Merge pull request #20 from johanhelsing/f64-feature

Add `f64` feature

Author: Jondolf

.github/workflows/ci.yml

@@ -44,7 +44,7 @@ jobs:
         uses: actions-rs/cargo@v1
         with:
           command: test
-          args: --no-default-features --features enhanced_determinism,bevy_xpbd_2d/2d,bevy_xpbd_3d/3d
+          args: --no-default-features --features enhanced_determinism,bevy_xpbd_2d/2d,bevy_xpbd_3d/3d,bevy_xpbd_2d/f64,bevy_xpbd_3d/f64
 
   lints:
     name: Lints
@@ -71,4 +71,4 @@ jobs:
         uses: actions-rs/cargo@v1
         with:
           command: clippy
-          args: -- -D warnings
+          args: -- -D warnings

Cargo.toml

@@ -1,5 +1,8 @@
 [workspace]
-members = [ "crates/bevy_xpbd_2d", "crates/bevy_xpbd_3d" ]
+members = [
+    "crates/bevy_xpbd_2d",
+    "crates/bevy_xpbd_3d"
+]
 resolver = "2"
 
 [profile.dev]

crates/bevy_xpbd_2d/Cargo.toml

@@ -4,11 +4,13 @@ version = "0.1.0"
 edition = "2021"
 
 [features]
-default = [ "2d", "simd" ]
+default = [ "2d", "f32", "simd" ]
 2d = []
-debug-render-aabbs = [ "bevy_prototype_debug_lines" ]
-simd = [ "parry2d/simd-stable" ]
-enhanced_determinism = [ "parry2d/enhanced-determinism" ]
+f32 = [ "dep:parry2d" ]
+f64 = [ "dep:parry2d-f64" ]
+debug-render-aabbs = [ "dep:bevy_prototype_debug_lines" ]
+simd = [ "parry2d?/simd-stable", "parry2d-f64?/simd-stable" ]
+enhanced_determinism = [ "parry2d?/enhanced-determinism", "parry2d-f64?/enhanced-determinism" ]
 
 [lib]
 name = "bevy_xpbd_2d"
@@ -18,7 +20,8 @@ required-features = [ "2d" ]
 [dependencies]
 bevy = { version = "0.10", default-features = false }
 bevy_prototype_debug_lines = { version = "0.10", optional = true }
-parry2d = "0.13.1"
+parry2d = { version = "0.13.1", optional = true }
+parry2d-f64 = { version = "0.13.1", optional = true }
 nalgebra = { version = "0.32.2", features = [ "convert-glam023" ] }
 console_error_panic_hook = "0.1.7"
 web-sys = "0.3.59"
@@ -30,3 +33,23 @@ approx = "0.5"
 glam = { version = "0.23", features = [ "approx" ] }
 insta = "1.0"
 itertools = "0.10"
+
+[[example]]
+name = "chain2d"
+required-features = ["2d", "f32"]
+
+[[example]]
+name = "fixed_joint_2d"
+required-features = ["2d", "f32"]
+
+[[example]]
+name = "move_marbles"
+required-features = ["2d", "f32"]
+
+[[example]]
+name = "prismatic_joint_2d"
+required-features = ["2d", "f32"]
+
+[[example]]
+name = "revolute_joint_2d"
+required-features = ["2d", "f32"]

crates/bevy_xpbd_2d/examples/chain2d.rs

@@ -109,7 +109,7 @@ fn mouse_position(
     let window = windows.single();
     let (camera, camera_transform) = q_camera.single();
     if let Some(pos) = window.cursor_position() {
-        let window_size = Vec2::new(window.width() as f32, window.height() as f32);
+        let window_size = Vec2::new(window.width(), window.height());
 
