def create_box(world, space, density, lx, ly, lz):
"""Create a box body and its corresponding geom."""
# Create body
body = ode.dBody(world.id())
M = ode.dMass()
M.setBox(density, lx, ly, lz)
body.setMass(M)
# Set parameters for drawing the body
body.shape = "box"
body.boxsize = (lx, ly, lz)
# Create a box geom for collision detection
geom = ode.dCreateBox(space.id(), lx,ly,lz )
ode.dGeomSetBody ( geom, body.id() )
return body
