void CartWheel3D::addBall(const string& name, const Vector3d& scale, double mass, const Vector3d& color) {
string mesh = _path + "data/models/sphere10x.obj";
Vector3d offset = Vector3d(0, 0, 0);
#if 1
RigidBody* body = new ArticulatedRigidBody();
#else
RigidBody* body = new RigidBody();
#endif
body->setName(name.c_str());
body->setScale(scale);
body->addMeshObj(mesh.c_str(), offset, scale);
body->setColour(color.x, color.y, color.z, 1);
// body->setColour(0.1, 0, 0.8, 1);
body->setMass(mass);
body->setMOI(Vector3d(0.2, 0.2, 0.2));
Point3d center = Point3d(0, 0, 0);
SphereCDP* sphereCDP = new SphereCDP(center, scale.getX(), body);
body->addCollisionDetectionPrimitive(sphereCDP);
body->setFrictionCoefficient(1.8);
body->setRestitutionCoefficient(0.35);
ArticulatedRigidBody* arb = dynamic_cast<ArticulatedRigidBody*> (body);
if (NULL != arb) {
arb->setAFParent(NULL);
arb->setParentJoint(NULL);
_world->addArticulatedRigidBody(arb);
} else {
_world->addRigidBody(body);
}
}
