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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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44
examples3d/vehicle_joints3.rs
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@@ -16,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = Vector::new(60.0, 0.4, 60.0);
let nsubdivs = 100;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
let heights = Array2::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
-(i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos()
- (j as f32 * ground_size.z / (nsubdivs as f32) / 2.0).cos()
});
let collider = ColliderBuilder::heightfield(heights, ground_size)
.translation(vector![-7.0, 0.0, 0.0])
.translation(Vector::new(-7.0, 0.0, 0.0))
.friction(1.0);
colliders.insert(collider);
@@ -33,10 +33,10 @@ pub fn init_world(testbed: &mut Testbed) {
const CAR_GROUP: Group = Group::GROUP_1;
let wheel_params = [
vector![0.6874, 0.2783, -0.7802],
vector![-0.6874, 0.2783, -0.7802],
vector![0.64, 0.2783, 1.0254],
vector![-0.64, 0.2783, 1.0254],
Vector::new(0.6874, 0.2783, -0.7802),
Vector::new(-0.6874, 0.2783, -0.7802),
Vector::new(0.64, 0.2783, 1.0254),
Vector::new(-0.64, 0.2783, 1.0254),
];
// TODO: lower center of mass?
// let mut center_of_mass = wheel_params.iter().sum().unwrap() / 4.0;
@@ -46,8 +46,8 @@ pub fn init_world(testbed: &mut Testbed) {
let max_steering_angle = 35.0f32.to_radians();
let drive_strength = 1.0;
let wheel_radius = 0.28;
let car_position = point![0.0, wheel_radius + suspension_height, 0.0];
let body_position_in_car_space = vector![0.0, 0.4739, 0.0];
let car_position = Vector::new(0.0, wheel_radius + suspension_height, 0.0);
let body_position_in_car_space = Vector::new(0.0, 0.4739, 0.0);
let body_position = car_position + body_position_in_car_space;
@@ -59,7 +59,7 @@ pub fn init_world(testbed: &mut Testbed) {
InteractionTestMode::And,
));
let body_rb = RigidBodyBuilder::dynamic()
.pose(body_position.into())
.translation(body_position)
.build();
let body_handle = bodies.insert(body_rb);
colliders.insert_with_parent(body_co, body_handle, &mut bodies);
@@ -69,18 +69,18 @@ pub fn init_world(testbed: &mut Testbed) {
for (wheel_id, wheel_pos_in_car_space) in wheel_params.into_iter().enumerate() {
let is_front = wheel_id >= 2;
let wheel_center = car_position + wheel_pos_in_car_space;
let wheel_center: Vector = car_position + wheel_pos_in_car_space;
let axle_mass_props = MassProperties::from_ball(100.0, wheel_radius);
let axle_rb = RigidBodyBuilder::dynamic()
.pose(wheel_center.into())
.translation(wheel_center)
.additional_mass_properties(axle_mass_props);
let axle_handle = bodies.insert(axle_rb);
// This is a fake cylinder collider that we add only because our testbed can
// only render colliders. Setting it as sensor makes it show up as wireframe.
let wheel_fake_co = ColliderBuilder::cylinder(wheel_radius / 2.0, wheel_radius)
.rotation(Vector::z() * std::f32::consts::FRAC_PI_2)
.rotation(Vector::Z * std::f32::consts::FRAC_PI_2)
.sensor(true)
.density(0.0)
.collision_groups(InteractionGroups::none());
@@ -95,7 +95,7 @@ pub fn init_world(testbed: &mut Testbed) {
InteractionTestMode::And,
))
.friction(1.0);
let wheel_rb = RigidBodyBuilder::dynamic().pose(wheel_center.into());
let wheel_rb = RigidBodyBuilder::dynamic().translation(wheel_center);
let wheel_handle = bodies.insert(wheel_rb);
colliders.insert_with_parent(wheel_co, wheel_handle, &mut bodies);
colliders.insert_with_parent(wheel_fake_co, wheel_handle, &mut bodies);
@@ -115,7 +115,7 @@ pub fn init_world(testbed: &mut Testbed) {
let mut suspension_joint = GenericJointBuilder::new(locked_axes)
.limits(JointAxis::LinY, [0.0, suspension_height])
.motor_position(JointAxis::LinY, 0.0, 1.0e4, 1.0e3)
.local_anchor1(suspension_attachment_in_body_space.into());
.local_anchor1(suspension_attachment_in_body_space);
if is_front {
suspension_joint =
@@ -126,7 +126,7 @@ pub fn init_world(testbed: &mut Testbed) {
impulse_joints.insert(body_handle, axle_handle, suspension_joint, true);
// Joint between the axle and the wheel.
let wheel_joint = RevoluteJointBuilder::new(Vector::x_axis());
let wheel_joint = RevoluteJointBuilder::new(Vector::X);
let wheel_joint_handle =
impulse_joints.insert(axle_handle, wheel_handle, wheel_joint, true);
@@ -148,19 +148,19 @@ pub fn init_world(testbed: &mut Testbed) {
for key in gfx.keys().get_pressed() {
match *key {
KeyCode::ArrowRight => {
KeyCode::Right => {
steering = -1.0;
}
KeyCode::ArrowLeft => {
KeyCode::Left => {
steering = 1.0;
}
KeyCode::ArrowUp => {
KeyCode::Up => {
thrust = -drive_strength;
}
KeyCode::ArrowDown => {
KeyCode::Down => {
thrust = drive_strength;
}
KeyCode::ShiftRight => {
KeyCode::RShift => {
boost = 1.5;
}
_ => {}
@@ -227,7 +227,7 @@ pub fn init_world(testbed: &mut Testbed) {
// let y = j as f32 * shift + centery;
// let z = k as f32 * shift + centerx;
//
// let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
// let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y, z));
// let handle = bodies.insert(rigid_body);
// let collider = ColliderBuilder::cuboid(rad, rad, rad);
// colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -239,5 +239,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin());
testbed.look_at(Vec3::new(10.0, 10.0, 10.0), Vec3::ZERO);
}