Rigidbody

namespace UnityEngine
{
    //Control of an object's position through physics simulation.
    [NativeHeader("Modules/Physics/Rigidbody.h")]
    [RequireComponent(typeof(Transform))]
    public class Rigidbody : Component
    {
        //“影响”如何精确地解析刚体关节和碰撞接触。解算器速度的迭代,默认：1
        public int solverVelocityIterations { get; set; }
 
        //刚体的最大角速度，以弧度每秒测量。 (默认7)，范围：{0，无穷大}。  
        public float maxAngularVelocity { get; set; }
 
        //休眠阈值：0.005。请注意，sleepThreshold是指能量，而不是速度
        public float sleepThreshold { get; set; }
 
        //“决定”如何精确地解析刚体关节和碰撞接触。默认：6
        public int solverIterations { get; set; }
   
        //插值允许你在固定帧率下平滑运行物理效果。默认:None
        //插值：插值总是会滞后一点，但可以比外推更平滑。  
        //外推：外推将基于当前速度预测刚体的位置。
        public RigidbodyInterpolation interpolation { get; set; }
      
        public Vector3 velocity { get; set; }
    
        //刚体的角速度矢量，单位是弧度每秒。
        public Vector3 angularVelocity { get; set; }
 
        //The drag of the object.
        public float drag { get; set; }
      
        //The angular drag of the object.
        public float angularDrag { get; set; }
   
        //The mass of the rigidbody.
        public float mass { get; set; }
      
        //刚体脱离穿透状态时的最大速度。
        public float maxDepenetrationVelocity { get; set; }
      
        public bool isKinematic { get; set; }
       
        //控制物理是否会改变对象的旋转。 
        public bool freezeRotation { get; set; }
      
        //Controls which degrees of freedom are allowed for the simulation of this Rigidbody.
        public RigidbodyConstraints constraints { get; set; }
      
        //The Rigidbody's collision detection mode.
        public CollisionDetectionMode collisionDetectionMode { get; set; }
    
        //The center of mass relative to the transform's origin.
        public Vector3 centerOfMass { get; set; }
  
        //The center of mass of the rigidbody in world space (Read Only).
        public Vector3 worldCenterOfMass { get; }
      
        //惯性张量的旋转。
        public Quaternion inertiaTensorRotation { get; set; }
       
        //相对于质心的质量的对角惯量张量。
        public Vector3 inertiaTensor { get; set; }//惯量张量
      
        //是否应该启用碰撞检测? (默认情况下总是启用)。  
        public bool detectCollisions { get; set; }
    
        //Controls whether gravity affects this rigidbody.
        public bool useGravity { get; set; }
      
        //The position of the rigidbody.
        public Vector3 position { get; set; }
        
        //The rotation of the Rigidbody.
        public Quaternion rotation { get; set; }
       
 
        //Applies a force to a rigidbody that simulates explosion effects.
        //   explosionForce:
        //     The force of the explosion (which may be modified by distance).
 
        //   explosionPosition:
        //     The centre of the sphere within which the explosion has its effect.
    
        //   explosionRadius:
        //     The radius of the sphere within which the explosion has its effect.
        //
        //   upwardsModifier:
        //     Adjustment to the apparent position of the explosion to make it seem to lift
        //     objects.
        //
        //   mode:
        //     The method used to apply the force to its targets.
        public void AddExplosionForce(float explosionForce, Vector3 explosionPosition, float explosionRadius, [DefaultValue("0.0f")] float upwardsModifier, [DefaultValue("ForceMode.Force)")] ForceMode mode);
  
        //     Adds a force to the Rigidbody.
        //
        // 参数:
        //   force:
        //     Force vector in world coordinates.
        //
        //   mode:
        //     Type of force to apply.
        public void AddForce(Vector3 force, [DefaultValue("ForceMode.Force")] ForceMode mode);
 
        //     Applies force at position. As a result this will apply a torque and force on the object.
        public void AddForceAtPosition(Vector3 force, Vector3 position, [DefaultValue("ForceMode.Force")] ForceMode mode);
 
        //     Adds a force to the rigidbody relative to its coordinate system.
        //
        // 参数:
        //   force:
        //     Force vector in local coordinates.
        //
        //   mode:
        public void AddRelativeForce(Vector3 force, [DefaultValue("ForceMode.Force")] ForceMode mode);
 
        //     Adds a torque to the rigidbody relative to its coordinate system.
        //
        // 参数:
        //   torque:
        //     Torque vector in local coordinates.
        //
        //   mode:
        public void AddRelativeTorque(Vector3 torque, [DefaultValue("ForceMode.Force")] ForceMode mode);
 
       
        // 摘要:
        //     Adds a torque to the rigidbody.
        //
        // 参数:
        //   torque:
        //     Torque vector in world coordinates.
        //
        //   mode:
        [ExcludeFromDocs]
        public void AddTorque(Vector3 torque);
       
        // 摘要:
        //     Adds a torque to the rigidbody.
        //
        // 参数:
        //   torque:
        //     Torque vector in world coordinates.
        //
        //   mode:
        public void AddTorque(Vector3 torque, [DefaultValue("ForceMode.Force")] ForceMode mode);
      
