[ODE] Read out the contact forces?

Jon Watte (ODE) hplus-ode at mindcontrol.org
Tue Jul 3 17:30:28 MST 2007

This is a FAQ, and it is answered in the manual. The forces are zero, 
unless you are inside the execution of your step function.

However, if you can get the velocity of the point of the body that 
touches the other geometry, and you know your mu, you can calculate some 
useful bounds on the friction force.


          / h+

Ke wrote:
> Hi,
> When we simulate a 3-wheel car on ground,we need to
> read out the contact/friction forces between wheels
> and the ground. But when I used
> dBodyGetForce(Wheel_body_ID), what I got is (0,0,0)
> all the time. Am I wrong? or any other way to do that?
> Thanks.
> Ke
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