[ODE] Collision Force Feedback - the solution?!

[Jon Watte (ODE)]

Danny van der Ark wrote:
>
> When two rigid bodies collide, I'd like to know 'how much force' is 
> involved during the time of impact.
> Much like you have 'dJointGetFeedbackFORCE' functions for joints, but 
> I need this for rigid bodies..
>

One way is to look at the velocities before solution, the velocities 
after solution, and backwards integrate the necessary force to change 
the momentum.

Cheers,

          / h+