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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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19
examples3d/compound3.rs
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@@ -16,7 +16,7 @@ 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 handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,32 +43,29 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift * 2.0 - centerz + offset;
// 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);
// First option: attach several colliders to a single rigid-body.
if j < numy / 2 {
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad);
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(vector![rad * 10.0, rad * 10.0, 0.0]);
.translation(Vector::new(rad * 10.0, rad * 10.0, 0.0));
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(vector![-rad * 10.0, rad * 10.0, 0.0]);
.translation(Vector::new(-rad * 10.0, rad * 10.0, 0.0));
colliders.insert_with_parent(collider1, handle, &mut bodies);
colliders.insert_with_parent(collider2, handle, &mut bodies);
colliders.insert_with_parent(collider3, handle, &mut bodies);
} else {
// Second option: create a compound shape and attach it to a single collider.
let shapes = vec![
(Pose::IDENTITY, SharedShape::cuboid(rad * 10.0, rad, rad)),
(
Isometry::identity(),
SharedShape::cuboid(rad * 10.0, rad, rad),
),
(
Isometry::translation(rad * 10.0, rad * 10.0, 0.0),
Pose::from_translation(Vector::new(rad * 10.0, rad * 10.0, 0.0)),
SharedShape::cuboid(rad, rad * 10.0, rad),
),
(
Isometry::translation(-rad * 10.0, rad * 10.0, 0.0),
Pose::from_translation(Vector::new(-rad * 10.0, rad * 10.0, 0.0)),
SharedShape::cuboid(rad, rad * 10.0, rad),
),
];
@@ -86,5 +83,5 @@ 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);
}