chore(deps): bump rapier3d from 0.22.0 to 0.32.0

[dependabot]

Bumps rapier3d from 0.22.0 to 0.32.0.

Changelog

Sourced from rapier3d's changelog.

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.

v0.31.0 (21 Nov. 2025)

• InteractionGroups struct now contains InteractionTestMode. Continues rapier/pull/170 for rapier/issues/622
• InteractionGroups constructor now requires an InteractionTestMode parameter. If you want same behaviour as before, use InteractionTestMode::And (eg. InteractionGroups::new(Group::GROUP_1, Group::GROUP_1, InteractionTestMode::And))
• CoefficientCombineRule::Min - now makes sure it uses a non zero value as result by using coeff1.min(coeff2).abs()

... (truncated)

Commits

• 0b7c3b3 feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead o...
• 48de838 feat: persistent islands + manifold reduction (#895)
• 1341329 Release v0.31.0 (#904)
• da2b0a8 fix snapshots in 2d examples (#875)
• 9450721 Making SolverGenericContact's contact_id public. (#888)
• e40d3a9 Add joint softness per joint (#901)
• 5f687b0 Additional PinSlotJoint 2D implementation with DOF: 1 translation + 1 rotat...
• eb62d2f Make Broadphase Serializable to Json (#899)
• ef5dcac Fix user-change handling for colliders as well as disabled colliders (#900)
• a68d0c6 Expose ColliderSet::{take_modified, take_removed} (#887)
• Additional commits viewable in compare view

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