Merge pull request #37350 from aaronfranke/force-impulse

Refactor physics force and impulse code to use (force, position) order

35 files changed, 180 insertions, 176 deletions

diff --git a/doc/classes/PhysicalBone3D.xml b/doc/classes/PhysicalBone3D.xml
index 58930aae37..0808e4a724 100644
--- a/doc/classes/PhysicalBone3D.xml
+++ b/doc/classes/PhysicalBone3D.xml
@@ -18,9 +18,9 @@
 		<method name="apply_impulse">
 			<return type="void">
 			</return>
-			<argument index="0" name="position" type="Vector3">
+			<argument index="0" name="impulse" type="Vector3">
 			</argument>
-			<argument index="1" name="impulse" type="Vector3">
+			<argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )">
 			</argument>
 			<description>
 			</description>
diff --git a/doc/classes/PhysicsDirectBodyState2D.xml b/doc/classes/PhysicsDirectBodyState2D.xml
index 46205fecd1..30519e11be 100644
--- a/doc/classes/PhysicsDirectBodyState2D.xml
+++ b/doc/classes/PhysicsDirectBodyState2D.xml
@@ -22,9 +22,9 @@
 		<method name="add_force">
 			<return type="void">
 			</return>
-			<argument index="0" name="offset" type="Vector2">
+			<argument index="0" name="force" type="Vector2">
 			</argument>
-			<argument index="1" name="force" type="Vector2">
+			<argument index="1" name="position" type="Vector2" default="Vector2( 0, 0 )">
 			</argument>
 			<description>
 				Adds a positioned force to the body. Both the force and the offset from the body origin are in global coordinates.
@@ -51,9 +51,9 @@
 		<method name="apply_impulse">
 			<return type="void">
 			</return>
-			<argument index="0" name="offset" type="Vector2">
+			<argument index="0" name="impulse" type="Vector2">
 			</argument>
-			<argument index="1" name="impulse" type="Vector2">
+			<argument index="1" name="position" type="Vector2" default="Vector2( 0, 0 )">
 			</argument>
 			<description>
 				Applies a positioned impulse to the body. An impulse is time-independent! Applying an impulse every frame would result in a framerate-dependent force. For this reason, it should only be used when simulating one-time impacts (use the "_force" functions otherwise). The offset uses the rotation of the global coordinate system, but is centered at the object's origin.
diff --git a/doc/classes/PhysicsDirectBodyState3D.xml b/doc/classes/PhysicsDirectBodyState3D.xml
index 1ee520fe5f..eea681e696 100644
--- a/doc/classes/PhysicsDirectBodyState3D.xml
+++ b/doc/classes/PhysicsDirectBodyState3D.xml
@@ -12,7 +12,7 @@
 		<method name="add_central_force">
 			<return type="void">
 			</return>
-			<argument index="0" name="force" type="Vector3">
+			<argument index="0" name="force" type="Vector3" default="Vector3( 0, 0, 0 )">
 			</argument>
 			<description>
 				Adds a constant directional force without affecting rotation.
@@ -24,7 +24,7 @@
 			</return>
 			<argument index="0" name="force" type="Vector3">
 			</argument>
-			<argument index="1" name="position" type="Vector3">
+			<argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )">
 			</argument>
 			<description>
 				Adds a positioned force to the body. Both the force and the offset from the body origin are in global coordinates.
@@ -42,7 +42,7 @@
 		<method name="apply_central_impulse">
 			<return type="void">
 			</return>
-			<argument index="0" name="j" type="Vector3">
+			<argument index="0" name="impulse" type="Vector3" default="Vector3( 0, 0, 0 )">
 			</argument>
 			<description>
 				Applies a single directional impulse without affecting rotation.
@@ -52,9 +52,9 @@
 		<method name="apply_impulse">
 			<return type="void">
 			</return>
-			<argument index="0" name="position" type="Vector3">
+			<argument index="0" name="impulse" type="Vector3">
 			</argument>
-			<argument index="1" name="j" type="Vector3">
+			<argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )">
 			</argument>
 			<description>
 				Applies a positioned impulse to the body. An impulse is time-independent! Applying an impulse every frame would result in a framerate-dependent force. For this reason it should only be used when simulating one-time impacts. The position uses the rotation of the global coordinate system, but is centered at the object's origin.
@@ -63,7 +63,7 @@
 		<method name="apply_torque_impulse">
 			<return type="void">
 			</return>
-			<argument index="0" name="j" type="Vector3">
+			<argument index="0" name="impulse" type="Vector3">
 			</argument>
 			<description>
 				Apply a torque impulse (which will be affected by the body mass and shape). This will rotate the body around the vector [code]j[/code] passed as parameter.
diff --git a/doc/classes/PhysicsServer2D.xml b/doc/classes/PhysicsServer2D.xml
index d7821b1045..b2904c6538 100644
--- a/doc/classes/PhysicsServer2D.xml
+++ b/doc/classes/PhysicsServer2D.xml
@@ -331,9 +331,9 @@
 			</return>
 			<argument index="0" name="body" type="RID">
 			</argument>
-			<argument index="1" name="offset" type="Vector2">
+			<argument index="1" name="force" type="Vector2">
 			</argument>
-			<argument index="2" name="force" type="Vector2">
+			<argument index="2" name="position" type="Vector2" default="Vector2( 0, 0 )">
 			</argument>
 			<description>
 				Adds a positioned force to the applied force and torque. As with [method body_apply_impulse], both the force and the offset from the body origin are in global coordinates. A force differs from an impulse in that, while the two are forces, the impulse clears itself after being applied.
@@ -379,9 +379,9 @@
 			</return>
 			<argument index="0" name="body" type="RID">
 			</argument>
-			<argument index="1" name="position" type="Vector2">
+			<argument index="1" name="impulse" type="Vector2">
 			</argument>
-			<argument index="2" name="impulse" type="Vector2">
+			<argument index="2" name="position" type="Vector2" default="Vector2( 0, 0 )">
 			</argument>
 			<description>
 				Adds a positioned impulse to the applied force and torque. Both the force and the offset from the body origin are in global coordinates.
diff --git a/doc/classes/PhysicsServer3D.xml b/doc/classes/PhysicsServer3D.xml
index e9e1552c92..5fd3ef5db2 100644
--- a/doc/classes/PhysicsServer3D.xml
+++ b/doc/classes/PhysicsServer3D.xml
@@ -334,7 +334,7 @@
 			</argument>
 			<argument index="1" name="force" type="Vector3">
 			</argument>
-			<argument index="2" name="position" type="Vector3">
+			<argument index="2" name="position" type="Vector3" default="Vector3( 0, 0, 0 )">
 			</argument>
 			<description>
 			</description>
@@ -379,9 +379,9 @@
 			</return>
 			<argument index="0" name="body" type="RID">
 			</argument>
-			<argument index="1" name="position" type="Vector3">
+			<argument index="1" name="impulse" type="Vector3">
 			</argument>
-			<argument index="2" name="impulse" type="Vector3">
+			<argument index="2" name="position" type="Vector3" default="Vector3( 0, 0, 0 )">
 			</argument>
 			<description>
 				Gives the body a push at a [code]position[/code] in the direction of the [code]impulse[/code].
diff --git a/doc/classes/RigidBody2D.xml b/doc/classes/RigidBody2D.xml
index a3fd2e81fd..d56dc1e17c 100644
--- a/doc/classes/RigidBody2D.xml
+++ b/doc/classes/RigidBody2D.xml
@@ -34,9 +34,9 @@
 		<method name="add_force">
 			<return type="void">
 			</return>
-			<argument index="0" name="offset" type="Vector2">
+			<argument index="0" name="force" type="Vector2">
 			</argument>
-			<argument index="1" name="force" type="Vector2">
+			<argument index="1" name="position" type="Vector2" default="Vector2( 0, 0 )">
 			</argument>
 			<description>
 				Adds a positioned force to the body. Both the force and the offset from the body origin are in global coordinates.
@@ -54,7 +54,7 @@
 		<method name="apply_central_impulse">
 			<return type="void">
 			</return>
-			<argument index="0" name="impulse" type="Vector2">
+			<argument index="0" name="impulse" type="Vector2" default="Vector2( 0, 0 )">
 			</argument>
 			<description>
 				Applies a directional impulse without affecting rotation.
@@ -63,9 +63,9 @@
 		<method name="apply_impulse">
 			<return type="void">
 			</return>
-			<argument index="0" name="offset" type="Vector2">
+			<argument index="0" name="impulse" type="Vector2">
 			</argument>
-			<argument index="1" name="impulse" type="Vector2">
+			<argument index="1" name="position" type="Vector2" default="Vector2( 0, 0 )">
 			</argument>
 			<description>
 				Applies a positioned impulse to the body. An impulse is time-independent! Applying an impulse every frame would result in a framerate-dependent force. For this reason it should only be used when simulating one-time impacts (use the "_force" functions otherwise). The position uses the rotation of the global coordinate system, but is centered at the object's origin.
diff --git a/doc/classes/RigidBody3D.xml b/doc/classes/RigidBody3D.xml
index 063cc3ca59..efd55f5566 100644
--- a/doc/classes/RigidBody3D.xml
+++ b/doc/classes/RigidBody3D.xml
@@ -37,7 +37,7 @@
 			</return>
 			<argument index="0" name="force" type="Vector3">
 			</argument>
-			<argument index="1" name="position" type="Vector3">
+			<argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )">
 			</argument>
 			<description>
 				Adds a constant directional force (i.e. acceleration).
@@ -66,9 +66,9 @@
 		<method name="apply_impulse">
 			<return type="void">
 			</return>
-			<argument index="0" name="position" type="Vector3">
+			<argument index="0" name="impulse" type="Vector3">
 			</argument>
-			<argument index="1" name="impulse" type="Vector3">
+			<argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )">
 			</argument>
 			<description>
 				Applies a positioned impulse to the body. An impulse is time independent! Applying an impulse every frame would result in a framerate-dependent force. For this reason it should only be used when simulating one-time impacts. The position uses the rotation of the global coordinate system, but is centered at the object's origin.
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 55686543f3..f397c53344 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -707,11 +707,11 @@ void BulletPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_
 	body->apply_central_force(p_force);
 }
 
