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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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78
examples3d/vehicle_controller3.rs
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@@ -17,7 +17,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 5.0;
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 floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let hw = 0.3;
let hh = 0.15;
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 1.0, 0.0]);
let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(0.0, 1.0, 0.0));
let vehicle_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(hw * 2.0, hh, hw).density(100.0);
colliders.insert_with_parent(collider, vehicle_handle, &mut bodies);
@@ -39,14 +39,14 @@ pub fn init_world(testbed: &mut Testbed) {
};
let mut vehicle = DynamicRayCastVehicleController::new(vehicle_handle);
let wheel_positions = [
point![hw * 1.5, -hh, hw],
point![hw * 1.5, -hh, -hw],
point![-hw * 1.5, -hh, hw],
point![-hw * 1.5, -hh, -hw],
Vector::new(hw * 1.5, -hh, hw),
Vector::new(hw * 1.5, -hh, -hw),
Vector::new(-hw * 1.5, -hh, hw),
Vector::new(-hw * 1.5, -hh, -hw),
];
for pos in wheel_positions {
vehicle.add_wheel(pos, -Vector::y(), Vector::z(), hh, hh / 4.0, &tuning);
vehicle.add_wheel(pos, -Vector::Y, Vector::Z, hh, hh / 4.0, &tuning);
}
/*
@@ -66,7 +66,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery;
let z = k as f32 * shift + centerx;
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);
@@ -80,8 +80,12 @@ pub fn init_world(testbed: &mut Testbed) {
let slope_angle = 0.2;
let slope_size = 2.0;
let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
.translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0])
.rotation(Vector::z() * slope_angle);
.translation(Vector::new(
ground_size + slope_size,
-ground_height + 0.4,
0.0,
))
.rotation(Vector::Z * slope_angle);
colliders.insert(collider);
/*
@@ -90,73 +94,33 @@ pub fn init_world(testbed: &mut Testbed) {
let impossible_slope_angle = 0.9;
let impossible_slope_size = 2.0;
let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
.translation(vector![
.translation(Vector::new(
ground_size + slope_size * 2.0 + impossible_slope_size - 0.9,
-ground_height + 2.3,
0.0
])
.rotation(Vector::z() * impossible_slope_angle);
0.0,
))
.rotation(Vector::Z * impossible_slope_angle);
colliders.insert(collider);
// /*
// * Create a moving platform.
// */
// let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 1.5, 0.0]);
// // .rotation(-0.3);
// let platform_handle = bodies.insert(body);
// let collider = ColliderBuilder::cuboid(2.0, ground_height, 2.0);
// colliders.insert_with_parent(collider, platform_handle, &mut bodies);
/*
* More complex ground.
*/
let ground_size = Vector::new(10.0, 0.4, 10.0);
let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
let heights = Array2::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
-(i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos()
- (j as f32 * ground_size.z / (nsubdivs as f32) / 2.0).cos()
});
let collider =
ColliderBuilder::heightfield(heights, ground_size).translation(vector![-7.0, 0.0, 0.0]);
ColliderBuilder::heightfield(heights, ground_size).translation(Vector::new(-7.0, 0.0, 0.0));
colliders.insert(collider);
// /*
// * A tilting dynamic body with a limited joint.
// */
// let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0, 0.0]);
// let ground_handle = bodies.insert(ground);
// let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
// let handle = bodies.insert(body);
// let collider = ColliderBuilder::cuboid(1.0, 0.1, 2.0);
// colliders.insert_with_parent(collider, handle, &mut bodies);
// let joint = RevoluteJointBuilder::new(Vector::z_axis()).limits([-0.3, 0.3]);
// impulse_joints.insert(ground_handle, handle, joint, true);
// /*
// * Setup a callback to move the platform.
// */
// testbed.add_callback(move |_, physics, _, run_state| {
// let linvel = vector![
// (run_state.time * 2.0).sin() * 2.0,
// (run_state.time * 5.0).sin() * 1.5,
// 0.0
// ];
// // let angvel = run_state.time.sin() * 0.5;
//
// // Update the velocity-based kinematic body by setting its velocity.
// if let Some(platform) = physics.bodies.get_mut(platform_handle) {
// platform.set_linvel(linvel, true);
// // NOTE: interaction with rotating platforms isn’t handled very well yet.
// // platform.set_angvel(angvel, true);
// }
// });
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.set_vehicle_controller(vehicle);
testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin());
testbed.look_at(Vec3::new(10.0, 10.0, 10.0), Vec3::ZERO);
}