Applied impulse at contact point is always zero.

[kino]

Hello,

I'v tried to get the applied impulses at contact points to a dynamic object colliding with a kinematic object using btManifoldPoint::getAppliedImpulse(), but the function seems to return zero always. (For dynamic/dynamic collision, it seems to return non-zero values though.) Am I doing something wrong? I'm currently using Bullet 2.76.

My goal with the Bullet simulation is to make a kinematic robot hand can grasp a dynamic object and lift it up. My idea was to use the contact impulses (or forces by dividing them with the time step), that computed by the constraint solver and applied to the dynamic object, to control or adjust the speed of kinematic finger closing when contacts or collisions occur during grasping, but I'm stuck by the issue mentioned above.

If Bullet doesn't provide the impulse information for the dynamic/kinematic collision, is there a workaround or good idea to reach my goal? Or, is it a bad idea to do that using Bullet?

Thanks for your help and comments in advance!

[codetiger]

I've the same problem. Contact points all give 0 appliedimpulse.