Add no_std Support to bevy_math

crates/bevy_math/Cargo.toml

@@ -10,20 +10,20 @@ keywords = ["bevy"]
 rust-version = "1.68.2"
 
 [dependencies]
-glam = { version = "0.29", features = ["bytemuck"] }
+glam = { version = "0.29", default-features = false, features = ["bytemuck"] }
 derive_more = { version = "1", default-features = false, features = [
  "error",
  "from",
  "display",
  "into",
 ] }
-itertools = "0.13.0"
-serde = { version = "1", features = ["derive"], optional = true }
+itertools = { version = "0.13.0", default-features = false }
+serde = { version = "1", default-features = false, features = [
+ "derive",
+], optional = true }
 libm = { version = "0.2", optional = true }
-approx = { version = "0.5", optional = true }
-rand = { version = "0.8", features = [
- "alloc",
-], default-features = false, optional = true }
+approx = { version = "0.5", default-features = false, optional = true }
+rand = { version = "0.8", default-features = false, optional = true }
 rand_distr = { version = "0.4.3", optional = true }
 smallvec = { version = "1.11" }
 bevy_reflect = { path = "../bevy_reflect", version = "0.15.0-dev", features = [
@@ -36,11 +36,30 @@ approx = "0.5"
 rand = "0.8"
 rand_chacha = "0.3"
 # Enable the approx feature when testing.
-bevy_math = { path = ".", version = "0.15.0-dev", features = ["approx"] }
+bevy_math = { path = ".", version = "0.15.0-dev", default-features = false, features = [
+ "approx",
+] }
 glam = { version = "0.29", features = ["approx"] }
 
 [features]
-default = ["rand", "bevy_reflect", "curve"]
+default = ["std", "rand", "bevy_reflect", "curve"]
+std = [
+ "alloc",
+ "glam/std",
+ "derive_more/std",
+ "itertools/use_std",
+ "serde?/std",
+ "approx?/std",
+ "rand?/std",
+ "rand_distr?/std",
+]
+alloc = [
+ "itertools/use_alloc",
+ "serde?/alloc",
+ "rand?/alloc",
+ "rand_distr?/alloc",
+]
+
 serialize = ["dep:serde", "glam/serde"]
 # Enable approx for glam types to approximate floating point equality comparisons and assertions
 approx = ["dep:approx", "glam/approx"]
@@ -56,7 +75,9 @@ debug_glam_assert = ["glam/debug-glam-assert"]
 # Enable the rand dependency for shape_sampling
 rand = ["dep:rand", "dep:rand_distr", "glam/rand"]
 # Include code related to the Curve trait
-curve = []
+curve = ["alloc"]
+# Enable bevy_reflect (requires std)
+bevy_reflect = ["dep:bevy_reflect", "std"]
 
 [lints]
 workspace = true

crates/bevy_math/src/bounding/bounded2d/mod.rs

@@ -2,6 +2,7 @@ mod primitive_impls;
 
 use super::{BoundingVolume, IntersectsVolume};
 use crate::{
+ ops::{copysign, sqrt},
  prelude::{Mat2, Rot2, Vec2},
  FloatPow, Isometry2d,
 };
@@ -488,7 +489,7 @@ impl BoundingCircle {
  }
  }
 
- BoundingCircle::new(isometry * center, radius_squared.sqrt())
+ BoundingCircle::new(isometry * center, sqrt(radius_squared))
  }
 
  /// Get the radius of the bounding circle
@@ -539,7 +540,7 @@ impl BoundingVolume for BoundingCircle {
  #[inline(always)]
  fn contains(&self, other: &Self) -> bool {
  let diff = self.radius() - other.radius();
- self.center.distance_squared(other.center) <= diff.squared().copysign(diff)
+ self.center.distance_squared(other.center) <= copysign(diff.squared(), diff)
  }
 
  #[inline(always)]

crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs

@@ -1,16 +1,18 @@
 //! Contains [`Bounded2d`] implementations for [geometric primitives](crate::primitives).
 
 use crate::{
- ops,
+ ops::{self, abs, rem_euclid},
  primitives::{
- Annulus, Arc2d, BoxedPolygon, BoxedPolyline2d, Capsule2d, Circle, CircularSector,
- CircularSegment, Ellipse, Line2d, Plane2d, Polygon, Polyline2d, Rectangle, RegularPolygon,
- Rhombus, Segment2d, Triangle2d,
+ Annulus, Arc2d, Capsule2d, Circle, CircularSector, CircularSegment, Ellipse, Line2d,
+ Plane2d, Polygon, Polyline2d, Rectangle, RegularPolygon, Rhombus, Segment2d, Triangle2d,
  },
  Dir2, Isometry2d, Mat2, Rot2, Vec2,
 };
 use core::f32::consts::{FRAC_PI_2, PI, TAU};
 
