| 506 | } |
| 507 | |
| 508 | SkeletonPtr createRigidChain() |
| 509 | { |
| 510 | SkeletonPtr chain = Skeleton::create("rigid_chain"); |
| 511 | |
| 512 | // Add bodies to the chain |
| 513 | BodyNode* bn = addRigidBody<FreeJoint>(chain, "rigid box 1", Shape::BOX); |
| 514 | bn = addRigidBody<BallJoint>(chain, "rigid cyl 2", Shape::CYLINDER, bn); |
| 515 | bn = addRigidBody<BallJoint>(chain, "rigid box 3", Shape::BOX, bn); |
| 516 | |
| 517 | setAllColors(chain, dart::Color::Orange()); |
| 518 | |
| 519 | return chain; |
| 520 | } |
| 521 | |
| 522 | SkeletonPtr createRigidRing() |
| 523 | { |
no test coverage detected