def _create_box(self, space, density, lx, ly, lz):
"""Create a box body and its corresponding geom."""
# Create body and mass
body = ode.Body(self.world)
M = ode.Mass()
M.setBox(density, lx, ly, lz)
body.setMass(M)
body.name = None
# Create a box geom for collision detection
geom = ode.GeomBox(space, lengths=(lx, ly, lz))
geom.setBody(body)
geom.name = None
return (body, geom)
def _create_box(self, space, density, lx, ly, lz):
"""Create a box body and its corresponding geom."""
# Create body and mass
body = ode.Body(self.world)
M = ode.Mass()
M.setBox(density, lx, ly, lz)
body.setMass(M)
body.name = None
# Create a box geom for collision detection
geom = ode.GeomBox(space, lengths=(lx, ly, lz))
geom.setBody(body)
geom.name = None
return (body, geom)
def _create_sphere(self, space, density, radius):
"""Create a sphere body and its corresponding geom."""
# Create body and mass
body = ode.Body(self.world)
M = ode.Mass()
M.setSphere(density, radius)
body.setMass(M)
body.name = None
# Create a sphere geom for collision detection
geom = ode.GeomSphere(space, radius)
geom.setBody(body)
geom.name = None
return (body, geom)
def _create_sphere(self, space, density, radius):
"""Create a sphere body and its corresponding geom."""
# Create body and mass
body = ode.Body(self.world)
M = ode.Mass()
M.setSphere(density, radius)
body.setMass(M)
body.name = None
# Create a sphere geom for collision detection
geom = ode.GeomSphere(space, radius)
geom.setBody(body)
geom.name = None
return (body, geom)