[ODE] weight distribution in box

[Jon Watte]

dMassTranslate does not work as you suggest. 

If you look at the code for dBody, it happily ignores the 
translation part of the mass, although the mass may get 
off-kilter in the inertial tensor (I forget). 

This is mentioned as a "bug that's so old it's a feature" 
in the documentation, btw.

dGeomTransform() is the only way to go.

Cheers,

			/ h+


-----Original Message-----
From: ode-bounces at q12.org [mailto:ode-bounces at q12.org]On Behalf Of Bram
Stolk
Sent: Wednesday, March 02, 2005 5:16 AM
To: THD
Cc: ode at q12.org
Subject: Re: [ODE] weight distribution in box


THD wrote:
> I simply use dMassTranslate when setting the mass, here I lower the
> centre of mass by 1.
> 
> dMass m;
> dMassSetBox(&m, 1, length, width, height);
> dMassAdjust(&m, 5);
> dMassTranslate(&m, 0.0, -1.0, 0.0);     //centre of mass
> dBodySetMass(bodyId, &m);


Ok, ill try this, but strictly speaking... doesnt this mean
that you will have some mass defined outside the geom?
If so, is this bad for the simulator?

   bram
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