example benchmark

benchmarks3d/Cargo.toml

@@ -25,3 +25,7 @@ path = "../build/rapier3d"
 [[bin]]
 name = "all_benchmarks3"
 path = "all_benchmarks3.rs"
+
+[[bin]]
+name = "harness_capsules3"
+path = "harness_capsules3.rs"

benchmarks3d/harness_capsules3.rs

@@ -0,0 +1,72 @@
+extern crate nalgebra as na;
+
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::harness::Harness;
+
+pub fn init_world(harness: &mut Harness) {
+    /*
+     * 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).build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+
+        offset -= 0.05 * rad * (num as f32 - 1.0);
+    }
+
+    /*
+     * Set up the harness.
+     */
+    harness.set_world(bodies, colliders, joints);
+}
+
+fn main() {
+    let harness = &mut Harness::new_empty();
+    init_world(harness);
+    harness.set_max_steps(10000);
+    harness.run();
+    println!("{}", harness.state.timestep_id);
+}