2024-03-23 02:22:52 +00:00
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#![cfg_attr(docsrs, feature(doc_auto_cfg))]
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2024-03-27 03:30:08 +00:00
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#![forbid(unsafe_code)]
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2024-03-25 18:52:50 +00:00
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#![doc(
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html_logo_url = "https://bevyengine.org/assets/icon.png",
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html_favicon_url = "https://bevyengine.org/assets/icon.png"
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)]
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2024-03-23 02:22:52 +00:00
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2022-04-26 18:23:29 +00:00
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//! Provides math types and functionality for the Bevy game engine.
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//!
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//! The commonly used types are vectors like [`Vec2`] and [`Vec3`],
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2022-07-15 22:37:06 +00:00
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//! matrices like [`Mat2`], [`Mat3`] and [`Mat4`] and orientation representations
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2022-04-26 18:23:29 +00:00
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//! like [`Quat`].
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Reduce the size of MeshUniform to improve performance (#9416)
# Objective
- Significantly reduce the size of MeshUniform by only including
necessary data.
## Solution
Local to world, model transforms are affine. This means they only need a
4x3 matrix to represent them.
`MeshUniform` stores the current, and previous model transforms, and the
inverse transpose of the current model transform, all as 4x4 matrices.
Instead we can store the current, and previous model transforms as 4x3
matrices, and we only need the upper-left 3x3 part of the inverse
transpose of the current model transform. This change allows us to
reduce the serialized MeshUniform size from 208 bytes to 144 bytes,
which is over a 30% saving in data to serialize, and VRAM bandwidth and
space.
## Benchmarks
On an M1 Max, running `many_cubes -- sphere`, main is in yellow, this PR
is in red:
<img width="1484" alt="Screenshot 2023-08-11 at 02 36 43"
src="https://github.com/bevyengine/bevy/assets/302146/7d99c7b3-f2bb-4004-a8d0-4c00f755cb0d">
A reduction in frame time of ~14%.
---
## Changelog
- Changed: Redefined `MeshUniform` to improve performance by using 4x3
affine transforms and reconstructing 4x4 matrices in the shader. Helper
functions were added to `bevy_pbr::mesh_functions` to unpack the data.
`affine_to_square` converts the packed 4x3 in 3x4 matrix data to a 4x4
matrix. `mat2x4_f32_to_mat3x3` converts the 3x3 in mat2x4 + f32 matrix
data back into a 3x3.
## Migration Guide
Shader code before:
```
var model = mesh[instance_index].model;
```
Shader code after:
```
#import bevy_pbr::mesh_functions affine_to_square
var model = affine_to_square(mesh[instance_index].model);
```
2023-08-15 06:00:23 +00:00
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mod affine3;
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2023-12-17 02:01:26 +00:00
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mod aspect_ratio;
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2024-01-10 23:18:51 +00:00
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pub mod bounding;
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2024-07-09 17:16:47 +00:00
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pub mod common_traits;
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2024-06-03 19:46:50 +00:00
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mod compass;
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Add generic cubic splines to `bevy_math` (#7683)
# Objective
- Make cubic splines more flexible and more performant
- Remove the existing spline implementation that is generic over many degrees
- This is a potential performance footgun and adds type complexity for negligible gain.
- Add implementations of:
- Bezier splines
- Cardinal splines (inc. Catmull-Rom)
- B-Splines
- Hermite splines
https://user-images.githubusercontent.com/2632925/221780519-495d1b20-ab46-45b4-92a3-32c46da66034.mp4
https://user-images.githubusercontent.com/2632925/221780524-2b154016-699f-404f-9c18-02092f589b04.mp4
https://user-images.githubusercontent.com/2632925/221780525-f934f99d-9ad4-4999-bae2-75d675f5644f.mp4
## Solution
- Implements the concept that splines are curve generators (e.g. https://youtu.be/jvPPXbo87ds?t=3488) via the `CubicGenerator` trait.
- Common splines are bespoke data types that implement this trait. This gives us flexibility to add custom spline-specific methods on these types, while ultimately all generating a `CubicCurve`.
- All splines generate `CubicCurve`s, which are a chain of precomputed polynomial coefficients. This means that all splines have the same evaluation cost, as the calculations for determining position, velocity, and acceleration are all identical. In addition, `CubicCurve`s are simply a list of `CubicSegment`s, which are evaluated from t=0 to t=1. This also means cubic splines of different type can be chained together, as ultimately they all are simply a collection of `CubicSegment`s.
- Because easing is an operation on a singe segment of a Bezier curve, we can simply implement easing on `Beziers` that use the `Vec2` type for points. Higher level crates such as `bevy_ui` can wrap this in a more ergonomic interface as needed.
### Performance
Measured on a desktop i5 8600K (6-year-old CPU):
- easing: 2.7x faster (19ns)
- cubic vec2 position sample: 1.5x faster (1.8ns)
- cubic vec3 position sample: 1.5x faster (2.6ns)
- cubic vec3a position sample: 1.9x faster (1.4ns)
On a laptop i7 11800H:
- easing: 16ns
- cubic vec2 position sample: 1.6ns
- cubic vec3 position sample: 2.3ns
- cubic vec3a position sample: 1.2ns
---
## Changelog
- Added a generic cubic curve trait, and implementation for Cardinal splines (including Catmull-Rom), B-Splines, Beziers, and Hermite Splines. 2D cubic curve segments also implement easing functionality for animation.
2023-03-03 22:06:42 +00:00
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pub mod cubic_splines;
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2024-08-09 14:19:44 +00:00
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pub mod curve;
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2024-02-26 13:57:49 +00:00
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mod direction;
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2024-03-27 18:30:11 +00:00
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mod float_ord;
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2024-07-15 16:05:33 +00:00
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mod isometry;
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Define a basic set of Primitives (#10466)
# Objective
- Implement a subset of
https://github.com/bevyengine/rfcs/blob/main/rfcs/12-primitive-shapes.md#feature-name-primitive-shapes
## Solution
- Define a very basic set of primitives in bevy_math
- Assume a 0,0,0 origin for most shapes
- Use radius and half extents to avoid unnecessary computational
overhead wherever they get used
- Provide both Boxed and const generics variants for shapes with
variable sizes
- Boxed is useful if a 3rd party crate wants to use something like
enum-dispatch for all supported primitives
- Const generics is useful when just working on a single primitive, as
it causes no allocs
#### Some discrepancies from the RFC:
- Box was changed to Cuboid, because Box is already used for an alloc
type
- Skipped Cone because it's unclear where the origin should be for
different uses
- Skipped Wedge because it's too niche for an initial PR (we also don't
implement Torus, Pyramid or a Death Star (there's an SDF for that!))
