Drafting xpbd f64 support

.github/workflows/ci.yml

@@ -110,7 +110,7 @@ jobs:
         uses: actions-rs/cargo@v1
         with:
           command: test
-          args: --doc --all-features
+          args: --doc 
       - name: Get package names
         id: get-package-names
         run: |-
@@ -135,7 +135,7 @@ jobs:
         uses: actions-rs/cargo@v1
         with:
           command: doc
-          args: --no-deps ${{ steps.get-package-names.outputs.PACKAGE_NAMES }} --all-features ${{ steps.get-features-for-docs.outputs.FEATURES_FOR_DOCS }}
+          args: --no-deps ${{ steps.get-package-names.outputs.PACKAGE_NAMES }}
   docs-and-demos-ghpages:
     name: Update Docs and Demos in GitHub Pages
     runs-on: ubuntu-latest
@@ -176,7 +176,7 @@ jobs:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         run: |-
           set -ex
-          cargo doc --verbose ${{ steps.get-package-names.outputs.PACKAGE_NAMES }} --all-features ${{ steps.get-features-for-docs.outputs.FEATURES_FOR_DOCS }}
+          cargo doc --verbose ${{ steps.get-package-names.outputs.PACKAGE_NAMES }} 
           echo "<meta http-equiv=refresh content=0;url=bevy_tnua/index.html>" > target/doc/index.html
           for physics_backend in rapier xpbd; do
               cargo build \

Cargo.toml

@@ -53,8 +53,11 @@ bevy = { version = "^0.13", default-features = false, features = [
     "x11",
     # "filesystem_watcher",
 ] }
-bevy_xpbd_3d = { version = "^0.4" }
+bevy_xpbd_3d = { version = "^0.4", features = ["3d","debug-plugin", "parallel", "async-collider", "parry-f32"] }
 bevy-tnua-xpbd3d = { path = "xpbd3d" }
 
 [package.metadata.docs.rs]
 all-features = true
+
+[features]
+f64 = ["bevy-tnua-physics-integration-layer/f64"]

demos/Cargo.toml

@@ -11,11 +11,14 @@ exclude = [
 default = [
     # Comment this out when Bevy gets upgraded and bevy_egui lags behind
     "egui",
+    "bevy_xpbd_3d?/parry-f32",
+    "bevy_xpbd_2d?/parry-f32",
 ]
 egui = ["dep:bevy_egui", "dep:egui_plot"]
 rapier = []
 rapier2d = ["rapier", "dep:bevy_rapier2d", "dep:bevy-tnua-rapier2d"]
 rapier3d = ["rapier", "dep:bevy_rapier3d", "dep:bevy-tnua-rapier3d"]
+f64 = ["bevy_xpbd_3d?/parry-f64", "bevy_xpbd_2d?/parry-f64", "bevy-tnua-physics-integration-layer/f64", "bevy-tnua/f64"]
 
 xpbd = []
 xpbd2d = ["xpbd", "dep:bevy_xpbd_2d", "dep:bevy-tnua-xpbd2d"]
@@ -50,11 +53,13 @@ bevy-tnua-rapier2d = { path = "../rapier2d", optional = true }
 bevy_rapier3d = { version = "^0.25", features = ["debug-render-3d"], optional = true }
 bevy-tnua-rapier3d = { path = "../rapier3d", optional = true }
 
-bevy_xpbd_2d = { version = "^0.4", optional = true }
-bevy-tnua-xpbd2d = { path = "../xpbd2d", optional = true }
+bevy_xpbd_2d = {version = "^0.4", default-features = false, features = ["2d","debug-plugin", "parallel"], optional = true}
+bevy-tnua-xpbd2d = { path = "../xpbd2d", default-features = false, optional = true }
 
