[Home](./index.md) > [server](./server.md) > [RigidBody](./server.rigidbody.md) ## RigidBody class Represents a rigid body in a world's physics simulation. **Signature:** ```typescript export default class RigidBody extends EventRouter ``` **Extends:** [EventRouter](./server.eventrouter.md) ## Remarks Rigid bodies are the core of the physics simulation. They are used to represent physical objects (IE: entities) that can interact with each other. ## Constructors

Constructor	Modifiers	Description
[(constructor)(options)](./server.rigidbody._constructor_.md)		Constructs a new instance of the `RigidBody` class

## Properties

Property	Modifiers	Type	Description
[additionalMass](./server.rigidbody.additionalmass.md)	`readonly`	number	The additional mass of the rigid body.
[additionalSolverIterations](./server.rigidbody.additionalsolveriterations.md)	`readonly`	number	The additional solver iterations of the rigid body.
[angularDamping](./server.rigidbody.angulardamping.md)	`readonly`	number	The angular damping of the rigid body.
[angularVelocity](./server.rigidbody.angularvelocity.md)	`readonly`	[Vector3Like](./server.vector3like.md)	The angular velocity of the rigid body.
[colliders](./server.rigidbody.colliders.md)	`readonly`	Set<[Collider](./server.collider.md)>	The colliders of the rigid body.
[directionFromRotation](./server.rigidbody.directionfromrotation.md)	`readonly`	[Vector3Like](./server.vector3like.md)	The direction from the rotation of the rigid body.
[dominanceGroup](./server.rigidbody.dominancegroup.md)	`readonly`	number	The dominance group of the rigid body.
[effectiveAngularInertia](./server.rigidbody.effectiveangularinertia.md)	`readonly`	[SpdMatrix3](./server.spdmatrix3.md) \| undefined	The effective angular inertia of the rigid body.
[effectiveInverseMass](./server.rigidbody.effectiveinversemass.md)	`readonly`	[Vector3Like](./server.vector3like.md) \| undefined	The effective inverse mass of the rigid body.
[effectiveWorldInversePrincipalAngularInertiaSqrt](./server.rigidbody.effectiveworldinverseprincipalangularinertiasqrt.md)	`readonly`	[SpdMatrix3](./server.spdmatrix3.md) \| undefined	The effective world inverse principal angular inertia square root of the rigid body.
[enabledPositions](./server.rigidbody.enabledpositions.md)	`readonly`	[Vector3Boolean](./server.vector3boolean.md)	The enabled axes of positional movement of the rigid body.
[enabledRotations](./server.rigidbody.enabledrotations.md)	`readonly`	[Vector3Boolean](./server.vector3boolean.md)	The enabled axes of rotational movement of the rigid body.
[gravityScale](./server.rigidbody.gravityscale.md)	`readonly`	number	The gravity scale of the rigid body.
[inverseMass](./server.rigidbody.inversemass.md)	`readonly`	number \| undefined	The inverse mass of the rigid body.
[inversePrincipalAngularInertiaSqrt](./server.rigidbody.inverseprincipalangularinertiasqrt.md)	`readonly`	[Vector3Like](./server.vector3like.md) \| undefined	The inverse principal angular inertia square root of the rigid body.
[isCcdEnabled](./server.rigidbody.isccdenabled.md)	`readonly`	boolean	Whether the rigid body has continuous collision detection enabled.
[isDynamic](./server.rigidbody.isdynamic.md)	`readonly`	boolean	Whether the rigid body is dynamic.
