[ODE] Tracing Forces and dWorldStep

[NoWay InHell]

 I can't recall a simple method built into ODE that allows you to get
the total constraint forces after their solution inside of the step
functions.  The joint feedback structures exist but (a) they will slow
your code down to molases (and thats being kind) (b) gives you the
forces on a joint not a body basis.  Your best bet if you need this
information is to modify the step functions yourself and store it off.

 - Zink

On 6/13/05, Mohamed I. Matar <Mohamed.Matar at ndsu.edu> wrote:
>  And how or when and where can I get forces before zeroed
> 
> -----Original Message-----
> From: NoWay InHell [mailto:zinkala at gmail.com]
> Sent: Monday, June 13, 2005 10:13 AM
> To: ode at q12.org
> Subject: Re: [ODE] Tracing Forces and dWorldStep
> 
>  Body forces are zeroed at the end of the step function.
> 
>  - Zink
> 
> On 6/12/05, Mohamed Matar <Mohamed.Matar at gmx.de> wrote:
> > I am using bBodyGetForce to trace body forces but I get zeros. Also I
> > was trying to use dWorldStep instead of dWorldQuickStep with same step
> > and even when I changed the step size, it gave me weird things. I have
> > a top plate that falls at the end, it did not even appear. And the
> > objects seems to go through planes when I use the dWorldStep. I wanted
> > to use dWorldStep as it was mentioned it is more accurate
> >
> > Helpppppp
> >
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> 
> 
>