def METHOD_NAME(self):
    self.worldNP = render.attach_new_node('World')
    # World
    self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
    self.debugNP.show()
    self.world = BulletWorld()
    self.world.set_gravity((0, 0, -9.81))
    self.world.set_debug_node(self.debugNP.node())
    # Plane
    shape = BulletPlaneShape((0, 0, 1), 0)
    np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground'))
    np.node().add_shape(shape)
    np.set_pos(0, 0, -1)
    np.set_collide_mask(BitMask32.all_on())
    self.world.attach(np.node())
    # Box
    shape = BulletBoxShape((0.5, 0.5, 0.5))
    np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box'))
    np.node().set_mass(1.0)
    np.node().add_shape(shape)
    np.node().set_deactivation_enabled(False)
    np.set_pos(2, 0, 4)
    np.set_collide_mask(BitMask32.all_on())
    self.world.attach(np.node())
    visualNP = loader.load_model('models/box.egg')
    visualNP.reparent_to(np)
    self.box = np.node()
    # Sphere
    shape = BulletSphereShape(0.6)
    np = self.worldNP.attach_new_node(BulletRigidBodyNode('Sphere'))
    np.node().set_mass(1.0)
    np.node().add_shape(shape)
    np.set_pos(-2, 0, 4)
    np.set_collide_mask(BitMask32.all_on())
    self.world.attach(np.node())
    self.sphere = np.node()
    ## Enable contact reporting
    #self.accept('bullet-contact-added', self.on_contact_added)
    #self.accept('bullet-contact-destroyed', self.on_contact_destroyed)
    #self.box.notify_collisions(True)