- Skipped Frustum because while it would be a useful math type, it's not
really a common primitive
- Skipped Triangle3d and Quad3d because those are just rotated 2D shapes
## Future steps
- Add more primitives
- Add helper methods to make primitives easier to construct (especially
when half extents are involved)
- Add methods to calculate AABBs for primitives (useful for physics, BVH
construction, for the mesh AABBs, etc)
- Add wrappers for common and cheap operations, like extruding 2D shapes
and translating them
- Use the primitives to generate meshes
- Provide signed distance functions and gradients for primitives (maybe)
---
## Changelog
- Added a collection of primitives to the bevy_math crate
---------
Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
2023-11-15 16:51:03 +00:00
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pub mod primitives;
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2022-10-05 22:16:26 +00:00
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mod ray;
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2023-06-12 19:10:48 +00:00
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mod rects;
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Add `Rotation2d` (#11658)
# Objective
Rotating vectors is a very common task. It is required for a variety of
things both within Bevy itself and in many third party plugins, for
example all over physics and collision detection, and for things like
Bevy's bounding volumes and several gizmo implementations.
For 3D, we can do this using a `Quat`, but for 2D, we do not have a
clear and efficient option. `Mat2` can be used for rotating vectors if
created using `Mat2::from_angle`, but this is not obvious to many users,
it doesn't have many rotation helpers, and the type does not give any
guarantees that it represents a valid rotation.
We should have a proper type for 2D rotations. In addition to allowing
for potential optimization, it would allow us to have a consistent and
explicitly documented representation used throughout the engine, i.e.
counterclockwise and in radians.
## Representation
The mathematical formula for rotating a 2D vector is the following:
```
new_x = x * cos - y * sin
new_y = x * sin + y * cos
```
Here, `sin` and `cos` are the sine and cosine of the rotation angle.
Computing these every time when a vector needs to be rotated can be
expensive, so the rotation shouldn't be just an `f32` angle. Instead, it
is often more efficient to represent the rotation using the sine and
cosine of the angle instead of storing the angle itself. This can be
freely passed around and reused without unnecessary computations.
The two options are either a 2x2 rotation matrix or a unit complex
number where the cosine is the real part and the sine is the imaginary
part. These are equivalent for the most part, but the unit complex
representation is a bit more memory efficient (two `f32`s instead of
four), so I chose that. This is like Nalgebra's
[`UnitComplex`](https://docs.rs/nalgebra/latest/nalgebra/geometry/type.UnitComplex.html)
type, which can be used for the
[`Rotation2`](https://docs.rs/nalgebra/latest/nalgebra/geometry/type.Rotation2.html)
type.
## Implementation
Add a `Rotation2d` type represented as a unit complex number:
```rust
/// A counterclockwise 2D rotation in radians.
///
/// The rotation angle is wrapped to be within the `]-pi, pi]` range.
pub struct Rotation2d {
/// The cosine of the rotation angle in radians.
///
/// This is the real part of the unit complex number representing the rotation.
pub cos: f32,
/// The sine of the rotation angle in radians.
///
/// This is the imaginary part of the unit complex number representing the rotation.
pub sin: f32,
}
```
Using it is similar to using `Quat`, but in 2D:
```rust
let rotation = Rotation2d::radians(PI / 2.0);
// Rotate vector (also works on Direction2d!)
assert_eq!(rotation * Vec2::X, Vec2::Y);
// Get angle as degrees
assert_eq!(rotation.as_degrees(), 90.0);
// Getting sin and cos is free
let (sin, cos) = rotation.sin_cos();
// "Subtract" rotations
let rotation2 = Rotation2d::FRAC_PI_4; // there are constants!
let diff = rotation * rotation2.inverse();
assert_eq!(diff.as_radians(), PI / 4.0);
// This is equivalent to the above
assert_eq!(rotation2.angle_between(rotation), PI / 4.0);
// Lerp
let rotation1 = Rotation2d::IDENTITY;
let rotation2 = Rotation2d::FRAC_PI_2;
let result = rotation1.lerp(rotation2, 0.5);
assert_eq!(result.as_radians(), std::f32::consts::FRAC_PI_4);
// Slerp
let rotation1 = Rotation2d::FRAC_PI_4);
let rotation2 = Rotation2d::degrees(-180.0); // we can use degrees too!
let result = rotation1.slerp(rotation2, 1.0 / 3.0);
assert_eq!(result.as_radians(), std::f32::consts::FRAC_PI_2);
```
There's also a `From<f32>` implementation for `Rotation2d`, which means
that methods can still accept radians as floats if the argument uses
`impl Into<Rotation2d>`. This means that adding `Rotation2d` shouldn't
even be a breaking change.
---
## Changelog
- Added `Rotation2d`
- Bounding volume methods now take an `impl Into<Rotation2d>`
- Gizmo methods with rotation now take an `impl Into<Rotation2d>`
## Future use cases
- Collision detection (a type like this is quite essential considering
how common vector rotations are)
- `Transform` helpers (e.g. return a 2D rotation about the Z axis from a
`Transform`)
- The rotation used for `Transform2d` (#8268)
- More gizmos, maybe meshes... everything in 2D that uses rotation
---------
Co-authored-by: Tristan Guichaoua <33934311+tguichaoua@users.noreply.github.com>
Co-authored-by: Robert Walter <robwalter96@gmail.com>
Co-authored-by: IQuick 143 <IQuick143cz@gmail.com>
2024-03-11 19:11:57 +00:00
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mod rotation2d;
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2024-03-17 14:48:16 +00:00
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#[cfg(feature = "rand")]
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Random sampling of directions and quaternions (#12857)
# Objective
Augment Bevy's random sampling capabilities by providing good tools for
producing random directions and rotations.
## Solution
The `rand` crate has a natural tool for providing `Distribution`s whose
output is a type that doesn't require any additional data to sample
values — namely,
[`Standard`](https://docs.rs/rand/latest/rand/distributions/struct.Standard.html).