        //     The closest point to the bounding box of the attached colliders.
        public Vector3 ClosestPointOnBounds(Vector3 position);
 
        //     The velocity of the rigidbody at the point worldPoint in global space.
        public Vector3 GetPointVelocity(Vector3 worldPoint);
    
        //     The velocity relative to the rigidbody at the point relativePoint.
        public Vector3 GetRelativePointVelocity(Vector3 relativePoint);
 
        //Is the rigidbody sleeping?
        public bool IsSleeping();
 
        // 摘要:
        //     Moves the kinematic Rigidbody towards position.
        //
        // 参数:
        //   position:
        //     Provides the new position for the Rigidbody object.
        public void MovePosition(Vector3 position);
 
        //     Rotates the rigidbody to rotation.
        //
        // 参数:
        //   rot:
        //     The new rotation for the Rigidbody.
        public void MoveRotation(Quaternion rot);
      
        //Reset the center of mass of the rigidbody.
        public void ResetCenterOfMass();
 
        //Reset the inertia tensor value and rotation.
        public void ResetInertiaTensor();
    
        //设置质量基于附加的碰撞器假设一个恒定的密度。  
        public void SetDensity(float density);
   
        //Forces a rigidbody to sleep at least one frame.强制刚体至少休眠一帧。 若刚体所在的Transform位置、旋转、缩放数值没有变化，刚体就会自动休眠。什么是休眠：休眠=Transform不变，Transform不变=休眠
        public void Sleep();
 
        public bool SweepTest(Vector3 direction, out RaycastHit hitInfo, [DefaultValue("Mathf.Infinity")] float maxDistance, [DefaultValue("QueryTriggerInteraction.UseGlobal")] QueryTriggerInteraction queryTriggerInteraction);
 
        // 摘要:
        //     Like Rigidbody.SweepTest, but returns all hits.
        //
        // 参数:
        //   direction:
        //     The direction into which to sweep the rigidbody.
        //
        //   maxDistance:
        //     The length of the sweep.
        //
        //   queryTriggerInteraction:
        //     Specifies whether this query should hit Triggers.
        //
        // 返回结果:
        //     An array of all colliders hit in the sweep.
        public RaycastHit[] SweepTestAll(Vector3 direction, [DefaultValue("Mathf.Infinity")] float maxDistance, [DefaultValue("QueryTriggerInteraction.UseGlobal")] QueryTriggerInteraction queryTriggerInteraction);
 
        //Forces a rigidbody to wake up.
        public void WakeUp();
    }
}

namespace UnityEngine
{
    //Use ForceMode to specify how to apply a force using Rigidbody.AddForce.
    public enum ForceMode
    {
        //Add a continuous force to the rigidbody, using its mass. 向刚体添加一个连续的力，与刚体的质量有关。
        Force = 0,
 
        //Add an instant force impulse to the rigidbody, using its mass.向刚体添加一个瞬时的力脉冲，与刚体的质量有关。  
        Impulse = 1,
 
        //Add an instant velocity change to the rigidbody, ignoring its mass.给刚体添加一个瞬时速度变化，忽略它的质量。  
        VelocityChange = 2,
 
        //Add a continuous acceleration to the rigidbody, ignoring its mass.给刚体添加一个连续的加速度，忽略它的质量。  
        Acceleration = 5
    }
}

ForceMode为枚举类型，用来控制力的作用方式，有4个枚举成员，在以下举例中均设刚体质量为m=2.0f，力向量为f=(10.0f,0.0f,0.0f)。

（1）ForceMode.Force：默认方式，使用刚体的质量计算，以每帧间隔时间为单位计算动量。设FixedUpdate()的执行频率采用系统默认值（即0.02s），，则由动量定理

f•t=m•v

可得：10*0.02=2*v1，从而可得v1=0.1m/s，很多博客这里是m/帧，后面又转换成了m/s,那些结果是错的，是单位搞错了，请重视，以免产生困扰。

（2）ForceMode.Impulse：此种方式采用瞬间力作用方式，使用刚体的质量计算，把 t 的值默认为1，不再采用系统的帧频间隔，即

f•1.0=m•v

即可得v1=f/m=10.0/2.0=5.0m/s

（3）ForceMode.VelocityChange：此种作用方式下将忽略刚体的实际质量采用默认质量1.0，同时也忽略系统的实际帧频间隔，采用默认间隔1.0，即

f•1.0=1.0•v

即可得v1=f=10.0m/s

（4）ForceMode.Acceleration：在此种作用方式下会忽略刚体的实际质量而采用默认值1.0f，时间间隔以系统帧频间隔计算（默认值为0.02s），即

f•t=1.0•v

即可得v1= f•t=10*0.02=0.2m/s

这里就来解释一下对于官方注释中的continuous的理解方式，ForceMode.Force模式，是在一秒钟的时间内持续施加的力的和为f,所以在FixedUpdate默认设置中执行时,t为0.02。