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.