[ODE] Get accumulated torque originated in contact joints

[Patrick McColgan]

Look in the user guide for dJointSetFeedback and dJointGetFeedback, you 
can point to feedback structures which once calculated will contain the 
force and torque applied to each body.

STenyaK wrote:

> I'd like to know the torque that was generated on a body due to 
> contact  joints (due to collisions and not user-applied torques).
>
> I've tried using dBodyGetTorque at different times in my main loop 
> (before  everything, after processing dSpaceCollide, after dWorldStep, 
> after  dJointGroupEmpty, ... but got no positive results (it returned 
> only the  torques applied by me).
>
> Is there any way this can be done? Thanks in advance.
>