[ODE] Displaced mass

[Jon Watte (ODE)]

By "FAQ" I mean "Wiki", sorry :-)
The "known issues" in the docs actually talk about this problem, 
although it's a one-liner.

Yes, dMassTranslate is basically useless; don't use it, and instead use 
a dGeomTransform object that encapsulates your dGeom. Note that 
dGeomSetPosition() will set the position of the body if it's attached 
directly to a body, whereas it will set the position relative to the 
parent when it's attached to a dGeomTransform.

Cheers,

			/ h+


John Donovan wrote:
>>The FAQ explains this in great detail,
> 
> 
> Oh! Does it? I've just had a read through the FAQ and I can't see
> anything about this. The docs I have are from version 0.5, dated 29 May,
> 2004. Are there more recent ones?
> 
> 
>>Instead, you have to counter-displace the Geom of that body, using a
> 
> dGeomTransform.
> 
> Right, I did wonder if that was the case. Does that mean I don't have to
> call dMassTranslate() at all, just call dGeomSetPosition(geom, -x, -y,
> -z)? (Where geom is the "real" geom which is attached to a transform
> geom and nothing else).
> 
> 
> -John Donovan
> 
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