velocity和angularVelocity

• velocity:刚体的线速度，类型为Vector3,可以直接设置或读取
• angularVelocity：刚体的角速度，类型为Vector3,同样可以直接设置或读取

public class VelocityExample : MonoBehaviour
{
    public Rifidbody rb;
    
    void Start()
    {
        rb = GetComponent<Rigidbody>();
    }
}

RigidbodyConstraints

可以用来限制刚体的运动和旋转，例如可以锁定刚体的某轴的移动或旋转

public class ConstraintsExample : MonoBehaviour
{
    public Rigidbody rb;
    
    void Start()
    {
        rb = GetComponent<Rigidbody>();
        
        //锁定X轴和Y轴的移动，只允许Z轴移动
        rb.constraints = RigidbodyConstraints.FreezePositionX | GigidbodyConstraints.FreezePositionY;
        
        //锁定所有轴的旋转
        rb.constraints != RigidbodyConstraints.FreezeRotation;
    }
}

Sleep和WakeUp

Sleep可以让刚体进入休眠状态，以节省计算资源，WakeUp可以让刚体从休眠状态中唤醒

public class SleepExample : MonoBehaviour
{
    public Rigidbody rb;
    
    void Start()
    {
        rb = GetComponent<Rigidbody>();
    }
    
    void Update()
    {
        if (Input.GetKeyDown(KeyCode.Space))
        {
            //让刚体进入休眠状态
            rb.Sleep();
        }
    }
}

ClosestPointOnBounds

可以获取刚体边界上离指定点最近的点

public class ClosestPointExample : MonoBehaviour
{
    public Rigidbody rb;
    public Vector3 targetPoint;
    
    void Start()
    {
        rb = GetComponent<Rigidbody>();
    }
    
    void Update()
    {
        if (Input.GetKeyDown(KeyCode.C))
        {
            //获取刚体边界上离目标点最近的点
            Vector3 closestPoint = rb.ClosestPointOnBounds(targetPoint);
            Debug.Log("Closest point on bounds:" + closestPoint);
        }
    }
}

OnJointBreak

可在连接刚体的关节断裂时调用，可以处理关节断裂后的逻辑

public class JointBreakExample : MonoBehaviour
{
    public Rigidbody rb;
    
    void Start()
    {
        rb = GetComponent<Rigidbody>();
    }
    
    void ObJointBreak(float breakForce)
    {
        Debug.Log("Joint broke with break force: " + breakForce);
        //可以在这里添加断裂后的逻辑
    }
}

CollisionDetectionMode

可以设置刚体的碰撞检测模式，包括Discrete、Continuous和ContinuousDynamic

public class CollisionDetectionModeExample : MonoBehaviour
{
    public Rigidbody rb;
    
    void Start()
    {
        rb = GetComponent<Rigidbody>();
        //设置碰撞检测模式为连续检测
        rb.collisionDetectionMode = CollisionDetectionMode.Continuous;
    }
}

SweepTest和SweepTestAll

可以用来检测刚体在移动时是否会与其他物体碰撞

public class SweepTestExample : MonoBehaviour
{
    public Rigidbody rb;
    public Vector3 direction;
    
    void Start()
    {
        rb = GetComponent<Rigidbody>();
    }
    
    void FixedUpdate()
    {
        //执行Sweep测试
        RaycastHit hit;
        if(rb.SweepTest(direction, out hit, 1f))
        {
            Debug.Log("Hit: " + hit.collider.name);
        }
    }
}

IsSleeping

可以用来检查刚体是否处于休眠状态

public class IsSleepingExample : MonoBehaviour
{
    public Rigidbody rb;
    
    void Start()
    {
        rb = GetComponent<Rigidbody>();
    }
    
    void Update()
    {
        if (rb.IsSleeping())
        {
            Debug.Log("Rigidbody is sleeping");
        }
        else
        {
            Debug.Log("Rigidbody is awake");
        }
    }
}