hi how can i extract contact forces from efc_force? in documents u said that after the constraint forces have been computed, the vector of forces for contact i starts at: mjtNum* contactforce = d->efc_force + d->contact.efc_address; 1_ what is efc_address? 2_ d->efc_force is a force vector and d->contact.efc_address is a int number. why are they added togheter? what dose it mean? thanks
Hi Mohammad, I have the same questions. Did you solve them and find out how to get the contact forces?
efc_address is the integer offset of the contact's data in the global vector efc_force. when you add a pointer and an int in C, you are advancing the pointer.
Thank you for the reply. Yes that is right. Actually when i asked this question i worked with python and was not much familiar with C pointer