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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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79
examples3d/voxels3.rs
View File

@@ -1,3 +1,4 @@
use kiss3d::color::Color;
use obj::raw::object::Polygon;
use rapier_testbed3d::KeyCode;
use rapier_testbed3d::Testbed;
@@ -57,7 +58,7 @@ pub fn init_world(testbed: &mut Testbed) {
let shift = 7.0f32;
for (igeom, obj_path) in geoms.into_iter().enumerate() {
let deltas = Isometry::identity();
let deltas = Pose::IDENTITY;
let mut shapes = Vec::new();
println!("Parsing and decomposing: {obj_path}");
@@ -65,10 +66,10 @@ pub fn init_world(testbed: &mut Testbed) {
let input = BufReader::new(File::open(obj_path).unwrap());
if let Ok(model) = obj::raw::parse_obj(input) {
let mut vertices: Vec<_> = model
let mut vertices: Vec<Vector> = model
.positions
.iter()
.map(|v| point![v.0, v.1, v.2])
.map(|v| Vector::new(v.0, v.1, v.2))
.collect();
let indices: Vec<_> = model
.polygons
@@ -91,11 +92,12 @@ pub fn init_world(testbed: &mut Testbed) {
let aabb =
bounding_volume::details::point_cloud_aabb(&deltas, vertices.iter().copied());
let center = aabb.center();
let diag = (aabb.maxs - aabb.mins).norm();
let center_v = Vector::new(center.x, center.y, center.z);
let diag = (aabb.maxs - aabb.mins).length();
vertices
.iter_mut()
.for_each(|p| *p = (*p - center.coords) * 6.0 / diag);
.for_each(|p| *p = (*p - center_v) * 6.0 / diag);
let indices: Vec<_> = indices
.chunks(3)
@@ -112,7 +114,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = (igeom / width) as f32 * shift + 4.0;
let z = k as f32 * shift - 3.0;
let body = RigidBodyBuilder::fixed().translation(vector![x, y, z]);
let body = RigidBodyBuilder::fixed().translation(Vector::new(x, y, z));
let handle = bodies.insert(body);
for shape in &shapes {
@@ -127,7 +129,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Create a voxelized wavy floor.
*/
let mut samples = vec![];
let mut samples: Vec<Vector> = vec![];
let n = 200;
for i in 0..n {
for j in 0..n {
@@ -135,12 +137,16 @@ pub fn init_world(testbed: &mut Testbed) {
* (j as f32 / n as f32 * 10.0).cos().clamp(-0.8, 0.8)
* 16.0;
samples.push(point![i as f32, y * voxel_size_y, j as f32]);
samples.push(Vector::new(i as f32, y * voxel_size_y, j as f32));
if i == 0 || i == n - 1 || j == 0 || j == n - 1 {
// Create walls so the object at the edge don’t fall into the infinite void.
// Create walls so the object at the edge don't fall into the infinite void.
for k in 0..4 {
samples.push(point![i as f32, (y + k as f32) * voxel_size_y, j as f32]);
samples.push(Vector::new(
i as f32,
(y + k as f32) * voxel_size_y,
j as f32,
));
}
}
}
@@ -159,13 +165,13 @@ pub fn init_world(testbed: &mut Testbed) {
for i in 0..nik {
for j in 0..5 {
for k in 0..nik {
let mut rb = RigidBodyBuilder::dynamic().translation(vector![
let mut rb = RigidBodyBuilder::dynamic().translation(Vector::new(
floor_aabb.mins.x + margin.x + i as f32 * extents.x / nik as f32,
floor_aabb.maxs.y + j as f32 * 2.0,
floor_aabb.mins.z + margin.z + k as f32 * extents.z / nik as f32,
]);
));
if test_ccd {
rb = rb.linvel(vector![0.0, -1000.0, 0.0]).ccd_enabled(true);
rb = rb.linvel(Vector::new(0.0, -1000.0, 0.0)).ccd_enabled(true);
}
let rb_handle = bodies.insert(rb);
@@ -197,8 +203,8 @@ pub fn init_world(testbed: &mut Testbed) {
let hit_highlight_handle = colliders.insert(
ColliderBuilder::cuboid(0.51, 0.51, 0.51).collision_groups(InteractionGroups::none()),
);
testbed.set_initial_collider_color(hit_indicator_handle, [0.5, 0.5, 0.1]);
testbed.set_initial_collider_color(hit_highlight_handle, [0.1, 0.5, 0.1]);
testbed.set_initial_collider_color(hit_indicator_handle, Color::new(0.5, 0.5, 0.1, 1.0));
testbed.set_initial_collider_color(hit_highlight_handle, Color::new(0.1, 0.5, 0.1, 1.0));
testbed.add_callback(move |graphics, physics, _, _| {
let Some(graphics) = graphics else { return };
@@ -206,7 +212,10 @@ pub fn init_world(testbed: &mut Testbed) {
return;
};
let ray = Ray::new(mouse_orig, mouse_dir);
let ray = Ray::new(
Vector::new(mouse_orig.x, mouse_orig.y, mouse_orig.z),
Vector::new(mouse_dir.x, mouse_dir.y, mouse_dir.z),
);
let filter = QueryFilter {
predicate: Some(&|_, co: &Collider| co.shape().as_voxels().is_some()),
..Default::default()
@@ -221,35 +230,35 @@ pub fn init_world(testbed: &mut Testbed) {
if let Some((handle, hit)) = query_pipeline.cast_ray_and_get_normal(&ray, Real::MAX, true) {
// Highlight the voxel.
