Add example for 3D convex polyhedron.

benchmarks3d/all_benchmarks3.rs

@@ -14,6 +14,7 @@ mod balls3;
 mod boxes3;
 mod capsules3;
 mod compound3;
+mod convex_polyhedron3;
 mod heightfield3;
 mod joint_ball3;
 mod joint_fixed3;
@@ -52,6 +53,7 @@ pub fn main() {
         ("Boxes", boxes3::init_world),
         ("Capsules", capsules3::init_world),
         ("Compound", compound3::init_world),
+        ("Convex polyhedron", convex_polyhedron3::init_world),
         ("Heightfield", heightfield3::init_world),
         ("Stacks", stacks3::init_world),
         ("Pyramid", pyramid3::init_world),

benchmarks3d/convex_polyhedron3.rs

@@ -0,0 +1,71 @@
+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 cylinder = rapier3d::cdl::shape::Cylinder::new(rad, rad).to_trimesh(4);
+                let collider = ColliderBuilder::round_convex_hull(&cylinder.0, 0.1)
+                    .unwrap()
+                    .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()
+}