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

src_testbed/testbed/graphics_context.rs

@@ -0,0 +1,94 @@
+//! Graphics context for a frame.
+
+use kiss3d::color::Color;
+use kiss3d::window::Window;
+use rapier::dynamics::RigidBodyHandle;
+use rapier::dynamics::RigidBodySet;
+use rapier::geometry::{ColliderHandle, ColliderSet};
+
+use crate::Camera;
+use crate::graphics::GraphicsManager;
+use crate::mouse::SceneMouse;
+use crate::settings::ExampleSettings;
+
+use super::keys::KeysState;
+
+/// Context for graphics operations during a frame
+pub struct TestbedGraphics<'a> {
+    pub graphics: &'a mut GraphicsManager,
+    pub window: &'a mut Window,
+    pub camera: &'a mut Camera,
+    pub mouse: &'a SceneMouse,
+    pub keys: &'a KeysState,
+    pub settings: Option<&'a mut ExampleSettings>,
+}
+
+impl<'a> TestbedGraphics<'a> {
+    pub fn set_body_color(&mut self, body: RigidBodyHandle, color: Color, tmp_color: bool) {
+        self.graphics.set_body_color(body, color, tmp_color);
+    }
+
+    pub fn add_body(
+        &mut self,
+        handle: RigidBodyHandle,
+        bodies: &RigidBodySet,
+        colliders: &ColliderSet,
+    ) {
+        self.graphics
+            .add_body_colliders(self.window, handle, bodies, colliders);
+    }
+
+    pub fn remove_body(&mut self, handle: RigidBodyHandle) {
+        self.graphics.remove_body_nodes(handle);
+    }
+
+    pub fn add_collider(&mut self, handle: ColliderHandle, colliders: &ColliderSet) {
+        self.graphics.add_collider(self.window, handle, colliders);
+    }
+
+    pub fn remove_collider(&mut self, handle: ColliderHandle) {
+        self.graphics.remove_collider_nodes(handle);
+    }
+
+    pub fn keys(&self) -> &KeysState {
+        self.keys
+    }
+
+    pub fn mouse(&self) -> &SceneMouse {
+        self.mouse
+    }
+
+    /// Update collider graphics after shape modification
+    pub fn update_collider(&mut self, handle: ColliderHandle, colliders: &ColliderSet) {
+        // Remove and re-add the collider to update its graphics
+        self.graphics.remove_collider_nodes(handle);
+        self.graphics.add_collider(self.window, handle, colliders);
+    }
+
+    /// Get the camera rotation as a unit quaternion (3D only)
+    #[cfg(feature = "dim3")]
+    pub fn camera_rotation(&self) -> na::UnitQuaternion<f32> {
+        // Calculate rotation from orbit camera angles
+        let rot_x = na::UnitQuaternion::from_axis_angle(&na::Vector3::y_axis(), self.camera.at().x);
+        let rot_y =
+            na::UnitQuaternion::from_axis_angle(&(-na::Vector3::x_axis()), self.camera.at().y);
+        rot_x * rot_y
+    }
+
+    /// Get the camera forward direction (3D only)
+    #[cfg(feature = "dim3")]
+    pub fn camera_fwd_dir(&self) -> na::Vector3<f32> {
+        let rot = self.camera_rotation();
+        rot * na::Vector3::z()
+    }
+
+    /// Get mutable access to the egui context for custom UI
+    pub fn egui_context(&self) -> &egui::Context {
+        self.window.egui_context()
+    }
+
+    /// Get mutable access to the egui context for custom UI
+    pub fn egui_context_mut(&mut self) -> &mut egui::Context {
+        self.window.egui_context_mut()
+    }
+}