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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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46
examples3d/debug_cube_high_mass_ratio3.rs
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@@ -18,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Floor.
*/
let floor_body =
RigidBodyBuilder::fixed().translation(vector![0.0, -stick_len - stick_rad, 0.0]);
RigidBodyBuilder::fixed().translation(Vector::new(0.0, -stick_len - stick_rad, 0.0));
let floor_handle = bodies.insert(floor_body);
let floor_cube = ColliderBuilder::cuboid(stick_len, stick_len, stick_len);
colliders.insert_with_parent(floor_cube, floor_handle, &mut bodies);
@@ -29,38 +29,38 @@ pub fn init_world(testbed: &mut Testbed) {
for i in 0..num_levels {
let fi = i as f32;
let body = RigidBodyBuilder::dynamic().translation(vector![
let body = RigidBodyBuilder::dynamic().translation(Vector::new(
0.0,
fi * stick_rad * 4.0,
-(stick_len / 2.0 - stick_rad)
]);
-(stick_len / 2.0 - stick_rad),
));
let handle = bodies.insert(body);
let capsule = ColliderBuilder::cuboid(stick_len / 2.0, stick_rad, stick_rad);
colliders.insert_with_parent(capsule, handle, &mut bodies);
let body = RigidBodyBuilder::dynamic().translation(vector![
let body = RigidBodyBuilder::dynamic().translation(Vector::new(
0.0,
fi * stick_rad * 4.0,
(stick_len / 2.0 - stick_rad)
]);
stick_len / 2.0 - stick_rad,
));
let handle = bodies.insert(body);
let capsule = ColliderBuilder::cuboid(stick_len / 2.0, stick_rad, stick_rad);
colliders.insert_with_parent(capsule, handle, &mut bodies);
let body = RigidBodyBuilder::dynamic().translation(vector![
let body = RigidBodyBuilder::dynamic().translation(Vector::new(
-(stick_len / 2.0 - stick_rad),
(fi + 0.5) * stick_rad * 4.0,
0.0
]);
0.0,
));
let handle = bodies.insert(body);
let capsule = ColliderBuilder::cuboid(stick_rad, stick_rad, stick_len / 2.0);
colliders.insert_with_parent(capsule, handle, &mut bodies);
let body = RigidBodyBuilder::dynamic().translation(vector![
(stick_len / 2.0 - stick_rad),
let body = RigidBodyBuilder::dynamic().translation(Vector::new(
stick_len / 2.0 - stick_rad,
(fi + 0.5) * stick_rad * 4.0,
0.0
]);
0.0,
));
let handle = bodies.insert(body);
let capsule = ColliderBuilder::cuboid(stick_rad, stick_rad, stick_len / 2.0);
colliders.insert_with_parent(capsule, handle, &mut bodies);
@@ -71,21 +71,23 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let cube_len = stick_len * 2.0;
let floor_body = RigidBodyBuilder::dynamic()
.translation(vector![
.translation(Vector::new(
0.0,
cube_len / 2.0 + (num_levels as f32 - 0.25) * stick_rad * 4.0,
0.0
])
0.0,
))
.additional_solver_iterations(36);
let floor_handle = bodies.insert(floor_body);
let floor_cube = ColliderBuilder::cuboid(cube_len / 2.0, cube_len / 2.0, cube_len / 2.0);
colliders.insert_with_parent(floor_cube, floor_handle, &mut bodies);
let small_mass =
MassProperties::from_cuboid(1.0, vector![stick_rad, stick_rad, stick_len / 2.0]).mass();
let big_mass =
MassProperties::from_cuboid(1.0, vector![cube_len / 2.0, cube_len / 2.0, cube_len / 2.0])
.mass();
MassProperties::from_cuboid(1.0, Vector::new(stick_rad, stick_rad, stick_len / 2.0)).mass();
let big_mass = MassProperties::from_cuboid(
1.0,
Vector::new(cube_len / 2.0, cube_len / 2.0, cube_len / 2.0),
)
.mass();
println!(
"debug_cube_high_mass_ratio3: small stick mass: {small_mass}, big cube mass: {big_mass}, mass_ratio: {}",
big_mass / small_mass
@@ -95,5 +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![10.0, 10.0, 10.0], Point::origin());
testbed.look_at(Vec3::new(10.0, 10.0, 10.0), Vec3::ZERO);
}