Currently I’m using this piece of code (inside a MouseButtonDown Event) to acquire a RigidBody2D (in lua):
local touchPos = camera:ScreenToWorldPoint(Vector3(eventData:GetInt("X") / graphics.width, eventData:GetInt("Y") / graphics.height, 0))
local body = physicsWorld2D:GetRigidBody(touchPos)
It works fine, but is there a better/easier way to do this?