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

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

* chore: update changelog

* Fix warnings and tests

* Release v0.32.0

examples3d/stress_tests/joint_ball3.rs

@@ -0,0 +1,63 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    let rad = 0.4;
+    let num = 100;
+    let shift = 1.0;
+
+    let mut body_handles = Vec::new();
+
+    for k in 0..num {
+        for i in 0..num {
+            let fk = k as f32;
+            let fi = i as f32;
+
+            let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
+                RigidBodyType::Fixed
+            } else {
+                RigidBodyType::Dynamic
+            };
+
+            let rigid_body =
+                RigidBodyBuilder::new(status).translation(Vec3::new(fk * shift, 0.0, fi * shift));
+            let child_handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::ball(rad);
+            colliders.insert_with_parent(collider, child_handle, &mut bodies);
+
+            // Vertical joint.
+            if i > 0 {
+                let parent_handle = *body_handles.last().unwrap();
+                let joint = SphericalJointBuilder::new().local_anchor2(Vec3::new(0.0, 0.0, -shift));
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
+            }
+
+            // Horizontal joint.
+            if k > 0 {
+                let parent_index = body_handles.len() - num;
+                let parent_handle = body_handles[parent_index];
+                let joint = SphericalJointBuilder::new().local_anchor2(Vec3::new(-shift, 0.0, 0.0));
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
+            }
+
+            body_handles.push(child_handle);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(
+        Vec3::new(-110.0, -46.0, 170.0),
+        Vec3::new(54.0, -38.0, 29.0),
+    );
+}