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[PhysX] Simulating boat

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I have simple boat. I need to simulate movements with addForce / addTorque.
Can force and torque be added to center of ship´s gravity or is better to apply them to the back of the ship (where motor is) - seems more reasonable in reality, but I am trying to do something very simple.
Second, how can steering of ship can be done via addForce / addTorque. So far my ship is steering too fast and after steer, force is "pushing" ship in not steered direction, until force is zeroed...

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