feat: add a few more debug demos

benchmarks3d/all_benchmarks3.rs

@@ -20,6 +20,7 @@ mod joint_fixed3;
 mod joint_prismatic3;
 mod joint_revolute3;
 mod keva3;
+mod many_sleep3;
 mod many_static3;
 mod pyramid3;
 mod stacks3;
@@ -56,6 +57,7 @@ pub fn main() {
         ("Compound", compound3::init_world),
         ("Convex polyhedron", convex_polyhedron3::init_world),
         ("Many static", many_static3::init_world),
+        ("Many sleep", many_sleep3::init_world),
         ("Heightfield", heightfield3::init_world),
         ("Stacks", stacks3::init_world),
         ("Pyramid", pyramid3::init_world),

benchmarks3d/ccd3.rs

@@ -56,8 +56,8 @@ pub fn init_world(testbed: &mut Testbed) {
                     1 => ColliderBuilder::ball(rad),
                     // Rounded cylinders are much more efficient that cylinder, even if the
                     // rounding margin is small.
-                    // 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
-                    // 3 => ColliderBuilder::cone(rad, rad),
+                    2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
+                    3 => ColliderBuilder::cone(rad, rad),
                     _ => ColliderBuilder::capsule_y(rad, rad),
                 };
 

benchmarks3d/many_sleep3.rs

@@ -0,0 +1,54 @@
+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();
+
+    /*
+     * Create the balls
+     */
+    let num = 50;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + 1.0;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0;
+    let centerz = shift * (num as f32) / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num {
+            for k in 0..num {
+                let x = i as f32 * shift - centerx;
+                let y = j as f32 * shift + centery;
+                let z = k as f32 * shift - centerz;
+
+                let status = if j == 0 {
+                    RigidBodyType::Fixed
+                } else {
+                    RigidBodyType::Dynamic
+                };
+                let density = 0.477;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new(status)
+                    .translation(vector![x, y, z])
+                    .sleeping(true); // j < num - 1);
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::ball(rad).density(density);
+                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![100.0, 100.0, 100.0], Point::origin());
+}