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_prismatic3.rs

@@ -0,0 +1,61 @@
+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;
+
+    for m in 0..8 {
+        let z = m as f32 * shift * (num as f32 + 2.0);
+
+        for l in 0..8 {
+            let y = l as f32 * shift * (num as f32) * 2.0;
+
+            for j in 0..50 {
+                let x = j as f32 * shift * 4.0;
+
+                let ground = RigidBodyBuilder::fixed().translation(Vec3::new(x, y, z));
+                let mut curr_parent = bodies.insert(ground);
+                let collider = ColliderBuilder::cuboid(rad, rad, rad);
+                colliders.insert_with_parent(collider, curr_parent, &mut bodies);
+
+                for i in 0..num {
+                    let z = z + (i + 1) as f32 * shift;
+                    let density = 1.0;
+                    let rigid_body = RigidBodyBuilder::dynamic().translation(Vec3::new(x, y, z));
+                    let curr_child = bodies.insert(rigid_body);
+                    let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
+                    colliders.insert_with_parent(collider, curr_child, &mut bodies);
+
+                    let axis = if i % 2 == 0 {
+                        Vec3::new(1.0, 1.0, 0.0).normalize()
+                    } else {
+                        Vec3::new(-1.0, 1.0, 0.0).normalize()
+                    };
+
+                    let prism = PrismaticJointBuilder::new(axis)
+                        .local_anchor2(Vec3::new(0.0, 0.0, -shift))
+                        .limits([-2.0, 0.0]);
+                    impulse_joints.insert(curr_parent, curr_child, prism, true);
+
+                    curr_parent = curr_child;
+                }
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec3::new(262.0, 63.0, 124.0), Vec3::new(101.0, 4.0, -3.0));
+}