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/keva3.rs

@@ -0,0 +1,126 @@
+use kiss3d::color::Color;
+use rapier_testbed3d::Testbed;
+use rapier3d::glamx::Vec3Swizzles;
+use rapier3d::prelude::*;
+
+pub fn build_block(
+    testbed: &mut Testbed,
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    half_extents: Vec3,
+    shift: Vec3,
+    (mut numx, numy, mut numz): (usize, usize, usize),
+) {
+    let dimensions = [half_extents.xyz(), half_extents.zyx()];
+    let block_width = 2.0 * half_extents.z * numx as f32;
+    let block_height = 2.0 * half_extents.y * numy as f32;
+    let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
+    let mut color0 = Color::new(0.7, 0.5, 0.9, 1.0);
+    let mut color1 = Color::new(0.6, 1.0, 0.6, 1.0);
+
+    for i in 0..numy {
+        std::mem::swap(&mut numx, &mut numz);
+        let dim = dimensions[i % 2];
+        let y = dim.y * i as f32 * 2.0;
+
+        for j in 0..numx {
+            let x = if i % 2 == 0 {
+                spacing * j as f32 * 2.0
+            } else {
+                dim.x * j as f32 * 2.0
+            };
+
+            for k in 0..numz {
+                let z = if i % 2 == 0 {
+                    dim.z * k as f32 * 2.0
+                } else {
+                    spacing * k as f32 * 2.0
+                };
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::dynamic().translation(Vec3::new(
+                    x + dim.x + shift.x,
+                    y + dim.y + shift.y,
+                    z + dim.z + shift.z,
+                ));
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z);
+                colliders.insert_with_parent(collider, handle, bodies);
+
+                testbed.set_initial_body_color(handle, color0);
+                std::mem::swap(&mut color0, &mut color1);
+            }
+        }
+    }
+
+    // Close the top.
+    let dim = half_extents.zxy();
+
+    for i in 0..(block_width / (dim.x * 2.0)) as usize {
+        for j in 0..(block_width / (dim.z * 2.0)) as usize {
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vec3::new(
+                i as f32 * dim.x * 2.0 + dim.x + shift.x,
+                dim.y + shift.y + block_height,
+                j as f32 * dim.z * 2.0 + dim.z + shift.z,
+            ));
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z);
+            colliders.insert_with_parent(collider, handle, bodies);
+            testbed.set_initial_body_color(handle, color0);
+            std::mem::swap(&mut color0, &mut color1);
+        }
+    }
+}
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 50.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vec3::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);
+
+    /*
+     * Create the cubes
+     */
+    let half_extents = Vec3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
+    let mut block_height = 0.0;
+    // These should only be set to odd values otherwise
+    // the blocks won't align in the nicest way.
+    let numy = [0, 9, 13, 17, 21, 41];
+
+    for i in (1..=5).rev() {
+        let numx = i;
+        let numy = numy[i];
+        let numz = numx * 3 + 1;
+        let block_width = numx as f32 * half_extents.z * 2.0;
+        build_block(
+            testbed,
+            &mut bodies,
+            &mut colliders,
+            half_extents,
+            Vec3::new(-block_width / 2.0, block_height, -block_width / 2.0),
+            (numx, numy, numz),
+        );
+        block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec3::new(100.0, 100.0, 100.0), Vec3::ZERO);
+}