9 files changed, 65 insertions, 20 deletions
diff --git a/src_testbed/objects/ball.rs b/src_testbed/objects/ball.rs
index f72c284..df43341 100644
--- a/src_testbed/objects/ball.rs
+++ b/src_testbed/objects/ball.rs
@@ -9,11 +9,13 @@ pub struct Ball {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Ball {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry<f32>,
         radius: f32,
         color: Point3<f32>,
         window: &mut Window,
@@ -28,6 +30,7 @@ impl Ball {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -55,7 +58,7 @@ impl Ball {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/box_node.rs b/src_testbed/objects/box_node.rs
index 493ffba..0586d77 100644
--- a/src_testbed/objects/box_node.rs
+++ b/src_testbed/objects/box_node.rs
@@ -9,11 +9,13 @@ pub struct Box {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Box {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry<f32>,
         half_extents: Vector<f32>,
         color: Point3<f32>,
         window: &mut window::Window,
@@ -29,6 +31,7 @@ impl Box {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         res.gfx.set_color(color.x, color.y, color.z);
@@ -55,7 +58,7 @@ impl Box {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/capsule.rs b/src_testbed/objects/capsule.rs
index 23160be..3d3e88f 100644
--- a/src_testbed/objects/capsule.rs
+++ b/src_testbed/objects/capsule.rs
@@ -9,11 +9,13 @@ pub struct Capsule {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Capsule {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry<f32>,
         capsule: &geometry::Capsule,
         color: Point3<f32>,
         window: &mut window::Window,
@@ -30,6 +32,7 @@ impl Capsule {
             base_color: color,
             gfx: node,
             collider,
+            delta: delta * capsule.transform_wrt_y(),
         };
 
         res.gfx.set_color(color.x, color.y, color.z);
@@ -50,7 +53,7 @@ impl Capsule {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/cone.rs b/src_testbed/objects/cone.rs
index 58b014f..7aa2039 100644
--- a/src_testbed/objects/cone.rs
+++ b/src_testbed/objects/cone.rs
@@ -9,11 +9,13 @@ pub struct Cone {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Cone {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,
@@ -29,6 +31,7 @@ impl Cone {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -56,7 +59,7 @@ impl Cone {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/convex.rs b/src_testbed/objects/convex.rs
index 0347144..95ef74a 100644
--- a/src_testbed/objects/convex.rs
+++ b/src_testbed/objects/convex.rs
@@ -13,25 +13,44 @@ pub struct Convex {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     body: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Convex {
     pub fn new(
         body: ColliderHandle,
+        delta: Isometry<f32>,
         vertices: Vec<Point<f32>>,
+        #[cfg(feature = "dim3")] indices: Vec<[u32; 3]>,
         color: Point3<f32>,
         window: &mut Window,
     ) -> Convex {
         #[cfg(feature = "dim2")]
         let node = window.add_convex_polygon(vertices, Vector::from_element(1.0));
         #[cfg(feature = "dim3")]
-        let node = unimplemented!();
+        let node = {
+            use std::cell::RefCell;
+            use std::rc::Rc;
+            let mut mesh_vertices = Vec::new();
+            let mut mesh_indices = Vec::new();
+            for idx in indices {
+                let i = mesh_vertices.len() as u16;
+                mesh_vertices.push(vertices[idx[0] as usize]);
+                mesh_vertices.push(vertices[idx[1] as usize]);
+                mesh_vertices.push(vertices[idx[2] as usize]);
+                mesh_indices.push(Point3::new(i, i + 1, i + 2));
+            }
+
+            let mesh = kiss3d::resource::Mesh::new(mesh_vertices, mesh_indices, None, None, false);
+            window.add_mesh(Rc::new(RefCell::new(mesh)), na::Vector3::from_element(1.0))
+        };
 
         let mut res = Convex {
             color,
             base_color: color,
             gfx: node,
             body,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -59,7 +78,7 @@ impl Convex {
             colliders,
             self.body,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/cylinder.rs b/src_testbed/objects/cylinder.rs
index 01a6737..ff4dc72 100644
--- a/src_testbed/objects/cylinder.rs
+++ b/src_testbed/objects/cylinder.rs
@@ -9,11 +9,13 @@ pub struct Cylinder {
     base_color: Point3<f32>,
     gfx: GraphicsNode,
     collider: ColliderHandle,
+    delta: Isometry<f32>,
 }
 
 impl Cylinder {
     pub fn new(
         collider: ColliderHandle,
+        delta: Isometry<f32>,
         half_height: f32,
         radius: f32,
         color: Point3<f32>,
@@ -29,6 +31,7 @@ impl Cylinder {
             base_color: color,
             gfx: node,
             collider,
+            delta,
         };
 
