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

[Rodrigo Hernandez]

Were not some changes to do just that introduced shortly before 0.6?

There were some changes made to the way position and rotation are 
stored, it was my impression the goal of that was to allow
the user to set an arbitrary center of mass, you might want to check 
that out.

Remi Ricard wrote:
> 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
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