From ff2da7fb27f0ea7a15b1dc6b6daf763fe7faf13b Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sun, 6 Sep 2020 12:16:09 +0200
Subject: Move benchmark demos into their own directory.

---
 examples3d/add_remove3.rs             |   2 +-
 examples3d/all_examples3.rs           |  32 ++------
 examples3d/balls3.rs                  |  29 -------
 examples3d/boxes3.rs                  |  68 ----------------
 examples3d/capsules3.rs               |  69 ----------------
 examples3d/compound3.rs               |   4 +-
 examples3d/debug_boxes3.rs            |   2 +-
 examples3d/debug_triangle3.rs         |   2 +-
 examples3d/domino3.rs                 |   4 +-
 examples3d/heightfield3.rs            |   8 +-
 examples3d/joints3.rs                 |   4 +-
 examples3d/keva3.rs                   | 144 +++++++++++++++++++++++++++++++++
 examples3d/kinematic3.rs              |  97 ----------------------
 examples3d/platform3.rs               |  95 ++++++++++++++++++++++
 examples3d/primitives3.rs             |  75 +++++++++++++++++
 examples3d/pyramid3.rs                |  85 -------------------
 examples3d/sensor3.rs                 |   6 +-
 examples3d/stacks3.rs                 |  36 ++-------
 examples3d/stress_joint_ball3.rs      |  70 ----------------
 examples3d/stress_joint_fixed3.rs     |  92 ---------------------
 examples3d/stress_joint_prismatic3.rs |  81 -------------------
 examples3d/stress_joint_revolute3.rs  |  89 --------------------
 examples3d/stress_keva3.rs            | 148 ----------------------------------
 examples3d/trimesh3.rs                |   8 +-
 24 files changed, 345 insertions(+), 905 deletions(-)
 delete mode 100644 examples3d/balls3.rs
 delete mode 100644 examples3d/boxes3.rs
 delete mode 100644 examples3d/capsules3.rs
 create mode 100644 examples3d/keva3.rs
 delete mode 100644 examples3d/kinematic3.rs
 create mode 100644 examples3d/platform3.rs
 create mode 100644 examples3d/primitives3.rs
 delete mode 100644 examples3d/pyramid3.rs
 delete mode 100644 examples3d/stress_joint_ball3.rs
 delete mode 100644 examples3d/stress_joint_fixed3.rs
 delete mode 100644 examples3d/stress_joint_prismatic3.rs
 delete mode 100644 examples3d/stress_joint_revolute3.rs
 delete mode 100644 examples3d/stress_keva3.rs

(limited to 'examples3d')

diff --git a/examples3d/add_remove3.rs b/examples3d/add_remove3.rs
index cf565e0..17aad44 100644
--- a/examples3d/add_remove3.rs
+++ b/examples3d/add_remove3.rs
@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
             .translation(0.0, 10.0, 0.0)
             .build();
         let handle = physics.bodies.insert(rigid_body);
-        let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
+        let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
         physics
             .colliders
             .insert(collider, handle, &mut physics.bodies);
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 2b89efa..8b0a2fa 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -11,24 +11,17 @@ use rapier_testbed3d::Testbed;
 use std::cmp::Ordering;
 
 mod add_remove3;
-mod balls3;
-mod boxes3;
-mod capsules3;
 mod compound3;
 mod debug_boxes3;
 mod debug_triangle3;
 mod domino3;
 mod heightfield3;
 mod joints3;
-mod kinematic3;
-mod pyramid3;
+mod keva3;
+mod platform3;
+mod primitives3;
 mod sensor3;
 mod stacks3;
-mod stress_joint_ball3;
-mod stress_joint_fixed3;
-mod stress_joint_prismatic3;
-mod stress_joint_revolute3;
-mod stress_keva3;
 mod trimesh3;
 
