unity-physicscore2d-bodies

name

unity-physicscore2d-bodies

description

Patterns for Unity PhysicsCore2D PhysicsBody — choosing body type (Static/Kinematic/Dynamic), creating and destroying bodies, mass and moment of inertia configuration, sleep state management, transform sync between PhysicsBody and Unity Transform, freezing position/rotation via constraints, owner key pattern for ownership, and the WORM rule about creating/destroying bodies during simulation. Use when working with PhysicsBody lifecycle, configuration, or runtime manipulation. For full member API see unity-physicscore2d-bodies-api. For applying forces see unity-physicscore2d-forces. For batched body creation see unity-physicscore2d-batching.

Unity PhysicsCore2D — Body Patterns

PhysicsBody is the central simulated entity — every shape, joint, and force ultimately attaches to one. Most "how do I make X behave like Y?" questions come down to body-type choice, mass setup, and lifecycle management.

For the full type/method API surface (every property, signature, and XML doc), see unity-physicscore2d-bodies-api. For force/impulse/explosion patterns see unity-physicscore2d-forces. For batched creation/destruction see unity-physicscore2d-batching. This skill focuses on body lifecycle and configuration patterns.

Body type — pick the right one

Type	Moves	Mass	Collides with	Use for
Static	Never	Effectively infinite	Dynamic only	Level geometry, walls, immovable platforms. Cheapest.
Kinematic	Yes (you set position/velocity)	Effectively infinite	Dynamic only	Player characters with custom controllers, moving platforms, scripted animations, anything you want to move through code without simulation pushing it back.
Dynamic	Yes (forces and collisions)	Real	Everything	Anything that should respond to gravity, impacts, or spring/joint forces.

Key consequences:

• Static-vs-static and Static-vs-Kinematic pairs never collide. Two moving platforms (kinematic) won't push each other.
• Dynamic-vs-anything collides. A kinematic platform pushes a dynamic crate naturally.
• Setting a kinematic body's linearVelocity makes it sweep correctly into the next step (no tunneling) — better than teleporting via position.

Creation pattern

var def = PhysicsBodyDefinition.defaultDefinition;
def.type = PhysicsBody.BodyType.Dynamic;
def.position = new Vector2(0, 5);
def.rotation = 0f;
def.linearVelocity = Vector2.zero;
def.angularVelocity = 0f;
def.gravityScale = 1f;          // 0 = no gravity for this body
def.linearDamping = 0.1f;       // air resistance proxy
def.angularDamping = 0.1f;
def.sleepingAllowed = true;     // let the engine sleep this body when settled

var body = world.CreateBody(def);

Always start from defaultDefinition so future-added fields get sensible defaults. The definition is a value type — modifications after CreateBody don't affect the body.

Adding shapes (a body is empty until you do)

A PhysicsBody with no shape simulates as a point — collisions, mass-from-density, and queries all need a shape:

var shapeDef = PhysicsShapeDefinition.defaultDefinition;
shapeDef.surfaceMaterial.friction = 0.4f;
shapeDef.surfaceMaterial.bounciness = 0.1f;
shapeDef.density = 1f;          // contributes to body mass when massConfiguration = Auto

body.CreateShape(new CircleGeometry { center = Vector2.zero, radius = 0.5f }, shapeDef);

Multiple shapes per body form a compound — useful for shapes that aren't a single primitive (a character with circle feet + capsule torso).

Mass configuration

// --- Automatic mode (default): mass accumulates from shape density ---
// When startMassUpdate is true (the default), each CreateShape call
// immediately recomputes mass from all shapes on the body.
var shapeDef = new PhysicsShapeDefinition { density = 5f };   // kg/m^2
body.CreateShape(new CircleGeometry { center = Vector2.zero, radius = 0.5f }, shapeDef);
// body.mass is now non-zero, driven by density * shape area.

// --- Batched shape creation: defer mass recalculation for performance ---
// Set startMassUpdate = false on each shape to skip per-shape recalc,
// then call ApplyMassFromShapes() once all shapes have been added.
var batchShapeDef = new PhysicsShapeDefinition
{
    density = 1f,
    startMassUpdate = false   // suppress automatic per-shape mass update
};
var gridSize = new Vector2(1f, 1f);
for (var i = 0; i < 25; ++i)
{
    var offset = new Vector2(i % 5, i / 5);
    body.CreateShape(
        PolygonGeometry.CreateBox(gridSize, radius: 0f, new PhysicsTransform(offset, PhysicsRotate.identity)),
        batchShapeDef);
}
body.ApplyMassFromShapes();   // compute mass once, after all 25 shapes
// body.mass and body.rotationalInertia are now valid.

