code: function(){
          this.randX=65535;
          while(this.joints!==null){
              this.removeJoint(this.joints);
          }
          while(this.contacts!==null){
              this.removeContact(this.contacts);
          }
          while(this.rigidBodies!==null){
              this.removeRigidBody(this.rigidBodies);
          }
          OIMO.nextID=0;
      }
docs: Reset the randomizer and remove all rigid bodies, shapes, joints and any object from the world.