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/stress_tests/heightfield3.rs

@@ -0,0 +1,77 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::na::ComplexField;
+use rapier3d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = Vec3::new(200.0, 1.0, 200.0);
+    let nsubdivs = 20;
+
+    let heights = Array2::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
+        if i == 0 || i == nsubdivs || j == 0 || j == nsubdivs {
+            10.0
+        } else {
+            let x = i as f32 * ground_size.x / (nsubdivs as f32);
+            let z = j as f32 * ground_size.z / (nsubdivs as f32);
+
+            // NOTE: make sure we use the sin/cos from simba to ensure
+            // cross-platform determinism of the example when the
+            // enhanced_determinism feature is enabled.
+            <f32 as ComplexField>::sin(x) + <f32 as ComplexField>::cos(z)
+        }
+    });
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::heightfield(heights, ground_size);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+    let centerz = shift * (num / 2) as f32;
+
+    for j in 0usize..47 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift - centerx;
+                let y = j as f32 * shift + centery + 3.0;
+                let z = k as f32 * shift - centerz;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::dynamic().translation(Vec3::new(x, y, z));
+                let handle = bodies.insert(rigid_body);
+
+                if j % 2 == 0 {
+                    let collider = ColliderBuilder::cuboid(rad, rad, rad);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
+                } else {
+                    let collider = ColliderBuilder::ball(rad);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
+                }
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec3::new(100.0, 100.0, 100.0), Vec3::ZERO);
+}