[isEnabled](./server.rigidbody.isenabled.md)	`readonly`	boolean	Whether the rigid body is enabled.
[isFixed](./server.rigidbody.isfixed.md)	`readonly`	boolean	Whether the rigid body is fixed.
[isKinematic](./server.rigidbody.iskinematic.md)	`readonly`	boolean	Whether the rigid body is kinematic.
[isKinematicPositionBased](./server.rigidbody.iskinematicpositionbased.md)	`readonly`	boolean	Whether the rigid body is kinematic position based.
[isKinematicVelocityBased](./server.rigidbody.iskinematicvelocitybased.md)	`readonly`	boolean	Whether the rigid body is kinematic velocity based.
[isMoving](./server.rigidbody.ismoving.md)	`readonly`	boolean	Whether the rigid body is moving.
[isRemoved](./server.rigidbody.isremoved.md)	`readonly`	boolean	Whether the rigid body has been removed from the simulation.
[isSimulated](./server.rigidbody.issimulated.md)	`readonly`	boolean	Whether the rigid body is simulated.
[isSleeping](./server.rigidbody.issleeping.md)	`readonly`	boolean	Whether the rigid body is sleeping.
[linearDamping](./server.rigidbody.lineardamping.md)	`readonly`	number	The linear damping of the rigid body.
[linearVelocity](./server.rigidbody.linearvelocity.md)	`readonly`	[Vector3Like](./server.vector3like.md)	The linear velocity of the rigid body.
[localCenterOfMass](./server.rigidbody.localcenterofmass.md)	`readonly`	[Vector3Like](./server.vector3like.md)	The local center of mass of the rigid body.
[mass](./server.rigidbody.mass.md)	`readonly`	number	The mass of the rigid body.
[nextKinematicPosition](./server.rigidbody.nextkinematicposition.md)	`readonly`	[Vector3Like](./server.vector3like.md)	The next kinematic position of the rigid body.
[nextKinematicRotation](./server.rigidbody.nextkinematicrotation.md)	`readonly`	[QuaternionLike](./server.quaternionlike.md)	The next kinematic rotation of the rigid body.
[numColliders](./server.rigidbody.numcolliders.md)	`readonly`	number	The number of colliders in the rigid body.
[position](./server.rigidbody.position.md)	`readonly`	[Vector3Like](./server.vector3like.md)	The position of the rigid body.
[principalAngularInertia](./server.rigidbody.principalangularinertia.md)	`readonly`	[Vector3Like](./server.vector3like.md)	The principal angular inertia of the rigid body.
[principalAngularInertiaLocalFrame](./server.rigidbody.principalangularinertialocalframe.md)	`readonly`	[QuaternionLike](./server.quaternionlike.md) \| undefined	The principal angular inertia local frame of the rigid body.
[rawRigidBody](./server.rigidbody.rawrigidbody.md)	`readonly`	RAPIER.RigidBody \| undefined	The raw RAPIER rigid body instance.
[rotation](./server.rigidbody.rotation.md)	`readonly`	[QuaternionLike](./server.quaternionlike.md)	The rotation of the rigid body.
[softCcdPrediction](./server.rigidbody.softccdprediction.md)	`readonly`	number	The soft continuous collision detection prediction of the rigid body.
[type](./server.rigidbody.type.md)	`readonly`	[RigidBodyType](./server.rigidbodytype.md)	The type of the rigid body.
[worldCenterOfMass](./server.rigidbody.worldcenterofmass.md)	`readonly`	[Vector3Like](./server.vector3like.md) \| undefined	The world center of mass of the rigid body.