 fn demo_name_from_command_line() -> Option<String> {
@@ -69,31 +62,18 @@ pub fn main() {
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Add remove", add_remove3::init_world),
-        ("Balls", balls3::init_world),
-        ("Boxes", boxes3::init_world),
-        ("Capsules", capsules3::init_world),
+        ("Primitives", primitives3::init_world),
         ("Compound", compound3::init_world),
         ("Domino", domino3::init_world),
         ("Heightfield", heightfield3::init_world),
         ("Joints", joints3::init_world),
-        ("Kinematic", kinematic3::init_world),
+        ("Platform", platform3::init_world),
         ("Stacks", stacks3::init_world),
-        ("Pyramid", pyramid3::init_world),
         ("Sensor", sensor3::init_world),
         ("Trimesh", trimesh3::init_world),
+        ("Keva tower", keva3::init_world),
         ("(Debug) boxes", debug_boxes3::init_world),
         ("(Debug) triangle", debug_triangle3::init_world),
-        ("(Stress test) joint ball", stress_joint_ball3::init_world),
-        ("(Stress test) joint fixed", stress_joint_fixed3::init_world),
-        (
-            "(Stress test) joint revolute",
-            stress_joint_revolute3::init_world,
-        ),
-        (
-            "(Stress test) joint prismatic",
-            stress_joint_prismatic3::init_world,
-        ),
-        ("(Stress test) keva tower", stress_keva3::init_world),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
diff --git a/examples3d/balls3.rs b/examples3d/balls3.rs
deleted file mode 100644
index df0c21c..0000000
--- a/examples3d/balls3.rs
+++ /dev/null
@@ -1,29 +0,0 @@
-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();
-
-    let rb = RigidBodyBuilder::new_dynamic().build();
-    let co = ColliderBuilder::cuboid(0.5, 0.5, 0.5).build();
-    let h = bodies.insert(rb);
-    colliders.insert(co, h, &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![("Balls", init_world)]);
-    testbed.run()
-}
diff --git a/examples3d/boxes3.rs b/examples3d/boxes3.rs
deleted file mode 100644
index eb8a472..0000000
--- a/examples3d/boxes3.rs
+++ /dev/null
@@ -1,68 +0,0 @@
-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 = 200.1;
-    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 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;
-
-    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
-
-    for j in 0usize..47 {
-        for i in 0..num {
-            for k in 0usize..num {
-                let x = i as f32 * shift - centerx + offset;
-                let y = j as f32 * shift + centery + 3.0;
-                let z = k as f32 * shift - centerz + offset;
-
-                // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
-                let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
-                colliders.insert(collider, handle, &mut bodies);
-            }
-        }
-
-        offset -= 0.05 * rad * (num as f32 - 1.0);
-    }
-
-    /*
-     * 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()
-}
diff --git a/examples3d/capsules3.rs b/examples3d/capsules3.rs
deleted file mode 100644
index e6aad40..0000000
--- a/examples3d/capsules3.rs
+++ /dev/null
@@ -1,69 +0,0 @@
-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 = 200.1;
-    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 cubes
-     */
-    let num = 8;
-    let rad = 1.0;
-
-    let shift = rad * 2.0 + rad;
-    let shifty = rad * 4.0;
-    let centerx = shift * (num / 2) as f32;
-    let centery = shift / 2.0;
-    let centerz = shift * (num / 2) as f32;
-
-    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
-
-    for j in 0usize..47 {
-        for i in 0..num {
-            for k in 0usize..num {
-                let x = i as f32 * shift - centerx + offset;
-                let y = j as f32 * shifty + centery + 3.0;
-                let z = k as f32 * shift - centerz + offset;
-
-                // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
-                let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::capsule_y(rad, rad).density(1.0).build();
-                colliders.insert(collider, handle, &mut bodies);
-            }
-        }
-
-        offset -= 0.05 * rad * (num as f32 - 1.0);
-    }
-
-    /*
-     * 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()
-}
diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs
index a8a9939..34a654d 100644
--- a/examples3d/compound3.rs
+++ b/examples3d/compound3.rs
@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = 200.1;
+    let ground_size = 50.0;
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
 
-    for j in 0usize..25 {
+    for j in 0usize..15 {
         for i in 0..num {
             for k in 0usize..num {
                 let x = i as f32 * shift * 5.0 - centerx + offset;
diff --git a/examples3d/debug_boxes3.rs b/examples3d/debug_boxes3.rs
index bd7c344..7237fd9 100644
--- a/examples3d/debug_boxes3.rs
+++ b/examples3d/debug_boxes3.rs
@@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).density(1.0).build();
+    let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).build();
     colliders.insert(collider, handle, &mut bodies);
 