-bevy_xpbd_3d = { version = "^0.4", optional = true }
-bevy-tnua-xpbd3d = { path = "../xpbd3d", optional = true }
+bevy_xpbd_3d = {version = "^0.4", default-features = false, features = ["3d","debug-plugin", "parallel", "async-collider"], optional = true }
+bevy-tnua-xpbd3d = { path = "../xpbd3d", default-features = false, optional = true }
 
 bevy_egui = { version = "0.25", optional = true }
 egui_plot = { version = "0.26", optional = true }
+
+

demos/build.rs

@@ -0,0 +1,6 @@
+fn main() {
+    #[cfg(all(feature = "bevy_xpbd_2d/parry-f32", feature = "f64"))]
+    compile_error!(
+        "Default Feature (f32) and f64 are mutually exclusive and cannot be enabled together"
+    );
+}

demos/src/bin/platformer_2d.rs

@@ -6,6 +6,7 @@ use bevy_tnua::control_helpers::{
     TnuaCrouchEnforcer, TnuaCrouchEnforcerPlugin, TnuaSimpleAirActionsCounter,
     TnuaSimpleFallThroughPlatformsHelper,
 };
+use bevy_tnua::math::{AsF32, Vector3};
 use bevy_tnua::prelude::*;
 use bevy_tnua::{TnuaGhostSensor, TnuaToggle};
 #[cfg(feature = "rapier2d")]
@@ -264,7 +265,7 @@ fn setup_player(mut commands: Commands) {
     });
 
     // `TnuaCrouchEnforcer` can be used to prevent the character from standing up when obstructed.
-    cmd.insert(TnuaCrouchEnforcer::new(0.5 * Vec3::Y, |cmd| {
+    cmd.insert(TnuaCrouchEnforcer::new(0.5 * Vector3::Y, |cmd| {
         // It needs a sensor shape because it needs to do a shapecast upwards. Without a sensor shape
         // it'd do a raycast.
         #[cfg(feature = "rapier2d")]

demos/src/bin/platformer_3d.rs

@@ -6,6 +6,7 @@ use bevy_tnua::control_helpers::{
     TnuaCrouchEnforcer, TnuaCrouchEnforcerPlugin, TnuaSimpleAirActionsCounter,
     TnuaSimpleFallThroughPlatformsHelper,
 };
+use bevy_tnua::math::{AsF32, Vector3};
 use bevy_tnua::prelude::*;
 use bevy_tnua::{TnuaAnimatingState, TnuaGhostSensor, TnuaToggle};
 #[cfg(feature = "rapier3d")]
@@ -290,7 +291,7 @@ fn setup_player(mut commands: Commands, asset_server: Res<AssetServer>) {
     });
 
     // `TnuaCrouchEnforcer` can be used to prevent the character from standing up when obstructed.
-    cmd.insert(TnuaCrouchEnforcer::new(0.5 * Vec3::Y, |cmd| {
+    cmd.insert(TnuaCrouchEnforcer::new(0.5 * Vector3::Y, |cmd| {
         #[cfg(feature = "rapier3d")]
         cmd.insert(TnuaRapier3dSensorShape(rapier::Collider::cylinder(
             0.0, 0.5,

demos/src/bin/shooter_like.rs

@@ -8,6 +8,7 @@ use bevy_tnua::control_helpers::{
     TnuaCrouchEnforcer, TnuaCrouchEnforcerPlugin, TnuaSimpleAirActionsCounter,
     TnuaSimpleFallThroughPlatformsHelper,
 };
+use bevy_tnua::math::{AdjustPrecision, AsF32, Float, Quaternion, Vector3};
 use bevy_tnua::prelude::*;
 use bevy_tnua::{TnuaAnimatingState, TnuaGhostSensor, TnuaToggle};
 #[cfg(feature = "rapier3d")]
@@ -144,7 +145,7 @@ fn setup_player(mut commands: Commands, asset_server: Res<AssetServer>) {
         speed: 20.0,
         walk: TnuaBuiltinWalk {
             float_height: 2.0,
-            turning_angvel: f32::INFINITY,
+            turning_angvel: Float::INFINITY,
             ..Default::default()
         },
         actions_in_air: 1,
@@ -297,7 +298,7 @@ fn setup_player(mut commands: Commands, asset_server: Res<AssetServer>) {
     });
 
