# Objective
Fixes#14782
## Solution
Enable the lint and fix all upcoming hints (`--fix`). Also tried to
figure out the false-positive (see review comment). Maybe split this PR
up into multiple parts where only the last one enables the lint, so some
can already be merged resulting in less many files touched / less
potential for merge conflicts?
Currently, there are some cases where it might be easier to read the
code with the qualifier, so perhaps remove the import of it and adapt
its cases? In the current stage it's just a plain adoption of the
suggestions in order to have a base to discuss.
## Testing
`cargo clippy` and `cargo run -p ci` are happy.
# Objective
Closes#14474
Previously, the `libm` feature of bevy_math would just pass the same
feature flag down to glam. However, bevy_math itself had many uses of
floating-point arithmetic with unspecified precision. For example,
`f32::sin_cos` and `f32::powi` have unspecified precision, which means
that the exact details of their output are not guaranteed to be stable
across different systems and/or versions of Rust. This means that users
of bevy_math could observe slightly different behavior on different
systems if these methods were used.
The goal of this PR is to make it so that the `libm` feature flag
actually guarantees some degree of determinacy within bevy_math itself
by switching to the libm versions of these functions when the `libm`
feature is enabled.
## Solution
bevy_math now has an internal module `bevy_math::ops`, which re-exports
either the standard versions of the operations or the libm versions
depending on whether the `libm` feature is enabled. For example,
`ops::sin` compiles to `f32::sin` without the `libm` feature and to
`libm::sinf` with it.
This approach has a small shortfall, which is that `f32::powi` (integer
powers of floating point numbers) does not have an equivalent in `libm`.
On the other hand, this method is only used for squaring and cubing
numbers in bevy_math. Accordingly, this deficit is covered by the
introduction of a trait `ops::FloatPow`:
```rust
pub(crate) trait FloatPow {
fn squared(self) -> Self;
fn cubed(self) -> Self;
}
```
Next, each current usage of the unspecified-precision methods has been
replaced by its equivalent in `ops`, so that when `libm` is enabled, the
libm version is used instead. The exception, of course, is that
`.powi(2)`/`.powi(3)` have been replaced with `.squared()`/`.cubed()`.
Finally, the usage of the plain `f32` methods with unspecified precision
is now linted out of bevy_math (and hence disallowed in CI). For
example, using `f32::sin` within bevy_math produces a warning that tells
the user to use the `ops::sin` version instead.
## Testing
Ran existing tests. It would be nice to check some benchmarks on NURBS
things once #14677 merges. I'm happy to wait until then if the rest of
this PR is fine.
---
## Discussion
In the future, it might make sense to actually expose `bevy_math::ops`
as public if any downstream Bevy crates want to provide similar
determinacy guarantees. For now, it's all just `pub(crate)`.
This PR also only covers `f32`. If we find ourselves using `f64`
internally in parts of bevy_math for better robustness, we could extend
the module and lints to cover the `f64` versions easily enough.
I don't know how feasible it is, but it would also be nice if we could
standardize the bevy_math tests with the `libm` feature in CI, since
their success is currently platform-dependent (e.g. 8 of them fail on my
machine when run locally).
---------
Co-authored-by: IQuick 143 <IQuick143cz@gmail.com>
# Objective
Previously, this area of bevy_math used raw translation and rotations to
encode isometries, which did not exist earlier. The goal of this PR is
to make the codebase of bevy_math more harmonious by using actual
isometries (`Isometry2d`/`Isometry3d`) in these places instead — this
will hopefully make the interfaces more digestible for end-users, in
addition to facilitating conversions.
For instance, together with the addition of #14478, this means that a
bounding box for a collider with an isometric `Transform` can be
computed as
```rust
collider.aabb_3d(collider_transform.to_isometry())
```
instead of using manual destructuring.
## Solution
- The traits `Bounded2d` and `Bounded3d` now use `Isometry2d` and
`Isometry3d` (respectively) instead of `translation` and `rotation`
parameters; e.g.:
```rust
/// A trait with methods that return 3D bounding volumes for a shape.
pub trait Bounded3d {
/// Get an axis-aligned bounding box for the shape translated and
rotated by the given isometry.
fn aabb_3d(&self, isometry: Isometry3d) -> Aabb3d;
/// Get a bounding sphere for the shape translated and rotated by the
given isometry.
fn bounding_sphere(&self, isometry: Isometry3d) -> BoundingSphere;
}
```
- Similarly, the `from_point_cloud` constructors for axis-aligned
bounding boxes and bounding circles/spheres now take isometries instead
of separate `translation` and `rotation`; e.g.:
```rust
/// Computes the smallest [`Aabb3d`] containing the given set of points,
/// transformed by the rotation and translation of the given isometry.
