Rigid body description
- - Solid defined within a domain \(\Omega\subset \mathbb{R}^3\)
- - With a density of mass \(\rho(p_i)\) at each point \(p_i\in\Omega\)
- - Total mass of the solid \(m\)
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- \(\displaystyle m=\int_{p_i\in\Omega} \rho(p_i)\,\mathrm{d}\Omega\)
- - Position of the center of mass (com) \(p\)
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- \(\displaystyle p=\frac{1}{m}\int_{p_i\in\Omega}\,\rho(p_i)\,p_i\;\mathrm{d}\Omega\)
- - Relative position of a position \(p_i\) with respect to com
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