// --- Manual override: assign specific mass/inertia/center-of-mass ---
// Read the current (auto-computed) config, override individual fields.
var cfg = body.massConfiguration;
cfg.mass = 70f;                        
cfg.rotationalInertia = ;          
cfg.center =  Vector2(, );   
body.massConfiguration = cfg;

Use Manual when:

• Density-from-shape gives wrong values (e.g. a character should weigh 70 kg regardless of shape area).
• You want a specific moment of inertia for arcade-style spinning.
• You're tweaking gameplay feel (lighter = more reactive to forces).

Center-of-mass tricks:

• Lower the COM (e.g. (0, -0.3) for a character) to make a body harder to tip over.
• Offset COM forward/back for vehicles to bias steering.

Constraints — freezing axes

def.constraints = PhysicsBody.BodyConstraints.Rotation;
// Or: PositionX, PositionY, Position, All, None, etc. (flags enum, combine with |)

FreezeRotation is the classic platformer character setting — the body stays upright regardless of impacts.

Sleep — let settled bodies stop using CPU

// --- Allow sleep (default for most bodies) ---
// sleepingAllowed = true means the engine can put the body to sleep
// when its velocity drops below sleepThreshold for several steps.
var def = PhysicsBodyDefinition.defaultDefinition;
def.type = PhysicsBody.BodyType.Dynamic;
def.sleepingAllowed = true;        // engine will sleep this when settled
def.sleepThreshold = 0.05f;        // wake/sleep speed threshold (m/s)
var settledBody = world.CreateBody(def);

// --- Disable sleep for always-active bodies ---
// A spinner or player character should never sleep regardless of velocity.
var spinnerDef = new PhysicsBodyDefinition
{
    type = PhysicsBody.BodyType.Kinematic,
    angularVelocity = 200f,
    sleepingAllowed = false         // never sleep; always processed each step
};
var spinnerBody = world.CreateBody(spinnerDef);

// --- Read and set awake state at runtime ---
// body.awake is readable and writable; writing true wakes the body.
if (!settledBody.awake)
{
    // Force a sleeping body awake (e.g. an explosion nearby).
    settledBody.awake = true;
}

// --- Wake all bodies touching a static body (e.g. after moving a platform) ---
// Useful when a Static or Kinematic body moves and should disturb nearby sleepers.
staticPlatform.WakeTouching();

A sleeping body costs near-zero per step. Bodies wake automatically on contact, force application, or transform change. Disable sleeping for bodies you always need responsive (player character, debug-visualized objects).

Transform sync to GameObject

PhysicsCore2D bodies aren't attached to GameObjects. Sync each frame in LateUpdate:

void LateUpdate()
{
    transform.position = PhysicsMath.ToPosition3D(body.position, transform.position, TransformPlane.XY);
    transform.rotation = PhysicsMath.ToRotationFast3D(body.rotation, TransformPlane.XY);
}

For top-down on the XZ plane, swap TransformPlane.XZ. See unity-physicscore2d-math for the full conversion patterns.

For component-based wrapping (script that owns its body), see unity-physicscore2d-components.

Owner key pattern (preventing accidental destruction)

When you want a body to be "owned" by a specific script, register an owner key. Other code that doesn't have the key cannot destroy the body without warning:

int ownerKey = body.SetOwner(this);

// Later, only the owner (this script) can destroy:
body.Destroy(ownerKey);

// Code without the key gets a warning and the body is NOT destroyed:
body.Destroy();   // logs a warning if the body is owned

Useful in libraries/middleware where you want defensive ownership without complex reference tracking.

Iteration & introspection

// --- Walk all active bodies in a world ---
// world.GetBodies() returns a NativeArray; always dispose it.
using var bodies = world.GetBodies();
foreach (var body in bodies)
{
    // body.type is the correct property (not bodyType).
    if (body.type != PhysicsBody.BodyType.Dynamic)
        continue;

    // Collect non-owned bodies for later batch-destroy (safe outside callbacks).
    if (!body.isOwned)
        bodiesToDestroy.Add(body);
}
// Batch-destroy outside the iteration to avoid invalidating the array.
PhysicsWorld.DestroyBodyBatch(bodiesToDestroy.AsArray());

// --- Walk every shape attached to a specific body ---
// GetShapes() is the only overload; there is no single-index GetShape(int).
using var shapes = ragdollBone.GetShapes();
foreach (var shape in shapes)
{
    if (shape.shapeType == PhysicsShape.ShapeType.Capsule)
    {
        var geo = shape.capsuleGeometry;
        // Scale the capsule geometry in-place.
        shape.capsuleGeometry = new CapsuleGeometry
        {
            center1 = geo.center1 * scaleRatio,
            center2 = geo.center2 * scaleRatio,
            radius  = geo.radius  * scaleRatio
        };
    }
}
// After modifying shapes, re-compute mass from the new geometry.
ragdollBone.ApplyMassFromShapes();

For per-frame work over many bodies, see batching patterns in unity-physicscore2d-batching.

