import pybullet as p
p.connect(p.GUI)
useMaximalCoordinates = False
p.loadURDF("plane.urdf", useMaximalCoordinates=useMaximalCoordinates )
#p.loadURDF("sphere2.urdf",[0,0,1])
p.loadURDF("cube.urdf",[0,0,1], useMaximalCoordinates=useMaximalCoordinates )
p.setGravity(0,3,-10)
while(1):
	p.stepSimulation()
	pts = p.getContactPoints()
	
	print("num pts=",len(pts))
	totalNormalForce = 0
	totalFrictionForce = [0,0,0]
	totalLateralFrictionForce=[0,0,0]
	for pt in pts:
		#print("pt.normal=",pt[7])
		#print("pt.normalForce=",pt[9])
		totalNormalForce += pt[9]
		#print("pt.lateralFrictionA=",pt[10])
		#print("pt.lateralFrictionADir=",pt[11])
		#print("pt.lateralFrictionB=",pt[12])
		#print("pt.lateralFrictionBDir=",pt[13])
		totalLateralFrictionForce[0]+=pt[11][0]*pt[10]+pt[13][0]*pt[12]
		totalLateralFrictionForce[1]+=pt[11][1]*pt[10]+pt[13][1]*pt[12]
		totalLateralFrictionForce[2]+=pt[11][2]*pt[10]+pt[13][2]*pt[12]

	
	print("totalNormalForce=",totalNormalForce)
	print("totalLateralFrictionForce=",totalLateralFrictionForce)