PySoy: Body Refactor
completed by: Nikolay Lazarov
mentors: Amaury Medeiros, Arc Riley, Tony Young, David Czech, Mayank Singh
In order to (greatly) simplify connecting scenes Scene.world was recently renamed to soy.scenes._world - a single world for all scenes. While this left some things needing to be cleaned up, it made a few other things much simpler and potentially cleaner.
soy.bodies currently create a space-less ode.Geom during
construction but not a ode.Body because there was no world for them to be added
to - now there is. Move body creation back to the constructors. We'll still use
Geom position/etc for the various properties and we can leave self.body and
self.geom connected. Any checks for the body existing (eg, to add force) can
be removed along with any related fallback code.
As we move into the realm of being able to connect scenes we can use the geom offset to allow a body to be connected to bodies in other scenes via a joint, though that is beyond the scope of this task.
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