WORM concurrency rule (critical)

PhysicsCore2D uses a Write-Once-Read-Many model: during a simulation step, the world is locked for structural mutations. You can read freely, but you cannot create or destroy bodies, shapes, or joints from inside a contact callback or pre-solve callback.

If you need to delete a body in response to a collision (e.g. bullet on impact), defer:

// IContactCallback runs AFTER the simulation step (main-thread).
// It is safe to create/destroy bodies here — no deferral needed.
//
// WORM applies to IPreSolveCallback and IContactFilterCallback,
// which run DURING the simulation. Never mutate the world from those.

public class BulletSystem : MonoBehaviour, PhysicsCallbacks.IContactCallback
{
    private PhysicsWorld m_World;

    private void OnEnable()
    {
        m_World = PhysicsWorld.defaultWorld;
        m_World.autoContactCallbacks = true;
    }

    public PhysicsBody SpawnBullet(Vector2 position, Vector2 velocity)
    {
        var def = new PhysicsBodyDefinition
        {
            type             = PhysicsBody.BodyType.Dynamic,
            position         = position,
            linearVelocity   = velocity,
            gravityScale     = 0f,
            fastCollisionsAllowed = true
        };
        var bullet = m_World.CreateBody(def);
        bullet.CreateShape(new CircleGeometry { radius = 0.1f });

        // Assign this script as the callback target so OnContactBegin2D fires.
        bullet.callbackTarget = this;
        bullet.SetContactEvents(true);   // enable contact events on all shapes

        return bullet;
    }

    // Called on the main-thread AFTER the simulation step — world is writable.
    public void OnContactBegin2D(PhysicsEvents.ContactBeginEvent beginEvent)
    {
         shapeA = beginEvent.shapeA;
         shapeB = beginEvent.shapeB;

        
         (!shapeA.isValid || !shapeB.isValid)
            ;

        
         bulletBody = shapeA.body.callbackTarget ==  ? shapeA.body : shapeB.body;
         otherBody  = shapeA.body.callbackTarget ==  ? shapeB.body : shapeA.body;

        
        bulletBody.Destroy();

        
         owner = otherBody.GetOwner();
         (owner  IDestructible destructible)
            destructible.OnHit();
    }

     { }
}

This is by far the most common runtime crash for new users — symptoms are nondeterministic exceptions or "body became invalid" errors mid-callback.

Position vs velocity vs forces — choosing how to move a body

Method	When
body.position = X (teleport)	Reset to spawn point, undo a glitch, snap to a checkpoint. Skips collision sweeping — can cause penetration.
body.linearVelocity = V	Kinematic body movement, instantaneous "set the speed", overriding gravity briefly.
body.ApplyImpulse(I)	One-shot bursts: jumps, explosions, getting kicked. Independent of mass-time integration.
body.ApplyForce(F)	Continuous influence: thrusters, wind, gravity wells. Scaled by deltaTime internally.

Setting velocity directly each frame fights the physics solver and can cause jitter; for character controllers prefer impulse-on-demand (jump) + velocity adjustment (movement) over per-frame force application. See unity-physicscore2d-forces for environmental force patterns.

Common gotchas

• Creating a body with no shape — body has zero collision area but still simulates. Probably not what you wanted.
• Forgetting to set bodyType — defaults to Static, which never moves. Symptom: "my dynamic body just sits there".
• Setting position during simulation callbacks — violates WORM, may corrupt state. Defer to LateUpdate.
• Querying body.position and getting yesterday's value — bodies cache transform; if you've teleported, read the value you set.
• Density of zero on all shapes + MassConfiguration.Automatic — body has zero mass, behaves erratically. Set density on at least one shape, or use Manual mass.
• Calling Destroy() on an already-destroyed body — handle struct still exists; check body.isValid first.

Best practices

• Start every body from PhysicsBodyDefinition.defaultDefinition.
• Pick body type intentionally: Static for level, Kinematic for scripted, Dynamic for simulated.
• Use linearVelocity (not position) to move kinematic bodies smoothly.
• Add at least one shape with density > 0, or use MassConfiguration.Manual.
• Use FreezeRotation for upright characters.
• Defer body creation/destruction out of contact callbacks (WORM).
• Sync via LateUpdate after the simulation step, using PhysicsMath plane helpers.
• Sleep aggressively; wake explicitly when scripting kicks in.