From 320913007c7bd97831157a78a0d198ac18ac5fd4 Mon Sep 17 00:00:00 2001
From: "chappuis.daniel" <chappuis.daniel@92aac97c-a6ce-11dd-a772-7fcde58d38e6>
Date: Sat, 7 Mar 2009 14:40:14 +0000
Subject: [PATCH] git-svn-id:
 https://reactphysics3d.googlecode.com/svn/trunk@111
 92aac97c-a6ce-11dd-a772-7fcde58d38e6

---
 sources/reactphysics3d/body/BodyState.cpp |  6 +++---
 sources/reactphysics3d/body/BodyState.h   | 14 ++++++++++++++
 2 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/sources/reactphysics3d/body/BodyState.cpp b/sources/reactphysics3d/body/BodyState.cpp
index 980983c4..70533a88 100644
--- a/sources/reactphysics3d/body/BodyState.cpp
+++ b/sources/reactphysics3d/body/BodyState.cpp
@@ -39,7 +39,7 @@ BodyState::BodyState(const BodyState& bodyState)
           : position(bodyState.position), linearMomentum(bodyState.linearMomentum), orientation(bodyState.orientation),
             angularMomentum(bodyState.angularMomentum), linearVelocity(bodyState.linearVelocity),
             angularVelocity(bodyState.angularVelocity), spin(bodyState.spin), inertiaTensorInverse(bodyState.inertiaTensorInverse),
-            massInverse(bodyState.massInverse) {
+            massInverse(bodyState.massInverse), force(bodyState.force) {
 }
 
 // Destructor
@@ -86,11 +86,11 @@ void BodyState::computeAtTime(const Time& timeStep, const DerivativeBodyState& l
 // Return the force on the body at time t
 Vector3D BodyState::computeForce(Time time) const {
     // TODO : Implement this method
-    return Vector3D(0.0, 0.0, 0.0);
+    return force + Vector3D(0.0, 0.0, 0.0);
 }
 
 // Return the torque on the body at time
 Vector3D BodyState::computeTorque(Time time) const {
     // TODO : Implement this method
-    return Vector3D(0.0, 0.0 ,0.0);
+    return force + Vector3D(0.0, 0.0 ,0.0);
 }
diff --git a/sources/reactphysics3d/body/BodyState.h b/sources/reactphysics3d/body/BodyState.h
index 8ce52f84..09d95c47 100644
--- a/sources/reactphysics3d/body/BodyState.h
+++ b/sources/reactphysics3d/body/BodyState.h
@@ -40,6 +40,7 @@ class BodyState {
         Vector3D linearMomentum;                // Linear momentum of the body
         Quaternion orientation;                 // Orientation quaternion of the body
         Vector3D angularMomentum;               // Angular momentum of the body
+        Vector3D force;                         // force on the body
 
         // Secondary values
         Vector3D linearVelocity;                // Linear velocity of the body
@@ -68,6 +69,8 @@ class BodyState {
         Quaternion getSpin() const;                                             // Return the spin of the body
         void setMassInverse(Kilogram massInverse);                              // Set the inverse of the mass
         void setInertiaTensorInverse(const Matrix3x3& inertiaTensorInverse);    // Set the inverse of the inertia tensor
+        Vector3D getForce() const;                                              // Return the force over the body
+        void setForce(const Vector3D force);                                    // Set the force over the body
 
         void recalculate();                                                                 // Recalculate the secondary values
                                                                                             // of the BodyState from the primary ones
@@ -144,6 +147,17 @@ inline void BodyState::setInertiaTensorInverse(const Matrix3x3& inertiaTensorInv
     this->inertiaTensorInverse = inertiaTensorInverse;
 }
 
+// Return the force over the body
+inline Vector3D BodyState::getForce() const {
+    return force;
 }
 
+// Set the force over the body
+inline void BodyState::setForce(const Vector3D force) {
+    this->force = force;
+
+}
+
+}   // End of the ReactPhysics3D namespace
+
 #endif