Rename RigidBody::applyForce() to RigidBody::applyForceAtWorldPosition() and add RigidBody::applyForceAtLocalPosition() method

CHANGELOG.md

@@ -24,6 +24,7 @@
  - The EventListener class now has a onTrigger() method that is called when a trigger collider is colling with another collider.
  - In the EventListener, the onContact() and onTrigger() method now reports the type of event (start, stay, exit) for each contact. This way the user can know whether it's a new contact or not or when two colliders are not in contact anymore. 
  - A DebugRenderer class has been added in order to display debug info (colliders, AABBs, contacts, ...) using graphics primities (lines, triangles).
+ - A RigidBody::applyForceAtLocalPosition() method has been added to apply a force at a given position of the rigid body in local-space.
 
 ### Fixed
 
@@ -60,6 +61,7 @@
  - Now, the local inertia tensor of a rigid body has to be set using a Vector3 instead of a Matrix3x3. You only need to provide the diagonal values of the matrix
  - The RigidBody::recomputeMassInformation() method has been renamed to RigidBody::updateMassPropertiesFromColliders.
  - Now, you need to manually call the RigidBody::recomputeMassInformation() method after adding colliders to a rigid body to recompute its inertia tensor, center of mass and mass
+ - The RigidBody::applyForce() method has been renamed to RigidBody::applyForceAtWorldPosition()
  - The rendering in the testbed application has been improved
  - The old Logger class has been renamed to DefaultLogger
  - The Logger class is now an abstract class that you can inherit from in order to receive log events from the library

include/reactphysics3d/body/RigidBody.h

@@ -156,8 +156,11 @@ class RigidBody : public CollisionBody {
         /// Apply an external force to the body at its center of mass.
         void applyForceToCenterOfMass(const Vector3& force);
 
+        /// Apply an external force to the body at a given point (in local-space coordinates).
+        void applyForceAtLocalPosition(const Vector3& force, const Vector3& point);
+
         /// Apply an external force to the body at a given point (in world-space coordinates).
-        void applyForce(const Vector3& force, const Vector3& point);
+        void applyForceAtWorldPosition(const Vector3& force, const Vector3& point);
 
         /// Apply an external torque to the body.
         void applyTorque(const Vector3& torque);

src/body/RigidBody.cpp

@@ -127,6 +127,38 @@ decimal RigidBody::getMass() const {
     return mWorld.mRigidBodyComponents.getMass(mEntity);
 }
 
+// Apply an external force to the body at a given point (in local-space coordinates).
+/// If the point is not at the center of mass of the body, it will also
+/// generate some torque and therefore, change the angular velocity of the body.
+/// If the body is sleeping, calling this method will wake it up. Note that the
+/// force will we added to the sum of the applied forces and that this sum will be
+/// reset to zero at the end of each call of the PhyscisWorld::update() method.
+/// You can only apply a force to a dynamic body otherwise, this method will do nothing.
+/**
+ * @param force The force to apply on the body
+ * @param point The point where the force is applied (in local-space coordinates)
+ */
+void RigidBody::applyForceAtLocalPosition(const Vector3& force, const Vector3& point) {
+
+    // If it is not a dynamic body, we do nothing
+    if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;
+
+    // Awake the body if it was sleeping
+    if (mWorld.mRigidBodyComponents.getIsSleeping(mEntity)) {
+        setIsSleeping(false);
+    }
+
+    // Add the force
+    const Vector3& externalForce = mWorld.mRigidBodyComponents.getExternalForce(mEntity);
+    mWorld.mRigidBodyComponents.setExternalForce(mEntity, externalForce + force);
+
+    // Add the torque
+    const Vector3& externalTorque = mWorld.mRigidBodyComponents.getExternalTorque(mEntity);
+    const Vector3& centerOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity);
+    const Vector3 worldPoint = mWorld.mTransformComponents.getTransform(mEntity) * point;
+    mWorld.mRigidBodyComponents.setExternalTorque(mEntity, externalTorque + (worldPoint - centerOfMassWorld).cross(force));
+}
+
 // Apply an external force to the body at a given point (in world-space coordinates).
 /// If the point is not at the center of mass of the body, it will also
 /// generate some torque and therefore, change the angular velocity of the body.
@@ -138,7 +170,7 @@ decimal RigidBody::getMass() const {
  * @param force The force to apply on the body
  * @param point The point where the force is applied (in world-space coordinates)
  */
-void RigidBody::applyForce(const Vector3& force, const Vector3& point) {
+void RigidBody::applyForceAtWorldPosition(const Vector3& force, const Vector3& point) {
 
     // If it is not a dynamic body, we do nothing
     if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;