I have achieved a throwable cube

examples/demo/src/setup.rs

@@ -1,4 +1,18 @@
-use bevy::{prelude::{Commands, ResMut, Assets, Mesh, StandardMaterial, PbrBundle, shape, Color, Transform, SpatialBundle, Camera3dBundle, Vec3, PointLight, PointLightBundle}, utils::default};
+use bevy::{
+    prelude::{
+        shape, Assets, Camera3dBundle, Color, Commands, Mesh, PbrBundle, PointLight,
+        PointLightBundle, ResMut, SpatialBundle, StandardMaterial, Transform, Vec3,
+    },
+    transform::TransformBundle,
+    utils::default,
+};
+use bevy_openxr::xr_input::interactions::{Touched, XRInteractable, XRInteractableState};
+use bevy_rapier3d::{
+    prelude::{Collider, RigidBody},
+    render::ColliderDebugColor,
+};
+
+use crate::Grabbable;
 
 /// set up a simple 3D scene
 pub fn setup_scene(
@@ -6,19 +20,37 @@ pub fn setup_scene(
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
+    /*
+     * Ground
+     */
+    let ground_size = 2.5;
+    let ground_height = 0.1;
     // plane
-    commands.spawn(PbrBundle {
-        mesh: meshes.add(shape::Plane::from_size(5.0).into()),
-        material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
-        ..default()
-    });
+    commands.spawn((
+        PbrBundle {
+            mesh: meshes.add(shape::Plane::from_size(5.0).into()),
+            material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
+            transform: Transform::from_xyz(0.0, -ground_height, 0.0),
+            ..default()
+        },
+        Collider::cuboid(ground_size, ground_height, ground_size),
+    ));
     // cube
-    commands.spawn(PbrBundle {
-        mesh: meshes.add(Mesh::from(shape::Cube { size: 0.1 })),
-        material: materials.add(Color::rgb(0.8, 0.7, 0.6).into()),
-        transform: Transform::from_xyz(0.0, 0.5, 0.0),
-        ..default()
-    });
+    commands.spawn((
+        PbrBundle {
+            mesh: meshes.add(Mesh::from(shape::Cube { size: 0.1 })),
+            material: materials.add(Color::rgb(0.8, 0.7, 0.6).into()),
+            transform: Transform::from_xyz(0.0, 0.5, 0.0),
+            ..default()
+        },
+        RigidBody::Dynamic,
+        Collider::cuboid(0.05, 0.05, 0.05),
+        ColliderDebugColor(Color::hsl(220.0, 1.0, 0.3)),
+        XRInteractable,
+        XRInteractableState::default(),
+        Grabbable,
+        Touched(false),
+    ));
 
     // light
     commands.spawn(PointLightBundle {
@@ -42,4 +74,45 @@ pub fn setup_scene(
         ),
         ..default()
     },));
-}
+}
+
+pub fn setup_physics(mut commands: Commands) {
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    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;
+    let mut color = 0;
+    let colors = [
+        Color::hsl(220.0, 1.0, 0.3),
+        Color::hsl(180.0, 1.0, 0.3),
+        Color::hsl(260.0, 1.0, 0.7),
+    ];
+
+    for j in 0usize..20 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift - centerx + offset;
+                let y = j as f32 * shift + centery + 3.0;
+                let z = k as f32 * shift - centerz + offset;
+                color += 1;
+
+                commands.spawn((
+                    TransformBundle::from(Transform::from_xyz(x, y, z)),
+                    RigidBody::Dynamic,
+                    Collider::cuboid(rad, rad, rad),
+                    ColliderDebugColor(colors[color % 3]),
+                ));
+            }
+        }
+
+        offset -= 0.05 * rad * (num as f32 - 1.0);
+    }
+}