         // convert screen position [0..resolution] to ndc [-1..1] (gpu coordinates)
         let ndc = (pos / window_size) * 2.0 - Vec2::ONE;

crates/bevy_xpbd_2d/snapshots/bevy_xpbd_2d__tests__body_with_velocity_moves.snap

@@ -4,7 +4,7 @@ expression: transform
 ---
 Transform {
     translation: Vec3(
-        8.316475,
+        8.316667,
         0.0,
         0.0,
     ),

crates/bevy_xpbd_3d/Cargo.toml

@@ -4,11 +4,13 @@ version = "0.1.0"
 edition = "2021"
 
 [features]
-default = [ "3d", "simd" ]
+default = [ "3d", "f32", "simd" ]
 3d = []
-debug-render-aabbs = [ "bevy_prototype_debug_lines" ]
-simd = [ "parry3d/simd-stable" ]
-enhanced_determinism = [ "parry3d/enhanced-determinism" ]
+f32 = [ "dep:parry3d" ]
+f64 = [ "dep:parry3d-f64" ]
+debug-render-aabbs = [ "dep:bevy_prototype_debug_lines" ]
+simd = [ "parry3d?/simd-stable", "parry3d-f64?/simd-stable" ]
+enhanced_determinism = [ "parry3d?/enhanced-determinism", "parry3d-f64?/enhanced-determinism" ]
 
 [lib]
 name = "bevy_xpbd_3d"
@@ -18,7 +20,8 @@ required-features = [ "3d" ]
 [dependencies]
 bevy = { version = "0.10", default-features = false }
 bevy_prototype_debug_lines = { version = "0.10", optional = true, features = [ "3d" ] }
-parry3d = "0.13.1"
+parry3d = { version = "0.13.1", optional = true }
+parry3d-f64 = { version = "0.13.1", optional = true }
 nalgebra = { version = "0.32.2", features = [ "convert-glam023" ] }
 console_error_panic_hook = "0.1"
 web-sys = "0.3.59"
@@ -30,3 +33,31 @@ approx = "0.5"
 glam = { version = "0.23", features = [ "approx" ] }
 insta = "1.0"
 itertools = "0.10"
+
+[[example]]
+name = "chain3d"
+required-features = ["3d", "f32"]
+
+[[example]]
+name = "cubes"
+required-features = ["3d", "f32"]
+
+[[example]]
+name = "cubes_f64"
+required-features = ["3d", "f64"]
+
+[[example]]
+name = "fixed_joint_3d"
+required-features = ["3d", "f32"]
+
+[[example]]
+name = "prismatic_joint_3d"
+required-features = ["3d", "f32"]
+
+[[example]]
+name = "revolute_joint_3d"
+required-features = ["3d", "f32"]
+
+[[example]]
+name = "rolling_balls"
+required-features = ["3d", "f32"]

