simGetJointForceRetrieves the force or torque applied to a joint along/about its active axis. This function retrieves meaningful information only if the joint is prismatic or revolute, and is dynamically enabled. With the Bullet, MuJoCo and Newton engine, this function returns the force or torque applied to the joint motor (torques from joint limits are not taken into account). With the ODE and Vortex engine, this function returns the total force or torque applied to a joint along/about its z-axis C++ synopsisint simGetJointForce(int jointHandle, double* forceOrTorque)
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