Relative orientation forces?

[expenses]

Hi, currently stuff like RigidBody::append_lin_force and RigidBody::append_force_wrt_point append a force with respect to the world orientation, not the orientation of the body. This means that even if the object is rotating, it will still accelerate in one direction. Do you think it would be possible to add in forces relative to the orientation of the rigid body?

[sebcrozet]

This has been added to nphysics v0.10. See the new force application methods (in particular those with "local" in their names): https://www.nphysics.org/rigid_body_simulations_with_contacts/#one-time-force-application-and-impulses