>> I will be glad if someone could review the code, notably if it is >> appropriate to have zeroPoint in this general piece of code or if it >> would be better better to keep that separate, and how to handle >> non-dynamic bodies. These are 2 points that are not same across the >> copies of the same original code. >> > I would remove the zero point (I'm just discorvering it btw). > And I would not make a difference at all between dynamic and !dynamic > bodies. > > This is a fundamental question, and I perhaps don't fully agree with > some current trends regarding this. > I'll suggest something in a next mail. > zeroPoint is the point through which passes the axis of rotation of a rigid body. It is used to calculate the linear velocity of the contact point on the surface of the body, not rotating around its center of inertia (se3). For example, to set facets set zeroPoint, and sets the angular velocity of rotation. Then all facets rotate around the axis passing through this point, the direction of the axis defined by direction of the vector of angular velocity.
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