Get the jointfeedback structure from the joint to get information about the forces applied by each joint. The feedback information structure is defined as follows (NOTE: C# version listed here): public struct dJointFeedback { public dVector3 f1; /* force that joint applies to body 1 */ public dVector3 t1; /* torque that joint applies to body 1 */ public dVector3 f2; /* force that joint applies to body 2 */ public dVector3 t2; /* torque that joint applies to body 2 */ }; The dJointGetFeedback() function returns the current feedback structure pointer, or 0 if none is used (this is the default). TODO: Will passing 0 work or does something special have to be done?
A dJointFeedback