crates/bevy_xpbd_3d/examples/cubes_f64.rs

@@ -0,0 +1,140 @@
+use bevy::{math::DVec3, prelude::*};
+use bevy_xpbd_3d::prelude::*;
+use examples_common_3d::XpbdExamplePlugin;
+
+#[derive(Component)]
+struct Player;
+
+#[derive(Component, Deref, DerefMut)]
+pub struct MoveAcceleration(pub f64);
+
+#[derive(Component, Deref, DerefMut)]
+pub struct MaxLinearVelocity(pub DVec3);
+
+fn setup(
+    mut commands: Commands,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+    mut meshes: ResMut<Assets<Mesh>>,
+) {
+    let cube = meshes.add(Mesh::from(shape::Cube { size: 1.0 }));
+
+    let white = materials.add(StandardMaterial {
+        base_color: Color::rgb(0.8, 0.8, 1.0),
+        ..default()
+    });
+
+    let blue = materials.add(StandardMaterial {
+        base_color: Color::rgb(0.2, 0.6, 0.8),
+        ..default()
+    });
+
+    let floor_size = DVec3::new(80.0, 1.0, 80.0);
+    let _floor = commands
+        .spawn(PbrBundle {
+            mesh: cube.clone(),
+            material: white,
+            transform: Transform::from_scale(floor_size.as_vec3()),
+            ..default()
+        })
+        .insert(RigidBodyBundle::new_static().with_pos(DVec3::new(0.0, -1.0, 0.0)))
+        .insert(ColliderBundle::new(
+            &Shape::cuboid(floor_size.x * 0.5, floor_size.y * 0.5, floor_size.z * 0.5),
+            1.0,
+        ));
+
+    let radius = 1.0;
+    let count_x = 4;
+    let count_y = 4;
+    let count_z = 4;
+    for y in 0..count_y {
+        for x in 0..count_x {
+            for z in 0..count_z {
+                let pos = DVec3::new(
+                    (x as f64 - count_x as f64 * 0.5) * 2.1 * radius,
+                    10.0 * radius * y as f64,
+                    (z as f64 - count_z as f64 * 0.5) * 2.1 * radius,
+                );
+                commands
+                    .spawn(PbrBundle {
+                        mesh: cube.clone(),
+                        material: blue.clone(),
+                        transform: Transform {
+                            scale: Vec3::splat(radius as f32 * 2.0),
+                            ..default()
+                        },
+                        ..default()
+                    })
+                    .insert(RigidBodyBundle::new_dynamic().with_pos(pos + DVec3::Y * 5.0))
+                    .insert(ColliderBundle::new(
+                        &Shape::cuboid(radius, radius, radius),
+                        1.0,
+                    ))
+                    .insert(Player)
+                    .insert(MoveAcceleration(0.1))
+                    .insert(MaxLinearVelocity(DVec3::new(30.0, 30.0, 30.0)));
+            }
+        }
+    }
+
+    // Directional 'sun' light
+    commands.spawn(DirectionalLightBundle {
+        directional_light: DirectionalLight {
+            illuminance: 20_000.0,
+            shadows_enabled: true,
+            ..default()
+        },
+        transform: Transform {
+            translation: Vec3::new(0.0, 10.0, 0.0),
+            rotation: Quat::from_euler(
+                EulerRot::XYZ,
+                std::f32::consts::PI * 1.3,
+                std::f32::consts::PI * 1.85,
+                0.0,
+            ),
+            ..default()
+        },
+        ..default()
+    });
+
+    commands.spawn(Camera3dBundle {
+        transform: Transform::from_translation(Vec3::new(0.0, 15.0, -50.0))
+            .looking_at(Vec3::Y * 10.0, Vec3::Y),
+        ..default()
+    });
+}
+
+fn player_movement(
+    keyboard_input: Res<Input<KeyCode>>,
+    mut query: Query<(&mut LinVel, &MaxLinearVelocity, &MoveAcceleration), With<Player>>,
+) {
+    for (mut lin_vel, max_vel, move_acceleration) in &mut query {
+        if keyboard_input.pressed(KeyCode::Up) {
+            lin_vel.z += move_acceleration.0;
+        }
+        if keyboard_input.pressed(KeyCode::Down) {
+            lin_vel.z -= move_acceleration.0;
+        }
+        if keyboard_input.pressed(KeyCode::Left) {
+            lin_vel.x += move_acceleration.0;
+        }
+        if keyboard_input.pressed(KeyCode::Right) {
+            lin_vel.x -= move_acceleration.0;
+        }
+        lin_vel.0 = lin_vel.0.clamp(-max_vel.0, max_vel.0);
+    }
+}
+
+fn main() {
+    #[cfg(target_arch = "wasm32")]
+    console_error_panic_hook::set_once();
+
+    App::new()
+        .insert_resource(ClearColor(Color::BLACK))
+        .insert_resource(Msaa::Sample4)
+        .insert_resource(Gravity::default())
+        .add_plugins(DefaultPlugins)
+        .add_plugin(XpbdExamplePlugin)
+        .add_startup_system(setup)
+        .add_system(player_movement)
+        .run();
+}

crates/bevy_xpbd_3d/snapshots/bevy_xpbd_3d__tests__body_with_velocity_moves.snap

@@ -4,7 +4,7 @@ expression: transform
 ---
 Transform {
     translation: Vec3(
-        8.316475,
+        8.316667,
         0.0,
         0.0,
     ),