[ODE] Contact point position in ContactJoint

James Frye fryeja at us.ibm.com
Thu Aug 9 10:57:29 MST 2007

Apologies if this is a dumb newbie question, but is there also a
good/standard way to get the contact
force?  I'm looking at using ODE in a simulation in which a virtual
"creature" of some sort will move
around in an environment, and send back sensory impressions to an external
process.  So far I can
see how to use the contact info to get the fact that it has touched an
object, but I'd like to get some
idea of the force too.


ode-bounces at ode.org wrote on 08/09/2007 06:50:51 AM:

> 2007/8/9, tsr <tsr at fenix.katowice.pl>:
> > I want to draw contact points in my simulation. It is possible to get
> > positions of contact points from ContactGroup? How can I get Positions
> > of contact points?
> The dContactGeom struct is:
> struct dContactGeom {
>  dVector3 pos;    // contact position
>  dVector3 normal; // normal vector
>  dReal depth;     // penetration depth
>  dGeomID g1,g2;   // the colliding geoms
> };
> So just use the "pos" field.

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