         // res.gfx.set_texture_from_file(&Path::new("media/kitten.png"), "kitten");
@@ -56,7 +59,7 @@ impl Cylinder {
             colliders,
             self.collider,
             &self.color,
-            &Isometry::identity(),
+            &self.delta,
         );
     }
 
diff --git a/src_testbed/objects/heightfield.rs b/src_testbed/objects/heightfield.rs
index 0815592..cb5edf3 100644
--- a/src_testbed/objects/heightfield.rs
+++ b/src_testbed/objects/heightfield.rs
@@ -1,15 +1,16 @@
-#[cfg(feature = "dim3")]
-use crate::objects::node::{self, GraphicsNode};
+use cdl::shape;
 use kiss3d::window::Window;
 use na::{self, Point3};
-use ncollide::shape;
-#[cfg(feature = "dim3")]
-use ncollide::transformation::ToTriMesh;
 use rapier::geometry::{ColliderHandle, ColliderSet};
 #[cfg(feature = "dim2")]
 use rapier::math::Point;
 #[cfg(feature = "dim3")]
-use rapier::math::Vector;
+use {
+    crate::objects::node::{self, GraphicsNode},
+    kiss3d::resource::Mesh,
+    rapier::math::Vector,
+    std::cell::RefCell,
+};
 
 pub struct HeightField {
     color: Point3<f32>,
@@ -25,7 +26,7 @@ impl HeightField {
     #[cfg(feature = "dim2")]
     pub fn new(
         collider: ColliderHandle,
-        heightfield: &shape::HeightField<f32>,
+        heightfield: &shape::HeightField,
         color: Point3<f32>,
         _: &mut Window,
     ) -> HeightField {
@@ -47,16 +48,23 @@ impl HeightField {
     #[cfg(feature = "dim3")]
     pub fn new(
         collider: ColliderHandle,
-        heightfield: &shape::HeightField<f32>,
+        heightfield: &shape::HeightField,
         color: Point3<f32>,
         window: &mut Window,
     ) -> HeightField {
-        let mesh = heightfield.to_trimesh(());
+        use std::rc::Rc;
+
+        let (vertices, indices) = heightfield.to_trimesh();
+        let indices = indices
+            .into_iter()
+            .map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
+            .collect();
+        let mesh = Mesh::new(vertices, indices, None, None, false);
 
         let mut res = HeightField {
             color,
             base_color: color,
-            gfx: window.add_trimesh(mesh, Vector::repeat(1.0)),
+            gfx: window.add_mesh(Rc::new(RefCell::new(mesh)), Vector::repeat(1.0)),
             collider: collider,
         };
 
diff --git a/src_testbed/objects/mesh.rs b/src_testbed/objects/mesh.rs
index 5187a8b..5505de3 100644
--- a/src_testbed/objects/mesh.rs
+++ b/src_testbed/objects/mesh.rs
@@ -17,12 +17,15 @@ impl Mesh {
     pub fn new(
         collider: ColliderHandle,
         vertices: Vec<Point<f32>>,
-        indices: Vec<Point3<u32>>,
+        indices: Vec<[u32; 3]>,
         color: Point3<f32>,
         window: &mut window::Window,
     ) -> Mesh {
         let vs = vertices;
-        let is = indices.into_iter().map(na::convert).collect();
+        let is = indices
+            .into_iter()
+            .map(|idx| Point3::new(idx[0] as u16, idx[1] as u16, idx[2] as u16))
+            .collect();
 
         let mesh;
         let gfx;
diff --git a/src_testbed/objects/polyline.rs b/src_testbed/objects/polyline.rs
index 77841ae..a7422b3 100644
--- a/src_testbed/objects/polyline.rs
+++ b/src_testbed/objects/polyline.rs
@@ -1,6 +1,6 @@
+use cdl2d::shape;
 use kiss3d::window::Window;
 use na::{Isometry2, Point2, Point3};
-use ncollide2d::shape;
 use nphysics2d::object::{ColliderAnchor, DefaultColliderHandle, DefaultColliderSet};
 
 pub struct Polyline {