void Init_ClusterRobot()
{
Vector3 basePos = new Vector3(0, 25, 8);
SoftBody psb0 = Init_ClusterRobot_CreateBall(basePos + new Vector3(-8, 0, 0));
SoftBody psb1 = Init_ClusterRobot_CreateBall(basePos + new Vector3(+8, 0, 0));
SoftBody psb2 = Init_ClusterRobot_CreateBall(basePos + new Vector3(0, 0, +8 * (float)Math.Sqrt(2)));
Vector3 ctr = (psb0.ClusterCom(0) + psb1.ClusterCom(0) + psb2.ClusterCom(0)) / 3;
CylinderShape pshp = new CylinderShape(new Vector3(8, 1, 8));
RigidBody prb = LocalCreateRigidBody(50, Matrix.Translation(ctr + new Vector3(0, 5, 0)), pshp);
LJoint.Specs ls = new LJoint.Specs();
ls.Erp = 0.5f;
Body prbBody = new Body(prb);
ls.Position = psb0.ClusterCom(0); psb0.AppendLinearJoint(ls, prbBody);
ls.Position = psb1.ClusterCom(0); psb1.AppendLinearJoint(ls, prbBody);
ls.Position = psb2.ClusterCom(0); psb2.AppendLinearJoint(ls, prbBody);
BoxShape pbox = new BoxShape(20, 1, 40);
RigidBody pgrn = LocalCreateRigidBody(0, Matrix.RotationZ(-(float)Math.PI / 4), pbox);
}
