1 files changed, 92 insertions, 0 deletions
diff --git a/examples3d/stress_joint_fixed3.rs b/examples3d/stress_joint_fixed3.rs
new file mode 100644
index 0000000..b85879d
--- /dev/null
+++ b/examples3d/stress_joint_fixed3.rs
@@ -0,0 +1,92 @@
+use na::{Isometry3, Point3};
+use rapier3d::dynamics::{BodyStatus, FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut joints = JointSet::new();
+
+    let rad = 0.4;
+    let num = 5;
+    let shift = 1.0;
+
+    let mut body_handles = Vec::new();
+
+    for m in 0..10 {
+        let z = m as f32 * shift * (num as f32 + 2.0);
+
+        for l in 0..10 {
+            let y = l as f32 * shift * 3.0;
+
+            for j in 0..5 {
+                let x = j as f32 * shift * (num as f32) * 2.0;
+
+                for k in 0..num {
+                    for i in 0..num {
+                        let fk = k as f32;
+                        let fi = i as f32;
+
+                        // NOTE: the num - 2 test is to avoid two consecutive
+                        // fixed bodies. Because physx will crash if we add
+                        // a joint between these.
+
+                        let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) {
+                            BodyStatus::Static
+                        } else {
+                            BodyStatus::Dynamic
+                        };
+
+                        let rigid_body = RigidBodyBuilder::new(status)
+                            .translation(x + fk * shift, y, z + fi * shift)
+                            .build();
+                        let child_handle = bodies.insert(rigid_body);
+                        let collider = ColliderBuilder::ball(rad).density(1.0).build();
+                        colliders.insert(collider, child_handle, &mut bodies);
+
+                        // Vertical joint.
+                        if i > 0 {
+                            let parent_handle = *body_handles.last().unwrap();
+                            let joint = FixedJoint::new(
+                                Isometry3::identity(),
+                                Isometry3::translation(0.0, 0.0, -shift),
+                            );
+                            joints.insert(&mut bodies, parent_handle, child_handle, joint);
+                        }
+
+                        // Horizontal joint.
+                        if k > 0 {
+                            let parent_index = body_handles.len() - num;
+                            let parent_handle = body_handles[parent_index];
+                            let joint = FixedJoint::new(
+                                Isometry3::identity(),
+                                Isometry3::translation(-shift, 0.0, 0.0),
+                            );
+                            joints.insert(&mut bodies, parent_handle, child_handle, joint);
+                        }
+
+                        body_handles.push(child_handle);
+                    }
+                }
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(
+        Point3::new(-38.0, 14.0, 108.0),
+        Point3::new(46.0, 12.0, 23.0),
+    );
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
+    testbed.run()
+}