Add internal edges debug examples.

examples3d/debug_internal_edges3.rs

@@ -0,0 +1,60 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    let heights = DMatrix::zeros(100, 100);
+    let heightfield = HeightField::new(heights, vector![60.0, 1.0, 60.0]);
+    let rotation = vector![0.0, 0.0, 0.0]; // vector![-0.1, 0.0, 0.0];
+    colliders
+        .insert(ColliderBuilder::new(SharedShape::new(heightfield.clone())).rotation(rotation));
+
+    // let mut trimesh = TriMesh::from(heightfield);
+    // trimesh.set_flags(TriMeshFlags::MERGE_DUPLICATE_VERTICES)
+    // colliders.insert(ColliderBuilder::new(SharedShape::new(trimesh.clone())).rotation(rotation));
+    // // NOTE: we add a sensor just because we want the testbed to display the mesh’s wireframe.
+    // colliders.insert(
+    //     ColliderBuilder::new(SharedShape::new(trimesh))
+    //         .sensor(true)
+    //         .rotation(rotation),
+    // );
+
+    // Dynamic rigid bodies.
+    let rigid_body = RigidBodyBuilder::dynamic()
+        .translation(vector![4.0, 0.5, 0.0])
+        .linvel(vector![0.0, -40.0, 20.0])
+        .can_sleep(false);
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::ball(0.5);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::dynamic()
+        .translation(vector![0.0, 0.5, 0.0])
+        .linvel(vector![0.0, -4.0, 20.0])
+        .can_sleep(false);
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(0.5, 0.5, 0.5);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::dynamic()
+        .translation(vector![8.0, 0.2, 0.0])
+        .linvel(vector![0.0, -4.0, 20.0])
+        .can_sleep(false);
+    let handle = bodies.insert(rigid_body);
+    let collider =
+        ColliderBuilder::cylinder(0.5, 0.2).rotation(vector![0.0, 0.0, std::f32::consts::PI / 2.0]);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
+}