[ODE] XODE - finalisation

[Royce Mitchell III]

I just have one more issue that I can foresee:

How would you handle the description of complex masses without resorting 
to the matrix?

Would this be correct?

            <mass density="10">
                <transform>
                    <position x="0" y="0" z="0" />
                    <rotation x="0" y="0" z="0" />
                    <scale x="1" y="1" z="1" />
                </transform>
                <box
                    sizex="2"
                    sizey="2"
                    sizez="2">
                    <transform>
                        <position x="-0.5" y="0" z="4" />
                        <rotation x="0" y="0" z="0" />
                        <scale x="1" y="1" z="1" />
                    </transform>
                </box>
                <box
                    sizex="1"
                    sizey="1"
                    sizez="0.5">
                    <transform>
                        <position x="-0.5" y="0" z="4" />
                        <rotation x="0" y="0" z="0" />
                        <scale x="1" y="1" z="1" />
                    </transform>
                </box>
            </mass>

Now that I've pasted it here, I think you need to specify a density for 
each primitive, so even this won't suffice. Any ideas? Perhaps something 
more like this:

        <mass density="10">
            <transform>
                <position x="0" y="0" z="0" />
                <rotation x="0" y="0" z="0" />
                <scale x="1" y="1" z="1" />
            </transform>
            <submass density="8">
                <transform>
                    <position x="-0.5" y="0" z="4" />
                    <rotation x="0" y="0" z="0" />
                    <scale x="1" y="1" z="1" />
                </transform>
                <box
                    sizex="2"
                    sizey="2"
                    sizez="2" />
            </submass>
            <submass density="2">
                <transform>
                    <position x="-0.5" y="0" z="4" />
                    <rotation x="0" y="0" z="0" />
                    <scale x="1" y="1" z="1" />
                </transform>
                <box
                    sizex="1"
                    sizey="1"
                    sizez="0.5" />
            </submass>
        </mass>

I think you really want/need to address this before finalizing the schema...

Royce3