2 files changed, 80 insertions, 0 deletions
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index ff5a3e8..9cbf4c3 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -13,6 +13,7 @@ use std::cmp::Ordering;
 mod collision_groups3;
 mod compound3;
 mod convex_decomposition3;
+mod convex_polyhedron3;
 mod damping3;
 mod debug_add_remove_collider3;
 mod debug_boxes3;
@@ -76,6 +77,7 @@ pub fn main() {
         ("Collision groups", collision_groups3::init_world),
         ("Compound", compound3::init_world),
         ("Convex decomposition", convex_decomposition3::init_world),
+        ("Convex polyhedron", convex_polyhedron3::init_world),
         ("Damping", damping3::init_world),
         ("Domino", domino3::init_world),
         ("Heightfield", heightfield3::init_world),
diff --git a/examples3d/convex_polyhedron3.rs b/examples3d/convex_polyhedron3.rs
new file mode 100644
index 0000000..3cbcbf1
--- /dev/null
+++ b/examples3d/convex_polyhedron3.rs
@@ -0,0 +1,78 @@
+use na::Point3;
+use rand::distributions::{Distribution, Standard};
+use rand::{rngs::StdRng, SeedableRng};
+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 = 40.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 0.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the polyhedra
+     */
+    let num = 5;
+    let scale = 2.0;
+    let border_rad = 0.1;
+
+    let shift = border_rad * 2.0 + scale;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+    let centerz = shift * (num / 2) as f32;
+
+    let mut rng = StdRng::seed_from_u64(0);
+    let distribution = Standard;
+
+    for j in 0usize..25 {
+        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;
+
+                let mut points = Vec::new();
+                for _ in 0..10 {
+                    let pt: Point3<f32> = distribution.sample(&mut rng);
+                    points.push(pt * scale);
+                }
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
+                    .unwrap()
+                    .build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(30.0, 30.0, 30.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}