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/ccd3.rs

@@ -1,3 +1,4 @@
+use kiss3d::color::Color;
 use rapier_testbed3d::Testbed;
 use rapier3d::prelude::*;
 
@@ -5,9 +6,9 @@ fn create_wall(
     testbed: &mut Testbed,
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector<f32>,
+    offset: Vector,
     stack_height: usize,
-    half_extents: Vector<f32>,
+    half_extents: Vector,
 ) {
     let shift = half_extents * 2.0;
     let mut k = 0;
@@ -21,15 +22,17 @@ fn create_wall(
                 - stack_height as f32 * half_extents.z;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y, z));
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
             colliders.insert_with_parent(collider, handle, bodies);
             k += 1;
             if k % 2 == 0 {
-                testbed.set_initial_body_color(handle, [1., 131. / 255., 244.0 / 255.]);
+                testbed
+                    .set_initial_body_color(handle, Color::new(1., 131. / 255., 244.0 / 255., 1.0));
             } else {
-                testbed.set_initial_body_color(handle, [131. / 255., 1., 244.0 / 255.]);
+                testbed
+                    .set_initial_body_color(handle, Color::new(131. / 255., 1., 244.0 / 255., 1.0));
             }
         }
     }
@@ -50,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 50.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height, 0.0));
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -69,18 +72,18 @@ pub fn init_world(testbed: &mut Testbed) {
             testbed,
             &mut bodies,
             &mut colliders,
-            vector![x, shift_y, 0.0],
+            Vector::new(x, shift_y, 0.0),
             num_z,
-            vector![0.5, 0.5, 1.0],
+            Vector::new(0.5, 0.5, 1.0),
         );
 
         create_wall(
             testbed,
             &mut bodies,
             &mut colliders,
-            vector![x, shift_y, shift_z],
+            Vector::new(x, shift_y, shift_z),
             num_z,
-            vector![0.5, 0.5, 1.0],
+            Vector::new(0.5, 0.5, 1.0),
         );
     }
 
@@ -94,8 +97,8 @@ pub fn init_world(testbed: &mut Testbed) {
         .sensor(true)
         .active_events(ActiveEvents::COLLISION_EVENTS);
     let rigid_body = RigidBodyBuilder::dynamic()
-        .linvel(vector![1000.0, 0.0, 0.0])
-        .translation(vector![-20.0, shift_y + 2.0, 0.0])
+        .linvel(Vector::new(1000.0, 0.0, 0.0))
+        .translation(Vector::new(-20.0, shift_y + 2.0, 0.0))
         .ccd_enabled(true);
     let sensor_handle = bodies.insert(rigid_body);
     colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
@@ -103,20 +106,20 @@ pub fn init_world(testbed: &mut Testbed) {
     // Second rigid-body with CCD enabled.
     let collider = ColliderBuilder::ball(1.0).density(10.0);
     let rigid_body = RigidBodyBuilder::dynamic()
-        .linvel(vector![1000.0, 0.0, 0.0])
-        .translation(vector![-20.0, shift_y + 2.0, shift_z])
+        .linvel(Vector::new(1000.0, 0.0, 0.0))
+        .translation(Vector::new(-20.0, shift_y + 2.0, shift_z))
         .ccd_enabled(true);
     let handle = bodies.insert(rigid_body);
     colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
-    testbed.set_initial_body_color(handle, [0.2, 0.2, 1.0]);
+    testbed.set_initial_body_color(handle, Color::new(0.2, 0.2, 1.0, 1.0));
 
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.collision_events.try_recv() {
             let color = if prox.started() {
-                [1.0, 1.0, 0.0]
+                Color::new(1.0, 1.0, 0.0, 1.0)
             } else {
-                [0.5, 0.5, 1.0]
+                Color::new(0.5, 0.5, 1.0, 1.0)
             };
 
             let parent_handle1 = physics
@@ -134,10 +137,10 @@ pub fn init_world(testbed: &mut Testbed) {
 
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
-                    graphics.set_body_color(parent_handle1, color);
+                    graphics.set_body_color(parent_handle1, color, false);
                 }
                 if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
-                    graphics.set_body_color(parent_handle2, color);
+                    graphics.set_body_color(parent_handle2, color, false);
                 }
             }
         }
@@ -147,5 +150,5 @@ 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);
 }