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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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53
examples2d/character_controller2.rs
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@@ -1,5 +1,6 @@
use crate::utils::character;
use crate::utils::character::CharacterControlMode;
use kiss3d::color::Color;
use rapier_testbed2d::Testbed;
use rapier2d::control::{KinematicCharacterController, PidController};
use rapier2d::prelude::*;
@@ -20,7 +21,7 @@ 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]);
let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -29,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Character we will control manually.
*/
let rigid_body = RigidBodyBuilder::kinematic_position_based()
.translation(vector![-3.0, 5.0])
.translation(Vector::new(-3.0, 5.0))
// The two config below makes the character
// nicer to control with the PID control enabled.
.gravity_scale(10.0)
@@ -37,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
let character_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(0.3, 0.15);
colliders.insert_with_parent(collider, character_handle, &mut bodies);
testbed.set_initial_body_color(character_handle, [0.8, 0.1, 0.1]);
testbed.set_initial_body_color(character_handle, Color::new(0.8, 0.1, 0.1, 1.0));
/*
* Create the cubes
@@ -54,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift + centery;
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -71,7 +72,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = i as f32 * stair_height * 1.5 + 3.0;
let collider = ColliderBuilder::cuboid(stair_width / 2.0, stair_height / 2.0)
.translation(vector![x, y]);
.translation(Vector::new(x, y));
colliders.insert(collider);
}
@@ -81,32 +82,32 @@ 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)
.translation(vector![ground_size + slope_size, -ground_height + 0.4])
.translation(Vector::new(ground_size + slope_size, -ground_height + 0.4))
.rotation(slope_angle);
colliders.insert(collider);
/*
* Create a slope we can’t climb.
* Create a slope we can't climb.
*/
let impossible_slope_angle = 0.9;
let impossible_slope_size = 2.0;
let collider = ColliderBuilder::cuboid(slope_size, ground_height)
.translation(vector![
.translation(Vector::new(
ground_size + slope_size * 2.0 + impossible_slope_size - 0.9,
-ground_height + 2.3
])
-ground_height + 2.3,
))
.rotation(impossible_slope_angle);
colliders.insert(collider);
/*
* Create a wall we can’t climb.
* Create a wall we can't climb.
*/
let wall_angle = PI / 2.;
let wall_size = 2.0;
let wall_pos = vector![
let wall_pos = Vector::new(
ground_size + slope_size * 2.0 + impossible_slope_size + 0.35,
-ground_height + 2.5 * 2.3
];
-ground_height + 2.5 * 2.3,
);
let collider = ColliderBuilder::cuboid(wall_size, ground_height)
.translation(wall_pos)
.rotation(wall_angle);
@@ -118,7 +119,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Create a moving platform.
*/
let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 0.0]);
let body = RigidBodyBuilder::kinematic_velocity_based().translation(Vector::new(-8.0, 0.0));
// .rotation(-0.3);
let platform_handle = bodies.insert(body);
let collider = ColliderBuilder::cuboid(2.0, ground_height);
@@ -130,20 +131,20 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = Vector::new(10.0, 1.0);
let nsubdivs = 20;
let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
(i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos() * 1.5
});
let heights = (0..nsubdivs + 1)
.map(|i| (i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos() * 1.5)
.collect();
let collider =
ColliderBuilder::heightfield(heights, ground_size).translation(vector![-8.0, 5.0]);
ColliderBuilder::heightfield(heights, ground_size).translation(Vector::new(-8.0, 5.0));
colliders.insert(collider);
/*
* A tilting dynamic body with a limited joint.
*/
let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0]);
let ground = RigidBodyBuilder::fixed().translation(Vector::new(0.0, 5.0));
let ground_handle = bodies.insert(ground);
let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0]);
let body = RigidBodyBuilder::dynamic().translation(Vector::new(0.0, 5.0));
let handle = bodies.insert(body);
let collider = ColliderBuilder::cuboid(1.0, 0.1);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -154,16 +155,16 @@ pub fn init_world(testbed: &mut Testbed) {
* Setup a callback to move the platform.
*/
testbed.add_callback(move |_, physics, _, run_state| {
let linvel = vector![
let linvel = Vector::new(
(run_state.time * 2.0).sin() * 2.0,
(run_state.time * 5.0).sin() * 1.5
];
(run_state.time * 5.0).sin() * 1.5,
);
// 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.
// NOTE: interaction with rotating platforms isn't handled very well yet.
// platform.set_angvel(angvel, true);
}
});
@@ -197,5 +198,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 1.0], 100.0);
testbed.look_at(Vec2::new(0.0, 1.0), 100.0);
}