+#[cfg(feature = "alloc")]
+use crate::primitives::{BoxedPolygon, BoxedPolyline2d};
+
 use smallvec::SmallVec;
 
 use super::{Aabb2d, Bounded2d, BoundingCircle};
@@ -41,11 +43,11 @@ fn arc_bounding_points(arc: Arc2d, rotation: impl Into<Rot2>) -> SmallVec<[Vec2;
  // The half-angles are measured from a starting point of π/2, being the angle of Vec2::Y.
  // Compute the normalized angles of the endpoints with the rotation taken into account, and then
  // check if we are looking for an angle that is between or outside them.
- let left_angle = (FRAC_PI_2 + arc.half_angle + rotation.as_radians()).rem_euclid(TAU);
- let right_angle = (FRAC_PI_2 - arc.half_angle + rotation.as_radians()).rem_euclid(TAU);
+ let left_angle = rem_euclid(FRAC_PI_2 + arc.half_angle + rotation.as_radians(), TAU);
+ let right_angle = rem_euclid(FRAC_PI_2 - arc.half_angle + rotation.as_radians(), TAU);
  let inverted = left_angle < right_angle;
  for extremum in [Vec2::X, Vec2::Y, Vec2::NEG_X, Vec2::NEG_Y] {
- let angle = extremum.to_angle().rem_euclid(TAU);
+ let angle = rem_euclid(extremum.to_angle(), TAU);
  // If inverted = true, then right_angle > left_angle, so we are looking for an angle that is not between them.
  // There's a chance that this condition fails due to rounding error, if the endpoint angle is juuuust shy of the axis.
  // But in that case, the endpoint itself is within rounding error of the axis and will define the bounds just fine.
@@ -286,6 +288,7 @@ impl<const N: usize> Bounded2d for Polyline2d<N> {
  }
 }
 
+#[cfg(feature = "alloc")]
 impl Bounded2d for BoxedPolyline2d {
  fn aabb_2d(&self, isometry: impl Into<Isometry2d>) -> Aabb2d {
  Aabb2d::from_point_cloud(isometry, &self.vertices)
@@ -348,7 +351,7 @@ impl Bounded2d for Rectangle {
  // Compute the AABB of the rotated rectangle by transforming the half-extents
  // by an absolute rotation matrix.
  let (sin, cos) = isometry.rotation.sin_cos();
- let abs_rot_mat = Mat2::from_cols_array(&[cos.abs(), sin.abs(), sin.abs(), cos.abs()]);
+ let abs_rot_mat = Mat2::from_cols_array(&[abs(cos), abs(sin), abs(sin), abs(cos)]);
  let half_size = abs_rot_mat * self.half_size;
 
  Aabb2d::new(isometry.translation, half_size)
@@ -371,6 +374,7 @@ impl<const N: usize> Bounded2d for Polygon<N> {
  }
 }
 
+#[cfg(feature = "alloc")]
 impl Bounded2d for BoxedPolygon {
  fn aabb_2d(&self, isometry: impl Into<Isometry2d>) -> Aabb2d {
  Aabb2d::from_point_cloud(isometry, &self.vertices)

crates/bevy_math/src/bounding/bounded3d/extrusion.rs

@@ -4,14 +4,17 @@ use glam::{Vec2, Vec3A, Vec3Swizzles};
 
 use crate::{
  bounding::{BoundingCircle, BoundingVolume},
- ops,
+ ops::{self, sqrt},
  primitives::{
- BoxedPolygon, BoxedPolyline2d, Capsule2d, Cuboid, Cylinder, Ellipse, Extrusion, Line2d,
- Polygon, Polyline2d, Primitive2d, Rectangle, RegularPolygon, Segment2d, Triangle2d,
+ Capsule2d, Cuboid, Cylinder, Ellipse, Extrusion, Line2d, Polygon, Polyline2d, Primitive2d,
+ Rectangle, RegularPolygon, Segment2d, Triangle2d,
  },
  Isometry2d, Isometry3d, Quat, Rot2,
 };
 
+#[cfg(feature = "alloc")]
+use crate::primitives::{BoxedPolygon, BoxedPolyline2d};
+
 use crate::{bounding::Bounded2d, primitives::Circle};
 
 use super::{Aabb3d, Bounded3d, BoundingSphere};
@@ -26,7 +29,7 @@ impl BoundedExtrusion for Circle {
  let top = (segment_dir * half_depth).abs();
 
  let e = (Vec3A::ONE - segment_dir * segment_dir).max(Vec3A::ZERO);
- let half_size = self.radius * Vec3A::new(e.x.sqrt(), e.y.sqrt(), e.z.sqrt());
+ let half_size = self.radius * Vec3A::new(sqrt(e.x), sqrt(e.y), sqrt(e.z));
 
