f64 support

.github/workflows/main.yml

@@ -32,16 +32,28 @@ jobs:
       - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev
       - name: Clippy for bevy_rapier2d
         run: cargo clippy --verbose -p bevy_rapier2d
+      - name: Clippy for bevy_rapier2d_f64
+        run: cargo clippy --verbose -p bevy_rapier2d_f64
       - name: Clippy for bevy_rapier3d
         run: cargo clippy --verbose -p bevy_rapier3d
+      - name: Clippy for bevy_rapier3d_f64
+        run: cargo clippy --verbose -p bevy_rapier3d_f64
       - name: Clippy for bevy_rapier2d (debug-render, simd, serde)
         run: cargo clippy --verbose -p bevy_rapier2d --features debug-render-2d,simd-stable,serde-serialize
+      - name: Clippy for bevy_rapier2d_f64 (debug-render, simd, serde)
+        run: cargo clippy --verbose -p bevy_rapier2d_f64 --features debug-render-2d,simd-stable,serde-serialize
       - name: Clippy for bevy_rapier3d (debug-render, simd, serde)
         run: cargo clippy --verbose -p bevy_rapier3d --features debug-render-3d,simd-stable,serde-serialize
+      - name: Clippy for bevy_rapier3d_f64 (debug-render, simd, serde)
+        run: cargo clippy --verbose -p bevy_rapier3d_f64 --features debug-render-3d,simd-stable,serde-serialize
       - name: Test for bevy_rapier2d
         run: cargo test --verbose -p bevy_rapier2d
+      - name: Test for bevy_rapier2d_f64
+        run: cargo test --verbose -p bevy_rapier2d_f64
       - name: Test for bevy_rapier3d
         run: cargo test --verbose -p bevy_rapier3d
+      - name: Test for bevy_rapier3d_f64
+        run: cargo test --verbose -p bevy_rapier3d_f64
   test-wasm:
     runs-on: ubuntu-latest
     env:

Cargo.toml

@@ -1,5 +1,5 @@
 [workspace]
-members = ["bevy_rapier2d", "bevy_rapier3d"]
+members = ["bevy_rapier2d", "bevy_rapier2d_f64", "bevy_rapier3d", "bevy_rapier3d_f64"]
 resolver = "2"
 
 [profile.dev]

bevy_rapier2d/Cargo.toml

@@ -15,19 +15,20 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [lib]
 path = "../src/lib.rs"
-required-features = [ "dim2" ]
+required-features = [ "dim2", "f32" ]
 
 [features]
-default = [ "dim2", "async-collider", "debug-render-2d" ]
+default = [ "dim2", "async-collider", "debug-render-2d", "f32" ]
 dim2 = []
+f32 = []
 debug-render-2d = [ "bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier2d/debug-render", "bevy/bevy_asset" ]
 debug-render-3d = [ "bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier2d/debug-render", "bevy/bevy_asset" ]
 parallel = [ "rapier2d/parallel" ]
 simd-stable = [ "rapier2d/simd-stable" ]
 simd-nightly = [ "rapier2d/simd-nightly" ]
 wasm-bindgen = [ "rapier2d/wasm-bindgen" ]
 serde-serialize = [ "rapier2d/serde-serialize", "bevy/serialize", "serde" ]
-enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
+enhanced-determinism = [ "rapier2d/enhanced-determinism", ]
 headless = []
 async-collider = [ "bevy/bevy_asset", "bevy/bevy_scene" ]
 
@@ -36,7 +37,7 @@ bevy = { version = "0.11", default-features = false }
 nalgebra = { version = "0.32.3", features = [ "convert-glam024" ] }
 # Don't enable the default features because we don't need the ColliderSet/RigidBodySet
 rapier2d = "0.17.0"
-bitflags = "1"
+bitflags = "2.4"
 #bevy_prototype_debug_lines = { version = "0.6", optional = true }
 log = "0.4"
 serde = { version = "1", features = [ "derive" ], optional = true}

