[ODE] Get accumulated torque originated in contact joints

[Jaroslav Sinecky]

Search user guide for dJointFeedback. You have to use this feature if you
want to know forces (and torques) that joints apply to bodies.

Note that if you use quickstep, there is a bug in feedback computation (or
at least that's what I believe). Search mail archives for "dJointFeedback
patch" :-)

Cheers!
Jaroslav


> -----Original Message-----
> From: ode-bounces at q12.org [mailto:ode-bounces at q12.org]On Behalf Of STenyaK
> Sent: Tuesday, August 23, 2005 2:07 PM
> To: ode at q12.org
> Subject: [ODE] Get accumulated torque originated in contact joints
>
>
> 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.
>
> --
> Saludos,
>      STenyaK
>
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