[ODE] Should ODE support Center of mass not centered at body frame

[Remi Ricard]

Hi,

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.



Remi