-void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) {
+void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
 	RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
 
-	body->apply_force(p_force, p_pos);
+	body->apply_force(p_force, p_position);
 }
 
 void BulletPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) {
@@ -728,11 +728,11 @@ void BulletPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3
 	body->apply_central_impulse(p_impulse);
 }
 
-void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) {
+void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
 	RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
 
-	body->apply_impulse(p_pos, p_impulse);
+	body->apply_impulse(p_impulse, p_position);
 }
 
 void BulletPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 558d1ce5f7..8e8b33a4b8 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -223,11 +223,11 @@ public:
 	virtual Vector3 body_get_applied_torque(RID p_body) const;
 
 	virtual void body_add_central_force(RID p_body, const Vector3 &p_force);
-	virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos);
+	virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3());
 	virtual void body_add_torque(RID p_body, const Vector3 &p_torque);
 
 	virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse);
-	virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse);
+	virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
 	virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse);
 	virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity);
 
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 9aac7ba9e4..6cfbe18a64 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -118,8 +118,8 @@ void BulletPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) {
 	body->apply_central_force(p_force);
 }
 
-void BulletPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_pos) {
-	body->apply_force(p_force, p_pos);
+void BulletPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
+	body->apply_force(p_force, p_position);
 }
 
 void BulletPhysicsDirectBodyState3D::add_torque(const Vector3 &p_torque) {
@@ -130,8 +130,8 @@ void BulletPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impu
 	body->apply_central_impulse(p_impulse);
 }
 
-void BulletPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
-	body->apply_impulse(p_pos, p_impulse);
+void BulletPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+	body->apply_impulse(p_impulse, p_position);
 }
 
 void BulletPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) {
@@ -604,23 +604,23 @@ Variant RigidBodyBullet::get_state(PhysicsServer3D::BodyState p_state) const {
 }
 
 void RigidBodyBullet::apply_central_impulse(const Vector3 &p_impulse) {
-	btVector3 btImpu;
-	G_TO_B(p_impulse, btImpu);
+	btVector3 btImpulse;
+	G_TO_B(p_impulse, btImpulse);
 	if (Vector3() != p_impulse) {
 		btBody->activate();
 	}
-	btBody->applyCentralImpulse(btImpu);
+	btBody->applyCentralImpulse(btImpulse);
 }
 
-void RigidBodyBullet::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
-	btVector3 btImpu;
-	btVector3 btPos;
-	G_TO_B(p_impulse, btImpu);
-	G_TO_B(p_pos, btPos);
+void RigidBodyBullet::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+	btVector3 btImpulse;
+	btVector3 btPosition;
+	G_TO_B(p_impulse, btImpulse);
+	G_TO_B(p_position, btPosition);
 	if (Vector3() != p_impulse) {
 		btBody->activate();
 	}
-	btBody->applyImpulse(btImpu, btPos);
+	btBody->applyImpulse(btImpulse, btPosition);
 }
 
 void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) {
@@ -632,15 +632,15 @@ void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) {
 	btBody->applyTorqueImpulse(btImp);
 }
 
