# {py:mod}`simvx.core.physics.builtin.world`

```{py:module} simvx.core.physics.builtin.world
```

```{autodoc2-docstring} simvx.core.physics.builtin.world
:allowtitles:
```

## Module Contents

### Classes

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`BuiltinPhysics <simvx.core.physics.builtin.world.BuiltinPhysics>`
  - ```{autodoc2-docstring} simvx.core.physics.builtin.world.BuiltinPhysics
    :summary:
    ```
````

### Data

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`__all__ <simvx.core.physics.builtin.world.__all__>`
  - ```{autodoc2-docstring} simvx.core.physics.builtin.world.__all__
    :summary:
    ```
````

### API

`````{py:class} BuiltinPhysics(*, gravity: simvx.core.math.Vec3)
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics

Bases: {py:obj}`simvx.core.physics.world.PhysicsWorld`

```{autodoc2-docstring} simvx.core.physics.builtin.world.BuiltinPhysics
```

```{rubric} Initialization
```

```{autodoc2-docstring} simvx.core.physics.builtin.world.BuiltinPhysics.__init__
```

````{py:method} capabilities() -> frozenset[simvx.core.physics.capability.Capability]
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.capabilities

```{autodoc2-docstring} simvx.core.physics.builtin.world.BuiltinPhysics.capabilities
```

````

````{py:property} body_count
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.body_count
:type: int

```{autodoc2-docstring} simvx.core.physics.builtin.world.BuiltinPhysics.body_count
```

````

````{py:method} clear() -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.clear

```{autodoc2-docstring} simvx.core.physics.builtin.world.BuiltinPhysics.clear
```

````

````{py:method} create_sphere(radius: float) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_sphere

````

````{py:method} create_box(half_extents: simvx.core.math.Vec3) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_box

````

````{py:method} create_capsule(radius: float, height: float) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_capsule

````

````{py:method} create_cylinder(radius: float, height: float) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_cylinder

````

````{py:method} create_convex_hull(points: numpy.ndarray) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_convex_hull

````

````{py:method} create_mesh(vertices: numpy.ndarray, indices: numpy.ndarray) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_mesh

````

````{py:method} create_body(shape: simvx.core.physics.world.ShapeHandle, body_type: simvx.core.physics.world.BodyMode, transform: object, *, mass: float = 1.0, collision_layer: int = 1, collision_mask: int = 4294967295, is_sensor: bool = False, friction: float = 0.5, restitution: float = 0.0, friction_combine: simvx.core.physics.material.CombineMode = CombineMode.AVERAGE, restitution_combine: simvx.core.physics.material.CombineMode = CombineMode.AVERAGE, continuous: bool = False) -> simvx.core.physics.world.BodyHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_body

````

````{py:method} destroy_body(handle: simvx.core.physics.world.BodyHandle) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.destroy_body

````

````{py:method} set_body_transform(handle: simvx.core.physics.world.BodyHandle, transform: object) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.set_body_transform

````

````{py:method} set_body_velocity(handle: simvx.core.physics.world.BodyHandle, linear: simvx.core.math.Vec3, angular: simvx.core.math.Vec3 | None = None) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.set_body_velocity

````

````{py:method} set_body_mode(handle: simvx.core.physics.world.BodyHandle, mode: simvx.core.physics.world.BodyMode) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.set_body_mode

````

````{py:method} body_velocity(handle: simvx.core.physics.world.BodyHandle) -> tuple[simvx.core.math.Vec3, simvx.core.math.Vec3]
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.body_velocity

````

````{py:method} sleeping(handle: simvx.core.physics.world.BodyHandle) -> bool
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.sleeping

````

````{py:method} apply_impulse(handle: simvx.core.physics.world.BodyHandle, impulse: simvx.core.math.Vec3, *, at: simvx.core.math.Vec3 | None = None, angular: simvx.core.math.Vec3 | None = None) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.apply_impulse

````

````{py:method} apply_force(handle: simvx.core.physics.world.BodyHandle, force: simvx.core.math.Vec3, *, at: simvx.core.math.Vec3 | None = None) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.apply_force

````

````{py:method} apply_torque(handle: simvx.core.physics.world.BodyHandle, torque: simvx.core.math.Vec3) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.apply_torque

````

````{py:method} create_fixed_joint(a: simvx.core.physics.world.BodyHandle, b: simvx.core.physics.world.BodyHandle) -> simvx.core.physics.world.JointHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_fixed_joint

````

````{py:method} create_pin_joint(a: simvx.core.physics.world.BodyHandle, b: simvx.core.physics.world.BodyHandle, anchor: simvx.core.math.Vec3) -> simvx.core.physics.world.JointHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_pin_joint

````