Here, our existing `ShapeSample` implementations have been put to good
use in providing these, resulting in patterns like the following:
```rust
// Using thread-local rng
let random_direction1: Dir3 = random();
// Using an explicit rng
let random_direction2: Dir3 = rng.gen();
// Using an explicit rng coupled explicitly with Standard
let random_directions: Vec<Dir3> = rng.sample_iter(Standard).take(5).collect();
```
Furthermore, we have introduced a trait `FromRng` which provides sugar
for `rng.gen()` that is more namespace-friendly (in this author's
opinion):
```rust
let random_direction = Dir3::from_rng(rng);
```
The types this has been implemented for are `Dir2`, `Dir3`, `Dir3A`, and
`Quat`. Notably, `Quat` uses `glam`'s implementation rather than an
in-house one, and as a result, `bevy_math`'s "rand" feature now enables
that of `glam`.
---
## Changelog
- Created `standard` submodule in `sampling` to hold implementations and
other items related to the `Standard` distribution.
- "rand" feature of `bevy_math` now enables that of `glam`.
---
## Discussion
From a quick glance at `Quat`'s distribution implementation in `glam`, I
am a bit suspicious, since it is simple and doesn't match any algorithm
that I came across in my research. I will do a little more digging as a
follow-up to this and see if it's actually uniform (maybe even using
those tools I wrote — what a thrill).
As an aside, I'd also like to say that I think
[`Distribution`](https://docs.rs/rand/latest/rand/distributions/trait.Distribution.html)
is really, really good. It integrates with distributions provided
externally (e.g. in `rand` itself and its extensions) along with doing a
good job of isolating the source of randomness, so that output can be
reliably reproduced if need be. Finally, `Distribution::sample_iter` is
quite good for ergonomically acquiring lots of random values. At one
point I found myself writing traits to describe random sampling and
essentially reinvented this one. I just think it's good, and I think
it's worth centralizing around to a significant extent.
2024-04-04 23:13:00 +00:00
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pub mod sampling;
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2024-06-03 19:46:50 +00:00
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pub use compass::{CompassOctant, CompassQuadrant};
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2022-09-02 12:35:23 +00:00
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Reduce the size of MeshUniform to improve performance (#9416)
# Objective
- Significantly reduce the size of MeshUniform by only including
necessary data.
## Solution
Local to world, model transforms are affine. This means they only need a
4x3 matrix to represent them.
`MeshUniform` stores the current, and previous model transforms, and the
inverse transpose of the current model transform, all as 4x4 matrices.
Instead we can store the current, and previous model transforms as 4x3
matrices, and we only need the upper-left 3x3 part of the inverse
transpose of the current model transform. This change allows us to
reduce the serialized MeshUniform size from 208 bytes to 144 bytes,
which is over a 30% saving in data to serialize, and VRAM bandwidth and
space.
## Benchmarks
On an M1 Max, running `many_cubes -- sphere`, main is in yellow, this PR
is in red:
<img width="1484" alt="Screenshot 2023-08-11 at 02 36 43"
src="https://github.com/bevyengine/bevy/assets/302146/7d99c7b3-f2bb-4004-a8d0-4c00f755cb0d">
A reduction in frame time of ~14%.
---
## Changelog
- Changed: Redefined `MeshUniform` to improve performance by using 4x3
affine transforms and reconstructing 4x4 matrices in the shader. Helper
functions were added to `bevy_pbr::mesh_functions` to unpack the data.
`affine_to_square` converts the packed 4x3 in 3x4 matrix data to a 4x4
matrix. `mat2x4_f32_to_mat3x3` converts the 3x3 in mat2x4 + f32 matrix
data back into a 3x3.
## Migration Guide
Shader code before:
```
var model = mesh[instance_index].model;
```
Shader code after:
```
#import bevy_pbr::mesh_functions affine_to_square
var model = affine_to_square(mesh[instance_index].model);
```
2023-08-15 06:00:23 +00:00
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pub use affine3::*;
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2023-12-17 02:01:26 +00:00
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pub use aspect_ratio::AspectRatio;
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Move `Point` out of cubic splines module and expand it (#12747)
# Objective
Previously, the `Point` trait, which abstracts all of the operations of
a real vector space, was sitting in the submodule of `bevy_math` for
cubic splines. However, the trait has broader applications than merely
cubic splines, and we should use it when possible to avoid code
duplication when performing vector operations.
## Solution
`Point` has been moved into a new submodule in `bevy_math` named
`common_traits`. Furthermore, it has been renamed to `VectorSpace`,
which is more descriptive, and an additional trait `NormedVectorSpace`
has been introduced to expand the API to cover situations involving
geometry in addition to algebra. Additionally, `VectorSpace` itself now
requires a `ZERO` constant and `Neg`. It also supports a `lerp` function
as an automatic trait method.
Here is what that looks like:
```rust
/// A type that supports the mathematical operations of a real vector space, irrespective of dimension.
/// In particular, this means that the implementing type supports:
/// - Scalar multiplication and division on the right by elements of `f32`
/// - Negation
/// - Addition and subtraction
/// - Zero
///
/// Within the limitations of floating point arithmetic, all the following are required to hold:
/// - (Associativity of addition) For all `u, v, w: Self`, `(u + v) + w == u + (v + w)`.
/// - (Commutativity of addition) For all `u, v: Self`, `u + v == v + u`.
/// - (Additive identity) For all `v: Self`, `v + Self::ZERO == v`.
/// - (Additive inverse) For all `v: Self`, `v - v == v + (-v) == Self::ZERO`.
/// - (Compatibility of multiplication) For all `a, b: f32`, `v: Self`, `v * (a * b) == (v * a) * b`.
/// - (Multiplicative identity) For all `v: Self`, `v * 1.0 == v`.
/// - (Distributivity for vector addition) For all `a: f32`, `u, v: Self`, `(u + v) * a == u * a + v * a`.
/// - (Distributivity for scalar addition) For all `a, b: f32`, `v: Self`, `v * (a + b) == v * a + v * b`.
///
/// Note that, because implementing types use floating point arithmetic, they are not required to actually
/// implement `PartialEq` or `Eq`.
pub trait VectorSpace:
Mul<f32, Output = Self>
+ Div<f32, Output = Self>
+ Add<Self, Output = Self>
+ Sub<Self, Output = Self>
+ Neg
+ Default
+ Debug
+ Clone
+ Copy
{
/// The zero vector, which is the identity of addition for the vector space type.
const ZERO: Self;
/// Perform vector space linear interpolation between this element and another, based
/// on the parameter `t`. When `t` is `0`, `self` is recovered. When `t` is `1`, `rhs`
/// is recovered.
