[ODE] Joint forces

[Nate W]

I could really use an API to get the amount of force that was applied to a
joint in the previous time-step.  For example, if an arm is lifting an
object, how much torque was applied to the elbow?  

I looked into the code in hopes of finding this information but I didn't
get far.  Is the information I want available at any particular point
during the step processing?  Or are the forces no longer associated with
the joints that caused them by the time the forces are calculated and
applied?

Thanks.

-- 

Nate Waddoups
Redmond WA USA
http://www.natew.com