feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy + release v0.32.0

[sebcrozet]

More insights on the rational behind this change is provided in https://dimforge.com/blog/2026/01/09/the-year-2025-in-dimforge (tl.dr: it’s to prepare for our upcoming GPU computing work).

v0.31.0 (09 Jan. 2026)

Modified

• Breaking: Migrate math types from nalgebra to glam (via parry). The main type aliases are now:
  • Isometry<Real> → Pose (glamx Pose2/3)
  • Point<Real> → Vector for world-space positions (parry no longer distinguishes Point from Vector)
  • Rotation<Real> → Rotation (glamx Rot2 or Quat)
  • Translation<Real> → removed, use Pose::from_translation()
  • nalgebra is still used internally for SIMD code and multibody Jacobians (via SimdVector<N>, SimdPose<N>, DVector, DMatrix).
• Breaking: Several getters now return by value instead of by reference:
  • RigidBody::linvel() returns Vector instead of &Vector<Real>
  • RigidBody::angvel() returns AngVector instead of &Vector<Real> (3D) or Real (2D)
  • RigidBody::center_of_mass() returns Vector instead of &Point<Real>
  • RigidBody::local_center_of_mass() returns Vector instead of &Point<Real>
  • Collider::translation() returns Vector instead of &Vector<Real>
  • Collider::rotation() returns Rotation instead of &Rotation<Real>
• Breaking: DebugRenderBackend::draw_line signature changed: takes Vector instead of Point<Real> for line endpoints.
• Breaking: DebugRenderBackend::draw_polyline and draw_line_strip now take &Pose and Vector instead of &Isometry<Real> and &Vector<Real>.
• Testbed migrated from Bevy to kiss3d for lighter dependencies and simpler maintenance.
• Removed benchmarks2d and benchmarks3d crates (merged with examples2d and examples3d).

Migration guide

If your codebase currently relies on nalgebra, note that nalgebra and glamx provide type conversion. Enable the
corresponding features:

• nalgebra = { version = "0.34", features = [ "convert-glam030" ] }
• glamx = { version = "0.1", features = ["nalgebra"] }
  then you can convert between glam and nalgebra types using .into().

1. Type changes: Replace Isometry<Real> with Pose, and Point<Real> with Vector for positions.
2. Pose construction:
   • Isometry::identity() → Pose::IDENTITY
   • Isometry::translation(x, y, z) → Pose::from_translation(Vector::new(x, y, z))
   • Isometry::rotation(axis_angle) → Pose::from_rotation(Rotation::from_scaled_axis(axis_angle))
   • isometry.translation.vector → pose.translation
   • isometry.rotation.scaled_axis() → pose.rotation.to_scaled_axis()
3. Getter usage: Remove & or .clone() when using linvel(), angvel(), center_of_mass(), translation(), rotation() since they now return by value.
4. Debug renderer: Update DebugRenderBackend implementations to use Vector instead of Point<Real>.
5. glam access: The glamx crate is re-exported as rapier::glamx for direct glam type access if needed.

[sebcrozet]

Publish dry-run failure is expected.