[ODE] Contact point position in ContactJoint

[James Frye]

Apologies if this is a dumb newbie question, but is there also a
good/standard way to get the contact
force?  I'm looking at using ODE in a simulation in which a virtual
"creature" of some sort will move
around in an environment, and send back sensory impressions to an external
process.  So far I can
see how to use the contact info to get the fact that it has touched an
object, but I'd like to get some
idea of the force too.

Thanks,
James

ode-bounces at ode.org wrote on 08/09/2007 06:50:51 AM:

> 2007/8/9, tsr <tsr at fenix.katowice.pl>:
> > I want to draw contact points in my simulation. It is possible to get
> > positions of contact points from ContactGroup? How can I get Positions
> > of contact points?
>
> The dContactGeom struct is:
>
> struct dContactGeom {
>  dVector3 pos;    // contact position
>  dVector3 normal; // normal vector
>  dReal depth;     // penetration depth
>  dGeomID g1,g2;   // the colliding geoms
> };
>
>
> So just use the "pos" field.