| 520 | } |
| 521 | |
| 522 | SkeletonPtr createRigidRing() |
| 523 | { |
| 524 | SkeletonPtr ring = Skeleton::create("rigid_ring"); |
| 525 | |
| 526 | // Add bodies to the ring |
| 527 | BodyNode* bn = addRigidBody<FreeJoint>(ring, "rigid box 1", Shape::BOX); |
| 528 | bn = addRigidBody<BallJoint>(ring, "rigid cyl 2", Shape::CYLINDER, bn); |
| 529 | bn = addRigidBody<BallJoint>(ring, "rigid box 3", Shape::BOX, bn); |
| 530 | bn = addRigidBody<BallJoint>(ring, "rigid cyl 4", Shape::CYLINDER, bn); |
| 531 | bn = addRigidBody<BallJoint>(ring, "rigid box 5", Shape::BOX, bn); |
| 532 | bn = addRigidBody<BallJoint>(ring, "rigid cyl 6", Shape::CYLINDER, bn); |
| 533 | |
| 534 | setAllColors(ring, dart::Color::Blue()); |
| 535 | |
| 536 | return ring; |
| 537 | } |
| 538 | |
| 539 | SkeletonPtr createSoftBody() |
| 540 | { |