///
/// Note that the value of `t` is not clamped by this function, so interpolating outside
/// of the interval `[0,1]` is allowed.
#[inline]
fn lerp(&self, rhs: Self, t: f32) -> Self {
*self * (1. - t) + rhs * t
}
}
```
```rust
/// A type that supports the operations of a normed vector space; i.e. a norm operation in addition
/// to those of [`VectorSpace`]. Specifically, the implementor must guarantee that the following
/// relationships hold, within the limitations of floating point arithmetic:
/// - (Nonnegativity) For all `v: Self`, `v.norm() >= 0.0`.
/// - (Positive definiteness) For all `v: Self`, `v.norm() == 0.0` implies `v == Self::ZERO`.
/// - (Absolute homogeneity) For all `c: f32`, `v: Self`, `(v * c).norm() == v.norm() * c.abs()`.
/// - (Triangle inequality) For all `v, w: Self`, `(v + w).norm() <= v.norm() + w.norm()`.
///
/// Note that, because implementing types use floating point arithmetic, they are not required to actually
/// implement `PartialEq` or `Eq`.
pub trait NormedVectorSpace: VectorSpace {
/// The size of this element. The return value should always be nonnegative.
fn norm(self) -> f32;
/// The squared norm of this element. Computing this is often faster than computing
/// [`NormedVectorSpace::norm`].
#[inline]
fn norm_squared(self) -> f32 {
self.norm() * self.norm()
}
/// The distance between this element and another, as determined by the norm.
#[inline]
fn distance(self, rhs: Self) -> f32 {
(rhs - self).norm()
}
/// The squared distance between this element and another, as determined by the norm. Note that
/// this is often faster to compute in practice than [`NormedVectorSpace::distance`].
#[inline]
fn distance_squared(self, rhs: Self) -> f32 {
(rhs - self).norm_squared()
}
}
```
Furthermore, this PR also demonstrates the use of the
`NormedVectorSpace` combined API to implement `ShapeSample` for
`Triangle2d` and `Triangle3d` simultaneously. Such deduplication is one
of the drivers for developing these APIs.
---
## Changelog
- `Point` from `cubic_splines` becomes `VectorSpace`, exported as
`bevy::math::VectorSpace`.
- `VectorSpace` requires `Neg` and `VectorSpace::ZERO` in addition to
its existing prerequisites.
- Introduced public traits `bevy::math::NormedVectorSpace` for generic
geometry tasks involving vectors.
- Implemented `ShapeSample` for `Triangle2d` and `Triangle3d`.
## Migration Guide
Since `Point` no longer exists, any projects using it must switch to
`bevy::math::VectorSpace`. Additionally, third-party implementations of
this trait now require the `Neg` trait; the constant `VectorSpace::ZERO`
must be provided as well.
---
## Discussion
### Design considerations
Originally, the `NormedVectorSpace::norm` method was part of a separate
trait `Normed`. However, I think that was probably too broad and, more
importantly, the semantics of having it in `NormedVectorSpace` are much
clearer.
As it currently stands, the API exposed here is pretty minimal, and
there is definitely a lot more that we could do, but there are more
questions to answer along the way. As a silly example, we could
implement `NormedVectorSpace::length` as an alias for
`NormedVectorSpace::norm`, but this overlaps with methods in all of the
glam types, so we would want to make sure that the implementations are
effectively identical (for what it's worth, I think they are already).
### Future directions
One example of something that could belong in the `NormedVectorSpace`
API is normalization. Actually, such a thing previously existed on this
branch before I decided to shelve it because of concerns with namespace
collision. It looked like this:
```rust
/// This element, but normalized to norm 1 if possible. Returns an error when the reciprocal of
/// the element's norm is not finite.
#[inline]
#[must_use]
fn normalize(&self) -> Result<Self, NonNormalizableError> {
let reciprocal = 1.0 / self.norm();
if reciprocal.is_finite() {
Ok(*self * reciprocal)
} else {
Err(NonNormalizableError { reciprocal })
}
}
/// An error indicating that an element of a [`NormedVectorSpace`] was non-normalizable due to having
/// non-finite norm-reciprocal.
#[derive(Debug, Error)]
#[error("Element with norm reciprocal {reciprocal} cannot be normalized")]
pub struct NonNormalizableError {
reciprocal: f32
}
```
With this kind of thing in hand, it might be worth considering
eventually making the passage from vectors to directions fully generic
by employing a wrapper type. (Of course, for our concrete types, we
would leave the existing names in place as aliases.) That is, something
like:
```rust
pub struct NormOne<T>
where T: NormedVectorSpace { //... }
```
Utterly separately, the reason that I implemented `ShapeSample` for
`Triangle2d`/`Triangle3d` was to prototype uniform sampling of abstract
meshes, so that's also a future direction.
---------
Co-authored-by: Zachary Harrold <zac@harrold.com.au>
2024-03-28 13:40:26 +00:00
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pub use common_traits::*;
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2024-02-26 13:57:49 +00:00
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pub use direction::*;
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2024-03-27 18:30:11 +00:00
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pub use float_ord::*;
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2024-07-15 16:05:33 +00:00
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pub use isometry::{Isometry2d, Isometry3d};
|
Split `Ray` into `Ray2d` and `Ray3d` and simplify plane construction (#10856)
# Objective
A better alternative version of #10843.
Currently, Bevy has a single `Ray` struct for 3D. To allow better
interoperability with Bevy's primitive shapes (#10572) and some third
party crates (that handle e.g. spatial queries), it would be very useful
to have separate versions for 2D and 3D respectively.
## Solution
Separate `Ray` into `Ray2d` and `Ray3d`. These new structs also take
advantage of the new primitives by using `Direction2d`/`Direction3d` for
the direction:
```rust
pub struct Ray2d {
pub origin: Vec2,
pub direction: Direction2d,
}
pub struct Ray3d {
pub origin: Vec3,
pub direction: Direction3d,
}
```
and by using `Plane2d`/`Plane3d` in `intersect_plane`:
```rust
impl Ray2d {
// ...
pub fn intersect_plane(&self, plane_origin: Vec2, plane: Plane2d) -> Option<f32> {
// ...
