From ffabf4cf3ef327672a431e1ddd15eba29255fcfe Mon Sep 17 00:00:00 2001
From: Daniel Santos-Olivan <dsantosolivan@gmail.com>
Date: Wed, 23 Sep 2020 18:15:36 +0200
Subject: [PATCH] Added ApplyForce and ApplyTorque

---
 LibCarla/source/carla/rpc/Command.h          |  2 ++
 PythonAPI/carla/source/libcarla/Commands.cpp | 16 ++++++++++++++++
 2 files changed, 18 insertions(+)

diff --git a/LibCarla/source/carla/rpc/Command.h b/LibCarla/source/carla/rpc/Command.h
index b5cec5d66..b029b4d2e 100644
--- a/LibCarla/source/carla/rpc/Command.h
+++ b/LibCarla/source/carla/rpc/Command.h
@@ -209,7 +209,9 @@ namespace rpc {
         ApplyTargetVelocity,
         ApplyTargetAngularVelocity,
         ApplyImpulse,
+        ApplyForce,
         ApplyAngularImpulse,
+        ApplyTorque,
         SetSimulatePhysics,
         SetAutopilot,
         SetVehicleLightState>;
diff --git a/PythonAPI/carla/source/libcarla/Commands.cpp b/PythonAPI/carla/source/libcarla/Commands.cpp
index 1e1e8d93c..2edd79387 100644
--- a/PythonAPI/carla/source/libcarla/Commands.cpp
+++ b/PythonAPI/carla/source/libcarla/Commands.cpp
@@ -144,6 +144,13 @@ void export_commands() {
     .def_readwrite("impulse", &cr::Command::ApplyImpulse::impulse)
   ;
 
+  class_<cr::Command::ApplyForce>("ApplyForce")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, cg::Vector3D>, (arg("actor"), arg("force")))
+    .def(init<cr::ActorId, cg::Vector3D>((arg("actor_id"), arg("force"))))
+    .def_readwrite("actor_id", &cr::Command::ApplyForce::actor)
+    .def_readwrite("force", &cr::Command::ApplyForce::force)
+  ;
+
   class_<cr::Command::ApplyAngularImpulse>("ApplyAngularImpulse")
     .def("__init__", &command_impl::CustomInit<ActorPtr, cg::Vector3D>, (arg("actor"), arg("impulse")))
     .def(init<cr::ActorId, cg::Vector3D>((arg("actor_id"), arg("impulse"))))
@@ -151,6 +158,13 @@ void export_commands() {
     .def_readwrite("impulse", &cr::Command::ApplyAngularImpulse::impulse)
   ;
 
+  class_<cr::Command::ApplyTorque>("ApplyTorque")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, cg::Vector3D>, (arg("actor"), arg("torque")))
+    .def(init<cr::ActorId, cg::Vector3D>((arg("actor_id"), arg("torque"))))
+    .def_readwrite("actor_id", &cr::Command::ApplyTorque::actor)
+    .def_readwrite("torque", &cr::Command::ApplyTorque::torque)
+  ;
+
   class_<cr::Command::SetSimulatePhysics>("SetSimulatePhysics")
     .def("__init__", &command_impl::CustomInit<ActorPtr, bool>, (arg("actor"), arg("enabled")))
     .def(init<cr::ActorId, bool>((arg("actor_id"), arg("enabled"))))
@@ -182,7 +196,9 @@ void export_commands() {
   implicitly_convertible<cr::Command::ApplyTargetVelocity, cr::Command>();
   implicitly_convertible<cr::Command::ApplyTargetAngularVelocity, cr::Command>();
   implicitly_convertible<cr::Command::ApplyImpulse, cr::Command>();
+  implicitly_convertible<cr::Command::ApplyForce, cr::Command>();
   implicitly_convertible<cr::Command::ApplyAngularImpulse, cr::Command>();
+  implicitly_convertible<cr::Command::ApplyTorque, cr::Command>();
   implicitly_convertible<cr::Command::SetSimulatePhysics, cr::Command>();
   implicitly_convertible<cr::Command::SetAutopilot, cr::Command>();
   implicitly_convertible<cr::Command::SetVehicleLightState, cr::Command>();