def sphere(self, world):
r = 0.1
m = 1.0
mass = dMass()
dMassSetZero(byref(mass))
dMassSetSphereTotal(byref(mass), m, r)
sphere = dBodyCreate(world)
dBodySetMass(sphere, byref(mass))
return sphere
def ballGeom(self, world, space):
mass = dMass()
m = 10.0
r = 0.2
dMassSetZero(byref(mass))
dMassSetSphereTotal(byref(mass), m, r)
ballBody = dBodyCreate(world)
dBodySetMass(ballBody, byref(mass))
ballGeom = dCreateSphere(space, r)
dGeomSetBody(ballGeom, ballBody)
return ballGeom
def ball(self, world, space):
m = 1.0
r = 0.1
mass = dMass()
dMassSetZero(byref(mass))
dMassSetSphereTotal(byref(mass), m, r)
body = dBodyCreate(world)
dBodySetMass(body, byref(mass))
geom = dCreateSphere(space, r)
dGeomSetBody(geom, body)
ball = {'body': body, 'geom': geom}
return ball
def legGeoms(self, world, space):
legGeoms = []
for m, l, r in [(2.0, 0.7, 0.04), (2.0, 0.7, 0.02)]:
direction = 3
mass = dMass()
dMassSetZero(byref(mass))
dMassSetCapsuleTotal(byref(mass), m, direction, r, l)
legBody = dBodyCreate(world)
dBodySetMass(legBody, byref(mass))
legGeom = dCreateCapsule(space, r, l)
dGeomSetBody(legGeom, legBody)
legGeoms.append(legGeom)
return legGeoms
def legGeom(self, world, space):
m = 0.001
r = 0.025
l = 1.0
direction = 3
mass = dMass()
dMassSetZero(byref(mass))
dMassSetCapsuleTotal(byref(mass), m, direction, r, l)
legBody = dBodyCreate(world)
dBodySetMass(legBody, byref(mass))
legGeom = dCreateCapsule(space, r, l)
dGeomSetBody(legGeom, legBody)
return legGeom