| 358 | } |
| 359 | |
| 360 | SkeletonPtr createRigidChain() |
| 361 | { |
| 362 | SkeletonPtr chain = Skeleton::create("rigid_chain"); |
| 363 | |
| 364 | // Add bodies to the chain |
| 365 | BodyNode* bn = addRigidBody<FreeJoint>(chain, "rigid box 1", Shape::BOX); |
| 366 | bn = addRigidBody<BallJoint>(chain, "rigid cyl 2", Shape::CYLINDER, bn); |
| 367 | bn = addRigidBody<BallJoint>(chain, "rigid box 3", Shape::BOX, bn); |
| 368 | |
| 369 | setAllColors(chain, dart::Color::Orange()); |
| 370 | |
| 371 | return chain; |
| 372 | } |
| 373 | |
| 374 | SkeletonPtr createRigidRing() |
| 375 | { |
no test coverage detected