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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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12
examples2d/inverse_kinematics2.rs
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@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 1.0;
let ground_height = 0.01;
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);
@@ -41,8 +41,8 @@ pub fn init_world(testbed: &mut Testbed) {
colliders.insert_with_parent(collider, new_body, &mut bodies);
let link_ab = RevoluteJointBuilder::new()
.local_anchor1(point![0.0, size / 2.0 * (i != 0) as usize as f32])
.local_anchor2(point![0.0, -size / 2.0])
.local_anchor1(Vector::new(0.0, size / 2.0 * (i != 0) as usize as f32))
.local_anchor2(Vector::new(0.0, -size / 2.0))
.build()
.data;
@@ -70,7 +70,7 @@ pub fn init_world(testbed: &mut Testbed) {
};
// We will have the endpoint track the mouse position.
let target_point = mouse_point.coords;
let target_point = Vector::new(mouse_point.x, mouse_point.y);
let options = InverseKinematicsOption {
constrained_axes: JointAxesMask::LIN_AXES,
@@ -81,7 +81,7 @@ pub fn init_world(testbed: &mut Testbed) {
&physics.bodies,
link_id,
&options,
&Isometry::from(target_point),
&Pose::from_translation(target_point),
|_| true,
&mut displacements,
);
@@ -93,5 +93,5 @@ 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, 0.0], 300.0);
testbed.look_at(Vec2::ZERO, 300.0);
}