li data-marpit-fragment="7"><a href="https://docs.unity3d.com/ScriptReference/Rigidbody-angularVelocity.html">Script reference: Rigidbody.angularVelocity</a> (Vector3)</li>
<li data-marpit-fragment="8"><a href="https://docs.unity3d.com/ScriptReference/Rigidbody2D-angularVelocity.html">Script reference: Rigidbody2D.angularVelocity</a> (float)</li>
</ul>
</li>
</ul>
<footer>See <a href="http://hyperphysics.phy-astr.gsu.edu/hbase/rotq.html">Hyperphysics</a> for more info about angular quantities</footer>
</section>
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="13" data-marpit-fragments="4" data-paginate="true" data-class="invert" data-theme="borbtheme" data-heading-divider="3" lang="en-US" class="invert" data-marpit-pagination="13" style="--paginate:true;--class:invert;--theme:borbtheme;--heading-divider:3;" data-marpit-pagination-total="15">
<h2 id="gravity">Gravity</h2>
<ul>
<li data-marpit-fragment="1"><em><strong>Note:</strong></em> by default, gravitational acceleration is <mjx-container class="MathJax" jax="SVG"><svg style="vertical-align: -0.566ex;" xmlns="http://www.w3.org/2000/svg" width="9.189ex" height="2.452ex" role="img" focusable="false" viewBox="0 -833.9 4061.6 1083.9"><g stroke="currentColor" fill="currentColor" stroke-width="0" transform="scale(1,-1)"><g data-mml-node="math"><g data-mml-node="mn"><path data-c="39" d="M352 287Q304 211 232 211Q154 211 104 270T44 396Q42 412 42 436V444Q42 537 111 606Q171 666 243 666Q245 666 249 666T257 665H261Q273 665 286 663T323 651T370 619T413 560Q456 472 456 334Q456 194 396 97Q361 41 312 10T208 -22Q147 -22 108 7T68 93T121 149Q143 149 158 135T173 96Q173 78 164 65T148 49T135 44L131 43Q131 41 138 37T164 27T206 22H212Q272 22 313 86Q352 142 352 280V287ZM244 248Q292 248 321 297T351 430Q351 508 343 542Q341 552 337 562T323 588T293 615T246 625Q208 625 181 598Q160 576 154 546T147 441Q147 358 152 329T172 282Q197 248 244 248Z"></path><path data-c="2E" d="M78 60Q78 84 95 102T138 120Q162 120 180 104T199 61Q199 36 182 18T139 0T96 17T78 60Z" transform="translate(500,0)"></path><path data-c="38" d="M70 417T70 494T124 618T248 666Q319 666 374 624T429 515Q429 485 418 459T392 417T361 389T335 371T324 363L338 354Q352 344 366 334T382 323Q457 264 457 174Q457 95 399 37T249 -22Q159 -22 101 29T43 155Q43 263 172 335L154 348Q133 361 127 368Q70 417 70 494ZM286 386L292 390Q298 394 301 396T311 403T323 413T334 425T345 438T355 454T364 471T369 491T371 513Q371 556 342 586T275 624Q268 625 242 625Q201 625 165 599T128 534Q128 511 141 492T167 463T217 431Q224 426 228 424L286 386ZM250 21Q308 21 350 55T392 137Q392 154 387 169T375 194T353 216T330 234T301 253T274 270Q260 279 244 289T218 306L210 311Q204 311 181 294T133 239T107 157Q107 98 150 60T250 21Z" transform="translate(778,0)"></path><path data-c="31" d="M213 578L200 573Q186 568 160 563T102 556H83V602H102Q149 604 189 617T245 641T273 663Q275 666 285 666Q294 666 302 660V361L303 61Q310 54 315 52T339 48T401 46H427V0H416Q395 3 257 3Q121 3 100 0H88V46H114Q136 46 152 46T177 47T193 50T201 52T207 57T213 61V578Z" transform="translate(1278,0)"></path></g><g data-mml-node="mi" transform="translate(1778,0)"><path data-c="1D45A" d="M21 287Q22 293 24 303T36 341T56 388T88 425T132 442T175 435T205 417T221 395T229 376L231 369Q231 367 232 367L243 378Q303 442 384 442Q401 442 415 440T441 433T460 423T475 411T485 398T493 385T497 373T500 364T502 357L510 367Q573 442 659 442Q713 442 746 415T780 336Q780 285 742 178T704 50Q705 36 709 31T724 26Q752 26 776 56T815 138Q818 149 821 151T837 153Q857 