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[Bruno Chareyre <question680868@xxxxxxxxxxxxxxxxxxxxx>]

Question #680868 on Yade changed:
https://answers.launchpad.net/yade/+question/680868

Bruno Chareyre proposed the following answer:
The question and answer #1 are misleading on some aspects in my opinion.
For the record:

> the direction is not sure[1]

The direction _is_ sure. Simply there is no reason to access interactions by ids.
The normal force (a vector) is exerted on id2. An opposite force is exerted on id1.
Same for shear force. 
Hence for resultant forces on all bodies you can do simply:

for i in O.interactions:
    force[id2]+= i.phys.normalForce
    force[id1]-= i.phys.normalForce


> O.force.f() can get the resultant contact force of sphere?

Yes, absolutely.
** even if Newton::gravity is not zero ** 
Weight is not included in O.forces.

Bruno

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