     /*
diff --git a/examples3d/debug_triangle3.rs b/examples3d/debug_triangle3.rs
index c9d7751..42bd06c 100644
--- a/examples3d/debug_triangle3.rs
+++ b/examples3d/debug_triangle3.rs
@@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0).density(1.0).build();
+    let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0).build();
     colliders.insert(collider, handle, &mut bodies);
 
     /*
diff --git a/examples3d/domino3.rs b/examples3d/domino3.rs
index a62ba41..66d0f41 100644
--- a/examples3d/domino3.rs
+++ b/examples3d/domino3.rs
@@ -58,9 +58,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     * rot;
             let rigid_body = RigidBodyBuilder::new_dynamic().position(position).build();
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width)
-                .density(1.0)
-                .build();
+            let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width).build();
             colliders.insert(collider, handle, &mut bodies);
             testbed.set_body_color(handle, colors[i % 2]);
         } else {
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs
index f9d4e49..09df815 100644
--- a/examples3d/heightfield3.rs
+++ b/examples3d/heightfield3.rs
@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector3::new(200.0, 1.0, 200.0);
+    let ground_size = Vector3::new(100.0, 1.0, 100.0);
     let nsubdivs = 20;
 
     let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -43,7 +43,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centery = shift / 2.0;
     let centerz = shift * (num / 2) as f32;
 
-    for j in 0usize..47 {
+    for j in 0usize..20 {
         for i in 0..num {
             for k in 0usize..num {
                 let x = i as f32 * shift - centerx;
@@ -55,10 +55,10 @@ pub fn init_world(testbed: &mut Testbed) {
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
-                    let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
+                    let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
                     colliders.insert(collider, handle, &mut bodies);
                 } else {
-                    let collider = ColliderBuilder::ball(rad).density(1.0).build();
+                    let collider = ColliderBuilder::ball(rad).build();
                     colliders.insert(collider, handle, &mut bodies);
                 }
             }
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index c640770..d4a797a 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -150,7 +150,7 @@ fn create_fixed_joints(
                 .translation(origin.x + fk * shift, origin.y, origin.z + fi * shift)
                 .build();
             let child_handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::ball(rad).density(1.0).build();
+            let collider = ColliderBuilder::ball(rad).build();
             colliders.insert(collider, child_handle, bodies);
 
             // Vertical joint.
@@ -205,7 +205,7 @@ fn create_ball_joints(
                 .translation(fk * shift, 0.0, fi * shift)
                 .build();
             let child_handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::ball(rad).density(1.0).build();
+            let collider = ColliderBuilder::ball(rad).build();
             colliders.insert(collider, child_handle, bodies);
 