bevy_rapier2d_f64/Cargo.toml

@@ -0,0 +1,53 @@
+[package]
+name = "bevy_rapier2d_f64"
+version = "0.22.0"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
+description = "2-dimensional physics engine in Rust, official Bevy plugin."
+documentation = "http://docs.rs/bevy_rapier3d"
+homepage = "http://rapier.rs"
+repository = "https://github.com/dimforge/bevy_rapier"
+readme = "../README.md"
+keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
+license = "Apache-2.0"
+edition = "2021"
+
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+[lib]
+path = "../src/lib.rs"
+required-features = [ "dim2", "f64" ]
+
+[features]
+default = [ "dim2", "async-collider", "debug-render-2d", "f64" ]
+dim2 = []
+f64 = []
+debug-render = [ "debug-render-3d" ]
+debug-render-2d = [ "bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier2d-f64/debug-render", "bevy/bevy_asset" ]
+debug-render-3d = [ "bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier2d-f64/debug-render", "bevy/bevy_asset" ]
+parallel = [ "rapier2d-f64/parallel" ]
+simd-stable = [ "rapier2d-f64/simd-stable" ]
+simd-nightly = [ "rapier2d-f64/simd-nightly" ]
+wasm-bindgen = [ "rapier2d-f64/wasm-bindgen" ]
+serde-serialize = [ "rapier2d-f64/serde-serialize", "bevy/serialize", "serde" ]
+enhanced-determinism = [ "rapier2d-f64/enhanced-determinism" ]
+headless = [ ]
+async-collider = [ "bevy/bevy_asset", "bevy/bevy_scene" ]
+
+[dependencies]
+bevy = { version = "0.11", default-features = false }
+nalgebra = { version = "0.32.3", features = [ "convert-glam024" ] }
+# Don't enable the default features because we don't need the ColliderSet/RigidBodySet
+rapier2d-f64 = "0.17"
+bitflags = "2.4"
+#bevy_prototype_debug_lines = { version = "0.6", features = ["3d"], optional = true }
+log = "0.4"
+serde = { version = "1", features = [ "derive" ], optional = true}
+
+[dev-dependencies]
+bevy = { version = "0.11", default-features = false, features = ["x11"]}
+approx = "0.5.1"
+glam = { version = "0.24", features = [ "approx" ] }
+
+[package.metadata.docs.rs]
+# Enable all the features when building the docs on docs.rs
+features = [ "debug-render-2d", "serde-serialize" ]

bevy_rapier3d/Cargo.toml

@@ -15,11 +15,12 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [lib]
 path = "../src/lib.rs"
-required-features = [ "dim3" ]
+required-features = [ "dim3", "f32" ]
 
 [features]
-default = [ "dim3", "async-collider", "debug-render-3d" ]
+default = [ "dim3", "async-collider", "debug-render-3d", "f32" ]
 dim3 = []
+f32 = []
 debug-render = [ "debug-render-3d" ]
 debug-render-2d = [ "bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier3d/debug-render", "bevy/bevy_asset" ]
 debug-render-3d = [ "bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier3d/debug-render", "bevy/bevy_asset" ]
@@ -36,8 +37,8 @@ async-collider = [ "bevy/bevy_asset", "bevy/bevy_scene" ]
 bevy = { version = "0.11", default-features = false }
 nalgebra = { version = "0.32.3", features = [ "convert-glam024" ] }
 # Don't enable the default features because we don't need the ColliderSet/RigidBodySet
-rapier3d = "0.17.0"
-bitflags = "1"
+rapier3d = "0.17"
+bitflags = "2.4"
 #bevy_prototype_debug_lines = { version = "0.6", features = ["3d"], optional = true }
 log = "0.4"
 serde = { version = "1", features = [ "derive" ], optional = true}

bevy_rapier3d/examples/joints3.rs

@@ -25,7 +25,7 @@ fn setup_graphics(mut commands: Commands) {
     });
 }
 
-fn create_prismatic_joints(commands: &mut Commands, origin: Vect, num: usize) {
+fn create_prismatic_joints(commands: &mut Commands, origin: Vec3, num: usize) {
     let rad = 0.4;
     let shift = 1.0;
 
@@ -62,7 +62,7 @@ fn create_prismatic_joints(commands: &mut Commands, origin: Vect, num: usize) {
     }
 }
 
-fn create_rope_joints(commands: &mut Commands, origin: Vect, num: usize) {
+fn create_rope_joints(commands: &mut Commands, origin: Vec3, num: usize) {
     let rad = 0.4;
     let shift = 1.0;
 

bevy_rapier3d/examples/ray_casting3.rs

@@ -80,12 +80,16 @@ fn cast_ray(
 ) {
     let window = windows.single();
 
-    let Some(cursor_position) = window.cursor_position() else { return; };
+    let Some(cursor_position) = window.cursor_position() else {
+        return;
+    };
 