153 857 145Q857 144 853 130Q845 101 831 73T785 17T716 -10Q669 -10 648 17T627 73Q627 92 663 193T700 345Q700 404 656 404H651Q565 404 506 303L499 291L466 157Q433 26 428 16Q415 -11 385 -11Q372 -11 364 -4T353 8T350 18Q350 29 384 161L420 307Q423 322 423 345Q423 404 379 404H374Q288 404 229 303L222 291L189 157Q156 26 151 16Q138 -11 108 -11Q95 -11 87 -5T76 7T74 17Q74 30 112 181Q151 335 151 342Q154 357 154 369Q154 405 129 405Q107 405 92 377T69 316T57 280Q55 278 41 278H27Q21 284 21 287Z"></path></g><g data-mml-node="TeXAtom" data-mjx-texclass="ORD" transform="translate(2656,0)"><g data-mml-node="mo"><path data-c="2F" d="M423 750Q432 750 438 744T444 730Q444 725 271 248T92 -240Q85 -250 75 -250Q68 -250 62 -245T56 -231Q56 -221 230 257T407 740Q411 750 423 750Z"></path></g></g><g data-mml-node="msup" transform="translate(3156,0)"><g data-mml-node="mi"><path data-c="1D460" d="M131 289Q131 321 147 354T203 415T300 442Q362 442 390 415T419 355Q419 323 402 308T364 292Q351 292 340 300T328 326Q328 342 337 354T354 372T367 378Q368 378 368 379Q368 382 361 388T336 399T297 405Q249 405 227 379T204 326Q204 301 223 291T278 274T330 259Q396 230 396 163Q396 135 385 107T352 51T289 7T195 -10Q118 -10 86 19T53 87Q53 126 74 143T118 160Q133 160 146 151T160 120Q160 94 142 76T111 58Q109 57 108 57T107 55Q108 52 115 47T146 34T201 27Q237 27 263 38T301 66T318 97T323 122Q323 150 302 164T254 181T195 196T148 231Q131 256 131 289Z"></path></g><g data-mml-node="mn" transform="translate(502,363) scale(0.707)"><path data-c="32" d="M109 429Q82 429 66 447T50 491Q50 562 103 614T235 666Q326 666 387 610T449 465Q449 422 429 383T381 315T301 241Q265 210 201 149L142 93L218 92Q375 92 385 97Q392 99 409 186V189H449V186Q448 183 436 95T421 3V0H50V19V31Q50 38 56 46T86 81Q115 113 136 137Q145 147 170 174T204 211T233 244T261 278T284 308T305 340T320 369T333 401T340 431T343 464Q343 527 309 573T212 619Q179 619 154 602T119 569T109 550Q109 549 114 549Q132 549 151 535T170 489Q170 464 154 447T109 429Z"></path></g></g></g></g></svg></mjx-container></li>
<li data-marpit-fragment="2">You can change it from Unity settings
<ul>
<li data-marpit-fragment="3"><em>Edit &gt; Project Settings &gt; Physics (2D) &gt; Gravity</em></li>
<li data-marpit-fragment="4">for top-down 2d games, you want gravity to be zero</li>
</ul>
</li>
</ul>
</section>
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="14" data-marpit-fragments="1" data-paginate="true" data-class="invert" data-background-color="#5d275d" data-theme="borbtheme" data-heading-divider="3" lang="en-US" class="invert" data-marpit-pagination="14" style="--paginate:true;--class:invert;--background-color:#5d275d;--theme:borbtheme;--heading-divider:3;background-color:#5d275d;background-image:none;" data-marpit-pagination-total="15">
<h2 id="extra-raycasting">Extra: Raycasting</h2>

<ul>
<li data-marpit-fragment="1">See <a href="2d-basics#extra-two-ways-for-2d-shooting">2D basics</a></li>
</ul>
</section>
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="15" data-marpit-fragments="1" data-paginate="true" data-class="invert" data-theme="borbtheme" data-heading-divider="3" lang="en-US" class="invert" data-marpit-pagination="15" style="--paginate:true;--class:invert;--theme:borbtheme;--heading-divider:3;" data-marpit-pagination-total="15">
<h2 id="links">Links</h2>
<ul>
<li data-marpit-fragment="1"><a href="https://docs.unity3d.com/Manual/PhysicsHowTos.html">Manual: Physics HOWTOs</a></li>
</ul>
</section>
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