}
}
```
---
## Changelog
### Added
- `Ray2d` and `Ray3d`
- `Ray2d::new` and `Ray3d::new` constructors
- `Plane2d::new` and `Plane3d::new` constructors
### Removed
- Removed `Ray` in favor of `Ray3d`
### Changed
- `direction` is now a `Direction2d`/`Direction3d` instead of a vector,
which provides guaranteed normalization
- `intersect_plane` now takes a `Plane2d`/`Plane3d` instead of just a
vector for the plane normal
- `Direction2d` and `Direction3d` now derive `Serialize` and
`Deserialize` to preserve ray (de)serialization
## Migration Guide
`Ray` has been renamed to `Ray3d`.
### Ray creation
Before:
```rust
Ray {
origin: Vec3::ZERO,
direction: Vec3::new(0.5, 0.6, 0.2).normalize(),
}
```
After:
```rust
// Option 1:
Ray3d {
origin: Vec3::ZERO,
direction: Direction3d::new(Vec3::new(0.5, 0.6, 0.2)).unwrap(),
}
// Option 2:
Ray3d::new(Vec3::ZERO, Vec3::new(0.5, 0.6, 0.2))
```
### Plane intersections
Before:
```rust
let result = ray.intersect_plane(Vec2::X, Vec2::Y);
```
After:
```rust
let result = ray.intersect_plane(Vec2::X, Plane2d::new(Vec2::Y));
```
2023-12-06 14:09:04 +00:00
|
|
|
pub use ray::{Ray2d, Ray3d};
|
2023-06-12 19:10:48 +00:00
|
|
|
pub use rects::*;
|
2024-06-05 21:51:13 +00:00
|
|
|
pub use rotation2d::Rot2;
|
2024-03-17 14:48:16 +00:00
|
|
|
#[cfg(feature = "rand")]
|
Random sampling of directions and quaternions (#12857)
# Objective
Augment Bevy's random sampling capabilities by providing good tools for
producing random directions and rotations.
## Solution
The `rand` crate has a natural tool for providing `Distribution`s whose
output is a type that doesn't require any additional data to sample
values — namely,
[`Standard`](https://docs.rs/rand/latest/rand/distributions/struct.Standard.html).
Here, our existing `ShapeSample` implementations have been put to good
use in providing these, resulting in patterns like the following:
```rust
// Using thread-local rng
let random_direction1: Dir3 = random();
// Using an explicit rng
let random_direction2: Dir3 = rng.gen();
// Using an explicit rng coupled explicitly with Standard
let random_directions: Vec<Dir3> = rng.sample_iter(Standard).take(5).collect();
```
Furthermore, we have introduced a trait `FromRng` which provides sugar
for `rng.gen()` that is more namespace-friendly (in this author's
opinion):
```rust
let random_direction = Dir3::from_rng(rng);
```
The types this has been implemented for are `Dir2`, `Dir3`, `Dir3A`, and
`Quat`. Notably, `Quat` uses `glam`'s implementation rather than an
in-house one, and as a result, `bevy_math`'s "rand" feature now enables
that of `glam`.
---
## Changelog
- Created `standard` submodule in `sampling` to hold implementations and
other items related to the `Standard` distribution.
- "rand" feature of `bevy_math` now enables that of `glam`.
---
## Discussion
From a quick glance at `Quat`'s distribution implementation in `glam`, I
am a bit suspicious, since it is simple and doesn't match any algorithm
that I came across in my research. I will do a little more digging as a
follow-up to this and see if it's actually uniform (maybe even using
those tools I wrote — what a thrill).
As an aside, I'd also like to say that I think
[`Distribution`](https://docs.rs/rand/latest/rand/distributions/trait.Distribution.html)
is really, really good. It integrates with distributions provided
externally (e.g. in `rand` itself and its extensions) along with doing a
good job of isolating the source of randomness, so that output can be
reliably reproduced if need be. Finally, `Distribution::sample_iter` is
quite good for ergonomically acquiring lots of random values. At one
point I found myself writing traits to describe random sampling and
essentially reinvented this one. I just think it's good, and I think
it's worth centralizing around to a significant extent.
2024-04-04 23:13:00 +00:00
|
|
|
pub use sampling::{FromRng, ShapeSample};
|
2022-09-02 12:35:23 +00:00
|
|
|
|
2022-04-26 18:23:29 +00:00
|
|
|
/// The `bevy_math` prelude.
|
2020-07-17 02:23:47 +00:00
|
|
|
pub mod prelude {
|
2024-03-17 14:48:16 +00:00
|
|
|
#[doc(hidden)]
|
|
|
|
|
#[cfg(feature = "rand")]
|
Random sampling of directions and quaternions (#12857)
# Objective
Augment Bevy's random sampling capabilities by providing good tools for
producing random directions and rotations.
## Solution
The `rand` crate has a natural tool for providing `Distribution`s whose
output is a type that doesn't require any additional data to sample
values — namely,
[`Standard`](https://docs.rs/rand/latest/rand/distributions/struct.Standard.html).
Here, our existing `ShapeSample` implementations have been put to good
use in providing these, resulting in patterns like the following:
```rust
// Using thread-local rng
let random_direction1: Dir3 = random();
// Using an explicit rng
let random_direction2: Dir3 = rng.gen();
// Using an explicit rng coupled explicitly with Standard
let random_directions: Vec<Dir3> = rng.sample_iter(Standard).take(5).collect();
```
Furthermore, we have introduced a trait `FromRng` which provides sugar
for `rng.gen()` that is more namespace-friendly (in this author's
opinion):
```rust
let random_direction = Dir3::from_rng(rng);
```
The types this has been implemented for are `Dir2`, `Dir3`, `Dir3A`, and
`Quat`. Notably, `Quat` uses `glam`'s implementation rather than an
in-house one, and as a result, `bevy_math`'s "rand" feature now enables
that of `glam`.
---
## Changelog
- Created `standard` submodule in `sampling` to hold implementations and
other items related to the `Standard` distribution.
- "rand" feature of `bevy_math` now enables that of `glam`.
---
## Discussion
From a quick glance at `Quat`'s distribution implementation in `glam`, I
am a bit suspicious, since it is simple and doesn't match any algorithm
that I came across in my research. I will do a little more digging as a
follow-up to this and see if it's actually uniform (maybe even using
those tools I wrote — what a thrill).
