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");}}
}