     // We will color in read the colliders hovered by the mouse.
     for (camera, camera_transform) in &cameras {
         // First, compute a ray from the mouse position.
-        let Some(ray) = camera.viewport_to_world(camera_transform, cursor_position) else { return; };
+        let Some(ray) = camera.viewport_to_world(camera_transform, cursor_position) else {
+            return;
+        };
 
         // Then cast the ray.
         let hit = rapier_context.cast_ray(

bevy_rapier3d/examples/static_trimesh3.rs

@@ -30,7 +30,7 @@ fn setup_graphics(mut commands: Commands) {
 }
 
 fn ramp_size() -> Vec3 {
-    Vec3::new(10.0, 1.0, 1.0)
+    Vec3::new(10.0, 1.5, 1.0)
 }
 
 pub fn setup_physics(mut commands: Commands) {
@@ -62,7 +62,7 @@ pub fn setup_physics(mut commands: Commands) {
     let mut indices: Vec<[u32; 3]> = Vec::new();
 
     let segments = 32;
-    let bowl_size = Vec3::new(10.0, 3.0, 10.0);
+    let bowl_size = Vec3::new(10.0, 6.0, 10.0);
 
     for ix in 0..=segments {
         for iz in 0..=segments {
@@ -111,9 +111,9 @@ impl Default for BallState {
     fn default() -> Self {
         Self {
             seconds_until_next_spawn: 0.5,
-            seconds_between_spawns: 2.0,
+            seconds_between_spawns: 2.5,
             balls_spawned: 0,
-            max_balls: 10,
+            max_balls: 200,
         }
     }
 }
@@ -129,7 +129,7 @@ fn ball_spawner(
 
     // NOTE: The timing here only works properly with `time_dependent_number_of_timesteps`
     // disabled, as it is for examples.
-    ball_state.seconds_until_next_spawn -= rapier_context.integration_parameters.dt;
+    ball_state.seconds_until_next_spawn -= rapier_context.integration_parameters.dt as f32;
     if ball_state.seconds_until_next_spawn > 0.0 {
         return;
     }
@@ -142,7 +142,7 @@ fn ball_spawner(
     commands.spawn((
         TransformBundle::from(Transform::from_xyz(
             ramp_size.x * 0.9,
-            ramp_size.y / 2.0 + rad * 3.0,
+            ramp_size.y + rad * 3.0,
             0.0,
         )),
         RigidBody::Dynamic,

bevy_rapier3d_f64/Cargo.toml

@@ -0,0 +1,53 @@
+[package]
+name = "bevy_rapier3d_f64"
+version = "0.22.0"
+authors = ["Sébastien Crozet <developer@crozet.re>"]
+description = "3-dimensional physics engine in Rust, official Bevy plugin."
+documentation = "http://docs.rs/bevy_rapier3d"
+homepage = "http://rapier.rs"
+repository = "https://github.com/dimforge/bevy_rapier"
+readme = "../README.md"
+keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
+license = "Apache-2.0"
+edition = "2021"
+
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+[lib]
+path = "../src/lib.rs"
+required-features = [ "dim3", "f64" ]
+
+[features]
+default = [ "dim3", "async-collider", "debug-render-3d", "f64" ]
+dim3 = []
+f64 = []
+debug-render = [ "debug-render-3d" ]
+debug-render-2d = [ "bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier3d-f64/debug-render", "bevy/bevy_asset" ]
+debug-render-3d = [ "bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier3d-f64/debug-render", "bevy/bevy_asset" ]
+parallel = [ "rapier3d-f64/parallel" ]
+simd-stable = [ "rapier3d-f64/simd-stable" ]
+simd-nightly = [ "rapier3d-f64/simd-nightly" ]
+wasm-bindgen = [ "rapier3d-f64/wasm-bindgen" ]
+serde-serialize = [ "rapier3d-f64/serde-serialize", "bevy/serialize", "serde" ]
+enhanced-determinism = [ "rapier3d-f64/enhanced-determinism" ]
+headless = [ ]
+async-collider = [ "bevy/bevy_asset", "bevy/bevy_scene" ]
+
+[dependencies]
+bevy = { version = "0.11", default-features = false }
+nalgebra = { version = "0.32.3", features = [ "convert-glam024" ] }
+# Don't enable the default features because we don't need the ColliderSet/RigidBodySet
+rapier3d-f64 = "0.17"
+bitflags = "2.4"
+#bevy_prototype_debug_lines = { version = "0.6", features = ["3d"], optional = true }
+log = "0.4"
+serde = { version = "1", features = [ "derive" ], optional = true}
+
+[dev-dependencies]
+bevy = { version = "0.11", default-features = false, features = ["x11"]}
+approx = "0.5.1"
+glam = { version = "0.24", features = [ "approx" ] }
+
+[package.metadata.docs.rs]
+# Enable all the features when building the docs on docs.rs
+features = [ "debug-render-3d", "serde-serialize" ]