As an aside, I'd also like to say that I think
[`Distribution`](https://docs.rs/rand/latest/rand/distributions/trait.Distribution.html)
is really, really good. It integrates with distributions provided
externally (e.g. in `rand` itself and its extensions) along with doing a
good job of isolating the source of randomness, so that output can be
reliably reproduced if need be. Finally, `Distribution::sample_iter` is
quite good for ergonomically acquiring lots of random values. At one
point I found myself writing traits to describe random sampling and
essentially reinvented this one. I just think it's good, and I think
it's worth centralizing around to a significant extent.
2024-04-04 23:13:00 +00:00
|
|
|
pub use crate::sampling::{FromRng, ShapeSample};
|
2022-11-02 20:40:45 +00:00
|
|
|
#[doc(hidden)]
|
2021-01-19 20:56:50 +00:00
|
|
|
pub use crate::{
|
Rename `Bezier` to `CubicBezier` for clarity (#9554)
# Objective
A Bezier curve is a curve defined by two or more control points. In the
simplest form, it's just a line. The (arguably) most common type of
Bezier curve is a cubic Bezier, defined by four control points. These
are often used in animation, etc. Bevy has a Bezier curve struct called
`Bezier`. However, this is technically a misnomer as it only represents
cubic Bezier curves.
## Solution
This PR changes the struct name to `CubicBezier` to more accurately
reflect the struct's usage. Since it's exposed in Bevy's prelude, it can
potentially collide with other `Bezier` implementations. While that
might instead be an argument for removing it from the prelude, there's
also something to be said for adding a more general `Bezier` into Bevy,
in which case we'd likely want to use the name `Bezier`. As a final
motivator, not only is the struct located in `cubic_spines.rs`, there
are also several other spline-related structs which follow the
`CubicXxx` naming convention where applicable. For example,
`CubicSegment` represents a cubic Bezier curve (with coefficients
pre-baked).
---
## Migration Guide
- Change all `Bezier` references to `CubicBezier`
2023-08-28 17:37:42 +00:00
|
|
|
cubic_splines::{
|
2024-02-28 17:18:42 +00:00
|
|
|
CubicBSpline, CubicBezier, CubicCardinalSpline, CubicCurve, CubicGenerator,
|
Cyclic splines (#14106)
# Objective
Fill a gap in the functionality of our curve constructions by allowing
users to easily build cyclic curves from control data.
## Solution
Here I opted for something lightweight and discoverable. There is a new
`CyclicCubicGenerator` trait with a method `to_curve_cyclic` which uses
splines' control data to create curves that are cyclic. For now, its
signature is exactly like that of `CubicGenerator` — `to_curve_cyclic`
just yields a `CubicCurve`:
```rust
/// Implement this on cubic splines that can generate a cyclic cubic curve from their spline parameters.
///
/// This makes sense only when the control data can be interpreted cyclically.
pub trait CyclicCubicGenerator<P: VectorSpace> {
/// Build a cyclic [`CubicCurve`] by computing the interpolation coefficients for each curve segment.
fn to_curve_cyclic(&self) -> CubicCurve<P>;
}
```
This trait has been implemented for `CubicHermite`,
`CubicCardinalSpline`, `CubicBSpline`, and `LinearSpline`:
<img width="753" alt="Screenshot 2024-07-01 at 8 58 27 PM"
src="https://github.com/bevyengine/bevy/assets/2975848/69ae0802-3b78-4fb9-b73a-6f842cf3b33c">
<img width="628" alt="Screenshot 2024-07-01 at 9 00 14 PM"
src="https://github.com/bevyengine/bevy/assets/2975848/2992175a-a96c-40fc-b1a1-5206c3572cde">
<img width="606" alt="Screenshot 2024-07-01 at 8 59 36 PM"
src="https://github.com/bevyengine/bevy/assets/2975848/9e99eb3a-dbe6-42da-886c-3d3e00410d03">
<img width="603" alt="Screenshot 2024-07-01 at 8 59 01 PM"
src="https://github.com/bevyengine/bevy/assets/2975848/d037bc0c-396a-43af-ab5c-fad9a29417ef">
(Each type pictured respectively with the control points rendered as
green spheres; tangents not pictured in the case of the Hermite spline.)
These curves are all parametrized so that the output of `to_curve` and
the output of `to_curve_cyclic` are similar. For instance, in
`CubicCardinalSpline`, the first output segment is a curve segment
joining the first and second control points in each, although it is
constructed differently. In the other cases, the segments from
`to_curve` are a subset of those in `to_curve_cyclic`, with the new
segments appearing at the end.
## Testing
I rendered cyclic splines from control data and made sure they looked
reasonable. Existing tests are intact for splines where previous code
was modified. (Note that the coefficient computation for cyclic spline
segments is almost verbatim identical to that of their non-cyclic
counterparts.)
The Bezier benchmarks also look fine.
---
## Changelog
- Added `CyclicCubicGenerator` trait to `bevy_math::cubic_splines` for
creating cyclic curves from control data.
- Implemented `CyclicCubicGenerator` for `CubicHermite`,
`CubicCardinalSpline`, `CubicBSpline`, and `LinearSpline`.
- `bevy_math` now depends on `itertools`.
---
## Discussion
### Design decisions
The biggest thing here is just the approach taken in the first place:
namely, the cyclic constructions use new methods on the same old
structs. This choice was made to reduce friction and increase
discoverability but also because creating new ones just seemed
unnecessary: the underlying data would have been the same, so creating
something like "`CyclicCubicBSpline`" whose internally-held control data
is regarded as cyclic in nature doesn't really accomplish much — the end
result for the user is basically the same either way.
Similarly, I don't presently see a pressing need for `to_curve_cyclic`
to output something other than a `CubicCurve`, although changing this in
the future may be useful. See below.
A notable omission here is that `CyclicCubicGenerator` is not
implemented for `CubicBezier`. This is not a gap waiting to be filled —
`CubicBezier` just doesn't have enough data to join its start with its
end without just making up the requisite control points wholesale. In
all the cases where `CyclicCubicGenerator` has been implemented here,
the fashion in which the ends are connected is quite natural and follows
the semantics of the associated spline construction.
