Modified RigidBody, PhysicsDirectBodyState, PhysicsServer, and their respective 2D counterparts to be more consistent and to include more useful methods.

RigidBody:
- Added add_central_force
- Added add_force
- Added add_torque
- Added apply_central_impulse

RigidBody2D:
- Added add_central_force
- Added add_torque
- Added apply_central_impulse
- Added apply_torque_impulse

PhysicsDirectBodyState:
- Added apply_central_impulse

Physics2DDirectBodyState:
- Added add_central_force
- Added add_force
- Added add_torque
- Added apply_central_impulse
- Added apply_impulse
- Added apply_torque_impulse

PhysicsServer:
- Added body_add_force
- Added body_add_torque
- Added body_add_central_force
- Added body_apply_central_impulse

Physics2DServer:
- Added body_add_torque
- Added body_add_central_force
- Added body_apply_central_impulse
- Added body_apply_torque_impulse

Also fixed some small bugs along the way

4 files changed, 38 insertions, 0 deletions

diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 2390c71b0a..9263a9ba6d 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -721,6 +721,34 @@ Vector3 BulletPhysicsServer::body_get_applied_torque(RID p_body) const {
 	return body->get_applied_torque();
 }
 
+void BulletPhysicsServer::body_add_central_force(RID p_body, const Vector3 &p_force) {
+	RigidBodyBullet *body = rigid_body_owner.get(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->apply_central_force(p_force);
+}
+
+void BulletPhysicsServer::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) {
+	RigidBodyBullet *body = rigid_body_owner.get(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->apply_force(p_force, p_pos);
+}
+
+void BulletPhysicsServer::body_add_torque(RID p_body, const Vector3 &p_torque) {
+	RigidBodyBullet *body = rigid_body_owner.get(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->apply_torque(p_torque);
+}
+
+void BulletPhysicsServer::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
+	RigidBodyBullet *body = rigid_body_owner.get(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->apply_central_impulse(p_impulse);
+}
+
 void BulletPhysicsServer::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) {
 	RigidBodyBullet *body = rigid_body_owner.get(p_body);
 	ERR_FAIL_COND(!body);
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h
index 2165845529..2c5b7e51cf 100644
--- a/modules/bullet/bullet_physics_server.h
+++ b/modules/bullet/bullet_physics_server.h
@@ -228,6 +228,11 @@ public:
 	virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque);
 	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_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_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 19fad283af..18f8f5f677 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -126,6 +126,10 @@ void BulletPhysicsDirectBodyState::add_torque(const Vector3 &p_torque) {
 	body->apply_torque(p_torque);
 }
 
+void BulletPhysicsDirectBodyState::apply_central_impulse(const Vector3 &p_j) {
+	body->apply_central_impulse(p_j);
+}
+
 void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
 	body->apply_impulse(p_pos, p_j);
 }
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 911e93bfef..7dbb5cf870 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -113,6 +113,7 @@ public:
 	virtual void add_central_force(const Vector3 &p_force);
 	virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos);
 	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_j);
 	virtual void apply_torque_impulse(const Vector3 &p_j);