Add new AddForce variant (AddForceAtPoint) and matrix-returning body functions

JoltC/Functions.h

@@ -650,9 +650,8 @@ JPC_API void JPC_Body_SetAngularVelocityClamped(JPC_Body* self, JPC_Vec3 inAngul
 JPC_API JPC_Vec3 JPC_Body_GetPointVelocityCOM(const JPC_Body* self, JPC_Vec3 inPointRelativeToCOM);
 JPC_API JPC_Vec3 JPC_Body_GetPointVelocity(const JPC_Body* self, JPC_RVec3 inPoint);
 JPC_API void JPC_Body_AddForce(JPC_Body* self, JPC_Vec3 inForce);
-
-// JPC_API void JPC_Body_AddForce(JPC_Body* self, JPC_Vec3 inForce, JPC_RVec3 inPosition);
-
+// overload of Body::AddForce
+JPC_API void JPC_Body_AddForceAtPoint(JPC_Body* self, JPC_Vec3 inForce, JPC_RVec3 inPosition);
 JPC_API void JPC_Body_AddTorque(JPC_Body* self, JPC_Vec3 inTorque);
 JPC_API JPC_Vec3 JPC_Body_GetAccumulatedForce(const JPC_Body* self);
 JPC_API JPC_Vec3 JPC_Body_GetAccumulatedTorque(const JPC_Body* self);
@@ -670,13 +669,12 @@ JPC_API bool JPC_Body_IsCollisionCacheInvalid(const JPC_Body* self);
 JPC_API const JPC_Shape* JPC_Body_GetShape(const JPC_Body* self);
 JPC_API JPC_RVec3 JPC_Body_GetPosition(const JPC_Body* self);
 JPC_API JPC_Quat JPC_Body_GetRotation(const JPC_Body* self);
-
-// JPC_API RMat44 JPC_Body_GetWorldTransform(const JPC_Body* self);
-
+JPC_API JPC_RMat44 JPC_Body_GetWorldTransform(const JPC_Body* self);
 JPC_API JPC_RVec3 JPC_Body_GetCenterOfMassPosition(const JPC_Body* self);
 
-// JPC_API RMat44 JPC_Body_GetCenterOfMassTransform(const JPC_Body* self);
-// JPC_API RMat44 JPC_Body_GetInverseCenterOfMassTransform(const JPC_Body* self);
+JPC_API JPC_RMat44 JPC_Body_GetCenterOfMassTransform(const JPC_Body* self);
+JPC_API JPC_RMat44 JPC_Body_GetInverseCenterOfMassTransform(const JPC_Body* self);
+
 // JPC_API const AABox & JPC_Body_GetWorldSpaceBounds(const JPC_Body* self);
 // JPC_API const MotionProperties *JPC_Body_GetMotionProperties(const JPC_Body* self)
 // JPC_API MotionProperties * JPC_Body_GetMotionProperties(JPC_Body* self);
@@ -749,10 +747,8 @@ JPC_API JPC_RVec3 JPC_BodyInterface_GetPosition(const JPC_BodyInterface *self, J
 JPC_API JPC_RVec3 JPC_BodyInterface_GetCenterOfMassPosition(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
 JPC_API void JPC_BodyInterface_SetRotation(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Quat inRotation, JPC_Activation inActivationMode);
 JPC_API JPC_Quat JPC_BodyInterface_GetRotation(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
-
-// RMat44 JPC_BodyInterface_GetWorldTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
-// RMat44 JPC_BodyInterface_GetCenterOfMassTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
-
+JPC_API JPC_RMat44 JPC_BodyInterface_GetWorldTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
+JPC_API JPC_RMat44 JPC_BodyInterface_GetCenterOfMassTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
 JPC_API void JPC_BodyInterface_MoveKinematic(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_RVec3 inTargetPosition, JPC_Quat inTargetRotation, float inDeltaTime);
 JPC_API void JPC_BodyInterface_SetLinearAndAngularVelocity(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inLinearVelocity, JPC_Vec3 inAngularVelocity);
 JPC_API void JPC_BodyInterface_GetLinearAndAngularVelocity(const JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 *outLinearVelocity, JPC_Vec3 *outAngularVelocity);
@@ -765,9 +761,8 @@ JPC_API JPC_Vec3 JPC_BodyInterface_GetAngularVelocity(const JPC_BodyInterface *s
 JPC_API JPC_Vec3 JPC_BodyInterface_GetPointVelocity(const JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_RVec3 inPoint);
 JPC_API void JPC_BodyInterface_SetPositionRotationAndVelocity(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_RVec3 inPosition, JPC_Quat inRotation, JPC_Vec3 inLinearVelocity, JPC_Vec3 inAngularVelocity);
 JPC_API void JPC_BodyInterface_AddForce(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce);
-
-// JPC_API void JPC_BodyInterface_AddForce(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce, JPC_RVec3 inPoint);
-
+// overload of BodyInterface::AddForce
+JPC_API void JPC_BodyInterface_AddForceAtPoint(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce, JPC_RVec3 inPoint);
 JPC_API void JPC_BodyInterface_AddTorque(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inTorque);
 JPC_API void JPC_BodyInterface_AddForceAndTorque(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce, JPC_Vec3 inTorque);
 JPC_API void JPC_BodyInterface_AddImpulse(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inImpulse);