src/dynamics/fixed_joint.rs

@@ -1,5 +1,5 @@
 use crate::dynamics::{GenericJoint, GenericJointBuilder};
-use crate::math::{Rot, Vect};
+use crate::math::{AsPrecise, Rot, Vect};
 use rapier::dynamics::JointAxesMask;
 
 #[derive(Copy, Clone, Debug, PartialEq)]
@@ -41,8 +41,8 @@ impl FixedJoint {
     }
 
     /// Sets the joint’s basis, expressed in the first rigid-body’s local-space.
-    pub fn set_local_basis1(&mut self, local_basis: Rot) -> &mut Self {
-        self.data.set_local_basis1(local_basis);
+    pub fn set_local_basis1(&mut self, local_basis: impl AsPrecise<Out = Rot>) -> &mut Self {
+        self.data.set_local_basis1(local_basis.as_precise());
         self
     }
 
@@ -53,8 +53,8 @@ impl FixedJoint {
     }
 
     /// Sets joint’s basis, expressed in the second rigid-body’s local-space.
-    pub fn set_local_basis2(&mut self, local_basis: Rot) -> &mut Self {
-        self.data.set_local_basis2(local_basis);
+    pub fn set_local_basis2(&mut self, local_basis: impl AsPrecise<Out = Rot>) -> &mut Self {
+        self.data.set_local_basis2(local_basis.as_precise());
         self
     }
 
@@ -65,8 +65,8 @@ impl FixedJoint {
     }
 
     /// Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
-    pub fn set_local_anchor1(&mut self, anchor1: Vect) -> &mut Self {
-        self.data.set_local_anchor1(anchor1);
+    pub fn set_local_anchor1(&mut self, anchor1: impl AsPrecise<Out = Vect>) -> &mut Self {
+        self.data.set_local_anchor1(anchor1.as_precise());
         self
     }
 
@@ -77,8 +77,8 @@ impl FixedJoint {
     }
 
     /// Sets the joint’s anchor, expressed in the local-space of the second rigid-body.
-    pub fn set_local_anchor2(&mut self, anchor2: Vect) -> &mut Self {
-        self.data.set_local_anchor2(anchor2);
+    pub fn set_local_anchor2(&mut self, anchor2: impl AsPrecise<Out = Vect>) -> &mut Self {
+        self.data.set_local_anchor2(anchor2.as_precise());
         self
     }
 }
@@ -101,29 +101,29 @@ impl FixedJointBuilder {
 
     /// Sets the joint’s basis, expressed in the first rigid-body’s local-space.
     #[must_use]
-    pub fn local_basis1(mut self, local_basis: Rot) -> Self {
-        self.0.set_local_basis1(local_basis);
+    pub fn local_basis1(mut self, local_basis: impl AsPrecise<Out = Rot>) -> Self {
+        self.0.set_local_basis1(local_basis.as_precise());
         self
     }
 
     /// Sets joint’s basis, expressed in the second rigid-body’s local-space.
     #[must_use]
-    pub fn local_basis2(mut self, local_basis: Rot) -> Self {
-        self.0.set_local_basis2(local_basis);
+    pub fn local_basis2(mut self, local_basis: impl AsPrecise<Out = Rot>) -> Self {
+        self.0.set_local_basis2(local_basis.as_precise());
         self
     }
 
     /// Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
     #[must_use]
-    pub fn local_anchor1(mut self, anchor1: Vect) -> Self {
-        self.0.set_local_anchor1(anchor1);
+    pub fn local_anchor1(mut self, anchor1: impl AsPrecise<Out = Vect>) -> Self {
+        self.0.set_local_anchor1(anchor1.as_precise());
         self
     }
 
     /// Sets the joint’s anchor, expressed in the local-space of the second rigid-body.
     #[must_use]
-    pub fn local_anchor2(mut self, anchor2: Vect) -> Self {
-        self.0.set_local_anchor2(anchor2);
+    pub fn local_anchor2(mut self, anchor2: impl AsPrecise<Out = Vect>) -> Self {
+        self.0.set_local_anchor2(anchor2.as_precise());
         self
     }