Tesbted physx backend: add heightfield, trimesh, and convex mesh support.

1 files changed, 16 insertions, 4 deletions

diff --git a/benchmarks3d/convex_polyhedron3.rs b/benchmarks3d/convex_polyhedron3.rs
index 07bfb98..30d77ac 100644
--- a/benchmarks3d/convex_polyhedron3.rs
+++ b/benchmarks3d/convex_polyhedron3.rs
@@ -1,4 +1,6 @@
 use na::Point3;
+use rand::distributions::{Distribution, Standard};
+use rand::{rngs::StdRng, SeedableRng};
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
@@ -28,14 +30,19 @@ pub fn init_world(testbed: &mut Testbed) {
      * Create the cubes
      */
     let num = 8;
+    let scale = 2.0;
     let rad = 1.0;
+    let border_rad = 0.1;
 
-    let shift = rad * 2.0 + rad;
+    let shift = border_rad * 2.0 + scale;
     let centerx = shift * (num / 2) as f32;
     let centery = shift / 2.0;
     let centerz = shift * (num / 2) as f32;
 
-    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+    let mut offset = -(num as f32) * shift * 0.5;
+
+    let mut rng = StdRng::seed_from_u64(0);
+    let distribution = Standard;
 
     for j in 0usize..47 {
         for i in 0..num {
@@ -44,11 +51,16 @@ pub fn init_world(testbed: &mut Testbed) {
                 let y = j as f32 * shift + centery + 3.0;
                 let z = k as f32 * shift - centerz + offset;
 
+                let mut points = Vec::new();
+                for _ in 0..10 {
+                    let pt: Point3<f32> = distribution.sample(&mut rng);
+                    points.push(pt * scale);
+                }
+
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
-                let cylinder = rapier3d::cdl::shape::Cylinder::new(rad, rad).to_trimesh(4);
-                let collider = ColliderBuilder::round_convex_hull(&cylinder.0, 0.1)
+                let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
                     .unwrap()
                     .build();
                 colliders.insert(collider, handle, &mut bodies);