btRigidBody applyForce applyImpulse methods missing?

[dataexcess]

Hello!

I am looking for the following methods (present in the API docs of pybullet (https://pybullet.org/Bullet/BulletFull/classbtRigidBody.html)

Currently (please correct me if I'm wrong) the only method that seems available to set a rigid body in motion is the setLinearVelocity. The problem is that it ignores/circumvents other forces such as gravity it seems.

Thank you!

[lo-th]

you can use v = b.getLinearVelocity()
and add your velocity to v
and apply setLinearVelocity

note velocity is in world coordinate
so you can apply rotation of your object before add

you can also use
b.applyForce( v )
b.applyTorque(v)
b.applyCentralForce(v)
b.applyImpulse(v)
b.applyCentralImpulse(v)