Hi,
I am implementing a human locomotion controller and I need to:
1- Find contact positions at each simulation step
2- Get contact forces and torques
The problem is about using odejava. I do not want to use low level ODE yet odejava does not provide any straightforward solution. I cannot do both of these tasks at the same time, i.e. I cannot relate each contact force/torque to its corresponding position. When contact joints are created there is no way to say which contact joint is created for which contact point because all of them are added to the space by putting together in a contactGroup and calling Odejava.createContactJoints( world.getId(), contactGroupId ). [This is how Collision.applyContatcs() works in odejava]
My only solution is to write my own collision and save the contact feedback and position once each joint is created.
Is there anyway to avoid this low level solution and solve the problem with current odejava methods? If not, any suggestion on how to do it with low level functions would be very helpful.
Thanks