let hit_collider = &physics.colliders[handle];
let hit_local_normal = hit_collider
.position()
.inverse_transform_vector(&hit.normal);
let hit_pos = hit_collider.position();
let hit_local_normal = hit_pos.rotation.inverse() * hit.normal;
let voxels = hit_collider.shape().as_voxels().unwrap();
let FeatureId::Face(id) = hit.feature else {
unreachable!()
};
let voxel_key = voxels.voxel_at_flat_id(id).unwrap();
let voxel_center = hit_collider.position() * voxels.voxel_center(voxel_key);
let voxel_center_local = voxels.voxel_center(voxel_key);
let voxel_center = hit_pos.rotation * voxel_center_local + hit_pos.translation;
let voxel_size = voxels.voxel_size();
let hit_highlight = physics.colliders.get_mut(hit_highlight_handle).unwrap();
hit_highlight.set_translation(voxel_center.coords);
hit_highlight.set_translation(voxel_center);
hit_highlight
.shape_mut()
.as_cuboid_mut()
.unwrap()
.half_extents = voxel_size / 2.0 + Vector::repeat(0.001);
.half_extents = voxel_size / 2.0 + Vector::splat(0.001);
graphics.update_collider(hit_highlight_handle, &physics.colliders);
// Show the hit point.
let hit_pt = ray.point_at(hit.time_of_impact);
let hit_indicator = physics.colliders.get_mut(hit_indicator_handle).unwrap();
hit_indicator.set_translation(hit_pt.coords);
hit_indicator.shape_mut().as_ball_mut().unwrap().radius = voxel_size.norm() / 3.5;
hit_indicator.set_translation(hit_pt);
hit_indicator.shape_mut().as_ball_mut().unwrap().radius = voxel_size.length() / 3.5;
graphics.update_collider(hit_indicator_handle, &physics.colliders);
// If a relevant key was pressed, edit the shape.
if graphics.keys().pressed(KeyCode::Space) {
let removal_mode = graphics.keys().pressed(KeyCode::ShiftLeft);
let removal_mode = graphics.keys().pressed(KeyCode::LShift);
let voxels = physics
.colliders
.get_mut(handle)
@@ -260,8 +269,17 @@ pub fn init_world(testbed: &mut Testbed) {
let mut affected_key = voxel_key;
if !removal_mode {
let imax = hit_local_normal.iamax();
if hit_local_normal[imax] >= 0.0 {
// Find index of max absolute value component
let abs_normal = hit_local_normal.abs();
let imax = if abs_normal.x >= abs_normal.y && abs_normal.x >= abs_normal.z {
0
} else if abs_normal.y >= abs_normal.z {
1
} else {
2
};
let normal_arr = [hit_local_normal.x, hit_local_normal.y, hit_local_normal.z];
if normal_arr[imax] >= 0.0 {
affected_key[imax] += 1;
} else {
affected_key[imax] -= 1;
@@ -274,10 +292,11 @@ pub fn init_world(testbed: &mut Testbed) {
} else {
// When there is no hit, move the indicators behind the camera.
let behind_camera = mouse_orig - mouse_dir * 1000.0;
let behind_camera_vect = Vector::new(behind_camera.x, behind_camera.y, behind_camera.z);
let hit_indicator = physics.colliders.get_mut(hit_indicator_handle).unwrap();
hit_indicator.set_translation(behind_camera.coords);
hit_indicator.set_translation(behind_camera_vect);
let hit_highlight = physics.colliders.get_mut(hit_highlight_handle).unwrap();
hit_highlight.set_translation(behind_camera.coords);
hit_highlight.set_translation(behind_camera_vect);
}
});
@@ -285,7 +304,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
testbed.look_at(Vec3::new(100.0, 100.0, 100.0), Vec3::ZERO);
}
fn models() -> Vec<String> {