````{py:method} create_hinge_joint(a: simvx.core.physics.world.BodyHandle, b: simvx.core.physics.world.BodyHandle, anchor: simvx.core.math.Vec3, axis: simvx.core.math.Vec3) -> simvx.core.physics.world.JointHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_hinge_joint

````

````{py:method} create_spring_joint(a: simvx.core.physics.world.BodyHandle, b: simvx.core.physics.world.BodyHandle, rest_length: float, stiffness: float, damping: float) -> simvx.core.physics.world.JointHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_spring_joint

````

````{py:method} remove_joint(handle: simvx.core.physics.world.JointHandle) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.remove_joint

````

````{py:method} step(dt: float) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.step

````

````{py:method} drain_contact_events() -> list[simvx.core.physics.world.ContactEvent]
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.drain_contact_events

````

````{py:method} drain_overlap_events() -> list[simvx.core.physics.world.OverlapEvent]
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.drain_overlap_events

````

````{py:method} register_bodies(handles: list[simvx.core.physics.world.BodyHandle]) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.register_bodies

````

````{py:method} read_transforms(out: numpy.ndarray) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.read_transforms

````

````{py:method} read_velocities(out: numpy.ndarray) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.read_velocities

````

````{py:method} raycast(origin: simvx.core.math.Vec3, direction: simvx.core.math.Vec3, max_dist: float, *, mask: int = 4294967295) -> simvx.core.physics.world.RaycastHit | None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.raycast

````

````{py:method} raycast_all(origin: simvx.core.math.Vec3, direction: simvx.core.math.Vec3, max_dist: float, *, mask: int = 4294967295) -> list[simvx.core.physics.world.RaycastHit]
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.raycast_all

````

````{py:method} move_and_collide(handle: simvx.core.physics.world.BodyHandle, motion: simvx.core.math.Vec3) -> simvx.core.physics.world.Contact | None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.move_and_collide

```{autodoc2-docstring} simvx.core.physics.builtin.world.BuiltinPhysics.move_and_collide
```

````

````{py:method} shapecast(shape: simvx.core.physics.world.ShapeHandle, origin: simvx.core.math.Vec3, direction: simvx.core.math.Vec3, max_dist: float, *, mask: int = 4294967295) -> simvx.core.physics.world.Contact | None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.shapecast

```{autodoc2-docstring} simvx.core.physics.builtin.world.BuiltinPhysics.shapecast
```

````

````{py:method} overlap(shape: simvx.core.physics.world.ShapeHandle, transform: object, *, mask: int = 4294967295) -> list[simvx.core.physics.world.BodyHandle]
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.overlap

```{autodoc2-docstring} simvx.core.physics.builtin.world.BuiltinPhysics.overlap
```

````

````{py:method} body_transform(handle: simvx.core.physics.world.BodyHandle) -> tuple[simvx.core.math.Vec3, simvx.core.math.Quat]
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.body_transform

````

````{py:method} create_character(shape: simvx.core.physics.world.ShapeHandle, transform: object, *, up: simvx.core.math.Vec3 = _DEFAULT_UP, slope_limit: float = math.radians(45.0), step_height: float = 0.0, skin_width: float = 0.001, collision_layer: int = 1, collision_mask: int = 4294967295) -> simvx.core.physics.world.CharacterHandle
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.create_character

````

````{py:method} destroy_character(handle: simvx.core.physics.world.CharacterHandle) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.destroy_character

````

````{py:method} set_character_transform(handle: simvx.core.physics.world.CharacterHandle, transform: object) -> None
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.set_character_transform

````

````{py:method} character_transform(handle: simvx.core.physics.world.CharacterHandle) -> tuple[simvx.core.math.Vec3, simvx.core.math.Quat]
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.character_transform

````

````{py:method} character_move_and_slide(handle: simvx.core.physics.world.CharacterHandle, velocity: simvx.core.math.Vec3, dt: float, *, up: simvx.core.math.Vec3, max_slides: int = 4) -> simvx.core.physics.world.CharacterMoveResult
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.character_move_and_slide

```{autodoc2-docstring} simvx.core.physics.builtin.world.BuiltinPhysics.character_move_and_slide
```

````

````{py:property} gravity
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.gravity
:type: simvx.core.math.Vec3

````

````{py:attribute} __slots__
:canonical: simvx.core.physics.builtin.world.BuiltinPhysics.__slots__
:value: >
   ()

````

`````

````{py:data} __all__
:canonical: simvx.core.physics.builtin.world.__all__
:value: >
   ['BuiltinPhysics']

```{autodoc2-docstring} simvx.core.physics.builtin.world.__all__
```

````