simAddForceAndTorque

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)

C++ synopsis

int simAddForceAndTorque(int shapeHandle, const double* force, const double* torque)

Arguments

• 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

Return

• -1 if operation was not successful