public static PlanarRegionsList generateStairCase(Vector3D translationVector, Vector3D rotationVector) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.translate(translationVector); int numberOfSteps = 5; double length = 0.4; double width = 0.8; double height = 0.1; generator.translate(length * numberOfSteps / 2.0, 0.0, 0.001); generator.addRectangle(1.2 * length * numberOfSteps, 1.2 * width); generator.identity(); generator.translate(translationVector); generator.translate(length, 0.0, 0.0); generator.rotateEuler(rotationVector); for (int i = 0; i < numberOfSteps; i++) { generator.addCubeReferencedAtBottomMiddle(length, width, height); generator.translate(length, 0.0, 0.0); height = height + 0.1; } PlanarRegionsList planarRegionsList = generator.getPlanarRegionsList(); return planarRegionsList; }