-void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_pos) {
+void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_position) {
 	btVector3 btForce;
-	btVector3 btPos;
+	btVector3 btPosition;
 	G_TO_B(p_force, btForce);
-	G_TO_B(p_pos, btPos);
+	G_TO_B(p_position, btPosition);
 	if (Vector3() != p_force) {
 		btBody->activate();
 	}
-	btBody->applyForce(btForce, btPos);
+	btBody->applyForce(btForce, btPosition);
 }
 
 void RigidBodyBullet::apply_central_force(const Vector3 &p_force) {
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 6d159504b8..ddc9d2916a 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -111,10 +111,10 @@ public:
 	virtual Transform get_transform() const;
 
 	virtual void add_central_force(const Vector3 &p_force);
-	virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos);
+	virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
 	virtual void add_torque(const Vector3 &p_torque);
 	virtual void apply_central_impulse(const Vector3 &p_impulse);
-	virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
+	virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
 	virtual void apply_torque_impulse(const Vector3 &p_impulse);
 
 	virtual void set_sleep_state(bool p_sleep);
@@ -284,12 +284,12 @@ public:
 	void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
 	Variant get_state(PhysicsServer3D::BodyState p_state) const;
 
-	void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
 	void apply_central_impulse(const Vector3 &p_impulse);
+	void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
 	void apply_torque_impulse(const Vector3 &p_impulse);
 
-	void apply_force(const Vector3 &p_force, const Vector3 &p_pos);
 	void apply_central_force(const Vector3 &p_force);
+	void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
 	void apply_torque(const Vector3 &p_torque);
 
 	void set_applied_force(const Vector3 &p_force);
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index 84560b843b..0a9de20664 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -631,8 +631,8 @@ void RigidBody2D::apply_central_impulse(const Vector2 &p_impulse) {
 	PhysicsServer2D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
 }
 
-void RigidBody2D::apply_impulse(const Vector2 &p_offset, const Vector2 &p_impulse) {
-	PhysicsServer2D::get_singleton()->body_apply_impulse(get_rid(), p_offset, p_impulse);
+void RigidBody2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) {
+	PhysicsServer2D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position);
 }
 
 void RigidBody2D::apply_torque_impulse(float p_torque) {
@@ -659,8 +659,8 @@ void RigidBody2D::add_central_force(const Vector2 &p_force) {
 	PhysicsServer2D::get_singleton()->body_add_central_force(get_rid(), p_force);
 }
 
-void RigidBody2D::add_force(const Vector2 &p_offset, const Vector2 &p_force) {
-	PhysicsServer2D::get_singleton()->body_add_force(get_rid(), p_offset, p_force);
+void RigidBody2D::add_force(const Vector2 &p_force, const Vector2 &p_position) {
+	PhysicsServer2D::get_singleton()->body_add_force(get_rid(), p_force, p_position);
 }
 
 void RigidBody2D::add_torque(const float p_torque) {
@@ -801,8 +801,8 @@ void RigidBody2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_continuous_collision_detection_mode"), &RigidBody2D::get_continuous_collision_detection_mode);
 
 	ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody2D::set_axis_velocity);
-	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody2D::apply_central_impulse);
-	ClassDB::bind_method(D_METHOD("apply_impulse", "offset", "impulse"), &RigidBody2D::apply_impulse);
+	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody2D::apply_central_impulse, Vector2());
+	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody2D::apply_impulse, Vector2());
 	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "torque"), &RigidBody2D::apply_torque_impulse);
 
 	ClassDB::bind_method(D_METHOD("set_applied_force", "force"), &RigidBody2D::set_applied_force);
@@ -812,7 +812,7 @@ void RigidBody2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_applied_torque"), &RigidBody2D::get_applied_torque);
 
 	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody2D::add_central_force);
-	ClassDB::bind_method(D_METHOD("add_force", "offset", "force"), &RigidBody2D::add_force);
+	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody2D::add_force, Vector2());
 	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody2D::add_torque);
 
 	ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody2D::set_sleeping);
diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h
index cde4398ad3..936cc9b7ac 100644
--- a/scene/2d/physics_body_2d.h
+++ b/scene/2d/physics_body_2d.h
@@ -237,7 +237,7 @@ public:
 	CCDMode get_continuous_collision_detection_mode() const;
 
 	void apply_central_impulse(const Vector2 &p_impulse);
-	void apply_impulse(const Vector2 &p_offset, const Vector2 &p_impulse);
+	void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2());
 	void apply_torque_impulse(float p_torque);
 
 	void set_applied_force(const Vector2 &p_force);
@@ -247,7 +247,7 @@ public:
 	float get_applied_torque() const;
 
 	void add_central_force(const Vector2 &p_force);
-	void add_force(const Vector2 &p_offset, const Vector2 &p_force);
+	void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2());
 	void add_torque(float p_torque);
 
 	TypedArray<Node2D> get_colliding_bodies() const; //function for script
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index 6320af21eb..fda072e233 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -638,8 +638,9 @@ void RigidBody3D::add_central_force(const Vector3 &p_force) {
 	PhysicsServer3D::get_singleton()->body_add_central_force(get_rid(), p_force);
 }
 
-void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_pos) {
-	PhysicsServer3D::get_singleton()->body_add_force(get_rid(), p_force, p_pos);
+void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
+	PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
+	singleton->body_add_force(get_rid(), p_force, p_position);
 }
 
 void RigidBody3D::add_torque(const Vector3 &p_torque) {
@@ -650,8 +651,9 @@ void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) {
 	PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
 }
 
-void RigidBody3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
-	PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
+void RigidBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+	PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
+	singleton->body_apply_impulse(get_rid(), p_impulse, p_position);
 }
 
 void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) {
@@ -782,11 +784,11 @@ void RigidBody3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody3D::set_axis_velocity);
 
 	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody3D::add_central_force);
-	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody3D::add_force);
+	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody3D::add_force, Vector3());
 	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody3D::add_torque);
 
 	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody3D::apply_central_impulse);
-	ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &RigidBody3D::apply_impulse);
+	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody3D::apply_impulse, Vector3());
 	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody3D::apply_torque_impulse);
 
