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

[Bram Stolk]

Hi,

I'm not convinced yet that c.o.m. != body origin is a good idea.

First, there is chapter 13 in the ode docs:
http://ode.org/ode-latest-userguide.html#sec_13_0_0

Second, what use would it have?
You have to choose *some* origin for your body frame, and the center
of mass is the most logical choice for this origin.

Third, someone mentioned that it introduces a new pitfall,
w.r.t. the order in which you do things? We don't need an
additional pitfall.

  Bram



Jon Watte (ODE) wrote:
> 
> Rodrigo Hernandez wrote:
>> Were not some changes to do just that introduced shortly before 0.6?
>>   
> No; those changes only allowed you to offset a geom without using a 
> dGeomOffset encapsulation.
> 
> Cheers,
> 
>              / h+
> 
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