Complete the pfm/pfm contact generator.

1 files changed, 13 insertions, 12 deletions

diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs
index cf678b9..c3fa799 100644
--- a/examples3d/primitives3.rs
+++ b/examples3d/primitives3.rs
@@ -1,4 +1,4 @@
-use na::Point3;
+use na::{Point3, Vector3};
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Ground
      */
     let ground_size = 100.1;
-    let ground_height = 0.1;
+    let ground_height = 2.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
         .translation(0.0, -ground_height, 0.0)
@@ -30,29 +30,30 @@ pub fn init_world(testbed: &mut Testbed) {
     let num = 8;
     let rad = 1.0;
 
-    let shift = rad * 2.0 + rad;
-    let centerx = shift * (num / 2) as f32;
-    let centery = shift / 2.0;
-    let centerz = shift * (num / 2) as f32;
+    let shiftx = rad * 2.0 + rad;
+    let shifty = rad * 2.0 + rad;
+    let shiftz = rad * 2.0 + rad;
+    let centerx = shiftx * (num / 2) as f32;
+    let centery = shifty / 2.0;
+    let centerz = shiftz * (num / 2) as f32;
 
     let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
 
     for j in 0usize..20 {
         for i in 0..num {
             for k in 0usize..num {
-                let x = i as f32 * shift - centerx + offset;
-                let y = j as f32 * shift + centery + 3.0;
-                let z = k as f32 * shift - centerz + offset;
+                let x = i as f32 * shiftx - centerx + offset;
+                let y = j as f32 * shifty + centery + 3.0;
+                let z = k as f32 * shiftz - centerz + offset;
 
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
 
-                let collider = match j % 2 {
+                let collider = match j % 3 {
                     0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
                     1 => ColliderBuilder::ball(rad).build(),
-                    // 2 => ColliderBuilder::capsule_y(rad, rad).build(),
-                    _ => unreachable!(),
+                    _ => ColliderBuilder::cylinder(rad, rad).build(),
                 };
 
                 colliders.insert(collider, handle, &mut bodies);