Rolling the rigid bodies

Hi everyone ,

I am just wondering, if there is a way to simulating the rolling ball to the rigid bodies on Kangaroo II
and looking to manipulate the center of mass and shift it from center of geometry and simulate the rolling behaivior of rigid bodies.

1.can we assign the moment of inertia in the Kangaroo definition?
this is the same function, I am looking for.

  1. How can we assign the center of Mass and the weight to the rigid bodies ?
    I do apriciate your help and many thanks,

PS. I have saw this definition rolling wheel from Daniel Picker in Kanfgaroo I, which is pretty simular to what I try to do on Kangaroo II and rigid bodies.

200330_Collisions and (64.5 KB)

I do apriciate your help and many thanks,