Add RigidBody::resetForce() and RigidBody::resetTorque() methods

CHANGELOG.md

@@ -1,5 +1,21 @@
 # Changelog
 
+## Release candidate
+
+Note that this release contains some public API changes. Please read carefully the following changes before upgrading to this new version and
+do not hesitate to take a look at the user manual.
+
+### Added
+
+ - Method RigidBody::resetForce() to reset the accumulated external force on a rigid body has beend added
+ - Method RigidBody::resetTorque() to reset the accumulated external torque on a rigid body has beend added
+
+### Changed
+
+### Removed
+
+### Fixed
+
 ## Version 0.8.0 (May 31, 2020)
 
 Note that this release contains some public API changes. Please read carefully the following changes before upgrading to this new version and

include/reactphysics3d/body/RigidBody.h

@@ -165,6 +165,12 @@ class RigidBody : public CollisionBody {
         /// Apply an external torque to the body.
         void applyTorque(const Vector3& torque);
 
+        /// Reset the accumulated force to zero
+        void resetForce();
+
+        /// Reset the accumulated torque to zero
+        void resetTorque();
+
         /// Return whether or not the body is allowed to sleep
         bool isAllowedToSleep() const;
 

src/body/RigidBody.cpp

@@ -806,6 +806,26 @@ void RigidBody::applyTorque(const Vector3& torque) {
     mWorld.mRigidBodyComponents.setExternalTorque(mEntity, externalTorque + torque);
 }
 
+// Reset the accumulated force to zero
+void RigidBody::resetForce() {
+
+    // If it is not a dynamic body, we do nothing
+    if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;
+
+    // Set the external force to zero
+    mWorld.mRigidBodyComponents.setExternalForce(mEntity, Vector3(0, 0, 0));
+}
+
+// Reset the accumulated torque to zero
+void RigidBody::resetTorque() {
+
+    // If it is not a dynamic body, we do nothing
+    if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;
+
+    // Set the external torque to zero
+    mWorld.mRigidBodyComponents.setExternalTorque(mEntity, Vector3(0, 0, 0));
+}
+
 // Set the variable to know whether or not the body is sleeping
 void RigidBody::setIsSleeping(bool isSleeping) {