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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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6
examples3d/urdf3.rs
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@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
create_colliders_from_collision_shapes: false,
make_roots_fixed: true,
// Z-up to Y-up.
shift: Isometry::rotation(Vector::x() * std::f32::consts::FRAC_PI_2),
shift: Pose::rotation(Vector::X * std::f32::consts::FRAC_PI_2),
..Default::default()
};
@@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
.clone()
.insert_using_impulse_joints(&mut bodies, &mut colliders, &mut impulse_joints);
// Insert the robot a second time, but using multibody joints this time.
robot.append_transform(&Isometry::translation(10.0, 0.0, 0.0));
robot.append_transform(&Pose::translation(10.0, 0.0, 0.0));
robot.insert_using_multibody_joints(
&mut bodies,
&mut colliders,
@@ -44,5 +44,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![20.0, 20.0, 20.0], point![5.0, 0.0, 0.0]);
testbed.look_at(Vec3::new(20.0, 20.0, 20.0), Vec3::new(5.0, 0.0, 0.0));
}