ForceMode：

Force：关注的是力整体

Impulse：关注的是冲量，与质量相关

VelocityChange：关注的是速度，与质量无关 

Acceleration：关注的是加速度，与质量无关

public void AddForce(Vector3 force, [Internal.DefaultValue("ForceMode.Force")] ForceMode mode);

扭矩：AddTorque（ForceMode同上）

public void AddTorque(Vector3 torque, [Internal.DefaultValue("ForceMode.Force")] ForceMode mode);

如：

public class AddForceTest : MonoBehaviour
{
    private Rigidbody rd;
    // Start is called before the first frame update
    void Start()
    {
        //rd.AddForce(new Vector3(0,0,10),ForceMode.Force);
        //rd.AddForce(new Vector3(0,0,10),ForceMode.Acceleration);
        rd.AddTorque(Vector3.forward);
    }

   
}