 	ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody3D::set_sleeping);
@@ -1372,8 +1374,8 @@ void PhysicalBone3D::apply_central_impulse(const Vector3 &p_impulse) {
 	PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
 }
 
-void PhysicalBone3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
-	PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
+void PhysicalBone3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+	PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position);
 }
 
 void PhysicalBone3D::reset_physics_simulation_state() {
@@ -2099,7 +2101,7 @@ void PhysicalBone3D::_direct_state_changed(Object *p_state) {
 
 void PhysicalBone3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone3D::apply_central_impulse);
-	ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &PhysicalBone3D::apply_impulse);
+	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicalBone3D::apply_impulse, Vector3());
 
 	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &PhysicalBone3D::_direct_state_changed);
 
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h
index 4c58c73942..e846b7a7f8 100644
--- a/scene/3d/physics_body_3d.h
+++ b/scene/3d/physics_body_3d.h
@@ -234,11 +234,11 @@ public:
 	Array get_colliding_bodies() const;
 
 	void add_central_force(const Vector3 &p_force);
-	void add_force(const Vector3 &p_force, const Vector3 &p_pos);
+	void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
 	void add_torque(const Vector3 &p_torque);
 
 	void apply_central_impulse(const Vector3 &p_impulse);
-	void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
+	void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
 	void apply_torque_impulse(const Vector3 &p_impulse);
 
 	virtual String get_configuration_warning() const;
@@ -597,7 +597,7 @@ public:
 	bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
 
 	void apply_central_impulse(const Vector3 &p_impulse);
-	void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
+	void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
 
 	void reset_physics_simulation_state();
 	void reset_to_rest_position();
diff --git a/scene/3d/vehicle_body_3d.cpp b/scene/3d/vehicle_body_3d.cpp
index 9c6b940b00..4c71ab470b 100644
--- a/scene/3d/vehicle_body_3d.cpp
+++ b/scene/3d/vehicle_body_3d.cpp
@@ -794,7 +794,7 @@ void VehicleBody3D::_update_friction(PhysicsDirectBodyState3D *s) {
 							  s->get_transform().origin;
 
 			if (m_forwardImpulse[wheel] != real_t(0.)) {
-				s->apply_impulse(rel_pos, m_forwardWS[wheel] * (m_forwardImpulse[wheel]));
+				s->apply_impulse(m_forwardWS[wheel] * (m_forwardImpulse[wheel]), rel_pos);
 			}
 			if (m_sideImpulse[wheel] != real_t(0.)) {
 				PhysicsBody3D *groundObject = wheelInfo.m_raycastInfo.m_groundObject;
@@ -812,7 +812,7 @@ void VehicleBody3D::_update_friction(PhysicsDirectBodyState3D *s) {
 #else
 				rel_pos[1] *= wheelInfo.m_rollInfluence; //?
 #endif
-				s->apply_impulse(rel_pos, sideImp);
+				s->apply_impulse(sideImp, rel_pos);
 
 				//apply friction impulse on the ground
 				//todo
@@ -850,10 +850,9 @@ void VehicleBody3D::_direct_state_changed(Object *p_state) {
 			suspensionForce = wheel.m_maxSuspensionForce;
 		}
 		Vector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
-		Vector3 relpos = wheel.m_raycastInfo.m_contactPointWS - state->get_transform().origin;
+		Vector3 relative_position = wheel.m_raycastInfo.m_contactPointWS - state->get_transform().origin;
 
-		state->apply_impulse(relpos, impulse);
-		//getRigidBody()->applyImpulse(impulse, relpos);
+		state->apply_impulse(impulse, relative_position);
 	}
 
 	_update_friction(state);
diff --git a/scene/resources/sky.cpp b/scene/resources/sky.cpp
index 54b6cde8bd..38d1346541 100644
--- a/scene/resources/sky.cpp
+++ b/scene/resources/sky.cpp
@@ -107,4 +107,4 @@ Sky::Sky() {
 
 Sky::~Sky() {
 	RS::get_singleton()->free(sky);
-}
\ No newline at end of file
+}
diff --git a/servers/physics_2d/body_2d_sw.h b/servers/physics_2d/body_2d_sw.h
index 2300c9cdee..8c7876e5cd 100644
--- a/servers/physics_2d/body_2d_sw.h
+++ b/servers/physics_2d/body_2d_sw.h
@@ -203,18 +203,18 @@ public:
 		linear_velocity += p_impulse * _inv_mass;
 	}
 
-	_FORCE_INLINE_ void apply_impulse(const Vector2 &p_offset, const Vector2 &p_impulse) {
+	_FORCE_INLINE_ void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) {
 		linear_velocity += p_impulse * _inv_mass;
-		angular_velocity += _inv_inertia * p_offset.cross(p_impulse);
+		angular_velocity += _inv_inertia * p_position.cross(p_impulse);
 	}
 
 	_FORCE_INLINE_ void apply_torque_impulse(real_t p_torque) {
 		angular_velocity += _inv_inertia * p_torque;
 	}
 
-	_FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_pos, const Vector2 &p_j) {
-		biased_linear_velocity += p_j * _inv_mass;
-		biased_angular_velocity += _inv_inertia * p_pos.cross(p_j);
+	_FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) {
+		biased_linear_velocity += p_impulse * _inv_mass;
+		biased_angular_velocity += _inv_inertia * p_position.cross(p_impulse);
 	}
 
 	void set_active(bool p_active);
@@ -246,9 +246,9 @@ public:
 		applied_force += p_force;
 	}
 
-	_FORCE_INLINE_ void add_force(const Vector2 &p_offset, const Vector2 &p_force) {
+	_FORCE_INLINE_ void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) {
 		applied_force += p_force;
-		applied_torque += p_offset.cross(p_force);
+		applied_torque += p_position.cross(p_force);
 	}
 
