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/hover.rs

@@ -0,0 +1,64 @@
+#![allow(clippy::useless_conversion)] // Conversions are needed for switching between f32/f64.
+
+use crate::mouse::SceneMouse;
+use crate::{GraphicsManager, PhysicsState};
+use kiss3d::prelude::*;
+use rapier::prelude::QueryFilter;
+
+#[cfg(feature = "dim3")]
+use rapier::prelude::{Ray, Real};
+
+#[cfg(feature = "dim2")]
+pub fn highlight_hovered_body(
+    graphics_manager: &mut GraphicsManager,
+    mouse: &SceneMouse,
+    physics: &PhysicsState,
+) {
+    use rapier::math::Vector;
+
+    if let Some(pt) = mouse.point {
+        // Convert from kiss3d Vec2 (f32) to rapier Vector (may be f64)
+        let pt = Vector::new(pt.x as _, pt.y as _);
+
+        let query_pipeline = physics.broad_phase.as_query_pipeline(
+            physics.narrow_phase.query_dispatcher(),
+            &physics.bodies,
+            &physics.colliders,
+            QueryFilter::only_dynamic(),
+        );
+
+        for (handle, _) in query_pipeline.intersect_point(pt) {
+            let collider = &physics.colliders[handle];
+            if let Some(parent_handle) = collider.parent() {
+                graphics_manager.set_body_color(parent_handle, RED, true);
+            }
+        }
+    }
+}
+
+#[cfg(feature = "dim3")]
+pub fn highlight_hovered_body(
+    graphics_manager: &mut GraphicsManager,
+    mouse: &SceneMouse,
+    physics: &PhysicsState,
+) {
+    if let Some((ray_origin, ray_dir)) = mouse.ray {
+        let ray = Ray::new(ray_origin.into(), ray_dir.into());
+        let query_pipeline = physics.broad_phase.as_query_pipeline(
+            physics.narrow_phase.query_dispatcher(),
+            &physics.bodies,
+            &physics.colliders,
+            QueryFilter::only_dynamic(),
+        );
+
+        let hit = query_pipeline.cast_ray(&ray, Real::MAX, true);
+
+        if let Some((handle, _)) = hit {
+            let collider = &physics.colliders[handle];
+
+            if let Some(parent_handle) = collider.parent() {
+                graphics_manager.set_body_color(parent_handle, RED, true);
+            }
+        }
+    }
+}