     // `TnuaCrouchEnforcer` can be used to prevent the character from standing up when obstructed.
-    cmd.insert(TnuaCrouchEnforcer::new(0.5 * Vec3::Y, |cmd| {
+    cmd.insert(TnuaCrouchEnforcer::new(0.5 * Vector3::Y, |cmd| {
         #[cfg(feature = "rapier3d")]
         cmd.insert(TnuaRapier3dSensorShape(rapier::Collider::cylinder(
             0.0, 0.5,
@@ -365,16 +366,17 @@ fn apply_camera_controls(
         mouse_motion.clear();
         Vec2::ZERO
     };
-    let turning = Quat::from_rotation_y(-0.01 * total_delta.x);
+    let turning = Quaternion::from_rotation_y(-0.01 * total_delta.x.adjust_precision());
     let Ok((player_transform, mut forward_from_camera)) = player_character_query.get_single_mut()
     else {
         return;
     };
     forward_from_camera.forward = turning.mul_vec3(forward_from_camera.forward);
 
     for mut camera in camera_query.iter_mut() {
-        camera.translation =
-            player_transform.translation() + -5.0 * forward_from_camera.forward + 1.0 * Vec3::Y;
-        camera.look_to(forward_from_camera.forward, Vec3::Y);
+        camera.translation = player_transform.translation()
+            + -5.0 * forward_from_camera.forward.f32()
+            + 1.0 * Vec3::Y;
+        camera.look_to(forward_from_camera.forward.f32(), Vec3::Y);
     }
 }

demos/src/character_animating_systems/platformer_animating_systems.rs

@@ -1,5 +1,6 @@
 use bevy::prelude::*;
 use bevy_tnua::builtins::{TnuaBuiltinCrouch, TnuaBuiltinDash, TnuaBuiltinJumpState};
+use bevy_tnua::math::Float;
 use bevy_tnua::prelude::*;
 use bevy_tnua::{TnuaAnimatingState, TnuaAnimatingStateDirective};
 
@@ -8,14 +9,15 @@ use crate::util::animating::AnimationsHandler;
 #[derive(Debug)]
 pub enum AnimationState {
     Standing,
-    Running(f32),
+    Running(Float),
     Jumping,
     Falling,
     Crouching,
-    Crawling(f32),
+    Crawling(Float),
     Dashing,
 }
 
+#[allow(clippy::unnecessary_cast)]
 pub fn animate_platformer_character(
     mut animations_handlers_query: Query<(
         // `TnuaAnimatingState` is a helper for controlling the animations. The user system is
@@ -112,7 +114,7 @@ pub fn animate_platformer_character(
                 // animation (without necessarily replacing it). In this case - control the speed
                 // of the animation based on the speed of the movement.
                 AnimationState::Running(speed) | AnimationState::Crawling(speed) => {
-                    player.set_speed(*speed);
+                    player.set_speed(*speed as f32);
                 }
                 // Jumping and dashing can be chained, we want to start a new jump/dash animation
                 // when one jump/dash is chained to another.
@@ -142,7 +144,7 @@ pub fn animate_platformer_character(
                 AnimationState::Running(speed) => {
                     player
                         .start(handler.animations["Running"].clone_weak())
-                        .set_speed(*speed)
+                        .set_speed(*speed as f32)
                         .repeat();
                 }
                 AnimationState::Jumping => {
@@ -164,7 +166,7 @@ pub fn animate_platformer_character(
                 AnimationState::Crawling(speed) => {
                     player
                         .start(handler.animations["Crawling"].clone_weak())
-                        .set_speed(*speed)
+                        .set_speed(*speed as f32)
                         .repeat();
                 }
                 AnimationState::Dashing => {

