feat: add Window and GraphicsManager accessors to the testbed

CHANGELOG.md

@@ -1,3 +1,10 @@
+## v0.35.1 (08 August 2026)
+
+### Added
+
+- Added public access to the testbed’s `Window` and `GraphicsManager` to enable custom
+  rendering on third-party examples.
+
 ## v0.35.0 (08 August 2026)
 
 ### Added

Cargo.toml

@@ -45,7 +45,7 @@ exclude = ["typescript"]
 resolver = "2"
 
 [workspace.package]
-version = "0.35.0"
+version = "0.35.1"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
@@ -124,18 +124,18 @@ getrandom = { version = "0.2", features = ["js"] }
 wasm-bindgen = "0.2"
 
 # Internal crates (paths are relative to the workspace root)
-rapier2d = { version = "0.35.0", path = "crates/rapier2d" }
-rapier2d-f64 = { version = "0.35.0", path = "crates/rapier2d-f64" }
-rapier3d = { version = "0.35.0", path = "crates/rapier3d" }
-rapier3d-f64 = { version = "0.35.0", path = "crates/rapier3d-f64" }
-rapier_testbed2d = { version = "0.35.0", path = "crates/rapier_testbed2d" }
-rapier_testbed2d-f64 = { version = "0.35.0", path = "crates/rapier_testbed2d-f64" }
-rapier_testbed3d = { version = "0.35.0", path = "crates/rapier_testbed3d" }
-rapier_testbed3d-f64 = { version = "0.35.0", path = "crates/rapier_testbed3d-f64" }
-rapier3d-urdf = { version = "0.35.0", path = "crates/rapier3d-urdf" }
-rapier3d-meshloader = { version = "0.35.0", path = "crates/rapier3d-meshloader", default-features = false }
-mjcf-rs = { version = "0.35.0", path = "crates/mjcf-rs" }
-rapier3d-mjcf = { version = "0.35.0", path = "crates/rapier3d-mjcf" }
+rapier2d = { version = "0.35.1", path = "crates/rapier2d" }
+rapier2d-f64 = { version = "0.35.1", path = "crates/rapier2d-f64" }
+rapier3d = { version = "0.35.1", path = "crates/rapier3d" }
+rapier3d-f64 = { version = "0.35.1", path = "crates/rapier3d-f64" }
+rapier_testbed2d = { version = "0.35.1", path = "crates/rapier_testbed2d" }
+rapier_testbed2d-f64 = { version = "0.35.1", path = "crates/rapier_testbed2d-f64" }
+rapier_testbed3d = { version = "0.35.1", path = "crates/rapier_testbed3d" }
+rapier_testbed3d-f64 = { version = "0.35.1", path = "crates/rapier_testbed3d-f64" }
+rapier3d-urdf = { version = "0.35.1", path = "crates/rapier3d-urdf" }
+rapier3d-meshloader = { version = "0.35.1", path = "crates/rapier3d-meshloader", default-features = false }
+mjcf-rs = { version = "0.35.1", path = "crates/mjcf-rs" }
+rapier3d-mjcf = { version = "0.35.1", path = "crates/rapier3d-mjcf" }
 
 # Dev
 bincode = "1"

crates/rapier_testbed2d-f64/Cargo.toml

@@ -60,5 +60,5 @@ env_logger.workspace = true
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
-version = "0.35.0"
+version = "0.35.1"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed2d/Cargo.toml

@@ -60,5 +60,5 @@ env_logger.workspace = true
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
-version = "0.35.0"
+version = "0.35.1"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed3d-f64/Cargo.toml

@@ -60,5 +60,5 @@ env_logger.workspace = true
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
-version = "0.35.0"
+version = "0.35.1"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed3d/Cargo.toml

@@ -60,5 +60,5 @@ env_logger.workspace = true
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
-version = "0.35.0"
+version = "0.35.1"
 features = ["serde-serialize", "debug-render", "profiler"]

python/rapier-testbed/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "hatchling.build"
 
 [project]
 name = "rapier-testbed"
-version = "0.35.0"
+version = "0.35.1"
 description = "Panda3D-based visual testbed and example gallery for the Rapier Python bindings."
 readme = "README.md"
 license = { text = "Apache-2.0" }

src_testbed/viewer.rs

@@ -419,6 +419,28 @@ impl TestbedViewer {
         self.window.egui_context_mut()
     }
 
+    /// The underlying kiss3d window.
+    pub fn window(&self) -> &Window {
+        &self.window
+    }
+
+    /// The graphics manager owning the kiss3d scene.
+    pub fn graphics(&self) -> &GraphicsManager {
+        &self.graphics
+    }
+
+    /// Mutable access to the graphics manager owning the kiss3d scene, e.g. to
+    /// add custom render nodes from an example's render loop.
+    pub fn graphics_mut(&mut self) -> &mut GraphicsManager {
+        &mut self.graphics
+    }
+
+    /// Mutable access to the underlying kiss3d window, e.g. for immediate-mode
+    /// drawing (`draw_point`, `draw_line`, ...) from an example's render loop.
+    pub fn window_mut(&mut self) -> &mut Window {
+        &mut self.window
+    }
+
     // ───────────────────────────── registry / loop ──────────────────────────
 
     /// Display index of the example the UI currently has selected, clamped to a