 	_FORCE_INLINE_ void add_torque(real_t p_torque) {
@@ -360,10 +360,10 @@ public:
 	virtual Transform2D get_transform() const { return body->get_transform(); }
 
 	virtual void add_central_force(const Vector2 &p_force) { body->add_central_force(p_force); }
-	virtual void add_force(const Vector2 &p_offset, const Vector2 &p_force) { body->add_force(p_offset, p_force); }
+	virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) { body->add_force(p_force, p_position); }
 	virtual void add_torque(real_t p_torque) { body->add_torque(p_torque); }
 	virtual void apply_central_impulse(const Vector2 &p_impulse) { body->apply_central_impulse(p_impulse); }
-	virtual void apply_impulse(const Vector2 &p_offset, const Vector2 &p_force) { body->apply_impulse(p_offset, p_force); }
+	virtual void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) { body->apply_impulse(p_impulse, p_position); }
 	virtual void apply_torque_impulse(real_t p_torque) { body->apply_torque_impulse(p_torque); }
 
 	virtual void set_sleep_state(bool p_enable) { body->set_active(!p_enable); }
diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/body_pair_2d_sw.cpp
index e483ddf1cc..258979ff22 100644
--- a/servers/physics_2d/body_pair_2d_sw.cpp
+++ b/servers/physics_2d/body_pair_2d_sw.cpp
@@ -427,10 +427,9 @@ bool BodyPair2DSW::setup(real_t p_step) {
 			// Apply normal + friction impulse
 			Vector2 P = c.acc_normal_impulse * c.normal + c.acc_tangent_impulse * tangent;
 
-			A->apply_impulse(c.rA, -P);
-			B->apply_impulse(c.rB, P);
+			A->apply_impulse(-P, c.rA);
+			B->apply_impulse(P, c.rB);
 		}
-
 #endif
 
 		c.bounce = combine_bounce(A, B);
@@ -497,8 +496,8 @@ void BodyPair2DSW::solve(real_t p_step) {
 
 		Vector2 j = c.normal * (c.acc_normal_impulse - jnOld) + tangent * (c.acc_tangent_impulse - jtOld);
 
-		A->apply_impulse(c.rA, -j);
-		B->apply_impulse(c.rB, j);
+		A->apply_impulse(-j, c.rA);
+		B->apply_impulse(j, c.rB);
 	}
 }
 
diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp
index 81e961e90d..e7d26645e9 100644
--- a/servers/physics_2d/joints_2d_sw.cpp
+++ b/servers/physics_2d/joints_2d_sw.cpp
@@ -136,9 +136,9 @@ bool PinJoint2DSW::setup(real_t p_step) {
 	bias = delta * -(get_bias() == 0 ? space->get_constraint_bias() : get_bias()) * (1.0 / p_step);
 
 	// apply accumulated impulse
-	A->apply_impulse(rA, -P);
+	A->apply_impulse(-P, rA);
 	if (B) {
-		B->apply_impulse(rB, P);
+		B->apply_impulse(P, rB);
 	}
 
 	return true;
@@ -161,9 +161,9 @@ void PinJoint2DSW::solve(real_t p_step) {
 
 	Vector2 impulse = M.basis_xform(bias - rel_vel - Vector2(softness, softness) * P);
 
-	A->apply_impulse(rA, -impulse);
+	A->apply_impulse(-impulse, rA);
 	if (B) {
-		B->apply_impulse(rB, impulse);
+		B->apply_impulse(impulse, rB);
 	}
 
 	P += impulse;
@@ -301,8 +301,8 @@ bool GrooveJoint2DSW::setup(real_t p_step) {
 	gbias = (delta * -(_b == 0 ? space->get_constraint_bias() : _b) * (1.0 / p_step)).clamped(get_max_bias());
 
 	// apply accumulated impulse
-	A->apply_impulse(rA, -jn_acc);
-	B->apply_impulse(rB, jn_acc);
+	A->apply_impulse(-jn_acc, rA);
+	B->apply_impulse(jn_acc, rB);
 
 	correct = true;
 	return true;
@@ -320,8 +320,8 @@ void GrooveJoint2DSW::solve(real_t p_step) {
 
 	j = jn_acc - jOld;
 
-	A->apply_impulse(rA, -j);
-	B->apply_impulse(rB, j);
+	A->apply_impulse(-j, rA);
+	B->apply_impulse(j, rB);
 }
 
 GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b) :
@@ -370,8 +370,8 @@ bool DampedSpringJoint2DSW::setup(real_t p_step) {
 	real_t f_spring = (rest_length - dist) * stiffness;
 	Vector2 j = n * f_spring * (p_step);
 
-	A->apply_impulse(rA, -j);
-	B->apply_impulse(rB, j);
+	A->apply_impulse(-j, rA);
+	B->apply_impulse(j, rB);
 
 	return true;
 }
@@ -386,8 +386,8 @@ void DampedSpringJoint2DSW::solve(real_t p_step) {
 	target_vrn = vrn + v_damp;
 	Vector2 j = n * v_damp * n_mass;
 
-	A->apply_impulse(rA, -j);
-	B->apply_impulse(rB, j);
+	A->apply_impulse(-j, rA);
+	B->apply_impulse(j, rB);
 }
 
 void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) {
diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp
index 6983225668..1ed1ba6958 100644
--- a/servers/physics_2d/physics_server_2d_sw.cpp
+++ b/servers/physics_2d/physics_server_2d_sw.cpp
@@ -823,13 +823,13 @@ void PhysicsServer2DSW::body_apply_torque_impulse(RID p_body, real_t p_torque) {
 	body->apply_torque_impulse(p_torque);
 }
 
-void PhysicsServer2DSW::body_apply_impulse(RID p_body, const Vector2 &p_pos, const Vector2 &p_impulse) {
+void PhysicsServer2DSW::body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position) {
 	Body2DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
 
 	_update_shapes();
 
-	body->apply_impulse(p_pos, p_impulse);
+	body->apply_impulse(p_impulse, p_position);
 	body->wakeup();
 };
 
@@ -841,11 +841,11 @@ void PhysicsServer2DSW::body_add_central_force(RID p_body, const Vector2 &p_forc
 	body->wakeup();
 };
 
-void PhysicsServer2DSW::body_add_force(RID p_body, const Vector2 &p_offset, const Vector2 &p_force) {
+void PhysicsServer2DSW::body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) {
 	Body2DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
 
