/unity-physics

name: unity-physics
description: >
  Set up 3D physics in Unity 6.3 LTS: Rigidbody movement and forces, colliders, triggers vs
  collisions, layer-based collision, raycasts, and joints. Use when adding a Rigidbody,
  handling OnCollisionEnter/OnTriggerEnter, tuning collision layers, casting rays, or when
  the user mentions Unity physics, AddForce, isKinematic, or linearVelocity.

Unity Physics (Rigidbody / PhysX)

Make objects move, collide, and detect each other with Unity 6.3 LTS's built-in 3D physics (PhysX). Get the `FixedUpdate` discipline, trigger-vs-collision rules, and collision layers right. Targets **Unity 6.3 LTS (6000.3)**.

> **Unity 6 renames:** `Rigidbody.velocity` → **`linearVelocity`**, `drag` → **`linearDamping`**, > `angularDrag` → **`angularDamping`**. The old names still compile in 6.3 LTS but are obsolete > (warnings; the API Updater offers the rename), so write the new names. `PhysicMaterial` → > **`PhysicsMaterial`** is a hard compile error in old code.

When to use

• Use when giving an object physical motion (forces, velocity, gravity), responding to

collisions or triggers, setting up collision layers/masks, raycasting for ground checks or line-of-sight, or connecting bodies with joints.

• Use when scenes/prefabs contain `Rigidbody` + `Collider` components.

**When *not* to use:** 2D physics (`Rigidbody2D`, `Collider2D`) is a separate API — adapt the concepts but the types differ. Unity 6.3 also has a separate low-level 2D API (`UnityEngine.LowLevelPhysics2D`: `PhysicsWorld`, `PhysicsBody`) with its own isolated worlds; it is not the `Rigidbody2D` system. Unity 6.5 renamed it Physics Core 2D, namespace `Unity.U2D.Physics` (the API Updater rewrites old scripts). Cross-engine *feel* tuning (timestep, jitter, tunnelling) → `physics-tuning`. Reading input that drives movement → `unity-input-system`.

Core workflow

1. **Add a `Rigidbody`** to anything that should be simulated; add a `Collider` to anything that should be hit. `OnCollision*` messages need a Collider on both and at least one **dynamic** (non-kinematic) Rigidbody: with the default Contact Pairs Mode, kinematic vs kinematic and kinematic vs static send no collision messages. 2. **Do all physics in `FixedUpdate`.** Read input in `Update`, store intent, then apply forces / set `linearVelocity` / call `MovePosition` in `FixedUpdate`. 3. **Move bodies through the physics API, not the Transform.** Use `AddForce`, `linearVelocity`, or `MovePosition` — never assign `transform.position` to a non-kinematic Rigidbody (it teleports and breaks collision resolution). 4. **Pick collision vs trigger.** A solid collision blocks and calls `OnCollisionEnter`; a `Collider` with `Is Trigger` checked passes through and calls `OnTriggerEnter`. 5. **Organise interactions with layers.** Put objects on layers and edit the Layer Collision Matrix (Project Settings → Physics) so unrelated things don't test against each other. 6. **Verify** with the Physics Debugger (Window → Analysis → Physics Debugger) and by watching for jitter; if fast objects pass through walls, raise Collision Detection mode.

Patterns

1. Force-based movement in `FixedUpdate` (with a speed clamp)

using UnityEngine;

[RequireComponent(typeof(Rigidbody))]
public class Mover : MonoBehaviour
{
    [SerializeField] private float accel = 30f, maxSpeed = 8f;
    private Rigidbody _rb;
    private Vector3 _input;   // set from Update / input system

    private void Awake() => _rb = GetComponent<Rigidbody>();

    private void FixedUpdate()
    {
        _rb.AddForce(_input * accel, ForceMode.Acceleration);     // mass-independent accel
        // Unity 6.3 LTS: linearVelocity (was 'velocity'). Clamp horizontal speed.
        Vector3 flat = new(_rb.linearVelocity.x, 0, _rb.linearVelocity.z);
        if (flat.magnitude > maxSpeed)
        {
            flat = flat.normalized * maxSpeed;
            _rb.linearVelocity = new Vector3(flat.x, _rb.linearVelocity.y, flat.z);
        }
    }
}

`ForceMode`: `Force` (continuous, mass-scaled), `Acceleration` (continuous, ignores mass), `Impulse` (instant, mass-scaled — jumps), `VelocityChange` (instant, ignores mass).

2. Collision vs trigger callbacks

// Solid hit: both have colliders, at least one has a dynamic (non-kinematic) Rigidbody.
private void OnCollisionEnter(Collision col)
{
    // GetContact avoids the garbage that the col.contacts array allocates.
    Debug.Log($"Hit {col.gameObject.name} at {col.GetContact(0).point}");
}

// Overlap: one collider has 'Is Trigger' = true, and at least one party has a Rigidbody
// (or a Rigidbody carries the trigger). Two static colliders never report.
private void OnTriggerEnter(Collider other)
{
    if (other.CompareTag("Pickup")) Destroy(other.gameObject);
}

3. Ground check with a layer-masked raycast

[SerializeField] private LayerMask groundMask;   // set to your "Ground" layer in the Inspector

private bool IsGrounded()
{
    // Cast a short ray down; only test colliders on groundMask.
    return Physics.Raycast(transform.position, Vector3.down, out RaycastHit hit,
                           1.1f, groundMask);
}

4. Kinematic platform that still pushes bodies

// isKinematic Rigidbody: not driven by forces, but MovePosition interpolates and carries
// resting bodies correctly (unlike moving the Transform directly).
private void FixedUpdate() => _rb.MovePosition(_rb.position + Vector3.right * (2f * Time.fixedDeltaTime));

Pitfalls

• **Obsolete warnings on `velocity` / `drag` / `angularDrag`** — Unity 6 renamed them to

`linearVelocity`, `linearDamping` and `angularDamping` (`angularVelocity` is unchanged). Let the API Updater rename them or edit by hand; `PhysicMaterial` must become `PhysicsMaterial`.

• **Setting `transform.position` on a dynamic Rigidbody** — teleports it, skips collision.

Use `MovePosition` (kinematic/interpolated) or apply f