| 372 | } |
| 373 | |
| 374 | SkeletonPtr createRigidRing() |
| 375 | { |
| 376 | SkeletonPtr ring = Skeleton::create("rigid_ring"); |
| 377 | |
| 378 | // Add bodies to the ring |
| 379 | BodyNode* bn = addRigidBody<FreeJoint>(ring, "rigid box 1", Shape::BOX); |
| 380 | bn = addRigidBody<BallJoint>(ring, "rigid cyl 2", Shape::CYLINDER, bn); |
| 381 | bn = addRigidBody<BallJoint>(ring, "rigid box 3", Shape::BOX, bn); |
| 382 | bn = addRigidBody<BallJoint>(ring, "rigid cyl 4", Shape::CYLINDER, bn); |
| 383 | bn = addRigidBody<BallJoint>(ring, "rigid box 5", Shape::BOX, bn); |
| 384 | bn = addRigidBody<BallJoint>(ring, "rigid cyl 6", Shape::CYLINDER, bn); |
| 385 | |
| 386 | setAllColors(ring, dart::Color::Blue()); |
| 387 | |
| 388 | return ring; |
| 389 | } |
| 390 | |
| 391 | SkeletonPtr createSoftBody() |
| 392 | { |