Confusing ExternalForce function parameters (apply_force_at_point)

[Sergi-Ferrez]

I'm a little bit confused about the apply_force_at_point parameters, these are the parameters of the function:

pub fn apply_force_at_point(
        &mut self,
        force: Vector,  // 'world-space' force meaning global translation + force?
        point: Vector, // I think this is in local space?
        center_of_mass: Vector, // This needs to be in global or local space?
)

I think it's a little confusing for newcomers to try to understand, someone can help me to identify the correct parameter values?
Thanks in advance.

[awest03]

Hi, I appreciate this is very old, but this is what I do:

ef.apply_force_at_point(
	            transform.affine().transform_vector3(self.force),
	            transform.affine().transform_vector3(self.pos),
	            Vec3::ZERO,
	        );

All of the parameters are supposed to be in local space, but it doesn't account for rotation, hence my transformation

[lucasw]

The documentation was recently updated- it's world space, not local:

The force, point, and center of mass must be given in world space.

https://github.com/Jondolf/avian/blob/main/src/dynamics/rigid_body/forces.rs#L159

I get a GlobalTransform for the object and use translation() as the center of mass (though for some application maybe the center of mass should be shifted relative to that, but the center of the collider is probably a good starting point).