| 389 | } |
| 390 | |
| 391 | SkeletonPtr createSoftBody() |
| 392 | { |
| 393 | SkeletonPtr soft = Skeleton::create("soft"); |
| 394 | |
| 395 | // Add a soft body |
| 396 | /*BodyNode* bn =*/addSoftBody<FreeJoint>(soft, "soft box", SOFT_BOX); |
| 397 | |
| 398 | // Add a rigid collision geometry and inertia |
| 399 | // Lesson 2f |
| 400 | |
| 401 | setAllColors(soft, dart::Color::Fuchsia()); |
| 402 | |
| 403 | return soft; |
| 404 | } |
| 405 | |
| 406 | SkeletonPtr createHybridBody() |
| 407 | { |