Don't forget about these guys:
const dReal * dBodyGetForce (dBodyID);
const dReal * dBodyGetTorque (dBodyID);
Return the current accumulated force and torque vector. The returned pointers point to an array of 3 dReals. The returned values are pointers to internal data structures, so the vectors are only valid until any changes are made to the rigid body system.
void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z);
void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
Set the body force and torque accumulation vectors. This is mostly useful to zero the force and torque for deactivated bodies before they are reactivated, in the case where the force-adding functions were called on them while they were deactivated.
const dReal * dBodyGetForce (dBodyID);
const dReal * dBodyGetTorque (dBodyID);
Return the current accumulated force and torque vector. The returned pointers point to an array of 3 dReals. The returned values are pointers to internal data structures, so the vectors are only valid until any changes are made to the rigid body system.
void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z);
void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
Set the body force and torque accumulation vectors. This is mostly useful to zero the force and torque for deactivated bodies before they are reactivated, in the case where the force-adding functions were called on them while they were deactivated.