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In that case wouldn't it be enough to set facet/physicalParameters->se3.position to the zero point and define vertices in local coordinates such that they are on the same place globally? Or, if the velocity of the facet (both linear and angular) is set in the RotationEngine (or wherever else), cannot you get linear velocity of the contact point just from that? Regards, V.zeroPoint is the point through which passes the axis of rotation of a rigid body. It is used to calculate the linear velocity of the contact point on the surface of the body, not rotating around its center of inertia (se3). For example, to set facets set zeroPoint, and sets the angular velocity of rotation. Then all facets rotate around the axis passing through this point, the direction of the axis defined by direction of the vector of angular velocity.
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