acquiring resulting forces in collision

[martin]

I am currently looking into combining bullet with haptical rendering of rigid bodies. Therefore i was wondering if there is a way to acquire the force that acts upon a rigid body as the result of a collision. My idea is to use a rigid body as a bullet physics counterpart to the real haptics device tool tip. Forces that would be generated as the result of a collision between bodies in bullet would be rendered on the haptics device.

Initially i was trying to piggback btRigidBody::getTotalForce() for this purpose but as it turned out this method does not deliver the forces i hoped for (at least as far as i can tell).

Now i am kind of lost as to how to proceed from here. Do you guys have any pointer for me? Does the bullet api support this kind of information in its public interface or do i have to get my hands dirty?

Thanks in advance.

[(void*)]

Perhaps this topic can point you in the right direction...

"Getting the impulse force from a collision?"
http://www.bulletphysics.com/Bullet/php ... f=9&t=4136

[martin]

Thank you for the hint.

[martin]

Collisions between soft bodies and rigid bodies don't seem to produce any btmanifoldpoints. How can i acquire contact information without those? What am i missing?

I am kind of missing an equivalent to the rigid body physics pipeline diagram for soft bodies in the bullet user manual.

Any help is greatly appreciated!

[martin]

Is this issue still the state of affairs concerning soft body contact manifolds? Am i right to assume that it is not possible to acquire contact manifolds for collisions between soft and rigid bodies through the public interface of bullet 2.75?