| 404 | } |
| 405 | |
| 406 | SkeletonPtr createHybridBody() |
| 407 | { |
| 408 | SkeletonPtr hybrid = Skeleton::create("hybrid"); |
| 409 | |
| 410 | // Add a soft body |
| 411 | /*BodyNode* bn =*/addSoftBody<FreeJoint>( |
| 412 | hybrid, "soft sphere", SOFT_ELLIPSOID); |
| 413 | |
| 414 | // Add a rigid body attached by a WeldJoint |
| 415 | // Lesson 2g |
| 416 | |
| 417 | setAllColors(hybrid, dart::Color::Green()); |
| 418 | |
| 419 | return hybrid; |
| 420 | } |
| 421 | |
| 422 | SkeletonPtr createGround() |
| 423 | { |