From 95cd7d5c9c73574cde1d07774b3d0969cda6833e Mon Sep 17 00:00:00 2001
From: fabriceci <fabricecipolla@gmail.com>
Date: Wed, 21 Dec 2022 21:34:06 +0100
Subject: Adds methods to retrieve forces added by the user.

---
 src/dynamics/rigid_body.rs | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index bb1e9bf..f9ea519 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -938,6 +938,22 @@ 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.
+    pub fn user_force(&self) -> Vector<Real> {
+        if self.body_type == RigidBodyType::Dynamic {
+            return self.forces.user_force;
+        }
+        Vector::zeros()
+    }
+
+    /// Retrieves the constant torque(s) that the user has added to the body.
+    pub fn user_torque(&self) -> AngVector<Real> {
+        if self.body_type == RigidBodyType::Dynamic {
+            return self.forces.user_torque;
+        }
+        AngVector::zero()
+    }
 }
 
 impl RigidBody {
-- 
cgit 


From c77ed7c9bf9f39149364df2c9dd9041a0a4cf6fa Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sun, 1 Jan 2023 16:51:40 +0100
Subject: Small coding style fix

---
 src/dynamics/rigid_body.rs | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index f9ea519..78132b2 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -940,19 +940,25 @@ impl RigidBody {
     }
 
     /// 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 {
-            return self.forces.user_force;
+            self.forces.user_force
+        } else {
+            Vector::zeros()
         }
-        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 {
-            return self.forces.user_torque;
+            self.forces.user_torque
+        } else {
+            AngVector::zero()
         }
-        AngVector::zero()
     }
 }
 
-- 
cgit 


From 424d01747bba9861e213bb562b139d0992d0f14b Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sun, 1 Jan 2023 16:52:47 +0100
Subject: Update Changelog

---
 CHANGELOG.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 72c99a1..e2a0acf 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,8 @@
   Disabling a multibody joint isn’t supported yet.
 - Add `DynamicRayCastVehicleController`, a vehicle controller based on ray-casting and dynamic rigid-bodies (mostly
   a port of the vehicle controller from Bullet physics).
+- Add `RigidBody::user_force` and `RigidBody::user_torque` to read the forces or torques added by the user to a
+  dynamic rigid-body.
 
 ### Modified
 - Add the `QueryPipeline` as an optional argument to `PhysicsPipeline::step` and `CollisionPipeline::step`. If this
-- 
cgit