Forces in a rigid body

[inakin]

How can I get all the forces that acts on a rigid body?

I have seen that a I could obtain velocity or mass but I can not get the forces that acts on a rigid body.

Thank you.

[acx01b]

you could add in btRigidBody.h :

class btRigidBody {
...

btVector3 getTotalForce()
{
return m_totalForce;
}


btVector3 getTotalTorque()
{
return m_totalTorque;
}

}

[Erwin Coumans]

I assume you are referring to constraint forces, due to contact and joint constraints?

This information is not directly stored inside the btRigidBody but for each constraint and contact: see btTypedConstraint::getAppliedImpulse and btManifoldPoint::m_appliedImpulse

You can get access to the contact constraint by iterating over all btPersistentManifold objects, and non-contact constraint through btRigidBody::getNumConstraintRefs/getConstraintRef.
Hope this helps,
Erwin