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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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23
examples3d/domino3.rs
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@@ -1,3 +1,4 @@
use kiss3d::color::Color;
use rapier_testbed3d::Testbed;
use rapier3d::prelude::*;
@@ -16,7 +17,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 200.1;
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);
@@ -28,7 +29,10 @@ pub fn init_world(testbed: &mut Testbed) {
let width = 1.0;
let thickness = 0.1;
let colors = [[0.7, 0.5, 0.9], [0.6, 1.0, 0.6]];
let colors = [
Color::new(0.7, 0.5, 0.9, 1.0),
Color::new(0.6, 1.0, 0.6, 1.0),
];
let mut curr_angle = 0.0;
let mut curr_rad = 10.0;
@@ -47,12 +51,13 @@ pub fn init_world(testbed: &mut Testbed) {
let tilt = if nudged || i == num - 1 { 0.2 } else { 0.0 };
if skip == 0 {
let rot = Rotation::new(Vector::y() * curr_angle);
let tilt = Rotation::new(rot * Vector::z() * tilt);
let position =
Translation::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
* tilt
* rot;
let rot = Rotation::from_rotation_y(curr_angle);
let tilt_axis = rot * Vector::Z;
let tilt_rot = Rotation::from_axis_angle(tilt_axis, tilt);
let position = Pose::from_parts(
Vector::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad),
tilt_rot * rot,
);
let rigid_body = RigidBodyBuilder::dynamic().pose(position);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width);
@@ -73,5 +78,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
testbed.look_at(Vec3::new(100.0, 100.0, 100.0), Vec3::ZERO);
}