Question #237895 on Yade changed:
https://answers.launchpad.net/yade/+question/237895
Status: Open => Answered
jduriez proposed the following answer:
State.se3 is defined for any body, whatever its shape. So, I guess yes,
the position part of se3 corresponds to the center, as it is the case
e.g. for spheres. Someone more familiar than me with facet code (classes
Facet, Ig2_Facet_Sphere_ScGeom, ...) would be more affirmative.
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