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Description
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Adds a force and/or torque to a shape object that is dynamically enabled. Forces are applied at the center of mass. Added forces and torques are cumulative, and are reset to zero after sim.handleDynamics was called (or by using the following flags: sim.handleflag_resetforce and/or sim.handleflag_resettorque). See also sim.addForce.
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C/C++
synopsis
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simInt simAddForceAndTorque(simInt shapeHandle,const simFloat* force,const simFloat* torque)
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C/C++
parameters |
shapeHandle: handle of a dynamically enabled shape. Can be combined with sim.handleflag_resetforce and/or sim.handleflag_resettorque in order to clear the accumulated force or torque.
force: pointer to 3 values that represent the force (in absolute coordinates) to add. Can be nullptr.
torque: pointer to 3 values that represent the torque (in absolute coordinates) to add. Can be nullptr
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C/C++
return value
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-1 if operation was not successful
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Lua
synopsis
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sim.addForceAndTorque(int shapeHandle,float[3] force,float[3] torque) |
Lua
parameters |
Similar to the C-function counterpart
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Lua
return values
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Python
synopsis
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sim.addForceAndTorque(int shapeHandle,list force,list torque) |
