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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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38
examples3d/debug_prismatic3.rs
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@@ -5,46 +5,38 @@ fn prismatic_repro(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
box_center: Point<f32>,
box_center: Vector,
) {
let box_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
box_center.x,
box_center.y,
box_center.z
]));
let box_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(box_center));
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 0.25, 1.0), box_rb, bodies);
let wheel_y = -1.0;
let wheel_positions = vec![
vector![1.0, wheel_y, -1.0],
vector![-1.0, wheel_y, -1.0],
vector![1.0, wheel_y, 1.0],
vector![-1.0, wheel_y, 1.0],
Vector::new(1.0, wheel_y, -1.0),
Vector::new(-1.0, wheel_y, -1.0),
Vector::new(1.0, wheel_y, 1.0),
Vector::new(-1.0, wheel_y, 1.0),
];
for pos in wheel_positions {
let wheel_pos_in_world = box_center + pos;
let wheel_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
wheel_pos_in_world.x,
wheel_pos_in_world.y,
wheel_pos_in_world.z
]));
let wheel_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(wheel_pos_in_world));
colliders.insert_with_parent(ColliderBuilder::ball(0.5), wheel_rb, bodies);
let (stiffness, damping) = (0.05, 0.2);
let prismatic = PrismaticJointBuilder::new(Vector::y_axis())
.local_anchor1(point![pos.x, pos.y, pos.z])
let prismatic = PrismaticJointBuilder::new(Vector::Y)
.local_anchor1(pos)
.motor_position(0.0, stiffness, damping);
impulse_joints.insert(box_rb, wheel_rb, prismatic, true);
}
// put a small box under one of the wheels
let gravel = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
let gravel = bodies.insert(RigidBodyBuilder::dynamic().translation(Vector::new(
box_center.x + 1.0,
box_center.y - 2.4,
-1.0
]));
-1.0,
)));
colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.1, 0.5), gravel, bodies);
}
@@ -63,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height, 0.0));
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -72,12 +64,12 @@ pub fn init_world(testbed: &mut Testbed) {
&mut bodies,
&mut colliders,
&mut impulse_joints,
point![0.0, 5.0, 0.0],
Vector::new(0.0, 5.0, 0.0),
);
/*
* 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);
}