distance3d.hydroelastic_contact.contact_forces

distance3d.hydroelastic_contact.contact_forces(rigid_body1, rigid_body2, return_details=False)[source]

Contact forces between two objects.

Parameters:
rigid_body1RigidBody

First rigid body.

rigid_body2RigidBody

Second rigid body.

return_detailsbool

Return additional contact details.

Returns:
intersectionbool

Do both bodies intersect?

wrench12_in_worldarray, shape (6,)

Forces and torques caused by body 1 acting on body 2 in world frame.

wrench21_in_worldarray, shape (6,)

Forces and torques caused by body 2 acting on body 1 in world frame.

detailsdict, optional

Additional contact details.