  Aabb3d {
  min: isometry.translation - half_size - top,
@@ -56,8 +59,8 @@ impl BoundedExtrusion for Ellipse {
  let m = -axis.x / axis.y;
  let signum = axis.signum();
 
- let y = signum.y * b * b / (b * b + m * m * a * a).sqrt();
- let x = signum.x * a * (1. - y * y / b / b).sqrt();
+ let y = signum.y * b * b / sqrt(b * b + m * m * a * a);
+ let x = signum.x * a * sqrt(1. - y * y / b / b);
  isometry.rotation * Vec3A::new(x, y, 0.)
  });
 
@@ -104,6 +107,7 @@ impl<const N: usize> BoundedExtrusion for Polyline2d<N> {
  }
 }
 
+#[cfg(feature = "alloc")]
 impl BoundedExtrusion for BoxedPolyline2d {
  fn extrusion_aabb_3d(&self, half_depth: f32, isometry: impl Into<Isometry3d>) -> Aabb3d {
  let isometry = isometry.into();
@@ -144,6 +148,7 @@ impl<const N: usize> BoundedExtrusion for Polygon<N> {
  }
 }
 
+#[cfg(feature = "alloc")]
 impl BoundedExtrusion for BoxedPolygon {
  fn extrusion_aabb_3d(&self, half_depth: f32, isometry: impl Into<Isometry3d>) -> Aabb3d {
  let isometry = isometry.into();

crates/bevy_math/src/bounding/bounded3d/mod.rs

@@ -4,7 +4,10 @@ mod primitive_impls;
 use glam::Mat3;
 
 use super::{BoundingVolume, IntersectsVolume};
-use crate::{ops::FloatPow, Isometry3d, Quat, Vec3A};
+use crate::{
+ ops::{copysign, sqrt, FloatPow},
+ Isometry3d, Quat, Vec3A,
+};
 
 #[cfg(feature = "bevy_reflect")]
 use bevy_reflect::Reflect;
@@ -494,7 +497,7 @@ impl BoundingSphere {
  }
  }
 
- BoundingSphere::new(isometry * center, radius_squared.sqrt())
+ BoundingSphere::new(isometry * center, sqrt(radius_squared))
  }
 
  /// Get the radius of the bounding sphere
@@ -528,7 +531,7 @@ impl BoundingSphere {
  } else {
  // The point is outside the sphere.
  // Find the closest point on the surface of the sphere.
- let dir_to_point = point / distance_squared.sqrt();
+ let dir_to_point = point / sqrt(distance_squared);
  self.center + radius * dir_to_point
  }
  }
@@ -557,7 +560,7 @@ impl BoundingVolume for BoundingSphere {
  #[inline(always)]
  fn contains(&self, other: &Self) -> bool {
  let diff = self.radius() - other.radius();
- self.center.distance_squared(other.center) <= diff.squared().copysign(diff)
+ self.center.distance_squared(other.center) <= copysign(diff.squared(), diff)
  }
 
  #[inline(always)]

crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs

@@ -4,14 +4,17 @@ use glam::Vec3A;
 
 use crate::{
  bounding::{Bounded2d, BoundingCircle},
- ops,
+ ops::{self, sqrt},
  primitives::{
- BoxedPolyline3d, Capsule3d, Cone, ConicalFrustum, Cuboid, Cylinder, InfinitePlane3d,
- Line3d, Polyline3d, Segment3d, Sphere, Torus, Triangle2d, Triangle3d,
+ Capsule3d, Cone, ConicalFrustum, Cuboid, Cylinder, InfinitePlane3d, Line3d, Polyline3d,
+ Segment3d, Sphere, Torus, Triangle2d, Triangle3d,
  },
  Isometry2d, Isometry3d, Mat3, Vec2, Vec3,
 };
 
+#[cfg(feature = "alloc")]
+use crate::primitives::BoxedPolyline3d;
+
 use super::{Aabb3d, Bounded3d, BoundingSphere};
 
 impl Bounded3d for Sphere {
@@ -100,6 +103,7 @@ impl<const N: usize> Bounded3d for Polyline3d<N> {
  }
 }
 
+#[cfg(feature = "alloc")]
 impl Bounded3d for BoxedPolyline3d {
  fn aabb_3d(&self, isometry: impl Into<Isometry3d>) -> Aabb3d {
  Aabb3d::from_point_cloud(isometry, self.vertices.iter().copied())
@@ -144,7 +148,7 @@ impl Bounded3d for Cylinder {
  let bottom = -top;
 
  let e = (Vec3A::ONE - segment_dir * segment_dir).max(Vec3A::ZERO);
- let half_size = self.radius * Vec3A::new(e.x.sqrt(), e.y.sqrt(), e.z.sqrt());
+ let half_size = self.radius * Vec3A::new(sqrt(e.x), sqrt(e.y), sqrt(e.z));
 
