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--- tutorials:advanced:cram-rigid-body [2022/07/11 13:08] – vanessa
+++ tutorials:advanced:cram-rigid-body [2022/07/11 13:16] (current) – small rigid-body update vanessa
@@ Line 6: / Line 6: @@
 (defmethod add-object ((world bt-world) (type (eql :liquid-minor)) name pose
                        &key (mass 0.00001) (radius 0.01) color)
   (make-item world name (list type)
               (list
                 (make-instance
                     'rigid-body
-                  :name 'waterdrop1 :mass 0.00000000001 :pose (ensure-pose pose)
+                  :name 'waterdrop :mass mass :pose (ensure-pose pose)
                   :collision-shape (make-instance 'colored-sphere-shape
                                      :radius radius :color color))
@@ Line 17: / Line 18: @@
 </code>
+The type of this rigid body should be associated with liquid-minor, change this to your liking.
+The name should also be different in this example it is waterdrop.
+The collision shape is important for the whole shape of the new body. You can choose between the following:
 <code lisp>
+(defclass colored-cylinder-shape (cylinder-shape colored-shape-mixin) ())
+(defclass colored-static-plane-shape (static-plane-shape colored-shape-mixin) ())
+(defclass colored-sphere-shape (sphere-shape colored-shape-mixin) ())
+(defclass colored-cone-shape (cone-shape colored-shape-mixin) ())
+(defclass colored-compound-shape (compound-shape colored-shape-mixin) ())
+(defclass colored-convex-hull-shape (convex-hull-shape colored-shape-mixin) ())
 </code>
+Now you can spawn the rigid body as a new object in the bullet world via:
+<code lisp>
+(btr::add-object btr:*current-bullet-world* :liquid-minor name pose :color '(0 1 0 0.5))
+ </code>