First complete implementation of the hierarchical SAP.

examples3d/debug_infinite_fall3.rs

@@ -10,6 +10,19 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut colliders = ColliderSet::new();
     let joints = JointSet::new();
 
+    /*
+     * Ground
+     */
+    let ground_size = 100.1;
+    let ground_height = 2.1;
+
+    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);
+
     let rad = 1.0;
     // Build the dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
@@ -20,6 +33,14 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::ball(rad).build();
     colliders.insert(collider, handle, &mut bodies);
 
+    let rigid_body = RigidBodyBuilder::new_dynamic()
+        .translation(0.0, 5.0 * rad, 0.0)
+        .can_sleep(false)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::ball(rad).build();
+    colliders.insert(collider, handle, &mut bodies);
+
     /*
      * Set up the testbed.
      */