I have the following situation: I've got a box with its center of mass transform matrix that I'm obtaining from physics simulation, i.e. it keeps changing with time. I've also got two points (actually two transformation matrices) which are static (the simulation doesn't calculate them, neither do I want it to) that I want to 'keep in sync' with the original state (t=0 in the picture).
Any ideas how do I calculate the other two matrices when the center of mass changes, while keeping their original offsets satisfied?
I'm using jBullet for physics.