### Future direction
There are two main things here:
1. We should investigate whether we should do something similar for
NURBS. I just don't know that much about NURBS at the moment, so I
regarded this as out of scope for the PR.
2. We may eventually want to change the output type of
`CyclicCubicGenerator::to_curve_cyclic` to a type which reifies the
cyclic nature of the curve output. This wasn't done in this PR because
I'm unsure how much value a type-level guarantee of cyclicity actually
has, but if some useful features make sense only in the case of cyclic
curves, this might be worth pursuing.
2024-07-17 13:02:31 +00:00
|
|
|
CubicHermite, CubicNurbs, CubicNurbsError, CubicSegment, CyclicCubicGenerator,
|
|
|
|
|
RationalCurve, RationalGenerator, RationalSegment,
|
Rename `Bezier` to `CubicBezier` for clarity (#9554)
# Objective
A Bezier curve is a curve defined by two or more control points. In the
simplest form, it's just a line. The (arguably) most common type of
Bezier curve is a cubic Bezier, defined by four control points. These
are often used in animation, etc. Bevy has a Bezier curve struct called
`Bezier`. However, this is technically a misnomer as it only represents
cubic Bezier curves.
## Solution
This PR changes the struct name to `CubicBezier` to more accurately
reflect the struct's usage. Since it's exposed in Bevy's prelude, it can
potentially collide with other `Bezier` implementations. While that
might instead be an argument for removing it from the prelude, there's
also something to be said for adding a more general `Bezier` into Bevy,
in which case we'd likely want to use the name `Bezier`. As a final
motivator, not only is the struct located in `cubic_spines.rs`, there
are also several other spline-related structs which follow the
`CubicXxx` naming convention where applicable. For example,
`CubicSegment` represents a cubic Bezier curve (with coefficients
pre-baked).
---
## Migration Guide
- Change all `Bezier` references to `CubicBezier`
2023-08-28 17:37:42 +00:00
|
|
|
},
|
Rename `Direction2d/3d` to `Dir2/3` (#12189)
# Objective
Split up from #12017, rename Bevy's direction types.
Currently, Bevy has the `Direction2d`, `Direction3d`, and `Direction3dA`
types, which provide a type-level guarantee that their contained vectors
remain normalized. They can be very useful for a lot of APIs for safety,
explicitness, and in some cases performance, as they can sometimes avoid
unnecessary normalizations.
However, many consider them to be inconvenient to use, and opt for
standard vector types like `Vec3` because of this. One reason is that
the direction type names are a bit long and can be annoying to write (of
course you can use autocomplete, but just typing `Vec3` is still nicer),
and in some intances, the extra characters can make formatting worse.
The naming is also inconsistent with Glam's shorter type names, and
results in names like `Direction3dA`, which (in my opinion) are
difficult to read and even a bit ugly.
This PR proposes renaming the types to `Dir2`, `Dir3`, and `Dir3A`.
These names are nice and easy to write, consistent with Glam, and work
well for variants like the SIMD aligned `Dir3A`. As a bonus, it can also
result in nicer formatting in a lot of cases, which can be seen from the
diff of this PR.
Some examples of what it looks like: (copied from #12017)
```rust
// Before
let ray_cast = RayCast2d::new(Vec2::ZERO, Direction2d::X, 5.0);
// After
let ray_cast = RayCast2d::new(Vec2::ZERO, Dir2::X, 5.0);
```
```rust
// Before (an example using Bevy XPBD)
let hit = spatial_query.cast_ray(
Vec3::ZERO,
Direction3d::X,
f32::MAX,
true,
SpatialQueryFilter::default(),
);
// After
let hit = spatial_query.cast_ray(
Vec3::ZERO,
Dir3::X,
f32::MAX,
true,
SpatialQueryFilter::default(),
);
```
```rust
// Before
self.circle(
Vec3::new(0.0, -2.0, 0.0),
Direction3d::Y,
5.0,
Color::TURQUOISE,
);
// After (formatting is collapsed in this case)
self.circle(Vec3::new(0.0, -2.0, 0.0), Dir3::Y, 5.0, Color::TURQUOISE);
```
## Solution
Rename `Direction2d`, `Direction3d`, and `Direction3dA` to `Dir2`,
`Dir3`, and `Dir3A`.
---
## Migration Guide
The `Direction2d` and `Direction3d` types have been renamed to `Dir2`
and `Dir3`.
## Additional Context
This has been brought up on the Discord a few times, and we had a small
[poll](https://discord.com/channels/691052431525675048/1203087353850364004/1212465038711984158)
on this. `Dir2`/`Dir3`/`Dir3A` was quite unanimously chosen as the best
option, but of course it was a very small poll and inconclusive, so
other opinions are certainly welcome too.
---------
Co-authored-by: IceSentry <c.giguere42@gmail.com>
2024-02-28 22:48:43 +00:00
|
|
|
direction::{Dir2, Dir3, Dir3A},
|
Add geometric primitives to `bevy_math::prelude` (#11432)
# Objective
Currently, the `primitives` module is inside of the prelude for
`bevy_math`, but the actual primitives are not. This requires either
importing the shapes everywhere that uses them, or adding the
`primitives::` prefix:
```rust
let rectangle = meshes.add(primitives::Rectangle::new(5.0, 2.5));
```
(Note: meshing isn't actually implemented yet, but it's in #11431)
The primitives are meant to be used for a variety of tasks across
several crates, like for meshing, bounding volumes, gizmos, colliders,
and so on, so I think having them in the prelude is justified. It would
make several common tasks a lot more ergonomic.
```rust
let rectangle = meshes.add(Rectangle::new(5.0, 2.5));
```
## Solution
Add `primitives::*` to `bevy_math::prelude`.
---------
Co-authored-by: Alice Cecile <alice.i.cecile@gmail.com>
2024-01-20 20:15:38 +00:00
|
|
|
primitives::*,
|
|
|
|
|
BVec2, BVec3, BVec4, EulerRot, FloatExt, IRect, IVec2, IVec3, IVec4, Mat2, Mat3, Mat4,
|
Stable interpolation and smooth following (#13741)
# Objective
Partially address #13408
Rework of #13613
Unify the very nice forms of interpolation specifically present in
`bevy_math` under a shared trait upon which further behavior can be
based.
The ideas in this PR were prompted by [Lerp smoothing is broken by Freya
Holmer](https://www.youtube.com/watch?v=LSNQuFEDOyQ).
