Store forces in ContactPoint and expose to Python API

erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

Apache License 2.0

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Closed ErikGartner closed 3 years ago

ErikGartner commented 3 years ago

Exposing contact forces in the ContactPoints.

Note that I return the considered contact points from the function.

erwincoumans commented 3 years ago

Back from a long vacation. Thanks for the pull request, let's merge it and modify as needed.