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

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

* chore: update changelog

* Fix warnings and tests

* Release v0.32.0
This commit is contained in:
Sébastien Crozet
2026-01-09 17:26:36 +01:00
committed by GitHub
parent 48de83817e
commit 0b7c3b34ec
265 changed files with 8501 additions and 8575 deletions
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27
examples3d/debug_articulations3.rs
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@@ -25,11 +25,11 @@ fn create_ball_articulations(
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status).translation(vector![
let rigid_body = RigidBodyBuilder::new(status).translation(Vector::new(
fk * shift,
0.0,
fi * shift * 2.0
]);
fi * shift * 2.0,
));
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad);
colliders.insert_with_parent(collider, child_handle, bodies);
@@ -38,7 +38,7 @@ fn create_ball_articulations(
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint =
SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
SphericalJointBuilder::new().local_anchor2(Vector::new(0.0, 0.0, -shift * 2.0));
multibody_joints.insert(parent_handle, child_handle, joint, true);
}
@@ -46,12 +46,13 @@ fn create_ball_articulations(
if k > 0 && i > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
let joint =
SphericalJointBuilder::new().local_anchor2(Vector::new(-shift, 0.0, 0.0));
// let joint =
// PrismaticJoint::new(Vector::y_axis()).local_anchor2(point![-shift, 0.0, 0.0]);
// let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
// PrismaticJoint::new(Vector::Y).local_anchor2(Vector::new(-shift, 0.0, 0.0));
// let joint = FixedJoint::new().local_anchor2(Vector::new(-shift, 0.0, 0.0));
// let joint =
// RevoluteJoint::new(Vector::x_axis()).local_anchor2(point![-shift, 0.0, 0.0]);
// RevoluteJoint::new(Vector::X).local_anchor2(Vector::new(-shift, 0.0, 0.0));
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
@@ -70,14 +71,14 @@ pub fn init_world(testbed: &mut Testbed) {
let mut multibody_joints = MultibodyJointSet::new();
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
.translation(vector![0.0, -3.02, 0.0])
.rotation(vector![0.1, 0.0, 0.1]);
.translation(Vector::new(0.0, -3.02, 0.0))
.rotation(Vector::new(0.1, 0.0, 0.1));
colliders.insert(collider);
let rigid_body = RigidBodyBuilder::dynamic();
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
.translation(vector![0.0, -3.0, 0.0])
.rotation(vector![0.1, 0.0, 0.1]);
.translation(Vector::new(0.0, -3.0, 0.0))
.rotation(Vector::new(0.1, 0.0, 0.1));
let handle = bodies.insert(rigid_body);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -93,5 +94,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
testbed.look_at(Vec3::new(15.0, 5.0, 42.0), Vec3::new(13.0, 1.0, 1.0));
}