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_revolute3.rs

@@ -0,0 +1,76 @@
+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 = 10;
+    let shift = 2.0;
+
+    for l in 0..4 {
+        let y = l as f32 * shift * (num as f32) * 3.0;
+
+        for j in 0..50 {
+            let x = j as f32 * shift * 4.0;
+
+            let ground = RigidBodyBuilder::fixed().translation(Vec3::new(x, y, 0.0));
+            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 {
+                // Create four bodies.
+                let z = i as f32 * shift * 2.0 + shift;
+                let positions = [
+                    Pose3::translation(x, y, z),
+                    Pose3::translation(x + shift, y, z),
+                    Pose3::translation(x + shift, y, z + shift),
+                    Pose3::translation(x, y, z + shift),
+                ];
+
+                let mut handles = [curr_parent; 4];
+                for k in 0..4 {
+                    let density = 1.0;
+                    let rigid_body = RigidBodyBuilder::dynamic().pose(positions[k]);
+                    handles[k] = bodies.insert(rigid_body);
+                    let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
+                    colliders.insert_with_parent(collider, handles[k], &mut bodies);
+                }
+
+                // Setup four impulse_joints.
+                let x = Vec3::X;
+                let z = Vec3::Z;
+
+                let revs = [
+                    RevoluteJointBuilder::new(z).local_anchor2(Vec3::new(0.0, 0.0, -shift)),
+                    RevoluteJointBuilder::new(x).local_anchor2(Vec3::new(-shift, 0.0, 0.0)),
+                    RevoluteJointBuilder::new(z).local_anchor2(Vec3::new(0.0, 0.0, -shift)),
+                    RevoluteJointBuilder::new(x).local_anchor2(Vec3::new(shift, 0.0, 0.0)),
+                ];
+
+                impulse_joints.insert(curr_parent, handles[0], revs[0], true);
+                impulse_joints.insert(handles[0], handles[1], revs[1], true);
+                impulse_joints.insert(handles[1], handles[2], revs[2], true);
+                impulse_joints.insert(handles[2], handles[3], revs[3], true);
+
+                curr_parent = handles[3];
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(
+        Vec3::new(478.0, 83.0, 228.0),
+        Vec3::new(134.0, 83.0, -116.0),
+    );
+}