Hello list,
The information is probably mentioned somewhere but I happened to miss it, so just to be sure can you please confirm that :
1.) IMP rotations (Rotation3) are always origin centered
2.) a RigidBody's transformation is composed of a rotation (about the body center in internal coordinates) and a translation from origin to body center; thus body.get_coordinates() always provides the coordinates of the rigid body mass center.
Thank you
--Ben