  Aabb3d {
  min: isometry.translation + (top - half_size).min(bottom - half_size),
@@ -195,7 +199,7 @@ impl Bounded3d for Cone {
  let bottom = -top;
 
  let e = (Vec3A::ONE - segment_dir * segment_dir).max(Vec3A::ZERO);
- let half_extents = Vec3A::new(e.x.sqrt(), e.y.sqrt(), e.z.sqrt());
+ let half_extents = Vec3A::new(sqrt(e.x), sqrt(e.y), sqrt(e.z));
 
  Aabb3d {
  min: isometry.translation + top.min(bottom - self.radius * half_extents),
@@ -236,7 +240,7 @@ impl Bounded3d for ConicalFrustum {
  let bottom = -top;
 
  let e = (Vec3A::ONE - segment_dir * segment_dir).max(Vec3A::ZERO);
- let half_extents = Vec3A::new(e.x.sqrt(), e.y.sqrt(), e.z.sqrt());
+ let half_extents = Vec3A::new(sqrt(e.x), sqrt(e.y), sqrt(e.z));
 
  Aabb3d {
  min: isometry.translation
@@ -319,7 +323,7 @@ impl Bounded3d for Torus {
  // Reference: http://iquilezles.org/articles/diskbbox/
  let normal = isometry.rotation * Vec3A::Y;
  let e = (Vec3A::ONE - normal * normal).max(Vec3A::ZERO);
- let disc_half_size = self.major_radius * Vec3A::new(e.x.sqrt(), e.y.sqrt(), e.z.sqrt());
+ let disc_half_size = self.major_radius * Vec3A::new(sqrt(e.x), sqrt(e.y), sqrt(e.z));
 
  // Expand the disc by the minor radius to get the torus half-size
  let half_size = disc_half_size + Vec3A::splat(self.minor_radius);

crates/bevy_math/src/bounding/raycast2d.rs

@@ -1,5 +1,8 @@
 use super::{Aabb2d, BoundingCircle, IntersectsVolume};
-use crate::{ops::FloatPow, Dir2, Ray2d, Vec2};
+use crate::{
+ ops::{copysign, sqrt, FloatPow},
+ Dir2, Ray2d, Vec2,
+};
 
 #[cfg(feature = "bevy_reflect")]
 use bevy_reflect::Reflect;
@@ -77,10 +80,10 @@ impl RayCast2d {
  let projected = offset.dot(*self.ray.direction);
  let closest_point = offset - projected * *self.ray.direction;
  let distance_squared = circle.radius().squared() - closest_point.length_squared();
- if distance_squared < 0. || projected.squared().copysign(-projected) < -distance_squared {
+ if distance_squared < 0. || copysign(projected.squared(), -projected) < -distance_squared {
  None
  } else {
- let toi = -projected - distance_squared.sqrt();
+ let toi = -projected - sqrt(distance_squared);
  if toi > self.max {
  None
  } else {

crates/bevy_math/src/bounding/raycast3d.rs

@@ -1,5 +1,8 @@
 use super::{Aabb3d, BoundingSphere, IntersectsVolume};
-use crate::{ops::FloatPow, Dir3A, Ray3d, Vec3A};
+use crate::{
+ ops::{copysign, sqrt, FloatPow},
+ Dir3A, Ray3d, Vec3A,
+};
 
 #[cfg(feature = "bevy_reflect")]
 use bevy_reflect::Reflect;
@@ -74,10 +77,10 @@ impl RayCast3d {
  let projected = offset.dot(*self.direction);
  let closest_point = offset - projected * *self.direction;
  let distance_squared = sphere.radius().squared() - closest_point.length_squared();
- if distance_squared < 0. || projected.squared().copysign(-projected) < -distance_squared {
+ if distance_squared < 0. || copysign(projected.squared(), -projected) < -distance_squared {
  None
  } else {
- let toi = -projected - distance_squared.sqrt();
+ let toi = -projected - sqrt(distance_squared);
  if toi > self.max {
  None
  } else {

crates/bevy_math/src/common_traits.rs

@@ -1,6 +1,9 @@
 //! This module contains abstract mathematical traits shared by types used in `bevy_math`.
 
-use crate::{ops, Dir2, Dir3, Dir3A, Quat, Rot2, Vec2, Vec3, Vec3A, Vec4};
+use crate::{
+ ops::{self, abs},
+ Dir2, Dir3, Dir3A, Quat, Rot2, Vec2, Vec3, Vec3A, Vec4,
+};
 use core::{
  fmt::Debug,
  ops::{Add, Div, Mul, Neg, Sub},
@@ -157,7 +160,7 @@ impl NormedVectorSpace for Vec2 {
 impl NormedVectorSpace for f32 {
  #[inline]
  fn norm(self) -> f32 {
- self.abs()
+ abs(self)
  }
 
  #[inline]