Code: Select all
parentComToThisPivotOffset
Code: Select all
thisPivotToThisComOffset
I know that COM means center of mass, but I'm not 100% sure how to get the center of mass from a given collision box (I'm guessing its the middle of the collision box?) and I'm not sure what "frame" means in this situation. I'm guessing it means frame of reference, refereeing to the local coordinates of the link's collision box compared to the "world frame". I've gone through the example code for the multibodies, and I see how they are calculated, but I have no idea why are calculated the way they are. Any help would be great! Thanks!