I’m trying to get forces applied to a single link (spherical in my case) during its contact with a surface. I’ve tried out every available force-related methods in BodyNode, Skeleton and Joint classes. For now only two of them seem to be appropriate:
- getBodyForce() in BodyNode class;
- getConstraintForces() in Skeleton class;
However I’m not sure if they are what I’m looking for. Could anybody please tell me what kind of forces are measured by those functions and which one is more suitable for my task?
Thanks in advance!