simAddForce

Adds a non-central force to a shape object that is dynamically enabled. Added forces are cumulative, applied relative to the center of mass, and are reset to zero after sim.handleDynamics was called (or by using the following flag: sim.handleflag_resetforcetorque)

C++ synopsis

int simAddForce (int shapeHandle, const double* position, const double* force)

Arguments

• shapeHandle: handle of a dynamically enabled shape. Can be combined with sim.handleflag_resetforcetorque in order to clear the accumulated force and torque.
• position: pointer to 3 values that represent the relative position where the force should be applied.
• force: pointer to 3 values that represent the force (in relative coordinates) to add.

Return

• -1 if operation was not successful