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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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31
examples3d/platform3.rs
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@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 10.0;
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);
@@ -40,7 +40,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y, z));
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Setup a velocity-based kinematic rigid body.
*/
let platform_body =
RigidBodyBuilder::kinematic_velocity_based().translation(vector![0.0, 1.5 + 0.8, 0.0]);
RigidBodyBuilder::kinematic_velocity_based().translation(Vector::new(0.0, 1.5 + 0.8, 0.0));
let velocity_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
@@ -60,11 +60,11 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a position-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::kinematic_position_based().translation(vector![
let platform_body = RigidBodyBuilder::kinematic_position_based().translation(Vector::new(
0.0,
3.0 + 1.5 + 0.8,
0.0
]);
0.0,
));
let position_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0);
colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
@@ -73,25 +73,24 @@ pub fn init_world(testbed: &mut Testbed) {
* Setup a callback to control the platform.
*/
testbed.add_callback(move |_, physics, _, run_state| {
let velocity = vector![
let velocity = Vector::new(
0.0,
(run_state.time * 2.0).cos(),
run_state.time.sin() * 2.0
];
run_state.time.sin() * 2.0,
);
// Update the velocity-based kinematic body by setting its velocity.
if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
platform.set_linvel(velocity, true);
platform.set_angvel(vector![0.0, 1.0, 0.0], true);
platform.set_angvel(Vector::new(0.0, 1.0, 0.0), true);
}
// Update the position-based kinematic body by setting its next position.
if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
let mut next_tra = *platform.translation();
let mut next_rot = *platform.rotation();
next_tra += -velocity * physics.integration_parameters.dt;
next_rot = Rotation::new(vector![0.0, -0.5 * physics.integration_parameters.dt, 0.0])
* next_rot;
let next_tra = platform.translation() + (-velocity * physics.integration_parameters.dt);
let next_rot = platform.rotation();
let delta_rot = Rotation::from_rotation_y(-0.5 * physics.integration_parameters.dt);
let next_rot = delta_rot * next_rot;
platform.set_next_kinematic_translation(next_tra);
platform.set_next_kinematic_rotation(next_rot);
}
@@ -101,5 +100,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Run the simulation.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![-10.0, 5.0, -10.0], Point::origin());
testbed.look_at(Vec3::new(10.0, 5.0, 10.0), Vec3::ZERO);
}