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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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29
examples2d/pin_slot_joint2.rs
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@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 3.0;
let ground_height = 0.1;
let rigid_body_floor = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let rigid_body_floor = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
let floor_handle = bodies.insert(rigid_body_floor);
let floor_collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(floor_collider, floor_handle, &mut bodies);
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Character we will control manually.
*/
let rigid_body_character =
RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.3]);
RigidBodyBuilder::kinematic_position_based().translation(Vector::new(0.0, 0.3));
let character_handle = bodies.insert(rigid_body_character);
let character_collider = ColliderBuilder::cuboid(0.15, 0.3);
colliders.insert_with_parent(character_collider, character_handle, &mut bodies);
@@ -39,16 +39,16 @@ pub fn init_world(testbed: &mut Testbed) {
let rad = 0.4;
let rigid_body_cube =
RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(Vector::new(1.0, 1.0));
let cube_handle = bodies.insert(rigid_body_cube);
let cube_collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(cube_collider, cube_handle, &mut bodies);
/*
* Rotation axis indicator ball.
* SimdRotation axis indicator ball.
*/
let rigid_body_ball =
RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(Vector::new(1.0, 1.0));
let ball_handle = bodies.insert(rigid_body_ball);
let ball_collider = ColliderBuilder::ball(0.1);
colliders.insert_with_parent(ball_collider, ball_handle, &mut bodies);
@@ -57,25 +57,18 @@ pub fn init_world(testbed: &mut Testbed) {
* Fixed joint between rotation axis indicator and cube.
*/
let fixed_joint = FixedJointBuilder::new()
.local_anchor1(point![0.0, 0.0])
.local_anchor2(point![0.0, -0.4])
.local_anchor1(Vector::new(0.0, 0.0))
.local_anchor2(Vector::new(0.0, -0.4))
.build();
impulse_joints.insert(cube_handle, ball_handle, fixed_joint, true);
/*
* Pin slot joint between cube and ground.
*/
let axis: nalgebra::Unit<
nalgebra::Matrix<
f32,
nalgebra::Const<2>,
nalgebra::Const<1>,
nalgebra::ArrayStorage<f32, 2, 1>,
>,
> = UnitVector::new_normalize(vector![1.0, 1.0]);
let axis = Vector::new(1.0, 1.0).normalize();
let pin_slot_joint = PinSlotJointBuilder::new(axis)
.local_anchor1(point![2.0, 2.0])
.local_anchor2(point![0.0, 0.4])
.local_anchor1(Vector::new(2.0, 2.0))
.local_anchor2(Vector::new(0.0, 0.4))
.limits([-1.0, f32::INFINITY]) // Set the limits for the pin slot joint
.build();
impulse_joints.insert(character_handle, cube_handle, pin_slot_joint, true);
@@ -104,5 +97,5 @@ 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);
}