+ void set_angular_velocity(Msp::Geometry::Angle<float>);
+ void add_force(const Msp::LinAl::Vector<float, 2> &);
+ void add_force(const Msp::LinAl::Vector<float, 2> &, const Msp::LinAl::Vector<float, 2> &);
+ void add_torque(float);
+ void clear_forces();
+ const Msp::LinAl::Vector<float, 2> &get_velocity() const { return read().velocity; }
+ Msp::Geometry::Angle<float> get_angular_velocity() const { return read().angular_velocity; }
+ const Msp::LinAl::Vector<float, 2> &get_force() const { return read().force; }
+ float get_torque() const { return read().torque; }