feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy + release v0.32.0 (#909)

* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy

* chore: update changelog

* Fix warnings and tests

* Release v0.32.0

examples2d/stress_tests/joint_prismatic2.rs

@@ -0,0 +1,61 @@
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Create the balls
+     */
+    // Build the rigid body.
+    let rad = 0.4;
+    let num = 10;
+    let shift = 1.0;
+
+    for l in 0..25 {
+        let y = l as f32 * shift * (num as f32 + 2.0) * 2.0;
+
+        for j in 0..50 {
+            let x = j as f32 * shift * 4.0;
+
+            let ground = RigidBodyBuilder::fixed().translation(Vec2::new(x, y));
+            let mut curr_parent = bodies.insert(ground);
+            let collider = ColliderBuilder::cuboid(rad, rad);
+            colliders.insert_with_parent(collider, curr_parent, &mut bodies);
+
+            for i in 0..num {
+                let y = y - (i + 1) as f32 * shift;
+                let density = 1.0;
+                let rigid_body = RigidBodyBuilder::dynamic().translation(Vec2::new(x, y));
+                let curr_child = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::cuboid(rad, rad).density(density);
+                colliders.insert_with_parent(collider, curr_child, &mut bodies);
+
+                let axis = if i % 2 == 0 {
+                    Vec2::new(1.0, 1.0).normalize()
+                } else {
+                    Vec2::new(-1.0, 1.0).normalize()
+                };
+
+                let prism = PrismaticJointBuilder::new(axis)
+                    .local_anchor2(Vec2::new(0.0, shift))
+                    .limits([-1.5, 1.5]);
+                impulse_joints.insert(curr_parent, curr_child, prism, true);
+
+                curr_parent = curr_child;
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(80.0, 80.0), 15.0);
+}