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/joint_fixed3.rs

@@ -0,0 +1,81 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    let rad = 0.4;
+    let num = 5;
+    let shift = 1.0;
+
+    let mut body_handles = Vec::new();
+
+    for m in 0..10 {
+        let z = m as f32 * shift * (num as f32 + 2.0);
+
+        for l in 0..10 {
+            let y = l as f32 * shift * 3.0;
+
+            for j in 0..5 {
+                let x = j as f32 * shift * (num as f32) * 2.0;
+
+                for k in 0..num {
+                    for i in 0..num {
+                        let fk = k as f32;
+                        let fi = i as f32;
+
+                        // NOTE: the num - 2 test is to avoid two consecutive
+                        // fixed bodies. Because physx will crash if we add
+                        // a joint between these.
+
+                        let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) {
+                            RigidBodyType::Fixed
+                        } else {
+                            RigidBodyType::Dynamic
+                        };
+
+                        let rigid_body = RigidBodyBuilder::new(status).translation(Vec3::new(
+                            x + fk * shift,
+                            y,
+                            z + fi * shift,
+                        ));
+                        let child_handle = bodies.insert(rigid_body);
+                        let collider = ColliderBuilder::ball(rad);
+                        colliders.insert_with_parent(collider, child_handle, &mut bodies);
+
+                        // Vertical joint.
+                        if i > 0 {
+                            let parent_handle = *body_handles.last().unwrap();
+                            let joint =
+                                FixedJointBuilder::new().local_anchor2(Vec3::new(0.0, 0.0, -shift));
+                            impulse_joints.insert(parent_handle, child_handle, joint, true);
+                        }
+
+                        // Horizontal joint.
+                        if k > 0 {
+                            let parent_index = body_handles.len() - num;
+                            let parent_handle = body_handles[parent_index];
+                            let joint =
+                                FixedJointBuilder::new().local_anchor2(Vec3::new(-shift, 0.0, 0.0));
+                            impulse_joints.insert(parent_handle, child_handle, joint, true);
+                        }
+
+                        body_handles.push(child_handle);
+                    }
+                }
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec3::new(-38.0, 14.0, 108.0), Vec3::new(46.0, 12.0, 23.0));
+}