[ODE] Newbie question about composite bodies

[Jon Watte (ODE)]

Tristan McMillan wrote:
> I've had a look at the ODE Wiki example for composite bodies, and
> understand it except for the part where they use boxoffset to move the
> mass to (0,0,0).
>   

The mass for a body is always assumed to be at the center of gravity for 
that body. Thus, the mass offset is ignored by the body functions. Thus, 
all the geoms have to be offset by the negative of the mass offset, to 
end up with the same relation of mass vs collision.

Cheers,

          / h+