Start introducing SAP layers.

examples3d/debug_big_colliders3.rs

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+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 = 100.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
+        .friction(1.5)
+        .build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let mut curr_y = 0.0;
+    let mut curr_width = 1_000.0;
+
+    for _ in 0..6 {
+        curr_y += curr_width;
+
+        let rigid_body = RigidBodyBuilder::new_dynamic()
+            .translation(0.0, curr_y, 0.0)
+            .build();
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(curr_width, curr_width, curr_width).build();
+        colliders.insert(collider, handle, &mut bodies);
+
+        curr_width /= 10.0;
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}