+ write().angular_velocity = as;
+}
+
+void RigidBody::add_force(const LinAl::Vector<float, 2> &f)
+{
+ write().force += f;
+}
+
+void RigidBody::add_force(const LinAl::Vector<float, 2> &f, const LinAl::Vector<float, 2> &p)
+{
+ Data &d = write();
+ d.force += f;
+ LinAl::Vector<float, 2> r = p-entity->get_transform()->get_position().slice<2>(0);
+ d.torque += r.x*f.y-r.y*f.x;
+}
+
+void RigidBody::add_torque(float t)
+{
+ write().torque += t;
+}
+
+void RigidBody::clear_forces()
+{
+ Data &d = write();
+ d.force = LinAl::Vector<float, 2>();
+ d.torque = 0.0f;