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/stacks3.rs

@@ -0,0 +1,180 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+fn create_tower_circle(
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    offset: Vec3,
+    stack_height: usize,
+    nsubdivs: usize,
+    half_extents: Vec3,
+) {
+    let ang_step = std::f32::consts::PI * 2.0 / nsubdivs as f32;
+    let radius = 1.3 * nsubdivs as f32 * half_extents.x / std::f32::consts::PI;
+
+    let shift = half_extents * 2.0;
+    for i in 0usize..stack_height {
+        for j in 0..nsubdivs {
+            let fj = j as f32;
+            let fi = i as f32;
+            let y = fi * shift.y;
+            let pos = Pose3::new(offset, Vec3::Y * (fi / 2.0 + fj) * ang_step)
+                .prepend_translation(Vec3::new(0.0, y, radius));
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::dynamic().pose(pos);
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
+            colliders.insert_with_parent(collider, handle, bodies);
+        }
+    }
+}
+
+fn create_wall(
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    offset: Vec3,
+    stack_height: usize,
+    half_extents: Vec3,
+) {
+    let shift = half_extents * 2.0;
+    for i in 0usize..stack_height {
+        for j in i..stack_height {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = offset.x;
+            let y = fi * shift.y + offset.y;
+            let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
+                - stack_height as f32 * half_extents.z;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vec3::new(x, y, z));
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
+            colliders.insert_with_parent(collider, handle, bodies);
+        }
+    }
+}
+
+fn create_pyramid(
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    offset: Vec3,
+    stack_height: usize,
+    half_extents: Vec3,
+) {
+    let shift = half_extents * 2.0;
+
+    for i in 0usize..stack_height {
+        for j in i..stack_height {
+            for k in i..stack_height {
+                let fi = i as f32;
+                let fj = j as f32;
+                let fk = k as f32;
+                let x = (fi * shift.x / 2.0) + (fk - fi) * shift.x + offset.x
+                    - stack_height as f32 * half_extents.x;
+                let y = fi * shift.y + offset.y;
+                let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
+                    - stack_height as f32 * half_extents.z;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::dynamic().translation(Vec3::new(x, y, z));
+                let handle = bodies.insert(rigid_body);
+                let collider =
+                    ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
+                colliders.insert_with_parent(collider, handle, bodies);
+            }
+        }
+    }
+}
+
+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 = 200.0;
+    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 cube_size = 1.0;
+    let hext = Vec3::splat(cube_size);
+    let bottomy = cube_size * 50.0;
+    create_pyramid(
+        &mut bodies,
+        &mut colliders,
+        Vec3::new(-110.0, bottomy, 0.0),
+        12,
+        hext,
+    );
+    create_pyramid(
+        &mut bodies,
+        &mut colliders,
+        Vec3::new(-80.0, bottomy, 0.0),
+        12,
+        hext,
+    );
+    create_pyramid(
+        &mut bodies,
+        &mut colliders,
+        Vec3::new(-50.0, bottomy, 0.0),
+        12,
+        hext,
+    );
+    create_pyramid(
+        &mut bodies,
+        &mut colliders,
+        Vec3::new(-20.0, bottomy, 0.0),
+        12,
+        hext,
+    );
+    create_wall(
+        &mut bodies,
+        &mut colliders,
+        Vec3::new(-2.0, bottomy, 0.0),
+        12,
+        hext,
+    );
+    create_wall(
+        &mut bodies,
+        &mut colliders,
+        Vec3::new(4.0, bottomy, 0.0),
+        12,
+        hext,
+    );
+    create_wall(
+        &mut bodies,
+        &mut colliders,
+        Vec3::new(10.0, bottomy, 0.0),
+        12,
+        hext,
+    );
+    create_tower_circle(
+        &mut bodies,
+        &mut colliders,
+        Vec3::new(25.0, bottomy, 0.0),
+        8,
+        24,
+        hext,
+    );
+
+    /*
+     * 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);
+}