-	body->add_force(p_offset, p_force);
+	body->add_force(p_force, p_position);
 	body->wakeup();
 };
 
diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/physics_server_2d_sw.h
index 093c775cb5..9fcb7ff5f2 100644
--- a/servers/physics_2d/physics_server_2d_sw.h
+++ b/servers/physics_2d/physics_server_2d_sw.h
@@ -221,12 +221,12 @@ public:
 	virtual real_t body_get_applied_torque(RID p_body) const;
 
 	virtual void body_add_central_force(RID p_body, const Vector2 &p_force);
-	virtual void body_add_force(RID p_body, const Vector2 &p_offset, const Vector2 &p_force);
+	virtual void body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2());
 	virtual void body_add_torque(RID p_body, real_t p_torque);
 
 	virtual void body_apply_central_impulse(RID p_body, const Vector2 &p_impulse);
 	virtual void body_apply_torque_impulse(RID p_body, real_t p_torque);
-	virtual void body_apply_impulse(RID p_body, const Vector2 &p_pos, const Vector2 &p_impulse);
+	virtual void body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position = Vector2());
 	virtual void body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity);
 
 	virtual void body_add_collision_exception(RID p_body, RID p_body_b);
diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h
index 483ea58620..2878c97c9d 100644
--- a/servers/physics_3d/body_3d_sw.h
+++ b/servers/physics_3d/body_3d_sw.h
@@ -216,23 +216,23 @@ public:
 	_FORCE_INLINE_ const Vector3 &get_biased_linear_velocity() const { return biased_linear_velocity; }
 	_FORCE_INLINE_ const Vector3 &get_biased_angular_velocity() const { return biased_angular_velocity; }
 
-	_FORCE_INLINE_ void apply_central_impulse(const Vector3 &p_j) {
-		linear_velocity += p_j * _inv_mass;
+	_FORCE_INLINE_ void apply_central_impulse(const Vector3 &p_impulse) {
+		linear_velocity += p_impulse * _inv_mass;
 	}
 
-	_FORCE_INLINE_ void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
-		linear_velocity += p_j * _inv_mass;
-		angular_velocity += _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
+	_FORCE_INLINE_ void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) {
+		linear_velocity += p_impulse * _inv_mass;
+		angular_velocity += _inv_inertia_tensor.xform((p_position - center_of_mass).cross(p_impulse));
 	}
 
-	_FORCE_INLINE_ void apply_torque_impulse(const Vector3 &p_j) {
-		angular_velocity += _inv_inertia_tensor.xform(p_j);
+	_FORCE_INLINE_ void apply_torque_impulse(const Vector3 &p_impulse) {
+		angular_velocity += _inv_inertia_tensor.xform(p_impulse);
 	}
 
-	_FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j, real_t p_max_delta_av = -1.0) {
-		biased_linear_velocity += p_j * _inv_mass;
+	_FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3(), real_t p_max_delta_av = -1.0) {
+		biased_linear_velocity += p_impulse * _inv_mass;
 		if (p_max_delta_av != 0.0) {
-			Vector3 delta_av = _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
+			Vector3 delta_av = _inv_inertia_tensor.xform((p_position - center_of_mass).cross(p_impulse));
 			if (p_max_delta_av > 0 && delta_av.length() > p_max_delta_av) {
 				delta_av = delta_av.normalized() * p_max_delta_av;
 			}
@@ -240,17 +240,17 @@ public:
 		}
 	}
 
-	_FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_j) {
-		biased_angular_velocity += _inv_inertia_tensor.xform(p_j);
+	_FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_impulse) {
+		biased_angular_velocity += _inv_inertia_tensor.xform(p_impulse);
 	}
 
 	_FORCE_INLINE_ void add_central_force(const Vector3 &p_force) {
 		applied_force += p_force;
 	}
 
-	_FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_pos) {
+	_FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) {
 		applied_force += p_force;
-		applied_torque += (p_pos - center_of_mass).cross(p_force);
+		applied_torque += (p_position - center_of_mass).cross(p_force);
 	}
 
 	_FORCE_INLINE_ void add_torque(const Vector3 &p_torque) {
@@ -403,11 +403,15 @@ public:
 	virtual Transform get_transform() const { return body->get_transform(); }
 
 	virtual void add_central_force(const Vector3 &p_force) { body->add_central_force(p_force); }
-	virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->add_force(p_force, p_pos); }
+	virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) {
+		body->add_force(p_force, p_position);
+	}
 	virtual void add_torque(const Vector3 &p_torque) { body->add_torque(p_torque); }
-	virtual void apply_central_impulse(const Vector3 &p_j) { body->apply_central_impulse(p_j); }
-	virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { body->apply_impulse(p_pos, p_j); }
-	virtual void apply_torque_impulse(const Vector3 &p_j) { body->apply_torque_impulse(p_j); }
+	virtual void apply_central_impulse(const Vector3 &p_impulse) { body->apply_central_impulse(p_impulse); }
+	virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) {
+		body->apply_impulse(p_impulse, p_position);
+	}
+	virtual void apply_torque_impulse(const Vector3 &p_impulse) { body->apply_torque_impulse(p_impulse); }
 
 	virtual void set_sleep_state(bool p_sleep) { body->set_active(!p_sleep); }
 	virtual bool is_sleeping() const { return !body->is_active(); }
diff --git a/servers/physics_3d/body_pair_3d_sw.cpp b/servers/physics_3d/body_pair_3d_sw.cpp
index a4f86badbe..848138940e 100644
--- a/servers/physics_3d/body_pair_3d_sw.cpp
+++ b/servers/physics_3d/body_pair_3d_sw.cpp
@@ -321,8 +321,8 @@ bool BodyPair3DSW::setup(real_t p_step) {
 		c.depth = depth;
 
 		Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse;
-		A->apply_impulse(c.rA + A->get_center_of_mass(), -j_vec);
-		B->apply_impulse(c.rB + B->get_center_of_mass(), j_vec);
+		A->apply_impulse(-j_vec, c.rA + A->get_center_of_mass());
+		B->apply_impulse(j_vec, c.rB + B->get_center_of_mass());
 		c.acc_bias_impulse = 0;
 		c.acc_bias_impulse_center_of_mass = 0;
 
@@ -404,8 +404,8 @@ void BodyPair3DSW::solve(real_t p_step) {
 
 			Vector3 j = c.normal * (c.acc_normal_impulse - jnOld);
 
-			A->apply_impulse(c.rA + A->get_center_of_mass(), -j);
-			B->apply_impulse(c.rB + B->get_center_of_mass(), j);
+			A->apply_impulse(-j, c.rA + A->get_center_of_mass());
+			B->apply_impulse(j, c.rB + B->get_center_of_mass());
 
 			c.active = true;
 		}
@@ -447,8 +447,8 @@ void BodyPair3DSW::solve(real_t p_step) {
 
 			jt = c.acc_tangent_impulse - jtOld;
 
