[ODE] forces felt at combination ball-slider joint

[Armand Prieditis]

Hi,

 

Let's say I have a combination ball-slider joint. I'd like to be able to
sense the torques that are felt in each of the (X,Y,Z) directions for the
ball part and the (linear) force that is felt for the slider.. Is this
possible in ODE? If so, how can I do it? Seems like ODE must keep track of
this info internally to propagate the external forces throughout a connected
system.

 

Thanks,

 

Armand

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