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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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32
examples3d/debug_internal_edges3.rs
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@@ -10,10 +10,13 @@ pub fn init_world(testbed: &mut Testbed) {
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
let heights = DMatrix::zeros(100, 100);
let heightfield =
HeightField::with_flags(heights, vector![60.0, 1.0, 60.0], HeightFieldFlags::all());
let rotation = vector![0.0, 0.0, 0.0]; // vector![-0.1, 0.0, 0.0];
let heights = Array2::zeros(100, 100);
let heightfield = HeightField::with_flags(
heights,
Vector::new(60.0, 1.0, 60.0),
HeightFieldFlags::all(),
);
let rotation = Vector::new(0.0, 0.0, 0.0); // Vector::new(-0.1, 0.0, 0.0);
colliders
.insert(ColliderBuilder::new(SharedShape::new(heightfield.clone())).rotation(rotation));
@@ -29,33 +32,36 @@ pub fn init_world(testbed: &mut Testbed) {
// Dynamic rigid bodies.
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![4.0, 0.5, 0.0])
.linvel(vector![0.0, -40.0, 20.0])
.translation(Vector::new(4.0, 0.5, 0.0))
.linvel(Vector::new(0.0, -40.0, 20.0))
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(0.5);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![-3.0, 5.0, 0.0])
.linvel(vector![0.0, -4.0, 20.0])
.translation(Vector::new(-3.0, 5.0, 0.0))
.linvel(Vector::new(0.0, -4.0, 20.0))
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.5, 0.5, 0.5);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![8.0, 0.2, 0.0])
.linvel(vector![0.0, -4.0, 20.0])
.translation(Vector::new(8.0, 0.2, 0.0))
.linvel(Vector::new(0.0, -4.0, 20.0))
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cylinder(0.5, 0.2).rotation(vector![0.0, 0.0, std::f32::consts::PI / 2.0]);
let collider = ColliderBuilder::cylinder(0.5, 0.2).rotation(Vector::new(
0.0,
0.0,
std::f32::consts::PI / 2.0,
));
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
testbed.look_at(Vec3::new(10.0, 10.0, 10.0), Vec3::ZERO);
}