[ODE] Should ODE support Center of mass not centered at body frame
Jon Watte (ODE)
hplus-ode at mindcontrol.org
Wed Sep 13 12:09:33 MST 2006
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.
Bram Stolk wrote:
> I'm not convinced yet that c.o.m. != body origin is a good idea.
> First, there is chapter 13 in the ode docs:
> 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.
> 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.
>> / h+
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