In the following video - I am seeing some wierd behalvior with a compound I formed. check out the video at 1:20 into the video:
https://youtu.be/M4vl7i0oVRY
I am calculating the mass matrix after I form the whole collision - and the center of mass seems right - anything I could be missing? The mass for the whole is calculated based on the the density and vol of each cone - and that seems to be calculating correctly.
Heres another video to:
https://youtu.be/Xp0z0gA7lEs