[ODE] Should ODE support Center of mass not centered at body frame
remi.ricard at simlog.com
Wed Sep 13 07:30:25 MST 2006
Since David Walters started the discussion in another thread with
a OT title. ([ODE Patches (Sept 2006))
I'm starting a new tread to talk only about this issue.
So I want to discuss those topics
1- Should ODE support center of mass not centered at body frame ?
If yes for the above question.
2- Where in the code changes should be made or what part of the code
will need changes ?
My first guess is: Only in the stepping functions. (step, quickstep, ...)
3- Did someone implemented the feature already ? If so can he make a
patch ? (I started working on it but it is only a crude draft).
If no to question 1-
4- What should be added to ODE to inform the user of miss conception
about the possibility to position the center of mass where ever he wants.
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