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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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4
crates/rapier3d-meshloader/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier3d-meshloader"
version = "0.12.0"
version = "0.13.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "STL file loader for the 3D rapier physics engine."
documentation = "https://docs.rs/rapier3d-meshloader"
@@ -29,4 +29,4 @@ thiserror = "2"
profiling = "1.0"
mesh-loader = "0.1.12"
rapier3d = { version = "0.31.0", path = "../rapier3d" }
rapier3d = { version = "0.32.0", path = "../rapier3d" }

19
crates/rapier3d-meshloader/src/lib.rs
View File

@@ -3,7 +3,7 @@
use mesh_loader::Mesh;
use rapier3d::geometry::{MeshConverter, SharedShape};
use rapier3d::math::{Isometry, Point, Real, Vector};
use rapier3d::math::{Pose, Vector};
use rapier3d::prelude::MeshConverterError;
use std::path::Path;
@@ -11,8 +11,8 @@ use std::path::Path;
pub struct LoadedShape {
/// The shape loaded from the file and converted by the [`MeshConverter`].
pub shape: SharedShape,
/// The shape’s pose.
pub pose: Isometry<Real>,
/// The shape's pose.
pub pose: Pose,
/// The raw mesh read from the file without any modification.
pub raw_mesh: Mesh,
}
@@ -41,7 +41,7 @@ pub enum MeshLoaderError {
pub fn load_from_path(
path: impl AsRef<Path>,
converter: &MeshConverter,
scale: Vector<Real>,
scale: Vector,
) -> Result<Vec<Result<LoadedShape, MeshConverterError>>, MeshLoaderError> {
let loader = mesh_loader::Loader::default();
let mut colliders = vec![];
@@ -71,16 +71,13 @@ pub fn load_from_path(
pub fn load_from_raw_mesh(
raw_mesh: &Mesh,
converter: &MeshConverter,
scale: Vector<Real>,
) -> Result<(SharedShape, Isometry<Real>), MeshConverterError> {
let mut vertices: Vec<_> = raw_mesh
scale: Vector,
) -> Result<(SharedShape, Pose), MeshConverterError> {
let vertices: Vec<_> = raw_mesh
.vertices
.iter()
.map(|xyz| Point::new(xyz[0], xyz[1], xyz[2]))
.map(|xyz| Vector::new(xyz[0], xyz[1], xyz[2]) * scale)
.collect();
vertices
.iter_mut()
.for_each(|pt| pt.coords.component_mul_assign(&scale));
let indices: Vec<_> = raw_mesh.faces.clone();
converter.convert(vertices, indices)
}