[ODE] Calculating G force

[Jon Watte (ODE)]

The linear velocity is already in world coordinates. Thus, all you need 
to do is to subtract the linear velocity from the last step from the 
linear velocity in this step, and divide by time (as you're doing), and 
you get the force of the aggregate impulse. Then subtract gravity.

Cheers,

             / h+


Anders Olofsson wrote:
> Well, it didn't work that good.. Am I thinking this all wrong?.
>
> dVector3 vel,oldvel,force;
> void CalculateGForces (dBodyID body)
> {
>          const dReal *tmp;
>          dVector3 tmpv;
>
>          tmp=dBodyGetLinearVel (body);
>          dBodyVectorFromWorld (body, tmp[0], tmp[1], tmp[2], tmpv);
>          vel[0]=tmpv[0];
>          vel[1]=tmpv[1];
>          vel[2]=tmpv[2];
>          if (dtime>0){
>                  force[0]=(vel[0]-oldvel[0])/dtime;
>                  force[1]=(vel[1]-oldvel[1])/dtime;
>                  force[2]=(vel[2]-oldvel[2])/dtime;
>          }
>          oldvel[0]=vel[0];
>          oldvel[1]=vel[1];
>          oldvel[2]=vel[2];
> }
>
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