Refactor physics force and impulse code

18 files changed, 98 insertions, 95 deletions

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 eda0b923a2..d9a96580da 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::DampedStringParam 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 a686903763..c4e32ca5d7 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 f9b0bc716c..fa2ae0ead6 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 c2de7fbd00..228e59a992 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);
@@ -624,9 +624,9 @@ 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 3553ec11a1..fc37be3bd2 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;
@@ -452,12 +452,12 @@ 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 2dd8ea3edb..9c01871075 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);
@@ -486,11 +486,11 @@ 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 2465b40d3e..9ee52ff202 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;
@@ -429,11 +429,11 @@ 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;