1 files changed, 88 insertions, 0 deletions
diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs
new file mode 100644
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+++ b/examples3d/trimesh3.rs
@@ -0,0 +1,88 @@
+use na::Point3;
+use rapier3d::dynamics::{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 joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 200.0f32;
+    let ground_height = 1.0;
+    let nsubdivs = 20;
+
+    let quad = rapier3d::ncollide::procedural::quad(ground_size, ground_size, nsubdivs, nsubdivs);
+    let indices = quad
+        .flat_indices()
+        .chunks(3)
+        .map(|is| Point3::new(is[0], is[2], is[1]))
+        .collect();
+    let mut vertices = quad.coords;
+
+    // ncollide generates a quad with `z` as the normal.
+    // so we switch z and y here and set a random altitude at each point.
+    for p in vertices.iter_mut() {
+        p.z = p.y;
+        p.y = (p.x.sin() + p.z.cos()) * ground_height;
+
+        if p.x.abs() == ground_size / 2.0 || p.z.abs() == ground_size / 2.0 {
+            p.y = 10.0;
+        }
+    }
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::trimesh(vertices, indices).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    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;
+
+    for j in 0usize..47 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift - centerx;
+                let y = j as f32 * shift + centery + 3.0;
+                let z = k as f32 * shift - centerz;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let handle = bodies.insert(rigid_body);
+
+                if j % 2 == 0 {
+                    let collider = ColliderBuilder::cuboid(rad, 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(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}