[ODE] Center of Mass not at (0, 0, 0)

Remi Ricard remi.ricard at simlog.com
Wed Sep 13 09:43:48 MST 2006


> Hi,
> I have been reading the thread on having the center of mass at another 
> point other than (0, 0, 0). this would be very useful.
> For example, if you have a body with many geoms, say a representation 
> of a human body using multiple geoms for arms, legs, trunk and head.
> If you want to animate that body, say, moving the arms about, right 
> now, you have to re-calculate where the center of mass is and the 
> re-shift/offset all of your geoms, which would lead to the human body 
> actually being shifted around on the screen, i.e: this solution would 
> not work. But if you have a CM that is not at (0,0,0) then you no 
> longer need to do the geom shift/offset and the body's mesh would not 
> have to be shifted around on the screen since the Geom position is 
> that same of that of the mesh/bones on the screen and this would work.
I think in the case of  two arms and a torso each of them will have its 
own body and the CM will be fixed for each body.

The center of mass of the human will change depending on the arms 
position but the ode body and center of mass stay fixed w.r.t each ode 
body frame.


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