Move a physics body tied to bone in c++

I’m trying to move a player around without an animation per se. I’d like to be able to programmatically choose which parts of the model to move via c++. I don’t know if it’s easier to move a bone or the physics body but I don’t really care so long as I’m moving the model with code. I’ve looked at IK Setups, Physics Based Animations, and the Animation Node Technical Guide listed under Animation Programming but nothing seems to cover dynamically moving a model with code.