## Methods

Method	Modifiers	Description
[addChildColliderToSimulation(collider)](./server.rigidbody.addchildcollidertosimulation.md)		Adds an unsimulated child collider to the rigid body for the simulation it belongs to.
[addForce(force)](./server.rigidbody.addforce.md)		Adds a force to the rigid body.
[addTorque(torque)](./server.rigidbody.addtorque.md)		Adds a torque to the rigid body.
[addToSimulation(simulation)](./server.rigidbody.addtosimulation.md)		Adds the rigid body to a simulation.
[applyImpulse(impulse)](./server.rigidbody.applyimpulse.md)		Applies an impulse to the rigid body.
[applyImpulseAtPoint(impulse, point)](./server.rigidbody.applyimpulseatpoint.md)		Applies an impulse to the rigid body at a point.
[applyTorqueImpulse(impulse)](./server.rigidbody.applytorqueimpulse.md)		Applies a torque impulse to the rigid body.
[createAndAddChildCollider(colliderOptions)](./server.rigidbody.createandaddchildcollider.md)		Creates and adds a child collider to the rigid body for the simulation it belongs to.
[createAndAddChildCollidersToSimulation(colliderOptions)](./server.rigidbody.createandaddchildcolliderstosimulation.md)		Creates and adds multiple child colliders to the rigid body for the simulation it belongs to.
[getCollidersByTag(tag)](./server.rigidbody.getcollidersbytag.md)		Gets the colliders of the rigid body by tag.
[lockAllPositions()](./server.rigidbody.lockallpositions.md)		Locks all positional movement of the rigid body.
[lockAllRotations()](./server.rigidbody.lockallrotations.md)		Locks all rotations of the rigid body.
[removeFromSimulation()](./server.rigidbody.removefromsimulation.md)		Removes the rigid body from the simulation it belongs to.
[resetAngularVelocity()](./server.rigidbody.resetangularvelocity.md)		Resets the angular velocity of the rigid body.
[resetForces()](./server.rigidbody.resetforces.md)		Resets the forces actiong on the rigid body.
[resetLinearVelocity()](./server.rigidbody.resetlinearvelocity.md)		Resets the linear velocity of the rigid body.
[resetTorques()](./server.rigidbody.resettorques.md)		Resets the torques acting on the rigid body.
[setAdditionalMass(additionalMass)](./server.rigidbody.setadditionalmass.md)		Sets the additional mass of the rigid body.
[setAdditionalMassProperties(additionalMassProperties)](./server.rigidbody.setadditionalmassproperties.md)		Sets the additional mass properties of the rigid body.
[setAdditionalSolverIterations(solverIterations)](./server.rigidbody.setadditionalsolveriterations.md)		Sets the additional solver iterations of the rigid body.
[setAngularDamping(angularDamping)](./server.rigidbody.setangulardamping.md)		Sets the angular damping of the rigid body.
[setAngularVelocity(angularVelocity)](./server.rigidbody.setangularvelocity.md)		Sets the angular velocity of the rigid body.
[setCcdEnabled(ccdEnabled)](./server.rigidbody.setccdenabled.md)		Sets whether the rigid body has continuous collision detection enabled.
[setCollisionGroupsForSensorColliders(collisionGroups)](./server.rigidbody.setcollisiongroupsforsensorcolliders.md)		Sets the collision groups for sensor colliders of the rigid body.
[setCollisionGroupsForSolidColliders(collisionGroups)](./server.rigidbody.setcollisiongroupsforsolidcolliders.md)		Sets the collision groups for solid colliders (non-sensor) of the rigid body.
[setDominanceGroup(dominanceGroup)](./server.rigidbody.setdominancegroup.md)		Sets the dominance group of the rigid body.
[setEnabled(enabled)](./server.rigidbody.setenabled.md)		Sets whether the rigid body is enabled.
[setEnabledPositions(enabledPositions)](./server.rigidbody.setenabledpositions.md)		Sets whether the rigid body has enabled positional movement.
[setEnabledRotations(enabledRotations)](./server.rigidbody.setenabledrotations.md)		Sets whether the rigid body has enabled rotations.
[setGravityScale(gravityScale)](./server.rigidbody.setgravityscale.md)		Sets the gravity scale of the rigid body.
[setLinearDamping(linearDamping)](./server.rigidbody.setlineardamping.md)		Sets the linear damping of the rigid body.
[setLinearVelocity(linearVelocity)](./server.rigidbody.setlinearvelocity.md)		Sets the linear velocity of the rigid body.
[setNextKinematicPosition(nextKinematicPosition)](./server.rigidbody.setnextkinematicposition.md)		Sets the next kinematic position of the rigid body.
[setNextKinematicRotation(nextKinematicRotation)](./server.rigidbody.setnextkinematicrotation.md)		Sets the next kinematic rotation of the rigid body.
[setPosition(position)](./server.rigidbody.setposition.md)		Sets the position of the rigid body.
[setRotation(rotation)](./server.rigidbody.setrotation.md)		Sets the rotation of the rigid body.
[setSleeping(sleeping)](./server.rigidbody.setsleeping.md)		Sets whether the rigid body is sleeping.
[setSoftCcdPrediction(softCcdPrediction)](./server.rigidbody.setsoftccdprediction.md)		Sets the soft ccd prediction of the rigid body.
[setType(type)](./server.rigidbody.settype.md)		Sets the type of the rigid body.
[sleep()](./server.rigidbody.sleep.md)		Explicitly puts the rigid body to sleep. Physics otherwise optimizes sleeping.
[wakeUp()](./server.rigidbody.wakeup.md)		Wakes up the rigid body. Physics otherwise optimizes waking it when necessary.