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Support rotating Direction3d by Quat #11649

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merged 3 commits into from
Feb 1, 2024
Merged

Support rotating Direction3d by Quat #11649

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d7b20f1
Support rotating `Direction3d` by `Quat`
Jondolf Feb 1, 2024
4be793e
Remove unwanted `Mul` impls
Jondolf Feb 1, 2024
157ff07
Merge branch 'main' into direction3d-rotation
Jondolf Feb 1, 2024
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100 changes: 50 additions & 50 deletions crates/bevy_math/src/primitives/dim2.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -785,31 +785,6 @@ mod tests {
use super::*;
use approx::assert_relative_eq;

#[test]
fn circle_math() {
let circle = Circle { radius: 3.0 };
assert_eq!(circle.diameter(), 6.0, "incorrect diameter");
assert_eq!(circle.area(), 28.274334, "incorrect area");
assert_eq!(circle.perimeter(), 18.849556, "incorrect perimeter");
}

#[test]
fn ellipse_math() {
let ellipse = Ellipse::new(3.0, 1.0);
assert_eq!(ellipse.area(), 9.424778, "incorrect area");
}

#[test]
fn triangle_math() {
let triangle = Triangle2d::new(
Vec2::new(-2.0, -1.0),
Vec2::new(1.0, 4.0),
Vec2::new(7.0, 0.0),
);
assert_eq!(triangle.area(), 21.0, "incorrect area");
assert_eq!(triangle.perimeter(), 22.097439, "incorrect perimeter");
}

#[test]
fn direction_creation() {
assert_eq!(Direction2d::new(Vec2::X * 12.5), Ok(Direction2d::X));
Expand All @@ -835,6 +810,56 @@ mod tests {
);
}

#[test]
fn rectangle_closest_point() {
let rectangle = Rectangle::new(2.0, 2.0);
assert_eq!(rectangle.closest_point(Vec2::X * 10.0), Vec2::X);
assert_eq!(rectangle.closest_point(Vec2::NEG_ONE * 10.0), Vec2::NEG_ONE);
assert_eq!(
rectangle.closest_point(Vec2::new(0.25, 0.1)),
Vec2::new(0.25, 0.1)
);
}

#[test]
fn circle_closest_point() {
let circle = Circle { radius: 1.0 };
assert_eq!(circle.closest_point(Vec2::X * 10.0), Vec2::X);
assert_eq!(
circle.closest_point(Vec2::NEG_ONE * 10.0),
Vec2::NEG_ONE.normalize()
);
assert_eq!(
circle.closest_point(Vec2::new(0.25, 0.1)),
Vec2::new(0.25, 0.1)
);
}

#[test]
fn circle_math() {
let circle = Circle { radius: 3.0 };
assert_eq!(circle.diameter(), 6.0, "incorrect diameter");
assert_eq!(circle.area(), 28.274334, "incorrect area");
assert_eq!(circle.perimeter(), 18.849556, "incorrect perimeter");
}

#[test]
fn ellipse_math() {
let ellipse = Ellipse::new(3.0, 1.0);
assert_eq!(ellipse.area(), 9.424778, "incorrect area");
}

#[test]
fn triangle_math() {
let triangle = Triangle2d::new(
Vec2::new(-2.0, -1.0),
Vec2::new(1.0, 4.0),
Vec2::new(7.0, 0.0),
);
assert_eq!(triangle.area(), 21.0, "incorrect area");
assert_eq!(triangle.perimeter(), 22.097439, "incorrect perimeter");
}

#[test]
fn triangle_winding_order() {
let mut cw_triangle = Triangle2d::new(
Expand Down Expand Up @@ -936,29 +961,4 @@ mod tests {
< 1e-7,
);
}

#[test]
fn rectangle_closest_point() {
let rectangle = Rectangle::new(2.0, 2.0);
assert_eq!(rectangle.closest_point(Vec2::X * 10.0), Vec2::X);
assert_eq!(rectangle.closest_point(Vec2::NEG_ONE * 10.0), Vec2::NEG_ONE);
assert_eq!(
rectangle.closest_point(Vec2::new(0.25, 0.1)),
Vec2::new(0.25, 0.1)
);
}

#[test]
fn circle_closest_point() {
let circle = Circle { radius: 1.0 };
assert_eq!(circle.closest_point(Vec2::X * 10.0), Vec2::X);
assert_eq!(
circle.closest_point(Vec2::NEG_ONE * 10.0),
Vec2::NEG_ONE.normalize()
);
assert_eq!(
circle.closest_point(Vec2::new(0.25, 0.1)),
Vec2::new(0.25, 0.1)
);
}
}
128 changes: 72 additions & 56 deletions crates/bevy_math/src/primitives/dim3.rs
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
use std::f32::consts::{FRAC_PI_3, PI};

use super::{Circle, InvalidDirectionError, Primitive3d};
use crate::Vec3;
use crate::{Quat, Vec3};

/// A normalized vector pointing in a direction in 3D space
#[derive(Clone, Copy, Debug, PartialEq)]
Expand Down Expand Up @@ -85,6 +85,21 @@ impl std::ops::Neg for Direction3d {
}
}

impl std::ops::Mul<Direction3d> for Quat {
type Output = Direction3d;

