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

3 files changed, 44 insertions, 0 deletions

diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h
index 25eb20f5d8..2f77196f58 100644
--- a/servers/physics/body_sw.h
+++ b/servers/physics/body_sw.h
@@ -219,6 +219,10 @@ 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_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
 
 		linear_velocity += p_j * _inv_mass;
@@ -421,6 +425,7 @@ public:
 	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_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); }
 
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index f1e0cbef29..a06942cb2a 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -777,6 +777,40 @@ Vector3 PhysicsServerSW::body_get_applied_torque(RID p_body) const {
 	return body->get_applied_torque();
 };
 
+void PhysicsServerSW::body_add_central_force(RID p_body, const Vector3 &p_force) {
+	BodySW *body = body_owner.get(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->add_central_force(p_force);
+	body->wakeup();
+}
+
+void PhysicsServerSW::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) {
+	BodySW *body = body_owner.get(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->add_force(p_force, p_pos);
+	body->wakeup();
+};
+
+void PhysicsServerSW::body_add_torque(RID p_body, const Vector3 &p_torque) {
+	BodySW *body = body_owner.get(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->add_torque(p_torque);
+	body->wakeup();
+};
+
+void PhysicsServerSW::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
+	BodySW *body = body_owner.get(p_body);
+	ERR_FAIL_COND(!body);
+
+	_update_shapes();
+
+	body->apply_central_impulse(p_impulse);
+	body->wakeup();
+}
+
 void PhysicsServerSW::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) {
 
 	BodySW *body = body_owner.get(p_body);
diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h
index 7e9700d026..57037fb325 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -204,6 +204,11 @@ 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);