[ODE] Displaced mass

[John Donovan]

Hi,
apologies in advance if this has already been covered, but the link to
the large archive for download is broken (I'll email the appropriate
person in a tic). If it has been covered, then a pointer to the
date/thread would be useful so I can d/l the relevant mothly archive.

I'm unclear on how I can displace the mass of a body. I have a body with
a sphere geom "attached" to it. What I want to do is offset the CoM of
the body down a little bit so I end up with a sphere with the weight at
the bottom to stabilise it.
I have a transform geom attached to the body, and a regular geom
attached to that. I call:

dMassTranslate (&_mass, offset.x(), offset.y(), offset.z());
dBodySetMass (_body, &_mass);

Which almost works, but as the sphere rocks from side to side, it
penetrates the ground plane the greater the angle from the vertical, and
rests correctly on it when it is vertical.
My nearCallback is the standard one in the docs (and lifted from one of
the samples). Do I need to take into account my transform geom somehow
in nearCallback?

John Donovan

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