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

[Jon Watte (ODE)]

I think the point is that we want to let the user decide what the 
reference center is. For example, for a character controller, the 
centerpoint on the ground under the feet might be a fine reference 
point. Also, for a jointed system, keeping the reference point the same 
for all the bodies during set-up might be convenient, too.

Also, the Ageia SDK supports this feature, and it just makes some set-up 
code a lot easier.

Cheers,

          / h+


Bram Stolk wrote:
> 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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