How do I get the total force (probably m_totalForce of btRigidBody) of a specific object to haptically render it. I understand that force calculation as well as clean up takes place inside btDiscreteDynamicsWorld::stepSimulation(), how do I sneak out the value of force from the loop? Moreover, things get complicated as simulation steps may be broken down into sub steps and haptic must run at 1000 Hz compared to 60Hz of bullets physical simulation.
Please give me some suggestions to make bullet work with haptics. I am currently using Phantom Omni as haptic device which has OpenHaptics SDK.
Thanks,
Prince