/// Rotates the [`Direction3d`] using a [`Quat`].
fn mul(self, direction: Direction3d) -> Self::Output {
let rotated = self * *direction;

// Make sure the result is normalized.
// This can fail for non-unit quaternions.
debug_assert!(rotated.is_normalized());

Direction3d::new_unchecked(rotated)
}
}

#[cfg(feature = "approx")]
impl approx::AbsDiffEq for Direction3d {
type Epsilon = f32;
Expand Down Expand Up @@ -687,6 +702,62 @@ mod tests {
use super::*;
use approx::assert_relative_eq;

#[test]
fn direction_creation() {
assert_eq!(Direction3d::new(Vec3::X * 12.5), Ok(Direction3d::X));
assert_eq!(
Direction3d::new(Vec3::new(0.0, 0.0, 0.0)),
Err(InvalidDirectionError::Zero)
);
assert_eq!(
Direction3d::new(Vec3::new(f32::INFINITY, 0.0, 0.0)),
Err(InvalidDirectionError::Infinite)
);
assert_eq!(
Direction3d::new(Vec3::new(f32::NEG_INFINITY, 0.0, 0.0)),
Err(InvalidDirectionError::Infinite)
);
assert_eq!(
Direction3d::new(Vec3::new(f32::NAN, 0.0, 0.0)),
Err(InvalidDirectionError::NaN)
);
assert_eq!(
Direction3d::new_and_length(Vec3::X * 6.5),
Ok((Direction3d::X, 6.5))
);

// Test rotation
assert!(
(Quat::from_rotation_z(std::f32::consts::FRAC_PI_2) * Direction3d::X)
.abs_diff_eq(Vec3::Y, 10e-6)
);
}

#[test]
fn cuboid_closest_point() {
let cuboid = Cuboid::new(2.0, 2.0, 2.0);
assert_eq!(cuboid.closest_point(Vec3::X * 10.0), Vec3::X);
assert_eq!(cuboid.closest_point(Vec3::NEG_ONE * 10.0), Vec3::NEG_ONE);
assert_eq!(
cuboid.closest_point(Vec3::new(0.25, 0.1, 0.3)),
Vec3::new(0.25, 0.1, 0.3)
);
}

#[test]
fn sphere_closest_point() {
let sphere = Sphere { radius: 1.0 };
assert_eq!(sphere.closest_point(Vec3::X * 10.0), Vec3::X);
assert_eq!(
sphere.closest_point(Vec3::NEG_ONE * 10.0),
Vec3::NEG_ONE.normalize()
);
assert_eq!(
sphere.closest_point(Vec3::new(0.25, 0.1, 0.3)),
Vec3::new(0.25, 0.1, 0.3)
);
}

#[test]
fn sphere_math() {
let sphere = Sphere { radius: 4.0 };
Expand Down Expand Up @@ -790,58 +861,3 @@ mod tests {
assert_relative_eq!(torus.volume(), 4.97428, epsilon = 0.00001);
}
}

#[cfg(test)]
mod test {
use super::*;

#[test]
fn direction_creation() {
assert_eq!(Direction3d::new(Vec3::X * 12.5), Ok(Direction3d::X));
assert_eq!(
Direction3d::new(Vec3::new(0.0, 0.0, 0.0)),
Err(InvalidDirectionError::Zero)
);
assert_eq!(
Direction3d::new(Vec3::new(f32::INFINITY, 0.0, 0.0)),
Err(InvalidDirectionError::Infinite)
);
assert_eq!(
Direction3d::new(Vec3::new(f32::NEG_INFINITY, 0.0, 0.0)),
Err(InvalidDirectionError::Infinite)
);
assert_eq!(
Direction3d::new(Vec3::new(f32::NAN, 0.0, 0.0)),
Err(InvalidDirectionError::NaN)
);
assert_eq!(
Direction3d::new_and_length(Vec3::X * 6.5),
Ok((Direction3d::X, 6.5))
);
}

#[test]
fn cuboid_closest_point() {
let cuboid = Cuboid::new(2.0, 2.0, 2.0);
assert_eq!(cuboid.closest_point(Vec3::X * 10.0), Vec3::X);
assert_eq!(cuboid.closest_point(Vec3::NEG_ONE * 10.0), Vec3::NEG_ONE);
assert_eq!(
cuboid.closest_point(Vec3::new(0.25, 0.1, 0.3)),
Vec3::new(0.25, 0.1, 0.3)
);
}

#[test]
fn sphere_closest_point() {
let sphere = Sphere { radius: 1.0 };
assert_eq!(sphere.closest_point(Vec3::X * 10.0), Vec3::X);
assert_eq!(
sphere.closest_point(Vec3::NEG_ONE * 10.0),
Vec3::NEG_ONE.normalize()
);
assert_eq!(
sphere.closest_point(Vec3::new(0.25, 0.1, 0.3)),
Vec3::new(0.25, 0.1, 0.3)
);
}
}