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OMI_physics_body: Add a center of mass property #167

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merged 1 commit into from Jun 22, 2023

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aaronfranke
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@aaronfranke aaronfranke commented May 26, 2023

I had intended this to be the behavior, but I forgot to explicitly define it as such.

Also change the wording near the start to only mention type and not mass, since we also have linearVelocity, angularVelocity, and inertiaTensor parameters not mentioned, so I don't think we need to mention mass.

@robertlong
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It might be nice to specify centerOfMass as an array to set an explicit offset.

@aaronfranke aaronfranke changed the title OMI_physics_body: Explicitly define the center of mass behavior OMI_physics_body: Add a center of mass property Jun 9, 2023
@aaronfranke
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Changed the PR to add a center of mass property instead of defining it as the origin. The default is [0.0, 0.0, 0.0]. There was some discussion about having the default be automatically calculated, but I find that a bit awkward and it's different than the MSFT spec that has the default as [0.0, 0.0, 0.0].

@antpb
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antpb commented Jun 22, 2023

Screenshot 2023-06-22 at 5 20 09 PM 5 in favor, 1 abstain

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LGTM

@antpb antpb merged commit 39afb64 into omigroup:main Jun 22, 2023
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antpb commented Jun 22, 2023

Screenshot 2023-06-22 at 5 23 21 PM

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3 participants