2 files changed, 104 insertions, 0 deletions
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 85b2504..eeb9736 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -11,6 +11,7 @@ use rapier_testbed3d::Testbed;
 use std::cmp::Ordering;
 
 mod add_remove3;
+mod collision_groups3;
 mod compound3;
 mod debug_boxes3;
 mod debug_cylinder3;
@@ -65,6 +66,7 @@ pub fn main() {
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Add remove", add_remove3::init_world),
         ("Primitives", primitives3::init_world),
+        ("Collision groups", collision_groups3::init_world),
         ("Compound", compound3::init_world),
         ("Domino", domino3::init_world),
         ("Heightfield", heightfield3::init_world),
diff --git a/examples3d/collision_groups3.rs b/examples3d/collision_groups3.rs
new file mode 100644
index 0000000..625bc50
--- /dev/null
+++ b/examples3d/collision_groups3.rs
@@ -0,0 +1,102 @@
+use na::Point3;
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
+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 = 5.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 0.0)
+        .build();
+    let floor_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    colliders.insert(collider, floor_handle, &mut bodies);
+
+    /*
+     * Setup groups
+     */
+    const GREEN_GROUP: InteractionGroups = InteractionGroups::new(0b01, 0b01);
+    const BLUE_GROUP: InteractionGroups = InteractionGroups::new(0b10, 0b10);
+
+    /*
+     * A green floor that will collide with the GREEN group only.
+     */
+    let green_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
+        .translation(0.0, 1.0, 0.0)
+        .collision_groups(GREEN_GROUP)
+        .build();
+    let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
+
+    testbed.set_collider_initial_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
+
+    /*
+     * A blue floor that will collide with the BLUE group only.
+     */
+    let blue_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
+        .translation(0.0, 2.0, 0.0)
+        .collision_groups(BLUE_GROUP)
+        .build();
+    let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
+
+    testbed.set_collider_initial_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
+
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 0.1;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2) as f32;
+    let centery = 2.5;
+    let centerz = shift * (num / 2) as f32;
+
+    for j in 0usize..4 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift - centerx;
+                let y = j as f32 * shift + centery;
+                let z = k as f32 * shift - centerz;
+
+                // Alternate between the green and blue groups.
+                let (group, color) = if k % 2 == 0 {
+                    (GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
+                } else {
+                    (BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
+                };
+
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::cuboid(rad, rad, rad)
+                    .collision_groups(group)
+                    .build();
+                colliders.insert(collider, handle, &mut bodies);
+
+                testbed.set_body_color(handle, color);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}