Move benchmark demos into their own directory.

benchmarks3d/joint_revolute3.rs

@@ -0,0 +1,89 @@
+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()
+}