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# 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. |
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| .. | ||
| cubic_splines.rs | ||
| custom_primitives.rs | ||
| random_sampling.rs | ||
| render_primitives.rs | ||
| sampling_primitives.rs | ||