Add Rotation2d

crates/bevy_math/src/bounding/bounded2d/mod.rs

@@ -1,7 +1,7 @@
 mod primitive_impls;
 
 use super::{BoundingVolume, IntersectsVolume};
-use crate::prelude::{Rotation2d, Vec2};
+use crate::prelude::{Mat2, Rotation2d, Vec2};
 
 /// Computes the geometric center of the given set of points.
 #[inline(always)]
@@ -97,7 +97,7 @@ impl Aabb2d {
 
 impl BoundingVolume for Aabb2d {
     type Translation = Vec2;
-    type Rotation = f32;
+    type Rotation = Rotation2d;
     type HalfSize = Vec2;
 
     #[inline(always)]
@@ -160,7 +160,11 @@ impl BoundingVolume for Aabb2d {
     /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
     /// and consider storing the original AABB and rotating that every time instead.
     #[inline(always)]
-    fn transformed_by(mut self, translation: Self::Translation, rotation: Self::Rotation) -> Self {
+    fn transformed_by(
+        mut self,
+        translation: Self::Translation,
+        rotation: impl Into<Self::Rotation>,
+    ) -> Self {
         self.transform_by(translation, rotation);
         self
     }
@@ -173,7 +177,11 @@ impl BoundingVolume for Aabb2d {
     /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
     /// and consider storing the original AABB and rotating that every time instead.
     #[inline(always)]
-    fn transform_by(&mut self, translation: Self::Translation, rotation: Self::Rotation) {
+    fn transform_by(
+        &mut self,
+        translation: Self::Translation,
+        rotation: impl Into<Self::Rotation>,
+    ) {
         self.rotate_by(rotation);
         self.translate_by(translation);
     }
@@ -192,7 +200,7 @@ impl BoundingVolume for Aabb2d {
     /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
     /// and consider storing the original AABB and rotating that every time instead.
     #[inline(always)]
-    fn rotated_by(mut self, rotation: Self::Rotation) -> Self {
+    fn rotated_by(mut self, rotation: impl Into<Self::Rotation>) -> Self {
         self.rotate_by(rotation);
         self
     }
@@ -205,11 +213,14 @@ impl BoundingVolume for Aabb2d {
     /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
     /// and consider storing the original AABB and rotating that every time instead.
     #[inline(always)]
-    fn rotate_by(&mut self, rotation: Self::Rotation) {
-        let rot_mat = Mat2::from_angle(rotation);
-        let abs_rot_mat = Mat2::from_cols(rot_mat.x_axis.abs(), rot_mat.y_axis.abs());
+    fn rotate_by(&mut self, rotation: impl Into<Self::Rotation>) {
+        let rotation: Rotation2d = rotation.into();
+        let abs_rot_mat = Mat2::from_cols(
+            Vec2::new(rotation.cos, rotation.sin),
+            Vec2::new(rotation.sin, rotation.cos),
+        );
         let half_size = abs_rot_mat * self.half_size();
-        *self = Self::new(rot_mat * self.center(), half_size);
+        *self = Self::new(rotation * self.center(), half_size);
     }
 }
 
@@ -481,7 +492,7 @@ impl BoundingCircle {
 
 impl BoundingVolume for BoundingCircle {
     type Translation = Vec2;
-    type Rotation = f32;
+    type Rotation = Rotation2d;
     type HalfSize = f32;
 
     #[inline(always)]
@@ -536,13 +547,14 @@ impl BoundingVolume for BoundingCircle {
     }
 
     #[inline(always)]
-    fn translate_by(&mut self, translation: Vec2) {
+    fn translate_by(&mut self, translation: Self::Translation) {
         self.center += translation;
     }
 
     #[inline(always)]
-    fn rotate_by(&mut self, rotation: f32) {
-        self.center = Mat2::from_angle(rotation) * self.center;
+    fn rotate_by(&mut self, rotation: impl Into<Self::Rotation>) {
+        let rotation: Rotation2d = rotation.into();
+        self.center = rotation * self.center;
     }
 }
 

crates/bevy_math/src/bounding/bounded3d/mod.rs

@@ -155,7 +155,11 @@ impl BoundingVolume for Aabb3d {
     /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
     /// and consider storing the original AABB and rotating that every time instead.
     #[inline(always)]
-    fn transformed_by(mut self, translation: Self::Translation, rotation: Self::Rotation) -> Self {
+    fn transformed_by(
+        mut self,
+        translation: Self::Translation,
+        rotation: impl Into<Self::Rotation>,
+    ) -> Self {
         self.transform_by(translation, rotation);
         self
     }
@@ -168,7 +172,11 @@ impl BoundingVolume for Aabb3d {
     /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
     /// and consider storing the original AABB and rotating that every time instead.
     #[inline(always)]
-    fn transform_by(&mut self, translation: Self::Translation, rotation: Self::Rotation) {
+    fn transform_by(
+        &mut self,
+        translation: Self::Translation,
+        rotation: impl Into<Self::Rotation>,
+    ) {
         self.rotate_by(rotation);
         self.translate_by(translation);
     }
@@ -187,7 +195,7 @@ impl BoundingVolume for Aabb3d {
     /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
     /// and consider storing the original AABB and rotating that every time instead.
     #[inline(always)]
-    fn rotated_by(mut self, rotation: Self::Rotation) -> Self {
+    fn rotated_by(mut self, rotation: impl Into<Self::Rotation>) -> Self {
         self.rotate_by(rotation);
         self
     }
@@ -200,8 +208,8 @@ impl BoundingVolume for Aabb3d {
     /// can cause the AABB to grow indefinitely. Avoid applying multiple rotations to the same AABB,
     /// and consider storing the original AABB and rotating that every time instead.
     #[inline(always)]
-    fn rotate_by(&mut self, rotation: Self::Rotation) {
-        let rot_mat = Mat3::from_quat(rotation);
+    fn rotate_by(&mut self, rotation: impl Into<Self::Rotation>) {
+        let rot_mat = Mat3::from_quat(rotation.into());
         let abs_rot_mat = Mat3::from_cols(
             rot_mat.x_axis.abs(),
             rot_mat.y_axis.abs(),
@@ -542,12 +550,13 @@ impl BoundingVolume for BoundingSphere {
     }
 