demos/src/character_control_systems/platformer_control_systems.rs

@@ -5,6 +5,7 @@ use bevy_tnua::builtins::{TnuaBuiltinCrouch, TnuaBuiltinCrouchState, TnuaBuiltin
 use bevy_tnua::control_helpers::{
     TnuaCrouchEnforcer, TnuaSimpleAirActionsCounter, TnuaSimpleFallThroughPlatformsHelper,
 };
+use bevy_tnua::math::{AdjustPrecision, AsF32, Float, Vector3};
 use bevy_tnua::prelude::*;
 use bevy_tnua::{TnuaGhostSensor, TnuaProximitySensor};
 
@@ -13,6 +14,7 @@ use crate::ui::tuning::UiTunable;
 use super::Dimensionality;
 
 #[allow(clippy::type_complexity)]
+#[allow(clippy::useless_conversion)]
 pub fn apply_platformer_controls(
     #[cfg(feature = "egui")] mut egui_context: EguiContexts,
     keyboard: Res<ButtonInput<KeyCode>>,
@@ -72,29 +74,30 @@ pub fn apply_platformer_controls(
     {
         // This part is just keyboard input processing. In a real game this would probably be done
         // with a third party plugin.
-        let mut direction = Vec3::ZERO;
+        let mut direction = Vector3::ZERO;
 
         if config.dimensionality == Dimensionality::Dim3 {
             if keyboard.any_pressed([KeyCode::ArrowUp, KeyCode::KeyW]) {
-                direction -= Vec3::Z;
+                direction -= Vector3::Z;
             }
             if keyboard.any_pressed([KeyCode::ArrowDown, KeyCode::KeyS]) {
-                direction += Vec3::Z;
+                direction += Vector3::Z;
             }
         }
         if keyboard.any_pressed([KeyCode::ArrowLeft, KeyCode::KeyA]) {
-            direction -= Vec3::X;
+            direction -= Vector3::X;
         }
         if keyboard.any_pressed([KeyCode::ArrowRight, KeyCode::KeyD]) {
-            direction += Vec3::X;
+            direction += Vector3::X;
         }
 
         direction = direction.clamp_length_max(1.0);
 
         if let Some(forward_from_camera) = forward_from_camera {
             direction = Transform::default()
-                .looking_to(forward_from_camera.forward, Vec3::Y)
-                .transform_point(direction);
+                .looking_to(forward_from_camera.forward.f32(), Vec3::Y)
+                .transform_point(direction.f32())
+                .adjust_precision();
         }
 
         let jump = match config.dimensionality {
@@ -291,7 +294,7 @@ pub fn apply_platformer_controls(
         // frame's input.
         controller.basis(TnuaBuiltinWalk {
             desired_velocity: if turn_in_place {
-                Vec3::ZERO
+                Vector3::ZERO
             } else {
                 direction * speed_factor * config.speed
             },
@@ -356,7 +359,7 @@ pub fn apply_platformer_controls(
                 } else {
                     // For shooters, we want to allow rotating mid-dash if the player moves the
                     // mouse.
-                    Vec3::ZERO
+                    Vector3::ZERO
                 },
                 allow_in_air: air_actions_counter.air_count_for(TnuaBuiltinDash::NAME)
                     <= config.actions_in_air,
@@ -369,14 +372,14 @@ pub fn apply_platformer_controls(
 #[derive(Component)]
 pub struct CharacterMotionConfigForPlatformerDemo {
     pub dimensionality: Dimensionality,
-    pub speed: f32,
+    pub speed: Float,
     pub walk: TnuaBuiltinWalk,
     pub actions_in_air: usize,
     pub jump: TnuaBuiltinJump,
     pub crouch: TnuaBuiltinCrouch,
-    pub dash_distance: f32,
+    pub dash_distance: Float,
     pub dash: TnuaBuiltinDash,
-    pub one_way_platforms_min_proximity: f32,
+    pub one_way_platforms_min_proximity: Float,
     pub falling_through: FallingThroughControlScheme,
 }
 
