function CreateWorldBodies( P,C,track,COG,COP )

 figure(1), [AZ,EL] = view; clf
 %-- Mechanical links -----------------------------------------------------
  H1= plot3( [P(1) P(4) P(7) P(10)],...
             [P(2) P(5) P(8) P(11)],...
             [P(3) P(6) P(9) P(12)],'r');
  set(H1,'LineWidth', 2.0)
  xlabel(' X (m) '), ylabel(' Y (m) '), zlabel(' Z (m) ')
  axis('equal'), axis([-0.2 0.2 -0.2 0.2 0 0.35]), axis('off')
  if AZ == 0 & EL == 90, view(40,25)
  else view(AZ,EL), end
  hold on
  plot3(track(1,:),track(2,:),track(3,:),'b-.')
 %-- Ground surface -------------------------------------------------------
  fill3([-0.4 0.4 0.4 -0.4],[-0.4 -0.4 0.4 0.4],[-0.02 -0.02 -0.02 -0.02],'w')
 %-- Foot -----------------------------------------------------------------
  fill3([-0.075 0.075 0.075 -0.075],[-0.03 -0.03 0.03 0.03],[0 0 0 0],'c')
  fill3([0.075 0.075 0.075 0.075],[-0.03 0.03 0.03 -0.03],[0 0 -0.02 -0.02],'c')
  fill3([-0.075 -0.075 -0.075 -0.075],[0.03 -0.03 -0.03 0.03],[0 0 -0.02 -0.02],'c')
  fill3([0.075 -0.075 -0.075 0.075],[0.03 0.03 0.03 0.03],[0 0 -0.02 -0.02],'c')
  fill3([-0.075 0.075 0.075 -0.075],[-0.03 -0.03 -0.03 -0.03],[0 0 -0.02 -0.02],'c')
 %-- Rotational joints ----------------------------------------------------  
  surf([C(1,:,1);C(2,:,1)],[C(3,:,1);C(4,:,1)],[C(5,:,1);C(6,:,1)]) 
  surf([C(1,:,2);C(2,:,2)],[C(3,:,2);C(4,:,2)],[C(5,:,2);C(6,:,2)])
  surf([C(1,:,3);C(2,:,3)],[C(3,:,3);C(4,:,3)],[C(5,:,3);C(6,:,3)])
 %-- Sphere at the extremity ----------------------------------------------
  [X,Y,Z] = sphere(100);
  X = 0.015*X+P(10); Y = 0.015*Y+P(11); Z = 0.015*Z+P(12);
  surf(X,Y,Z)
 %-- Centre of gravity (COG) ----------------------------------------------
  plot3(COG(1),COG(2),COG(3),'r.', COG(1),COG(2),0,'r.', COP(1),COP(2),0,'k.')
 %----------------------------------------------------------------------end