EZPhysics – adding mass properties interactively

EZPhysics is a to-be open source project focused on robot simulation using the ODE physics library. Given that ODE may be the best choice for this project’s goals and all the extra features included in EZPhysics it is now our main simulation environment.

This transition has been in progress for a while now and has started to give the initial results:

As a way to dive into the EZPhysics code, I added the possibility of interactively adding mass properties to ODE body entities. Original version was limited to calculating mass and inertial automatically from proxies and their mass density and shape.

By allowing the addition of mass property, it is now possible to export values from SolidWorks into the simulation. However, SolidWorks program exports peculiar aligned inertia matrix and center of mass which has been a source of trouble and odd bugs.. @$!