1 files changed, 72 insertions, 0 deletions
diff --git a/examples2d/heightfield2.rs b/examples2d/heightfield2.rs
new file mode 100644
index 0000000..b03afe3
--- /dev/null
+++ b/examples2d/heightfield2.rs
@@ -0,0 +1,72 @@
+use na::{DVector, Point2, Vector2};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = Vector2::new(50.0, 1.0);
+    let nsubdivs = 2000;
+
+    let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
+        if i == 0 || i == nsubdivs {
+            80.0
+        } else {
+            (i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 2.0
+        }
+    });
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::heightfield(heights, ground_size).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 26;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num * 5 {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift + centery + 3.0;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+
+            if j % 2 == 0 {
+                let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build();
+                colliders.insert(collider, handle, &mut bodies);
+            } else {
+                let collider = ColliderBuilder::ball(rad).density(1.0).build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Heightfield", init_world)]);
+    testbed.run()
+}