             // Vertical joint.
diff --git a/examples3d/keva3.rs b/examples3d/keva3.rs
new file mode 100644
index 0000000..6862f25
--- /dev/null
+++ b/examples3d/keva3.rs
@@ -0,0 +1,144 @@
+use na::{Point3, Vector3};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+pub fn build_block(
+    testbed: &mut Testbed,
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    half_extents: Vector3<f32>,
+    shift: Vector3<f32>,
+    mut numx: usize,
+    numy: usize,
+    mut numz: usize,
+) {
+    let dimensions = [half_extents.xyz(), half_extents.zyx()];
+    let block_width = 2.0 * half_extents.z * numx as f32;
+    let block_height = 2.0 * half_extents.y * numy as f32;
+    let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
+    let mut color0 = Point3::new(0.7, 0.5, 0.9);
+    let mut color1 = Point3::new(0.6, 1.0, 0.6);
+
+    for i in 0..numy {
+        std::mem::swap(&mut numx, &mut numz);
+        let dim = dimensions[i % 2];
+        let y = dim.y * i as f32 * 2.0;
+
+        for j in 0..numx {
+            let x = if i % 2 == 0 {
+                spacing * j as f32 * 2.0
+            } else {
+                dim.x * j as f32 * 2.0
+            };
+
+            for k in 0..numz {
+                let z = if i % 2 == 0 {
+                    dim.z * k as f32 * 2.0
+                } else {
+                    spacing * k as f32 * 2.0
+                };
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(
+                        x + dim.x + shift.x,
+                        y + dim.y + shift.y,
+                        z + dim.z + shift.z,
+                    )
+                    .build();
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
+                colliders.insert(collider, handle, bodies);
+
+                testbed.set_body_color(handle, color0);
+                std::mem::swap(&mut color0, &mut color1);
+            }
+        }
+    }
+
+    // Close the top.
+    let dim = half_extents.zxy();
+
+    for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
+        for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(
+                    i as f32 * dim.x * 2.0 + dim.x + shift.x,
+                    dim.y + shift.y + block_height,
+                    j as f32 * dim.z * 2.0 + dim.z + shift.z,
+                )
+                .build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
+            colliders.insert(collider, handle, bodies);
+            testbed.set_body_color(handle, color0);
+            std::mem::swap(&mut color0, &mut color1);
+        }
+    }
+}
+
+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 = 50.0;
+    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 cubes
+     */
+    let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
+    let mut block_height = 0.0;
+    // These should only be set to odd values otherwise
+    // the blocks won't align in the nicest way.
+    let numy = [0, 9, 13, 17, 21, 41];
+    let mut num_blocks_built = 0;
+
+    for i in (1..=5).rev() {
+        let numx = i;
+        let numy = numy[i];
+        let numz = numx * 3 + 1;
+        let block_width = numx as f32 * half_extents.z * 2.0;
+        build_block(
+            testbed,
+            &mut bodies,
+            &mut colliders,
+            half_extents,
+            Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
+            numx,
+            numy,
+            numz,
+        );
+        block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
+        num_blocks_built += numx * numy * numz;
+    }
+
+    println!("Num keva blocks: {}", num_blocks_built);
+
+    /*
+     * 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()
+}
diff --git a/examples3d/kinematic3.rs b/examples3d/kinematic3.rs
deleted file mode 100644
index a9adc8c..0000000
--- a/examples3d/kinematic3.rs
+++ /dev/null
@@ -1,97 +0,0 @@
-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 = 10.0;
-    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 boxes
-     */
-    let num = 6;
-    let rad = 0.2;
-
-    let shift = rad * 2.0;
-    let centerx = shift * num as f32 / 2.0;
-    let centery = shift / 2.0 + 3.04;
-    let centerz = shift * num as f32 / 2.0;
-
-    for i in 0usize..num {
-        for j in 0usize..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;
-
-                // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
-                let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
-                colliders.insert(collider, handle, &mut bodies);
-            }
-        }
-    }
-
-    /*
-     * Setup a kinematic rigid body.
-     */
-    let platform_body = RigidBodyBuilder::new_kinematic()
-        .translation(0.0, 1.5 + 0.8, -10.0 * rad)
-        .build();
-    let platform_handle = bodies.insert(platform_body);
-    let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0)
-        .density(1.0)
-        .build();
-    colliders.insert(collider, platform_handle, &mut bodies);
-
-    /*
-     * Setup a callback to control the platform.
-     */
-    testbed.add_callback(move |_, physics, _, _, time| {
-        let mut platform = physics.bodies.get_mut(platform_handle).unwrap();
-        let mut next_pos = platform.position;
-
-        let dt = 0.016;
-        next_pos.translation.vector.y += (time * 5.0).sin() * dt;
-        next_pos.translation.vector.z += time.sin() * 5.0 * dt;
-
-        if next_pos.translation.vector.z >= rad * 10.0 {
-            next_pos.translation.vector.z -= dt;
-        }
-        if next_pos.translation.vector.z <= -rad * 10.0 {
-            next_pos.translation.vector.z += dt;
-        }
-
-        platform.set_next_kinematic_position(next_pos);
-    });
-
-    /*
-     * Run the simulation.
-     */
-    testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(-10.0, 5.0, -10.0), Point3::origin());