///
/// # Panics
///
/// Panics if the given set of points is empty.
#[inline(always)]
pub fn from_point_cloud(
isometry: Isometry3d,
points: impl Iterator<Item = impl Into<Vec3A>>,
) -> Aabb3d { //... }
```
This has a couple additional results:
1. The end-user no longer interacts directly with `Into<Vec3A>` or
`Into<Rot2>` parameters; these conversions all happen earlier now,
inside the isometry types.
2. Similarly, almost all intermediate `Vec3 -> Vec3A` conversions have
been eliminated from the `Bounded3d` implementations for primitives.
This probably has some performance benefit, but I have not measured it
as of now.
## Testing
Existing unit tests help ensure that nothing has been broken in the
refactor.
---
## Migration Guide
The `Bounded2d` and `Bounded3d` traits now take `Isometry2d` and
`Isometry3d` parameters (respectively) instead of separate translation
and rotation arguments. Existing calls to `aabb_2d`, `bounding_circle`,
`aabb_3d`, and `bounding_sphere` will have to be changed to use
isometries instead. A straightforward conversion is to refactor just by
calling `Isometry2d/3d::new`, as follows:
```rust
// Old:
let aabb = my_shape.aabb_2d(my_translation, my_rotation);
// New:
let aabb = my_shape.aabb_2d(Isometry2d::new(my_translation, my_rotation));
```
However, if the old translation and rotation are 3d
translation/rotations originating from a `Transform` or
`GlobalTransform`, then `to_isometry` may be used instead. For example:
```rust
// Old:
let bounding_sphere = my_shape.bounding_sphere(shape_transform.translation, shape_transform.rotation);
// New:
let bounding_sphere = my_shape.bounding_sphere(shape_transform.to_isometry());
```
This discussion also applies to the `from_point_cloud` construction
method of `Aabb2d`/`BoundingCircle`/`Aabb3d`/`BoundingSphere`, which has
similarly been altered to use isometries.
# Objective
With an unlucky denormalised quaternion (or just a regular very
denormalised quaternion), it's possible to obtain NaN values for AABB's
in shapes which rely on an AABB for a disk.
## Solution
Add an additional `.max(Vec3::ZERO)` clamp to get rid of negative values
arising due to numerical errors.
Fixup some unnecessary calculations and improve variable names in
relevant code, aiming for consistency.
## Discussion
These two (nontrivial) lines of code are repeated at least 5 times,
maybe they could be their own method.
# Objective
- Due to coherency, it was previously not possible to implement
`Bounded3d` for `Extrusion<MyCustomPrimitive>`. This PR fixes that.
## Solution
- Added a new trait `BoundedExtrusion: Primitive2d + Bounded2d` which
provides functions for bounding boxes and spheres of extrusions of 2D
primitives.
- Changed all implementations of `Bounded3d for Extrusion<T>` to
`BoundedExtrusion for T`
- Implemented `Bounded3d for Extrusion<T: BoundedExtrusion>`
- Removed the `extrusion_bounding_box` and `extrusion_bounding_sphere`
functions and used them as default implementations in `BoundedExtrusion`
## Testing
- This PR does not change any implementations
---------
Co-authored-by: Lynn Büttgenbach <62256001+solis-lumine-vorago@users.noreply.github.com>
Co-authored-by: Matty <weatherleymatthew@gmail.com>
# Objective
- Implement `Bounded3d` for some `Extrusion<T>`
- Provide methods to calculate `Aabb3d`s and `BoundingSphere`s for any
extrusion with a `Bounded2d` base shape
## Solution
- Implemented `Bounded3d` for all 2D `bevy_math` primitives with the
exception of `Plane2d`. As far as I can see, `Plane2d` is pretty much a
line? and I think it is very unintuitive to extrude a plane and get a
plane as a result.
- Add `extrusion_bounding_box` and `extrusion_bounding_sphere`. These
are not always used internally since there are faster methods for
specific extrusions. Both of them produce the optimal result within
precision limits though.
## Testing
- Bounds for extrusions are tested within the same module. All unique
implementations are tested.
- The correctness was validated visually aswell.
---------
Co-authored-by: Raphael Büttgenbach <62256001+solis-lumine-vorago@users.noreply.github.com>
Co-authored-by: IQuick 143 <IQuick143cz@gmail.com>
