Accessors to get force/torque (#335)

Jolt/Physics/Body/Body.h

@@ -127,6 +127,12 @@ public:
 	/// Add torque (unit: N m) for the next time step, will be reset after the next call to PhysicsSimulation::Update
 	inline void				AddTorque(Vec3Arg inTorque)										{ JPH_ASSERT(IsDynamic()); (Vec3::sLoadFloat3Unsafe(mMotionProperties->mTorque) + inTorque).StoreFloat3(&mMotionProperties->mTorque); }
 
+	// Get the total amount of force applied to the center of mass this time step (through AddForce calls). Note that it will reset to zero after PhysicsSimulation::Update.
+	inline Vec3				GetAccumulatedForce() const										{ JPH_ASSERT(IsDynamic()); return mMotionProperties->GetAccumulatedForce(); }
+
+	// Get the total amount of torque applied to the center of mass this time step (through AddForce/AddTorque calls). Note that it will reset to zero after PhysicsSimulation::Update.
+	inline Vec3				GetAccumulatedTorque() const									{ JPH_ASSERT(IsDynamic()); return mMotionProperties->GetAccumulatedTorque(); }
+
 	/// Get inverse inertia tensor in world space
 	inline Mat44			GetInverseInertia() const;
 

Jolt/Physics/Body/MotionProperties.h

@@ -111,6 +111,12 @@ public:
 	/// Velocity of point inPoint (in center of mass space, e.g. on the surface of the body) of the body (unit: m/s)
 	JPH_INLINE Vec3			GetPointVelocityCOM(Vec3Arg inPointRelativeToCOM) const			{ return mLinearVelocity + mAngularVelocity.Cross(inPointRelativeToCOM); }
 
+	// Get the total amount of force applied to the center of mass this time step (through Body::AddForce calls). Note that it will reset to zero after PhysicsSimulation::Update.
+	JPH_INLINE Vec3			GetAccumulatedForce() const										{ return Vec3::sLoadFloat3Unsafe(mForce); }
+
+	// Get the total amount of torque applied to the center of mass this time step (through Body::AddForce/Body::AddTorque calls). Note that it will reset to zero after PhysicsSimulation::Update.
+	JPH_INLINE Vec3			GetAccumulatedTorque() const									{ return Vec3::sLoadFloat3Unsafe(mTorque); }
+
 	////////////////////////////////////////////////////////////
 	// FUNCTIONS BELOW THIS LINE ARE FOR INTERNAL USE ONLY
 	////////////////////////////////////////////////////////////