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-f64/Cargo.toml

@@ -7,8 +7,8 @@ default-run = "all_examples3-f64"
 
 [features]
 parallel = ["rapier3d-f64/parallel", "rapier_testbed3d-f64/parallel"]
-simd-stable = ["rapier3d-f64/simd-stable"]
-simd-nightly = ["rapier3d-f64/simd-nightly"]
+#simd-stable = ["rapier3d-f64/simd-stable"]
+#simd-nightly = ["rapier3d-f64/simd-nightly"]
 enhanced-determinism = ["rapier3d-f64/enhanced-determinism"]
 
 [dependencies]
@@ -18,6 +18,7 @@ wasm-bindgen = "0.2"
 obj-rs = { version = "0.7", default-features = false }
 bincode = "1"
 serde = "1"
+kiss3d = { version = "0.40.0", features = ["egui", "parry", "serde"] }
 
 [dependencies.rapier_testbed3d-f64]
 path = "../crates/rapier_testbed3d-f64"

examples3d-f64/all_examples3-f64.rs

@@ -5,26 +5,22 @@ use wasm_bindgen::prelude::*;
 extern crate rapier3d_f64 as rapier3d;
 extern crate rapier_testbed3d_f64 as rapier_testbed3d;
 
-use rapier_testbed3d::{Testbed, TestbedApp};
-use std::cmp::Ordering;
+use rapier_testbed3d::{Example, TestbedApp};
 
 mod debug_serialized3;
 mod trimesh3_f64;
 
-#[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
-pub fn main() {
-    let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
-        ("Trimesh", trimesh3_f64::init_world),
-        ("(Debug) serialized", debug_serialized3::init_world),
+#[kiss3d::main]
+pub async fn main() {
+    let builders: Vec<_> = vec![
+        Example::new("Demos f64", "Trimesh", trimesh3_f64::init_world),
+        Example::new(
+            "Demos f64",
+            "(Debug) serialized",
+            debug_serialized3::init_world,
+        ),
     ];
 
-    // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
-        (true, true) | (false, false) => a.0.cmp(b.0),
-        (true, false) => Ordering::Greater,
-        (false, true) => Ordering::Less,
-    });
-
     let testbed = TestbedApp::from_builders(builders);
-    testbed.run()
+    testbed.run().await
 }

examples3d-f64/debug_serialized3.rs

@@ -34,6 +34,6 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
     testbed.harness_mut().physics.ccd_solver = state.ccd_solver;
 
-    testbed.set_graphics_shift(vector![-541.0, -6377257.0, -61.0]);
-    testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]);
+    testbed.set_graphics_shift([-541.0, -6377257.0, -61.0].into());
+    testbed.look_at([10.0, 10.0, 10.0].into(), [0.0, 0.0, 0.0].into());
 }

examples3d-f64/trimesh3_f64.rs

@@ -1,4 +1,5 @@
 use rapier_testbed3d::Testbed;
+use rapier3d::glamx::{DVec3, Vec3};
 use rapier3d::na::ComplexField;
 use rapier3d::prelude::*;
 
@@ -14,10 +15,10 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = vector![200.0, 1.0, 200.0];
+    let ground_size = DVec3::new(200.0, 1.0, 200.0);
     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| {
         if i == 0 || i == nsubdivs || j == 0 || j == nsubdivs {
             10.0
         } else {
@@ -60,7 +61,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f64 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(DVec3::new(x, y, z));
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
@@ -78,5 +79,5 @@ 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);
 }