Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
Next revisionBoth sides next revision
tutorials:advanced:cram-rigid-body [2022/07/11 13:06] – vanessatutorials:advanced:cram-rigid-body [2022/07/11 13:08] – vanessa
Line 1: Line 1:
 ====== Adding a new rigid body to the world====== ====== Adding a new rigid body to the world======
  
-In cram/cram_3d_world/cram_bullet_reasoning/src/objects.lisp  +**In cram/cram_3d_world/cram_bullet_reasoning/src/objects.lisp:** 
- +              
-                +
 <code lisp> <code lisp>
 (defmethod add-object ((world bt-world) (type (eql :liquid-minor)) name pose (defmethod add-object ((world bt-world) (type (eql :liquid-minor)) name pose
-                       &key (mass 0.00001) (radius 0.01) color) +                       &key (mass 0.00001) (radius 0.01) color)      
-  ;; (let ((compound-shape (make-instance 'compound-shape))) +
-  ;;   (dotimes (i 8) +
-  ;;     (add-child-shape +
-  ;;      compound-shape +
-  ;;       (cl-transforms:make-pose +
-  ;;         (cl-transforms:make-3d-vector 0 0 0) +
-  ;;         (cl-transforms:make-quaternion 0 0 0 1)) +
-  ;;        (make-instance 'colored-sphere-shape +
-  ;;                                    :radius radius :color '(1 0 0 0.5)))) +
-           +
-    ;; ;; Adds the basket to the specified world +
-    ;;   (make-item world name (list type) +
-    ;;              (list +
-    ;;               (make-instance 'rigid-body +
-    ;;                 :name name :mass mass :pose (ensure-pose pose) +
-    ;;                 :collision-shape compound-shape))))) +
-        +
   (make-item world name (list type)   (make-item world name (list type)
               (list               (list