-}
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Kinematic body", init_world)]);
-    testbed.run()
-}
diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs
new file mode 100644
index 0000000..3836baf
--- /dev/null
+++ b/examples3d/platform3.rs
@@ -0,0 +1,95 @@
+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 = 10.0;
+    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 boxes
+     */
+    let num = 6;
+    let rad = 0.2;
+
+    let shift = rad * 2.0;
+    let centerx = shift * num as f32 / 2.0;
+    let centery = shift / 2.0 + 3.04;
+    let centerz = shift * num as f32 / 2.0;
+
+    for i in 0usize..num {
+        for j in 0usize..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;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Setup a kinematic rigid body.
+     */
+    let platform_body = RigidBodyBuilder::new_kinematic()
+        .translation(0.0, 1.5 + 0.8, -10.0 * rad)
+        .build();
+    let platform_handle = bodies.insert(platform_body);
+    let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
+    colliders.insert(collider, platform_handle, &mut bodies);
+
+    /*
+     * Setup a callback to control the platform.
+     */
+    testbed.add_callback(move |_, physics, _, _, time| {
+        let mut platform = physics.bodies.get_mut(platform_handle).unwrap();
+        let mut next_pos = platform.position;
+
+        let dt = 0.016;
+        next_pos.translation.vector.y += (time * 5.0).sin() * dt;
+        next_pos.translation.vector.z += time.sin() * 5.0 * dt;
+
+        if next_pos.translation.vector.z >= rad * 10.0 {
+            next_pos.translation.vector.z -= dt;
+        }
+        if next_pos.translation.vector.z <= -rad * 10.0 {
+            next_pos.translation.vector.z += dt;
+        }
+
+        platform.set_next_kinematic_position(next_pos);
+    });
+
+    /*
+     * Run the simulation.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(-10.0, 5.0, -10.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Kinematic body", init_world)]);
+    testbed.run()
+}
diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs
new file mode 100644
index 0000000..cf678b9
--- /dev/null
+++ b/examples3d/primitives3.rs
@@ -0,0 +1,75 @@
+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 = 100.1;
+    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 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;
+
+    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+
+    for j in 0usize..20 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift - centerx + offset;
+                let y = j as f32 * shift + centery + 3.0;
+                let z = k as f32 * shift - centerz + offset;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let handle = bodies.insert(rigid_body);
+
+                let collider = match j % 2 {
+                    0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
+                    1 => ColliderBuilder::ball(rad).build(),
+                    // 2 => ColliderBuilder::capsule_y(rad, rad).build(),
+                    _ => unreachable!(),
+                };
+
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+
+        offset -= 0.05 * rad * (num as f32 - 1.0);
+    }
+
+    /*
+     * 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()
+}
diff --git a/examples3d/pyramid3.rs b/examples3d/pyramid3.rs
deleted file mode 100644
index e2aae39..0000000
--- a/examples3d/pyramid3.rs
+++ /dev/null
@@ -1,85 +0,0 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
-use rapier_testbed3d::Testbed;
-
-fn create_pyramid(
-    bodies: &mut RigidBodySet,
-    colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
-    stack_height: usize,
-    half_extents: Vector3<f32>,
-) {
-    let shift = half_extents * 2.5;
-    for i in 0usize..stack_height {
-        for j in i..stack_height {
-            for k in i..stack_height {
-                let fi = i as f32;
-                let fj = j as f32;
-                let fk = k as f32;
-                let x = (fi * shift.x / 2.0) + (fk - fi) * shift.x + offset.x
-                    - stack_height as f32 * half_extents.x;
-                let y = fi * shift.y + offset.y;
-                let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
-                    - stack_height as f32 * half_extents.z;
-
-                // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
-                let rigid_body_handle = bodies.insert(rigid_body);
-
-                let collider =
-                    ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z)
-                        .density(1.0)
-                        .build();
-                colliders.insert(collider, rigid_body_handle, bodies);
-            }
-        }
-    }
-}
-
-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 = 50.0;
-    let ground_height = 0.1;
-
-    let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
-        .build();
-    let ground_handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
-
-    /*
-     * Create the cubes
-     */
-    let cube_size = 1.0;
-    let hext = Vector3::repeat(cube_size);
-    let bottomy = cube_size;
-    create_pyramid(
-        &mut bodies,
-        &mut colliders,
-        Vector3::new(0.0, bottomy, 0.0),
-        24,
-        hext,
-    );
-
-    /*
-     * 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()
-}
diff --git a/examples3d/sensor3.rs b/examples3d/sensor3.rs
index 598b0ad..7b218fe 100644
--- a/examples3d/sensor3.rs
+++ b/examples3d/sensor3.rs
@@ -43,7 +43,7 @@ pub fn init_world(testbed: &mut Testbed) {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
+            let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
             colliders.insert(collider, handle, &mut bodies);
 
