[ODE] Extracting linear and angular accelerations

[adrianotiger]

a = (vf - vo) / t;

1. get the velocity before you update the physic 
engine. ---------------------> vo = LinearVel
2. update the physic engine with a step 
time ---------------------------------> t = StepTime
3. get the velocity after you updated the physic 
engine -----------------------> vf = LinearVel

4 You get the linear acceleration with the first formula :D

Adriano


>
> I am invesitgating the applicability of ODE for providing dynamics that 
> will
> eventually drive a motion-based simulator. The interface to the motion 
> base
> requires linear and angular accelerations so that it can generate the 
> proper
> motion forces for the user. I see no provisions in the API for extracting
> this information from ODE. Can it be done, and if so, how?
>
> -- Rob
>
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