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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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21
examples3d/dynamic_trimesh3.rs
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@@ -24,18 +24,18 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
//// OPTION 1: floor made of a single big box.
// 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);
//// OPTION 2: floor made of a wavy mesh.
let nsubdivs = 100;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
let heights = Array2::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
-(i as f32 * 40.0 / (nsubdivs as f32) / 2.0).cos()
- (j as f32 * 40.0 / (nsubdivs as f32) / 2.0).cos()
});
let heightfield = HeightField::new(heights, vector![100.0, 2.0, 100.0]);
let heightfield = HeightField::new(heights, Vector::new(100.0, 2.0, 100.0));
let mut trimesh = TriMesh::from(heightfield);
let _ = trimesh.set_flags(TriMeshFlags::FIX_INTERNAL_EDGES);
colliders.insert(ColliderBuilder::new(SharedShape::new(trimesh.clone())));
@@ -51,17 +51,17 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
let shift_xz = 9.0f32;
for (igeom, obj_path) in geoms.into_iter().enumerate() {
let deltas = Isometry::identity();
let deltas = Pose::IDENTITY;
let mut shapes = Vec::new();
println!("Parsing and decomposing: {obj_path}");
let input = BufReader::new(File::open(obj_path).unwrap());
if let Ok(model) = obj::raw::parse_obj(input) {
let mut vertices: Vec<_> = model
let mut vertices: Vec<Vector> = model
.positions
.iter()
.map(|v| point![v.0, v.1, v.2])
.map(|v| Vector::new(v.0, v.1, v.2))
.collect();
let indices: Vec<_> = model
.polygons
@@ -78,11 +78,12 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
let aabb =
bounding_volume::details::point_cloud_aabb(&deltas, vertices.iter().copied());
let center = aabb.center();
let diag = (aabb.maxs - aabb.mins).norm();
let center_v = Vector::new(center.x, center.y, center.z);
let diag = (aabb.maxs - aabb.mins).length();
vertices
.iter_mut()
.for_each(|p| *p = (*p - center.coords) * 10.0 / diag);
.for_each(|p| *p = (*p - center_v) * 10.0 / diag);
let indices: Vec<_> = indices
.chunks(3)
@@ -106,7 +107,7 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
let y = (igeom / width) as f32 * shift_y + 7.0;
let z = k as f32 * shift_xz - num_duplications as f32 * shift_xz / 2.0;
let body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y, z));
let handle = bodies.insert(body);
for shape in &shapes {
@@ -121,7 +122,7 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
* 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);
}
fn models() -> Vec<String> {