How to get velocity of a skeleton and add force at certain position to it?
I mean is there any function support to do things like following?
Vector3d Skeleton::getVelocityAtWorldPosition( Vector3d pos)
Vector3d Skeleton::applyForceAtWorldPosition(Vector3d pos,Vector3d force)
The docs contains a lot stuff, i am not sure which functions could give functionality as this.
There are some unclear info about functions parameters,so i stucked on how to test them.
For example,what does the
indices point to ???
Eigen::VectorXd dart::dynamics::MetaSkeleton::getVelocities ( const std::vector< std::size_t > & *_indices* ) const/// Get the velocities for a subset of the generalized coordinates.
I wonder whether there’s such functions directly for skeletons or do something from joints/bodynode
I also noticed a function
BodyNode,However i do not just want the COM Velocity.
Thanks for your reply