             testbed.set_body_color(handle, Point3::new(0.5, 0.5, 1.0));
@@ -56,13 +56,13 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Rigid body so that the sensor can move.
     let sensor = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 10.0, 0.0)
+        .translation(0.0, 5.0, 0.0)
         .build();
     let sensor_handle = bodies.insert(sensor);
 
     // Solid cube attached to the sensor which
     // other colliders can touch.
-    let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
+    let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
     colliders.insert(collider, sensor_handle, &mut bodies);
 
     // We create a collider desc without density because we don't
diff --git a/examples3d/stacks3.rs b/examples3d/stacks3.rs
index fd2ae27..55d58bb 100644
--- a/examples3d/stacks3.rs
+++ b/examples3d/stacks3.rs
@@ -27,9 +27,8 @@ fn create_tower_circle(
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z)
-                .density(1.0)
-                .build();
+            let collider =
+                ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
             colliders.insert(collider, handle, bodies);
         }
     }
@@ -55,9 +54,8 @@ fn create_wall(
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z)
-                .density(1.0)
-                .build();
+            let collider =
+                ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
             colliders.insert(collider, handle, bodies);
         }
     }
@@ -88,9 +86,7 @@ fn create_pyramid(
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
                 let collider =
-                    ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z)
-                        .density(1.0)
-                        .build();
+                    ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
                 colliders.insert(collider, handle, bodies);
             }
         }
@@ -124,27 +120,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let cube_size = 1.0;
     let hext = Vector3::repeat(cube_size);
     let bottomy = cube_size * 50.0;
-    create_pyramid(
-        &mut bodies,
-        &mut colliders,
-        Vector3::new(-110.0, bottomy, 0.0),
-        12,
-        hext,
-    );
-    create_pyramid(
-        &mut bodies,
-        &mut colliders,
-        Vector3::new(-80.0, bottomy, 0.0),
-        12,
-        hext,
-    );
-    create_pyramid(
-        &mut bodies,
-        &mut colliders,
-        Vector3::new(-50.0, bottomy, 0.0),
-        12,
-        hext,
-    );
+
     create_pyramid(
         &mut bodies,
         &mut colliders,
diff --git a/examples3d/stress_joint_ball3.rs b/examples3d/stress_joint_ball3.rs
deleted file mode 100644
index bbff217..0000000
--- a/examples3d/stress_joint_ball3.rs
+++ /dev/null
@@ -1,70 +0,0 @@
-use na::Point3;
-use rapier3d::dynamics::{BallJoint, BodyStatus, 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 = 100;
-    let shift = 1.0;
-
-    let mut body_handles = Vec::new();
-
-    for k in 0..num {
-        for i in 0..num {
-            let fk = k as f32;
-            let fi = i as f32;
-
-            let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
-                BodyStatus::Static
-            } else {
-                BodyStatus::Dynamic
-            };
-
-            let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, 0.0, 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 = BallJoint::new(Point3::origin(), Point3::new(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 = BallJoint::new(Point3::origin(), Point3::new(-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(-110.0, -46.0, 170.0),
-        Point3::new(54.0, -38.0, 29.0),
-    );
-}
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
-    testbed.run()
-}
diff --git a/examples3d/stress_joint_fixed3.rs b/examples3d/stress_joint_fixed3.rs
deleted file mode 100644
index b85879d..0000000
--- a/examples3d/stress_joint_fixed3.rs
+++ /dev/null
@@ -1,92 +0,0 @@
-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()
-}
diff --git a/examples3d/stress_joint_prismatic3.rs b/examples3d/stress_joint_prismatic3.rs
deleted file mode 100644
index 3267ada..0000000
--- a/examples3d/stress_joint_prismatic3.rs
+++ /dev/null
@@ -1,81 +0,0 @@
-use na::{Point3, Unit, Vector3};
-use rapier3d::dynamics::{JointSet, PrismaticJoint, 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;
-
-    for m in 0..8 {
-        let z = m as f32 * shift * (num as f32 + 2.0);
-
-        for l in 0..8 {
-            let y = l as f32 * shift * (num as f32) * 2.0;
-
-            for j in 0..50 {
-                let x = j as f32 * shift * 4.0;
-
-                let ground = RigidBodyBuilder::new_static().translation(x, y, z).build();
-                let mut curr_parent = bodies.insert(ground);
-                let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                colliders.insert(collider, curr_parent, &mut bodies);
-
