question about usages of dMassSetParameters and dBodySetMass

Hi 

I have a Body that only has one Mesh Geom.
I plan to use dMassSetParameters and then dBodySetMass
to set the mass parameters. 

Since ODE requies the Body's reference point must
coincide with center of mass. Does it mean that in the
function dMassSetParameter, the center of mass
parameters must be zeros?

Thank you very much!

Yuandong


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