Merge pull request #429 from fabriceci/add-methods-retrieves-forces-and-torques

Adds methods to retrieve forces added by the user.

1 files changed, 22 insertions, 0 deletions

diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index bb1e9bf..78132b2 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -938,6 +938,28 @@ impl RigidBody {
         self.apply_impulse(impulse, wake_up);
         self.apply_torque_impulse(torque_impulse, wake_up);
     }
+
+    /// Retrieves the constant force(s) that the user has added to the body.
+    ///
+    /// Returns zero if the rigid-body isn’t dynamic.
+    pub fn user_force(&self) -> Vector<Real> {
+        if self.body_type == RigidBodyType::Dynamic {
+            self.forces.user_force
+        } else {
+            Vector::zeros()
+        }
+    }
+
+    /// Retrieves the constant torque(s) that the user has added to the body.
+    ///
+    /// Returns zero if the rigid-body isn’t dynamic.
+    pub fn user_torque(&self) -> AngVector<Real> {
+        if self.body_type == RigidBodyType::Dynamic {
+            self.forces.user_torque
+        } else {
+            AngVector::zero()
+        }
+    }
 }
 
 impl RigidBody {