Function createGround

tutorials/tutorial_collisions/main.cpp:422–436

}

SkeletonPtr createGround()
{
  SkeletonPtr ground = Skeleton::create("ground");

  BodyNode* bn = ground->createJointAndBodyNodePair<WeldJoint>().second;

  std::shared_ptr<BoxShape> shape = std::make_shared<BoxShape>(Eigen::Vector3d(
      default_ground_width, default_ground_width, default_wall_thickness));
  auto shapeNode
      = bn->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(
          shape);
  shapeNode->getVisualAspect()->setColor(Eigen::Vector3d(1.0, 1.0, 1.0));

  return ground;
}

SkeletonPtr createWall()
{