## Solution
There is a new trait `StableInterpolate` in `bevy_math::common_traits`
which enshrines a quite-specific notion of interpolation with a lot of
guarantees:
```rust
/// A type with a natural interpolation that provides strong subdivision guarantees.
///
/// Although the only required method is `interpolate_stable`, many things are expected of it:
///
/// 1. The notion of interpolation should follow naturally from the semantics of the type, so
/// that inferring the interpolation mode from the type alone is sensible.
///
/// 2. The interpolation recovers something equivalent to the starting value at `t = 0.0`
/// and likewise with the ending value at `t = 1.0`.
///
/// 3. Importantly, the interpolation must be *subdivision-stable*: for any interpolation curve
/// between two (unnamed) values and any parameter-value pairs `(t0, p)` and `(t1, q)`, the
/// interpolation curve between `p` and `q` must be the *linear* reparametrization of the original
/// interpolation curve restricted to the interval `[t0, t1]`.
///
/// The last of these conditions is very strong and indicates something like constant speed. It
/// is called "subdivision stability" because it guarantees that breaking up the interpolation
/// into segments and joining them back together has no effect.
///
/// Here is a diagram depicting it:
/// ```text
/// top curve = u.interpolate_stable(v, t)
///
/// t0 => p t1 => q
/// |-------------|---------|-------------|
/// 0 => u / \ 1 => v
/// / \
/// / \
/// / linear \
/// / reparametrization \
/// / t = t0 * (1 - s) + t1 * s \
/// / \
/// |-------------------------------------|
/// 0 => p 1 => q
///
/// bottom curve = p.interpolate_stable(q, s)
/// ```
///
/// Note that some common forms of interpolation do not satisfy this criterion. For example,
/// [`Quat::lerp`] and [`Rot2::nlerp`] are not subdivision-stable.
///
/// Furthermore, this is not to be used as a general trait for abstract interpolation.
/// Consumers rely on the strong guarantees in order for behavior based on this trait to be
/// well-behaved.
///
/// [`Quat::lerp`]: crate::Quat::lerp
/// [`Rot2::nlerp`]: crate::Rot2::nlerp
pub trait StableInterpolate: Clone {
/// Interpolate between this value and the `other` given value using the parameter `t`.
/// Note that the parameter `t` is not necessarily clamped to lie between `0` and `1`.
/// When `t = 0.0`, `self` is recovered, while `other` is recovered at `t = 1.0`,
/// with intermediate values lying between the two.
fn interpolate_stable(&self, other: &Self, t: f32) -> Self;
}
```
This trait has a blanket implementation over `NormedVectorSpace`, where
`lerp` is used, along with implementations for `Rot2`, `Quat`, and the
direction types using variants of `slerp`. Other areas may choose to
implement this trait in order to hook into its functionality, but the
stringent requirements must actually be met.
This trait bears no direct relationship with `bevy_animation`'s
`Animatable` trait, although they may choose to use `interpolate_stable`
in their trait implementations if they wish, as both traits involve
type-inferred interpolations of the same kind. `StableInterpolate` is
not a supertrait of `Animatable` for a couple reasons:
1. Notions of interpolation in animation are generally going to be much
more general than those allowed under these constraints.
2. Laying out these generalized interpolation notions is the domain of
`bevy_animation` rather than of `bevy_math`. (Consider also that
inferring interpolation from types is not universally desirable.)
Similarly, this is not implemented on `bevy_color`'s color types,
although their current mixing behavior does meet the conditions of the
trait.
As an aside, the subdivision-stability condition is of interest
specifically for the [Curve
RFC](https://github.com/bevyengine/rfcs/pull/80), where it also ensures
a kind of stability for subsampling.
Importantly, this trait ensures that the "smooth following" behavior
defined in this PR behaves predictably:
```rust
/// Smoothly nudge this value towards the `target` at a given decay rate. The `decay_rate`
/// parameter controls how fast the distance between `self` and `target` decays relative to
/// the units of `delta`; the intended usage is for `decay_rate` to generally remain fixed,
/// while `delta` is something like `delta_time` from an updating system. This produces a
/// smooth following of the target that is independent of framerate.
///
/// More specifically, when this is called repeatedly, the result is that the distance between
/// `self` and a fixed `target` attenuates exponentially, with the rate of this exponential
/// decay given by `decay_rate`.
///
/// For example, at `decay_rate = 0.0`, this has no effect.
/// At `decay_rate = f32::INFINITY`, `self` immediately snaps to `target`.
/// In general, higher rates mean that `self` moves more quickly towards `target`.
///
/// # Example
/// ```
/// # use bevy_math::{Vec3, StableInterpolate};
/// # let delta_time: f32 = 1.0 / 60.0;
/// let mut object_position: Vec3 = Vec3::ZERO;
/// let target_position: Vec3 = Vec3::new(2.0, 3.0, 5.0);
/// // Decay rate of ln(10) => after 1 second, remaining distance is 1/10th
/// let decay_rate = f32::ln(10.0);
/// // Calling this repeatedly will move `object_position` towards `target_position`:
/// object_position.smooth_nudge(&target_position, decay_rate, delta_time);
/// ```
fn smooth_nudge(&mut self, target: &Self, decay_rate: f32, delta: f32) {
self.interpolate_stable_assign(target, 1.0 - f32::exp(-decay_rate * delta));
}
```
As the documentation indicates, the intention is for this to be called
in game update systems, and `delta` would be something like
`Time::delta_seconds` in Bevy, allowing positions, orientations, and so
on to smoothly follow a target. A new example, `smooth_follow`,
demonstrates a basic implementation of this, with a sphere smoothly
following a sharply moving target:
https://github.com/bevyengine/bevy/assets/2975848/7124b28b-6361-47e3-acf7-d1578ebd0347
## Testing
Tested by running the example with various parameters.
2024-06-10 12:50:59 +00:00
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Quat, Ray2d, Ray3d, Rect, Rot2, StableInterpolate, URect, UVec2, UVec3, UVec4, Vec2,
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Vec2Swizzles, Vec3, Vec3Swizzles, Vec4, Vec4Swizzles,
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2021-01-19 20:56:50 +00:00
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};
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2020-07-17 02:23:47 +00:00
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}
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2022-04-26 18:23:29 +00:00
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pub use glam::*;
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