-                for i in 0..num {
-                    let z = z + (i + 1) as f32 * shift;
-                    let density = 1.0;
-                    let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
-                    let curr_child = bodies.insert(rigid_body);
-                    let collider = ColliderBuilder::cuboid(rad, rad, rad)
-                        .density(density)
-                        .build();
-                    colliders.insert(collider, curr_child, &mut bodies);
-
-                    let axis = if i % 2 == 0 {
-                        Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
-                    } else {
-                        Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
-                    };
-
-                    let z = Vector3::z();
-                    let mut prism = PrismaticJoint::new(
-                        Point3::origin(),
-                        axis,
-                        z,
-                        Point3::new(0.0, 0.0, -shift),
-                        axis,
-                        z,
-                    );
-                    prism.limits_enabled = true;
-                    prism.limits[0] = -2.0;
-                    prism.limits[1] = 2.0;
-                    joints.insert(&mut bodies, curr_parent, curr_child, prism);
-
-                    curr_parent = curr_child;
-                }
-            }
-        }
-    }
-
-    /*
-     * Set up the testbed.
-     */
-    testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
-        Point3::new(262.0, 63.0, 124.0),
-        Point3::new(101.0, 4.0, -3.0),
-    );
-}
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
-    testbed.run()
-}
diff --git a/examples3d/stress_joint_revolute3.rs b/examples3d/stress_joint_revolute3.rs
deleted file mode 100644
index 040fc3e..0000000
--- a/examples3d/stress_joint_revolute3.rs
+++ /dev/null
@@ -1,89 +0,0 @@
-use na::{Isometry3, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RevoluteJoint, 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 = 10;
-    let shift = 2.0;
-
-    for l in 0..4 {
-        let y = l as f32 * shift * (num as f32) * 3.0;
-
-        for j in 0..50 {
-            let x = j as f32 * shift * 4.0;
-
-            let ground = RigidBodyBuilder::new_static()
-                .translation(x, y, 0.0)
-                .build();
-            let mut curr_parent = bodies.insert(ground);
-            let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-            colliders.insert(collider, curr_parent, &mut bodies);
-
-            for i in 0..num {
-                // Create four bodies.
-                let z = i as f32 * shift * 2.0 + shift;
-                let positions = [
-                    Isometry3::translation(x, y, z),
-                    Isometry3::translation(x + shift, y, z),
-                    Isometry3::translation(x + shift, y, z + shift),
-                    Isometry3::translation(x, y, z + shift),
-                ];
-
-                let mut handles = [curr_parent; 4];
-                for k in 0..4 {
-                    let density = 1.0;
-                    let rigid_body = RigidBodyBuilder::new_dynamic()
-                        .position(positions[k])
-                        .build();
-                    handles[k] = bodies.insert(rigid_body);
-                    let collider = ColliderBuilder::cuboid(rad, rad, rad)
-                        .density(density)
-                        .build();
-                    colliders.insert(collider, handles[k], &mut bodies);
-                }
-
-                // Setup four joints.
-                let o = Point3::origin();
-                let x = Vector3::x_axis();
-                let z = Vector3::z_axis();
-
-                let revs = [
-                    RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
-                    RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
-                    RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
-                    RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
-                ];
-
-                joints.insert(&mut bodies, curr_parent, handles[0], revs[0]);
-                joints.insert(&mut bodies, handles[0], handles[1], revs[1]);
-                joints.insert(&mut bodies, handles[1], handles[2], revs[2]);
-                joints.insert(&mut bodies, handles[2], handles[3], revs[3]);
-
-                curr_parent = handles[3];
-            }
-        }
-    }
-
-    /*
-     * Set up the testbed.
-     */
-    testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
-        Point3::new(478.0, 83.0, 228.0),
-        Point3::new(134.0, 83.0, -116.0),
-    );
-}
-
-fn main() {
-    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
-    testbed.run()
-}
diff --git a/examples3d/stress_keva3.rs b/examples3d/stress_keva3.rs
deleted file mode 100644
index 2a41e47..0000000
--- a/examples3d/stress_keva3.rs
+++ /dev/null
