Function createHybridBody

tutorials/tutorial_collisions_finished/main.cpp:563–591

}

SkeletonPtr createHybridBody()
{
  SkeletonPtr hybrid = Skeleton::create("hybrid");

  // Add a soft body
  BodyNode* bn = addSoftBody<FreeJoint>(hybrid, "soft sphere", SOFT_ELLIPSOID);

  // Add a rigid body attached by a WeldJoint
  bn = hybrid->createJointAndBodyNodePair<WeldJoint>(bn).second;
  bn->setName("rigid box");

  double box_shape_height = default_shape_height;
  std::shared_ptr<BoxShape> box
      = std::make_shared<BoxShape>(box_shape_height * Eigen::Vector3d::Ones());
  bn->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(box);

  Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
  tf.translation() = Eigen::Vector3d(box_shape_height / 2.0, 0, 0);
  bn->getParentJoint()->setTransformFromParentBodyNode(tf);

  Inertia inertia;
  inertia.setMass(default_shape_density * box->getVolume());
  inertia.setMoment(box->computeInertia(inertia.getMass()));
  bn->setInertia(inertia);

  setAllColors(hybrid, dart::Color::Green());

  return hybrid;
}

SkeletonPtr createGround()
{