-			A->apply_impulse(c.rA + A->get_center_of_mass(), -jt);
-			B->apply_impulse(c.rB + B->get_center_of_mass(), jt);
+			A->apply_impulse(-jt, c.rA + A->get_center_of_mass());
+			B->apply_impulse(jt, c.rB + B->get_center_of_mass());
 
 			c.active = true;
 		}
diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
index 9d10ede608..789d6687a4 100644
--- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
@@ -261,8 +261,8 @@ void ConeTwistJoint3DSW::solve(real_t p_timestep) {
 			real_t impulse = depth * tau / p_timestep * jacDiagABInv - rel_vel * jacDiagABInv;
 			m_appliedImpulse += impulse;
 			Vector3 impulse_vector = normal * impulse;
-			A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector);
-			B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector);
+			A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
+			B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
 		}
 	}
 
diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
index 423bbc0dfd..fede40ca65 100644
--- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
@@ -205,8 +205,8 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis(
 	normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
 
 	Vector3 impulse_vector = axis_normal_on_a * normalImpulse;
-	body1->apply_impulse(rel_pos1, impulse_vector);
-	body2->apply_impulse(rel_pos2, -impulse_vector);
+	body1->apply_impulse(impulse_vector, rel_pos1);
+	body2->apply_impulse(-impulse_vector, rel_pos2);
 	return normalImpulse;
 }
 
diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
index a879b4ca7f..52c7389e1f 100644
--- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
@@ -275,8 +275,8 @@ void HingeJoint3DSW::solve(real_t p_step) {
 			real_t impulse = depth * tau / p_step * jacDiagABInv - rel_vel * jacDiagABInv;
 			m_appliedImpulse += impulse;
 			Vector3 impulse_vector = normal * impulse;
-			A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector);
-			B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector);
+			A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
+			B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
 		}
 	}
 
diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.cpp b/servers/physics_3d/joints/pin_joint_3d_sw.cpp
index 230904408b..f028ad88f9 100644
--- a/servers/physics_3d/joints/pin_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/pin_joint_3d_sw.cpp
@@ -119,8 +119,8 @@ void PinJoint3DSW::solve(real_t p_step) {
 
 		m_appliedImpulse += impulse;
 		Vector3 impulse_vector = normal * impulse;
-		A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector);
-		B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector);
+		A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
+		B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
 
 		normal[i] = 0;
 	}
diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/slider_joint_3d_sw.cpp
index 5b4609f24e..43bd49b4b5 100644
--- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/slider_joint_3d_sw.cpp
@@ -197,8 +197,8 @@ void SliderJoint3DSW::solve(real_t p_step) {
 		// calcutate and apply impulse
 		real_t normalImpulse = softness * (restitution * depth / p_step - damping * rel_vel) * m_jacLinDiagABInv[i];
 		Vector3 impulse_vector = normal * normalImpulse;
-		A->apply_impulse(m_relPosA, impulse_vector);
-		B->apply_impulse(m_relPosB, -impulse_vector);
+		A->apply_impulse(impulse_vector, m_relPosA);
+		B->apply_impulse(-impulse_vector, m_relPosB);
 		if (m_poweredLinMotor && (!i)) { // apply linear motor
 			if (m_accumulatedLinMotorImpulse < m_maxLinMotorForce) {
 				real_t desiredMotorVel = m_targetLinMotorVelocity;
@@ -218,8 +218,8 @@ void SliderJoint3DSW::solve(real_t p_step) {
 				m_accumulatedLinMotorImpulse = new_acc;
 				// apply clamped impulse
 				impulse_vector = normal * normalImpulse;
-				A->apply_impulse(m_relPosA, impulse_vector);
-				B->apply_impulse(m_relPosB, -impulse_vector);
+				A->apply_impulse(impulse_vector, m_relPosA);
+				B->apply_impulse(-impulse_vector, m_relPosB);
 			}
 		}
 	}
diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp
index 1c2329f2dc..143cc9ebbd 100644
--- a/servers/physics_3d/physics_server_3d_sw.cpp
+++ b/servers/physics_3d/physics_server_3d_sw.cpp
@@ -710,11 +710,11 @@ void PhysicsServer3DSW::body_add_central_force(RID p_body, const Vector3 &p_forc
 	body->wakeup();
 }
 
-void PhysicsServer3DSW::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) {
+void PhysicsServer3DSW::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
 	Body3DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
 
-	body->add_force(p_force, p_pos);
+	body->add_force(p_force, p_position);
 	body->wakeup();
 };
 
@@ -736,13 +736,13 @@ void PhysicsServer3DSW::body_apply_central_impulse(RID p_body, const Vector3 &p_
 	body->wakeup();
 }
 
-void PhysicsServer3DSW::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) {
+void PhysicsServer3DSW::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
 	Body3DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
 
 	_update_shapes();
 
-	body->apply_impulse(p_pos, p_impulse);
+	body->apply_impulse(p_impulse, p_position);
 	body->wakeup();
 };
 
diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h
index 26230ef674..dccacb063f 100644
--- a/servers/physics_3d/physics_server_3d_sw.h
+++ b/servers/physics_3d/physics_server_3d_sw.h
@@ -206,11 +206,11 @@ public:
 	virtual Vector3 body_get_applied_torque(RID p_body) const;
 
 	virtual void body_add_central_force(RID p_body, const Vector3 &p_force);
-	virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos);
+	virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3());
 	virtual void body_add_torque(RID p_body, const Vector3 &p_torque);
 
 	virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse);
-	virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse);
+	virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
 	virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse);
 	virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity);
 
diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp
index 19b575a259..0dac08015f 100644
--- a/servers/physics_server_2d.cpp
+++ b/servers/physics_server_2d.cpp
@@ -91,11 +91,11 @@ void PhysicsDirectBodyState2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState2D::get_transform);
 
 	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState2D::add_central_force);
-	ClassDB::bind_method(D_METHOD("add_force", "offset", "force"), &PhysicsDirectBodyState2D::add_force);
+	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState2D::add_force, Vector2());
 	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState2D::add_torque);
 	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicsDirectBodyState2D::apply_central_impulse);
 	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &PhysicsDirectBodyState2D::apply_torque_impulse);
-	ClassDB::bind_method(D_METHOD("apply_impulse", "offset", "impulse"), &PhysicsDirectBodyState2D::apply_impulse);
+	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicsDirectBodyState2D::apply_impulse, Vector2());
 