@@ -1,148 +0,0 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
-use rapier_testbed3d::Testbed;
-
-pub fn build_block(
-    testbed: &mut Testbed,
-    bodies: &mut RigidBodySet,
-    colliders: &mut ColliderSet,
-    half_extents: Vector3<f32>,
-    shift: Vector3<f32>,
-    mut numx: usize,
-    numy: usize,
-    mut numz: usize,
-) {
-    let dimensions = [half_extents.xyz(), half_extents.zyx()];
-    let block_width = 2.0 * half_extents.z * numx as f32;
-    let block_height = 2.0 * half_extents.y * numy as f32;
-    let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
-    let mut color0 = Point3::new(0.7, 0.5, 0.9);
-    let mut color1 = Point3::new(0.6, 1.0, 0.6);
-
-    for i in 0..numy {
-        std::mem::swap(&mut numx, &mut numz);
-        let dim = dimensions[i % 2];
-        let y = dim.y * i as f32 * 2.0;
-
-        for j in 0..numx {
-            let x = if i % 2 == 0 {
-                spacing * j as f32 * 2.0
-            } else {
-                dim.x * j as f32 * 2.0
-            };
-
-            for k in 0..numz {
-                let z = if i % 2 == 0 {
-                    dim.z * k as f32 * 2.0
-                } else {
-                    spacing * k as f32 * 2.0
-                };
-
-                // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(
-                        x + dim.x + shift.x,
-                        y + dim.y + shift.y,
-                        z + dim.z + shift.z,
-                    )
-                    .build();
-                let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z)
-                    .density(1.0)
-                    .build();
-                colliders.insert(collider, handle, bodies);
-
-                testbed.set_body_color(handle, color0);
-                std::mem::swap(&mut color0, &mut color1);
-            }
-        }
-    }
-
-    // Close the top.
-    let dim = half_extents.zxy();
-
-    for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
-        for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
-            // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(
-                    i as f32 * dim.x * 2.0 + dim.x + shift.x,
-                    dim.y + shift.y + block_height,
-                    j as f32 * dim.z * 2.0 + dim.z + shift.z,
-                )
-                .build();
-            let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z)
-                .density(1.0)
-                .build();
-            colliders.insert(collider, handle, bodies);
-            testbed.set_body_color(handle, color0);
-            std::mem::swap(&mut color0, &mut color1);
-        }
-    }
-}
-
-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 = 50.0;
-    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 cubes
-     */
-    let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
-    let mut block_height = 0.0;
-    // These should only be set to odd values otherwise
-    // the blocks won't align in the nicest way.
-    let numy = [0, 9, 13, 17, 21, 41];
-    let mut num_blocks_built = 0;
-
-    for i in (1..=5).rev() {
-        let numx = i;
-        let numy = numy[i];
-        let numz = numx * 3 + 1;
-        let block_width = numx as f32 * half_extents.z * 2.0;
-        build_block(
-            testbed,
-            &mut bodies,
-            &mut colliders,
-            half_extents,
-            Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
-            numx,
-            numy,
-            numz,
-        );
-        block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
-        num_blocks_built += numx * numy * numz;
-    }
-
-    println!("Num keva blocks: {}", num_blocks_built);
-
-    /*
-     * 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()
-}
diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs
index c8f564b..d022a1f 100644
--- a/examples3d/trimesh3.rs
+++ b/examples3d/trimesh3.rs
@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = 200.0f32;
+    let ground_size = 100.0f32;
     let ground_height = 1.0;
     let nsubdivs = 20;
 
@@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centery = shift / 2.0;
     let centerz = shift * (num / 2) as f32;
 
-    for j in 0usize..47 {
+    for j in 0usize..20 {
         for i in 0..num {
             for k in 0usize..num {
                 let x = i as f32 * shift - centerx;
@@ -65,10 +65,10 @@ pub fn init_world(testbed: &mut Testbed) {
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
-                    let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
+                    let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
                     colliders.insert(collider, handle, &mut bodies);
                 } else {
-                    let collider = ColliderBuilder::ball(rad).density(1.0).build();
+                    let collider = ColliderBuilder::ball(rad).build();
                     colliders.insert(collider, handle, &mut bodies);
                 }
             }
-- 
cgit