[ODE] Get accumulated torque originated in contact joints

Patrick McColgan patrick at torcinteractive.com
Tue Aug 23 12:38:58 MST 2005


Look in the user guide for dJointSetFeedback and dJointGetFeedback, you 
can point to feedback structures which once calculated will contain the 
force and torque applied to each body.

STenyaK wrote:

> I'd like to know the torque that was generated on a body due to 
> contact  joints (due to collisions and not user-applied torques).
>
> I've tried using dBodyGetTorque at different times in my main loop 
> (before  everything, after processing dSpaceCollide, after dWorldStep, 
> after  dJointGroupEmpty, ... but got no positive results (it returned 
> only the  torques applied by me).
>
> Is there any way this can be done? Thanks in advance.
>



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