JoltC/JoltC.cpp

@@ -1093,8 +1093,14 @@ JPC_API JPC_Vec3 JPC_Body_GetPointVelocity(const JPC_Body* self, JPC_RVec3 inPoi
 	return to_jpc(to_jph(self)->GetPointVelocity(to_jph(inPoint)));
 }
 
-// JPC_API void JPC_Body_AddForce(JPC_Body* self, JPC_Vec3 inForce);
-// JPC_API void JPC_Body_AddForce(JPC_Body* self, JPC_Vec3 inForce, JPC_RVec3 inPosition);
+JPC_API void JPC_Body_AddForce(JPC_Body* self, JPC_Vec3 inForce) {
+	to_jph(self)->AddForce(to_jph(inForce));
+}
+
+// overload of Body::AddForce
+JPC_API void JPC_Body_AddForceAtPoint(JPC_Body* self, JPC_Vec3 inForce, JPC_RVec3 inPosition) {
+	to_jph(self)->AddForce(to_jph(inForce), to_jph(inPosition));
+}
 
 JPC_API void JPC_Body_AddTorque(JPC_Body* self, JPC_Vec3 inTorque) {
 	to_jph(self)->AddTorque(to_jph(inTorque));
@@ -1164,14 +1170,22 @@ JPC_API JPC_Quat JPC_Body_GetRotation(const JPC_Body* self) {
 	return to_jpc(to_jph(self)->GetRotation());
 }
 
-// JPC_API RMat44 JPC_Body_GetWorldTransform(const JPC_Body* self);
+JPC_API JPC_RMat44 JPC_Body_GetWorldTransform(const JPC_Body* self) {
+	return to_jpc(to_jph(self)->GetWorldTransform());
+}
 
 JPC_API JPC_RVec3 JPC_Body_GetCenterOfMassPosition(const JPC_Body* self) {
 	return to_jpc(to_jph(self)->GetCenterOfMassPosition());
 }
 
-// JPC_API RMat44 JPC_Body_GetCenterOfMassTransform(const JPC_Body* self);
-// JPC_API RMat44 JPC_Body_GetInverseCenterOfMassTransform(const JPC_Body* self);
+JPC_API JPC_RMat44 JPC_Body_GetCenterOfMassTransform(const JPC_Body* self) {
+	return to_jpc(to_jph(self)->GetCenterOfMassTransform());
+}
+
+JPC_API JPC_RMat44 JPC_Body_GetInverseCenterOfMassTransform(const JPC_Body* self) {
+	return to_jpc(to_jph(self)->GetInverseCenterOfMassTransform());
+}
+
 // JPC_API const AABox & JPC_Body_GetWorldSpaceBounds(const JPC_Body* self);
 // JPC_API const MotionProperties *JPC_Body_GetMotionProperties(const JPC_Body* self)
 // JPC_API MotionProperties * JPC_Body_GetMotionProperties(JPC_Body* self);
@@ -1352,8 +1366,13 @@ JPC_API JPC_Quat JPC_BodyInterface_GetRotation(const JPC_BodyInterface *self, JP
 	return to_jpc(to_jph(self)->GetRotation(to_jph(inBodyID)));
 }
 
-// RMat44 JPC_BodyInterface_GetWorldTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
-// RMat44 JPC_BodyInterface_GetCenterOfMassTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
+JPC_API JPC_RMat44 JPC_BodyInterface_GetWorldTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID) {
+	return to_jpc(to_jph(self)->GetWorldTransform(to_jph(inBodyID)));
+}
+
+JPC_API JPC_RMat44 JPC_BodyInterface_GetCenterOfMassTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID) {
+	return to_jpc(to_jph(self)->GetCenterOfMassTransform(to_jph(inBodyID)));
+}
 
 JPC_API void JPC_BodyInterface_MoveKinematic(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_RVec3 inTargetPosition, JPC_Quat inTargetRotation, float inDeltaTime) {
 	to_jph(self)->MoveKinematic(to_jph(inBodyID), to_jph(inTargetPosition), to_jph(inTargetRotation), inDeltaTime);
@@ -1409,7 +1428,10 @@ JPC_API void JPC_BodyInterface_AddForce(JPC_BodyInterface *self, JPC_BodyID inBo
 	to_jph(self)->AddForce(to_jph(inBodyID), to_jph(inForce));
 }
 
-// JPC_API void JPC_BodyInterface_AddForce(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce, JPC_RVec3 inPoint);
+// overload of BodyInterface::AddForce
+JPC_API void JPC_BodyInterface_AddForceAtPoint(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce, JPC_RVec3 inPoint) {
+	to_jph(self)->AddForce(to_jph(inBodyID), to_jph(inForce), to_jph(inPoint));
+}
 
 JPC_API void JPC_BodyInterface_AddTorque(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inTorque) {
 	to_jph(self)->AddTorque(to_jph(inBodyID), to_jph(inTorque));