     #[inline(always)]
-    fn translate_by(&mut self, translation: Vec3) {
+    fn translate_by(&mut self, translation: Self::Translation) {
         self.center += translation;
     }
 
     #[inline(always)]
-    fn rotate_by(&mut self, rotation: Quat) {
+    fn rotate_by(&mut self, rotation: impl Into<Self::Rotation>) {
+        let rotation: Quat = rotation.into();
         self.center = rotation * self.center;
     }
 }

crates/bevy_math/src/bounding/mod.rs

@@ -49,13 +49,21 @@ pub trait BoundingVolume: Sized {
     fn shrink(&self, amount: Self::HalfSize) -> Self;
 
     /// Transforms the bounding volume by first rotating it around the origin and then applying a translation.
-    fn transformed_by(mut self, translation: Self::Translation, rotation: Self::Rotation) -> Self {
+    fn transformed_by(
+        mut self,
+        translation: Self::Translation,
+        rotation: impl Into<Self::Rotation>,
+    ) -> Self {
         self.transform_by(translation, rotation);
         self
     }
 
     /// Transforms the bounding volume by first rotating it around the origin and then applying a translation.
-    fn transform_by(&mut self, translation: Self::Translation, rotation: Self::Rotation) {
+    fn transform_by(
+        &mut self,
+        translation: Self::Translation,
+        rotation: impl Into<Self::Rotation>,
+    ) {
         self.rotate_by(rotation);
         self.translate_by(translation);
     }
@@ -73,7 +81,7 @@ pub trait BoundingVolume: Sized {
     ///
     /// The result is a combination of the original volume and the rotated volume,
     /// so it is guaranteed to be either the same size or larger than the original.
-    fn rotated_by(mut self, rotation: Self::Rotation) -> Self {
+    fn rotated_by(mut self, rotation: impl Into<Self::Rotation>) -> Self {
         self.rotate_by(rotation);
         self
     }
@@ -82,7 +90,7 @@ pub trait BoundingVolume: Sized {
     ///
     /// The result is a combination of the original volume and the rotated volume,
     /// so it is guaranteed to be either the same size or larger than the original.
-    fn rotate_by(&mut self, rotation: Self::Rotation);
+    fn rotate_by(&mut self, rotation: impl Into<Self::Rotation>);
 }
 
 /// A trait that generalizes intersection tests against a volume.

crates/bevy_math/src/rotation2d.rs

@@ -206,12 +206,11 @@ impl Rotation2d {
     ///
     /// # Panics
     ///
-    /// Panics if `self` has a length of zero, NaN, or infinity when the `glam_assert`
-    /// feature is enabled.
+    /// Panics if `self` has a length of zero, NaN, or infinity when debug assertions are enabled.
     #[inline]
     pub fn normalize(self) -> Self {
-        let length = self.length();
-        Self::from_sin_cos(self.sin / length, self.cos / length)
+        let length_recip = self.length_recip();
+        Self::from_sin_cos(self.sin * length_recip, self.cos * length_recip)
     }
 
     /// Returns `true` if the rotation is neither infinite nor NaN.
@@ -228,11 +227,10 @@ impl Rotation2d {
 
     /// Returns whether `self` has a length of `1.0` or not.
     ///
-    /// Uses a precision threshold of `1e-6`.
+    /// Uses a precision threshold of approximately `1e-4`.
     #[inline]
     pub fn is_normalized(self) -> bool {
-        let length = self.sin.hypot(self.cos);
-        length - 1.0 <= 1e-6
+        (self.length_squared() - 1.0).abs() <= 2e-4
     }
 
     /// Returns `true` if the rotation is near [`Rotation2d::IDENTITY`].
@@ -501,8 +499,8 @@ mod tests {
         };
         let normalized_rotation = rotation.normalize();
 
-        assert_eq!(normalized_rotation.sin, 0.8944272);
-        assert_eq!(normalized_rotation.cos, 0.4472136);
+        assert_eq!(normalized_rotation.sin, 0.89442724);
+        assert_eq!(normalized_rotation.cos, 0.44721362);
 
         assert!(!rotation.is_normalized());
         assert!(normalized_rotation.is_normalized());