diff --git a/examples/files.json b/examples/files.json
index 2b1c3c0daf4546..9ccbf698997bb4 100644
--- a/examples/files.json
+++ b/examples/files.json
@@ -391,7 +391,8 @@
"physics_ammo_rope",
"physics_ammo_terrain",
"physics_ammo_volume",
- "physics_oimo_instancing"
+ "physics_oimo_instancing",
+ "physics_rapier_instancing"
],
"misc": [
"misc_animation_groups",
diff --git a/examples/jsm/physics/RapierPhysics.js b/examples/jsm/physics/RapierPhysics.js
new file mode 100644
index 00000000000000..6f1e3b937ccdd6
--- /dev/null
+++ b/examples/jsm/physics/RapierPhysics.js
@@ -0,0 +1,237 @@
+async function RapierPhysics( path ) {
+
+ const RAPIER = await import( path );
+
+ await RAPIER.init();
+
+ const frameRate = 60;
+
+ // Docs: https://rapier.rs/docs/api/javascript/JavaScript3D/
+
+ const gravity = { x: 0.0, y: - 9.81, z: 0.0 };
+ const world = new RAPIER.World( gravity );
+
+ function getCollider( geometry ) {
+
+ const parameters = geometry.parameters;
+
+ // TODO change type to is*
+
+ if ( geometry.type === 'BoxGeometry' ) {
+
+ const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5;
+ const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5;
+ const sz = parameters.depth !== undefined ? parameters.depth / 2 : 0.5;
+
+ return RAPIER.ColliderDesc.cuboid( sx, sy, sz );
+
+ } else if ( geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry' ) {
+
+ const radius = parameters.radius !== undefined ? parameters.radius : 1;
+
+ return RAPIER.ColliderDesc.ball( radius );
+
+ }
+
+ return null;
+
+ }
+
+ const meshes = [];
+ const meshMap = new WeakMap();
+
+ function addMesh( mesh, mass = 0, restitution = 0 ) {
+
+ const shape = getCollider( mesh.geometry );
+
+ if ( shape !== null ) {
+
+ shape.setMass( mass );
+ shape.setRestitution( restitution );
+
+ if ( mesh.isInstancedMesh ) {
+
+ handleInstancedMesh( mesh, mass, shape );
+
+ } else if ( mesh.isMesh ) {
+
+ handleMesh( mesh, mass, shape );
+
+ }
+
+ }
+
+ }
+
+ function handleMesh( mesh, mass, shape ) {
+
+ const position = mesh.position;
+ const quaternion = mesh.quaternion;
+
+ const desc = mass > 0 ? RAPIER.RigidBodyDesc.dynamic() : RAPIER.RigidBodyDesc.fixed();
+ desc.setTranslation( position.x, position.y, position.z );
+ desc.setRotation( quaternion );
+
+ const body = world.createRigidBody( desc );
+ world.createCollider( shape, body );
+
+ if ( mass > 0 ) {
+
+ meshes.push( mesh );
+ meshMap.set( mesh, body );
+
+ }
+
+ }
+
+ function handleInstancedMesh( mesh, mass, shape ) {
+
+ const array = mesh.instanceMatrix.array;
+
+ const bodies = [];
+
+ for ( let i = 0; i < mesh.count; i ++ ) {
+
+ const index = i * 16;
+
+ const desc = mass > 0 ? RAPIER.RigidBodyDesc.dynamic() : RAPIER.RigidBodyDesc.fixed();
+ desc.setTranslation( array[ index + 12 ], array[ index + 13 ], array[ index + 14 ] );
+
+ const body = world.createRigidBody( desc );
+ world.createCollider( shape, body );
+
+ bodies.push( body );
+
+ }
+
+ if ( mass > 0 ) {
+
+ meshes.push( mesh );
+ meshMap.set( mesh, bodies );
+
+ }
+
+ }
+
+ const vector = { x: 0, y: 0, z: 0 };
+
+ function setMeshPosition( mesh, position, index = 0 ) {
+
+ if ( mesh.isInstancedMesh ) {
+
+ const bodies = meshMap.get( mesh );
+ const body = bodies[ index ];
+
+ body.setAngvel( vector );
+ body.setLinvel( vector );
+ body.setTranslation( position );
+
+ } else if ( mesh.isMesh ) {
+
+ const body = meshMap.get( mesh );
+
+ body.setAngvel( vector );
+ body.setLinvel( vector );
+ body.setTranslation( position );
+
+ }
+
+ }
+
+ //
+
+ let lastTime = 0;
+
+ function step() {
+
+ const time = performance.now();
+
+ if ( lastTime > 0 ) {
+
+ const delta = ( time - lastTime ) / 1000;
+
+ world.timestep = delta;
+ world.step();
+
+ for ( let i = 0, l = meshes.length; i < l; i ++ ) {
+
+ const mesh = meshes[ i ];
+
+ if ( mesh.isInstancedMesh ) {
+
+ const array = mesh.instanceMatrix.array;
+ const bodies = meshMap.get( mesh );
+
+ for ( let j = 0; j < bodies.length; j ++ ) {
+
+ const body = bodies[ j ];
+
+ const position = body.translation();
+ const quaternion = body.rotation();
+
+ compose( position, quaternion, array, j * 16 );
+
+ }
+
+ mesh.instanceMatrix.needsUpdate = true;
+ mesh.computeBoundingSphere();
+
+ } else if ( mesh.isMesh ) {
+
+ const body = meshMap.get( mesh );
+
+ mesh.position.copy( body.translation() );
+ mesh.quaternion.copy( body.rotation() );
+
+ }
+
+ }
+
+ }
+
+ lastTime = time;
+
+ }
+
+ // animate
+
+ setInterval( step, 1000 / frameRate );
+
+ return {
+ addMesh: addMesh,
+ setMeshPosition: setMeshPosition
+ };
+
+}
+
+function compose( position, quaternion, array, index ) {
+
+ const x = quaternion.x, y = quaternion.y, z = quaternion.z, w = quaternion.w;
+ const x2 = x + x, y2 = y + y, z2 = z + z;
+ const xx = x * x2, xy = x * y2, xz = x * z2;
+ const yy = y * y2, yz = y * z2, zz = z * z2;
+ const wx = w * x2, wy = w * y2, wz = w * z2;
+
+ array[ index + 0 ] = ( 1 - ( yy + zz ) );
+ array[ index + 1 ] = ( xy + wz );
+ array[ index + 2 ] = ( xz - wy );
+ array[ index + 3 ] = 0;
+
+ array[ index + 4 ] = ( xy - wz );
+ array[ index + 5 ] = ( 1 - ( xx + zz ) );
+ array[ index + 6 ] = ( yz + wx );
+ array[ index + 7 ] = 0;
+
+ array[ index + 8 ] = ( xz + wy );
+ array[ index + 9 ] = ( yz - wx );
+ array[ index + 10 ] = ( 1 - ( xx + yy ) );
+ array[ index + 11 ] = 0;
+
+ array[ index + 12 ] = position.x;
+ array[ index + 13 ] = position.y;
+ array[ index + 14 ] = position.z;
+ array[ index + 15 ] = 1;
+
+}
+
+export { RapierPhysics };
\ No newline at end of file
diff --git a/examples/physics_rapier_instancing.html b/examples/physics_rapier_instancing.html
new file mode 100644
index 00000000000000..2baf60985e1d59
--- /dev/null
+++ b/examples/physics_rapier_instancing.html
@@ -0,0 +1,171 @@
+
+
+
+ three.js physics - rapier3d instancing
+
+
+
+
+
+
+
+
three.js physics - rapier3d instancing
+