Mass properties: add a max number of iterations for the local-frame rotation computation.

1 files changed, 14 insertions, 12 deletions

diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs
index 1c594c6..a8a9939 100644
--- a/examples3d/compound3.rs
+++ b/examples3d/compound3.rs
@@ -1,4 +1,4 @@
-use na::{Point3, Vector3};
+use na::Point3;
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
@@ -28,33 +28,35 @@ pub fn init_world(testbed: &mut Testbed) {
      * Create the cubes
      */
     let num = 8;
-    let rad = 1.0;
+    let rad = 0.2;
 
-    let shift = rad * 2.0 + rad;
+    let shift = rad * 4.0 + rad;
     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;
 
-    for j in 0usize..47 {
+    for j in 0usize..25 {
         for i in 0..num {
             for k in 0usize..num {
-                let x = i as f32 * shift - centerx + offset;
-                let y = j as f32 * (shift * 2.0) + centery + 3.0;
-                let z = k as f32 * shift - centerz + offset;
+                let x = i as f32 * shift * 5.0 - centerx + offset;
+                let y = j as f32 * (shift * 5.0) + centery + 3.0;
+                let z = k as f32 * shift * 2.0 - centerz + offset;
 
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
-                let collider1 = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
-                let collider2 = ColliderBuilder::cuboid(rad, rad, rad)
-                    .translation(0.0, -rad * 3.0, 0.0)
-                    .rotation(Vector3::x() * 0.5)
-                    .density(1.0)
+                let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
+                let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
+                    .translation(rad * 10.0, rad * 10.0, 0.0)
+                    .build();
+                let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
+                    .translation(-rad * 10.0, rad * 10.0, 0.0)
                     .build();
                 colliders.insert(collider1, handle, &mut bodies);
                 colliders.insert(collider2, handle, &mut bodies);
+                colliders.insert(collider3, handle, &mut bodies);
             }
         }