Add coriolis apply demo

Assets/ID_CoriolisCentrifugal/ApplyCoriolisCentrifugal.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class ApplyCoriolisCentrifugal : MonoBehaviour
+{
+    public bool applyForce = false;
+    private ArticulationBody[] abs;
+    void Start()
+    {
+        abs = FindObjectsOfType<ArticulationBody>();
+    }
+    
+    
+    void FixedUpdate()
+    {
+        if (!applyForce)
+        {
+            for (int i = 0; i < abs.Length; i++)
+            {
+                abs[i].jointForce = new ArticulationReducedSpace(0);
+            }
+
+            return;
+        }
+
+        List<float> results = new List<float>();
+        List<int> indices = new List<int>();
+        
+        abs[0].GetJointCoriolisCentrifugalForces(results);
+        abs[0].GetDofStartIndices(indices);
+
+        for (int i = 0; i < abs.Length; i++)
+        {
+            // Since all joints in this articulation only have 1 DoF we can get away with writing it like this
+            abs[i].jointForce = new ArticulationReducedSpace(results[indices[abs[i].index]]);
+        }
+    }
+}

Assets/ID_CoriolisCentrifugal/ApplyCoriolisCentrifugal.cs.meta

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Assets/ID_CoriolisCentrifugal/ButtonController.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+public class ButtonController : MonoBehaviour
+{
+    public Text toggleButtonText; 
+    // Start is called before the first frame update
+    void Start()
+    {
+        
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+
+    public void OnToggleApplyForce()
+    { 
+        ApplyCoriolisCentrifugal applyScript = FindObjectOfType<ApplyCoriolisCentrifugal>();
+
+        applyScript.applyForce = !applyScript.applyForce;
+
+        toggleButtonText.text = "Toggle counteracting: " + applyScript.applyForce;
+    }
+    
+}

Assets/ID_CoriolisCentrifugal/ButtonController.cs.meta

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Assets/ID_CoriolisCentrifugal/ID_CoriolisCentrifugalApply_Scene.unity.meta

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