 	ClassDB::bind_method(D_METHOD("set_sleep_state", "enabled"), &PhysicsDirectBodyState2D::set_sleep_state);
 	ClassDB::bind_method(D_METHOD("is_sleeping"), &PhysicsDirectBodyState2D::is_sleeping);
@@ -633,9 +633,9 @@ void PhysicsServer2D::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("body_apply_central_impulse", "body", "impulse"), &PhysicsServer2D::body_apply_central_impulse);
 	ClassDB::bind_method(D_METHOD("body_apply_torque_impulse", "body", "impulse"), &PhysicsServer2D::body_apply_torque_impulse);
-	ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "position", "impulse"), &PhysicsServer2D::body_apply_impulse);
+	ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "impulse", "position"), &PhysicsServer2D::body_apply_impulse, Vector2());
 	ClassDB::bind_method(D_METHOD("body_add_central_force", "body", "force"), &PhysicsServer2D::body_add_central_force);
-	ClassDB::bind_method(D_METHOD("body_add_force", "body", "offset", "force"), &PhysicsServer2D::body_add_force);
+	ClassDB::bind_method(D_METHOD("body_add_force", "body", "force", "position"), &PhysicsServer2D::body_add_force, Vector2());
 	ClassDB::bind_method(D_METHOD("body_add_torque", "body", "torque"), &PhysicsServer2D::body_add_torque);
 	ClassDB::bind_method(D_METHOD("body_set_axis_velocity", "body", "axis_velocity"), &PhysicsServer2D::body_set_axis_velocity);
 
diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h
index b2f2e786ee..e631046524 100644
--- a/servers/physics_server_2d.h
+++ b/servers/physics_server_2d.h
@@ -61,11 +61,11 @@ public:
 	virtual Transform2D get_transform() const = 0;
 
 	virtual void add_central_force(const Vector2 &p_force) = 0;
-	virtual void add_force(const Vector2 &p_offset, const Vector2 &p_force) = 0;
+	virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) = 0;
 	virtual void add_torque(real_t p_torque) = 0;
 	virtual void apply_central_impulse(const Vector2 &p_impulse) = 0;
 	virtual void apply_torque_impulse(real_t p_torque) = 0;
-	virtual void apply_impulse(const Vector2 &p_offset, const Vector2 &p_impulse) = 0;
+	virtual void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) = 0;
 
 	virtual void set_sleep_state(bool p_enable) = 0;
 	virtual bool is_sleeping() const = 0;
@@ -455,12 +455,12 @@ public:
 	virtual float body_get_applied_torque(RID p_body) const = 0;
 
 	virtual void body_add_central_force(RID p_body, const Vector2 &p_force) = 0;
-	virtual void body_add_force(RID p_body, const Vector2 &p_offset, const Vector2 &p_force) = 0;
+	virtual void body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()) = 0;
 	virtual void body_add_torque(RID p_body, float p_torque) = 0;
 
 	virtual void body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) = 0;
 	virtual void body_apply_torque_impulse(RID p_body, float p_torque) = 0;
-	virtual void body_apply_impulse(RID p_body, const Vector2 &p_offset, const Vector2 &p_impulse) = 0;
+	virtual void body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) = 0;
 	virtual void body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) = 0;
 
 	//fix
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index 3b361fee55..33a2b91902 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -92,12 +92,12 @@ void PhysicsDirectBodyState3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState3D::set_transform);
 	ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState3D::get_transform);
 
-	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState3D::add_central_force);
-	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState3D::add_force);
+	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState3D::add_central_force, Vector3());
+	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState3D::add_force, Vector3());
 	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState3D::add_torque);
-	ClassDB::bind_method(D_METHOD("apply_central_impulse", "j"), &PhysicsDirectBodyState3D::apply_central_impulse);
-	ClassDB::bind_method(D_METHOD("apply_impulse", "position", "j"), &PhysicsDirectBodyState3D::apply_impulse);
-	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "j"), &PhysicsDirectBodyState3D::apply_torque_impulse);
+	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_central_impulse, Vector3());
+	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicsDirectBodyState3D::apply_impulse, Vector3());
+	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_torque_impulse);
 
 	ClassDB::bind_method(D_METHOD("set_sleep_state", "enabled"), &PhysicsDirectBodyState3D::set_sleep_state);
 	ClassDB::bind_method(D_METHOD("is_sleeping"), &PhysicsDirectBodyState3D::is_sleeping);
@@ -495,11 +495,11 @@ void PhysicsServer3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("body_get_state", "body", "state"), &PhysicsServer3D::body_get_state);
 
 	ClassDB::bind_method(D_METHOD("body_add_central_force", "body", "force"), &PhysicsServer3D::body_add_central_force);
-	ClassDB::bind_method(D_METHOD("body_add_force", "body", "force", "position"), &PhysicsServer3D::body_add_force);
+	ClassDB::bind_method(D_METHOD("body_add_force", "body", "force", "position"), &PhysicsServer3D::body_add_force, Vector3());
 	ClassDB::bind_method(D_METHOD("body_add_torque", "body", "torque"), &PhysicsServer3D::body_add_torque);
 
 	ClassDB::bind_method(D_METHOD("body_apply_central_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_central_impulse);
-	ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "position", "impulse"), &PhysicsServer3D::body_apply_impulse);
+	ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "impulse", "position"), &PhysicsServer3D::body_apply_impulse, Vector3());
 	ClassDB::bind_method(D_METHOD("body_apply_torque_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_torque_impulse);
 	ClassDB::bind_method(D_METHOD("body_set_axis_velocity", "body", "axis_velocity"), &PhysicsServer3D::body_set_axis_velocity);
 
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index 1cfa4d8565..dcb183aea4 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -63,11 +63,11 @@ public:
 	virtual Transform get_transform() const = 0;
 
 	virtual void add_central_force(const Vector3 &p_force) = 0;
-	virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) = 0;
+	virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0;
 	virtual void add_torque(const Vector3 &p_torque) = 0;
-	virtual void apply_central_impulse(const Vector3 &p_j) = 0;
-	virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) = 0;
-	virtual void apply_torque_impulse(const Vector3 &p_j) = 0;
+	virtual void apply_central_impulse(const Vector3 &p_impulse) = 0;
+	virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0;
+	virtual void apply_torque_impulse(const Vector3 &p_impulse) = 0;
 
 	virtual void set_sleep_state(bool p_sleep) = 0;
 	virtual bool is_sleeping() const = 0;
@@ -431,11 +431,11 @@ public:
 	virtual Vector3 body_get_applied_torque(RID p_body) const = 0;
 
 	virtual void body_add_central_force(RID p_body, const Vector3 &p_force) = 0;
-	virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) = 0;
+	virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0;
 	virtual void body_add_torque(RID p_body, const Vector3 &p_torque) = 0;
 
 	virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) = 0;
-	virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) = 0;
+	virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0;
 	virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) = 0;
 	virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) = 0;