BodyReference.GetVelocityForOffset() is local or world?

[Kermalis]

Hello, I'm trying to find a way to use BodyReference.GetVelocityForOffset() as an equivalent for Unity's RigidBody.GetPointVelocity(). Unity uses a world position but I'm not sure if Bepu uses a world position, world offset, or local offset.

It appears the param info is cut off and doesn't specify:

/// <summary>
/// Computes the velocity of an offset point attached to the body.
/// </summary>
/// <param name="offset">Offset from the body's center to </param>
/// <param name="velocity">Effective velocity of the point if it were attached to the body.</param>
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void GetVelocityForOffset(Vector3 offset, out Vector3 velocity)
{
    velocity = Velocity.Linear + Vector3.Cross(Velocity.Angular, offset);
}

I'm assuming it is world offset, but it looks like local offset was working for me earlier. If it should be world offset, then perhaps I have a bug since I was using local offset? (It'd explain some behavior I saw.)

It appears the documentation for one of the ApplyImpulse() overloads is also incorrect:

/// <summary>
/// Applies an impulse to a body at the given world space position. Does not modify activity states.
/// </summary>
/// <param name="impulse">Impulse to apply to the body.</param>
/// <param name="impulseOffset">World space offset to apply the impulse at.</param>
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void ApplyImpulse(Vector3 impulse, Vector3 impulseOffset)
{
    ref var location = ref MemoryLocation;
    ApplyImpulse(Bodies.Sets[location.SetIndex], location.Index, impulse, impulseOffset);
}

It says it applies at a world space position but it should be a world offset. I tested it and the other overloads also specify it is a world offset, not world position. This makes porting from Unity quite confusing even if you aren't a novice. Here's my code example below:

public void Bepu(in Transform3D bepuTra, ref BodyReference br)
{
	Vector3 worldOffset = _curGlobalPos - bepuTra.Origin; // Use this instead?
	br.GetVelocityForOffset(WheelLocalOfs.ToVector3(), out System.Numerics.Vector3 worldVelAtPoint);

	// ...

	br.ApplyImpulse(_upForce * up.ToVector3(), worldOffset.ToVector3());
}

public void Unity()
{
	WorldVel = _rb.GetPointVelocity(transform.position);

	// ...

	_rb.AddForceAtPosition(_upForce * up, transform.position, ForceMode.Impulse);
}

[RossNordby]

All world offsets. Typos/comments fixed, thanks for the report!