@@ -442,13 +445,13 @@ impl UiTunable for FallingThroughControlScheme {
 
 #[derive(Component)]
 pub struct ForwardFromCamera {
-    pub forward: Vec3,
+    pub forward: Vector3,
 }
 
 impl Default for ForwardFromCamera {
     fn default() -> Self {
         Self {
-            forward: Vec3::NEG_Z,
+            forward: Vector3::NEG_Z,
         }
     }
 }

demos/src/levels_setup/for_2d_platformer.rs

@@ -2,7 +2,10 @@
 
 #[cfg(feature = "rapier2d")]
 use bevy_rapier2d::{prelude as rapier, prelude::*};
-use bevy_tnua::TnuaGhostPlatform;
+use bevy_tnua::{
+    math::{AdjustPrecision, Vector2, Vector3},
+    TnuaGhostPlatform,
+};
 #[cfg(feature = "xpbd2d")]
 use bevy_xpbd_2d::{prelude as xpbd, prelude::*};
 
@@ -31,7 +34,7 @@
     #[cfg(feature = "xpbd2d")]
     {
         cmd.insert(xpbd::RigidBody::Static);
-        cmd.insert(xpbd::Collider::halfspace(Vec2::Y));
+        cmd.insert(xpbd::Collider::halfspace(Vector2::Y));
     }
 
     for ([width, height], transform) in [
@@ -58,7 +61,10 @@
         #[cfg(feature = "xpbd2d")]
         {
             cmd.insert(xpbd::RigidBody::Static);
-            cmd.insert(xpbd::Collider::rectangle(width, height));
+            cmd.insert(xpbd::Collider::rectangle(
+                width.adjust_precision(),
+                height.adjust_precision(),
+            ));
         }
     }
 
@@ -201,10 +207,10 @@
         cmd.insert(MovingPlatform::new(
             4.0,
             &[
-                Vec3::new(-4.0, 6.0, 0.0),
-                Vec3::new(-8.0, 6.0, 0.0),
-                Vec3::new(-8.0, 10.0, 0.0),
-                Vec3::new(-4.0, 10.0, 0.0),
+                Vector3::new(-4.0, 6.0, 0.0),
+                Vector3::new(-8.0, 6.0, 0.0),
+                Vector3::new(-8.0, 10.0, 0.0),
+                Vector3::new(-4.0, 10.0, 0.0),
             ],
         ));
     }

demos/src/levels_setup/for_3d_platformer.rs

@@ -2,7 +2,7 @@ use bevy::prelude::*;
 
 #[cfg(feature = "rapier3d")]
 use bevy_rapier3d::{prelude as rapier, prelude::*};
-use bevy_tnua::TnuaGhostPlatform;
+use bevy_tnua::{math::Vector3, TnuaGhostPlatform};
 #[cfg(feature = "xpbd3d")]
 use bevy_xpbd_3d::{prelude as xpbd, prelude::*};
 
@@ -172,12 +172,12 @@ pub fn setup_level(
         cmd.insert(MovingPlatform::new(
             4.0,
             &[
-                Vec3::new(-4.0, 6.0, 0.0),
-                Vec3::new(-8.0, 6.0, 0.0),
-                Vec3::new(-8.0, 10.0, 0.0),
-                Vec3::new(-8.0, 10.0, -4.0),
-                Vec3::new(-4.0, 10.0, -4.0),
-                Vec3::new(-4.0, 10.0, 0.0),
+                Vector3::new(-4.0, 6.0, 0.0),
+                Vector3::new(-8.0, 6.0, 0.0),
+                Vector3::new(-8.0, 10.0, 0.0),
+                Vector3::new(-8.0, 10.0, -4.0),
+                Vector3::new(-4.0, 10.0, -4.0),
+                Vector3::new(-4.0, 10.0, 0.0),
             ],
         ));
     }