[ODE] Geom Transforms hate me

[slipch]

Hello Panayoti,

Thursday, September 25, 2003, 8:59:46 AM, you wrote:



P> So, can someone explain to me what is going on? I hate to be this guy,
P> but I really don't know what else to do. I really don't understand how
P> I'm supposed to be manipulating the physical mass in order to get the
P> correct center of mass....

I am not sure I completely understand your problem.
First thing is that center of mass is always in the body position, and
you can not change it by  dMassTranslate (see docs). This function can
be used to shift mass in order to make right inertia tensor when you
add mass of geom which position shifted relatively to its body.

 P>      ...... dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);

 - This seems to be wrong because you shift the mass by a vector of
 global position.
-- 
Best regards,
 slipch                            mailto:slipch at gsc-game.kiev.ua