add f64 support

Cargo.toml

@@ -1,5 +1,5 @@
 [workspace]
-members = ["build/salva2d", "build/salva3d", "examples2d", "examples3d"]
+members = ["build/salva2d", "build/salva2d-f64", "build/salva3d", "build/salva3d-f64", "examples2d", "examples3d"]
 resolver = "2"
 
 [profile.release]

build/salva2d-f64/Cargo.toml

@@ -0,0 +1,57 @@
+[package]
+name    = "salva2d-f64"
+version = "0.9.0"
+authors = [ "Sébastien Crozet <[email protected]>" ]
+description = "2-dimensional particle-based fluid dynamics in Rust."
+documentation = "https://salva.rs/docs"
+homepage = "https://salva.rs"
+repository = "https://github.com/dimforge/salva"
+readme = "README.md"
+categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = [ "physics", "dynamics", "particles", "fluids", "SPH" ]
+license = "Apache-2.0"
+edition = "2021"
+
+[badges]
+maintenance = { status = "actively-developed" }
+
+[features]
+default = [ "dim2", "f64" ]
+dim2    = [ ]
+f64 = [ ]
+parallel = [ "rayon" ]
+sampling = [ "rapier" ]
+rapier = [ "parry", "rapier2d" ]
+rapier-testbed = [ "rapier", "rapier_testbed2d", "graphics" ]
+rapier-harness = [ "rapier-testbed" ]
+parry = [ "parry2d" ]
+wasm-bindgen = [ "rapier2d/wasm-bindgen" ]
+graphics = [ "bevy", "bevy_egui" ]
+
+[lib]
+name = "salva2d_f64"
+path = "../../src/lib.rs"
+required-features = [ "dim2", "f64" ]
+
+[dependencies]
+approx = "0.5"
+num-traits = "0.2"
+fnv = "1.0"
+itertools = "0.13"
+generational-arena = "0.2"
+instant = { version = "0.1", features = [ "now" ] }
+rayon = { version = "1.8", optional = true }
+
+nalgebra = "0.33"
+parry2d = { version = "0.16", optional = true }
+rapier2d = { version = "0.21", optional = true }
+rapier_testbed2d = { version = "0.21", optional = true }
+
+bevy_egui = { version = "0.26", features = ["immutable_ctx"], optional = true }
+
+[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
+bevy = { version = "0.13.2", default-features = false, features = ["bevy_winit", "bevy_render", "x11"], optional = true }
+
+# Dependencies for WASM only.
+[target.'cfg(target_arch = "wasm32")'.dependencies]
+bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "bevy_render"], optional = true }

build/salva2d/Cargo.toml

@@ -22,16 +22,17 @@ edition = "2021"
 maintenance = { status = "actively-developed" }
 
 [features]
-default = ["dim2"]
-dim2 = []
-parallel = ["rayon"]
-sampling = ["rapier"]
-rapier = ["parry", "rapier2d"]
-rapier-testbed = ["rapier", "rapier_testbed2d", "graphics"]
-rapier-harness = ["rapier-testbed"]
-parry = ["parry2d"]
-wasm-bindgen = ["rapier2d/wasm-bindgen"]
-graphics = ["bevy", "bevy_egui"]
+default = [ "dim2", "f32" ]
+dim2    = [ ]
+f32 = [ ]
+parallel = [ "rayon" ]
+sampling = [ "rapier" ]
+rapier = [ "parry", "rapier2d" ]
+rapier-testbed = [ "rapier", "rapier_testbed2d", "graphics" ]
+rapier-harness = [ "rapier-testbed" ]
+parry = [ "parry2d" ]
+wasm-bindgen = [ "rapier2d/wasm-bindgen" ]
+graphics = [ "bevy", "bevy_egui" ]
 
 [lints]
 rust.unexpected_cfgs = { level = "warn", check-cfg = [
@@ -41,7 +42,7 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 [lib]
 name = "salva2d"
 path = "../../src/lib.rs"
-required-features = ["dim2"]
+required-features = [ "dim2", "f32" ]
 
 [dependencies]
 approx = "0.5"

build/salva3d-f64/Cargo.toml

@@ -0,0 +1,53 @@
+[package]
+name    = "salva3d-f64"
+version = "0.9.0"
+authors = [ "Sébastien Crozet <[email protected]>" ]
+description = "3-dimensional particle-based fluid dynamics in Rust."
+documentation = "https://salva.rs/rustdoc/salva3d/index.html"
+homepage = "https://salva.rs"
+repository = "https://github.com/dimforge/salva"
+readme = "README.md"
+keywords = [ "physics", "dynamics", "particles", "fluids", "SPH" ]
+license = "Apache-2.0"
+edition = "2021"
+
+[features]
+default = [ "dim3", "f64" ]
+dim3    = [ ]
+f64 = [ ]
+parallel = [ "rayon" ]
+rapier = [ "parry", "rapier3d" ]
+sampling = [ "rapier" ]
+rapier-testbed = [ "rapier", "rapier_testbed3d", "graphics" ]
+rapier-harness = [ "rapier-testbed" ]
+parry = [ "parry3d" ]
+wasm-bindgen = [ "rapier3d/wasm-bindgen" ]
+graphics = [ "bevy", "bevy_egui" ]
+
+[lib]
+name = "salva3d_f64"
+path = "../../src/lib.rs"
+required-features = [ "dim3", "f64" ]
+
+[dependencies]
+approx = "0.5"
+num-traits = "0.2"
+fnv = "1.0"
+itertools = "0.13"
+generational-arena = "0.2"
+instant = { version = "0.1", features = [ "now" ] }
+rayon = { version = "1.8", optional = true }
+
+nalgebra = "0.33"
+parry3d = { version = "0.16", optional = true }
+rapier3d = { version = "0.21", optional = true }
+rapier_testbed3d = { version = "0.21", optional = true }
+
+bevy_egui = { version = "0.26", features = ["immutable_ctx"], optional = true }
+
+[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
+bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "bevy_render", "x11"], optional = true }
+
+# Dependencies for WASM only.
+[target.'cfg(target_arch = "wasm32")'.dependencies]
+bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "bevy_render"], optional = true }

build/salva3d/Cargo.toml

@@ -17,21 +17,22 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 ] }
 
 [features]
-default = ["dim3"]
-dim3 = []
-parallel = ["rayon"]
-rapier = ["parry", "rapier3d"]
-sampling = ["rapier"]
-rapier-testbed = ["rapier", "rapier_testbed3d", "graphics"]
-rapier-harness = ["rapier-testbed"]
-parry = ["parry3d"]
-wasm-bindgen = ["rapier3d/wasm-bindgen"]
-graphics = ["bevy", "bevy_egui"]
+default = [ "dim3", "f32" ]
+dim3    = [ ]
+f32 = [ ]
+parallel = [ "rayon" ]
+rapier = [ "parry", "rapier3d" ]
+sampling = [ "rapier" ]
+rapier-testbed = [ "rapier", "rapier_testbed3d", "graphics" ]
+rapier-harness = [ "rapier-testbed" ]
+parry = [ "parry3d" ]
+wasm-bindgen = [ "rapier3d/wasm-bindgen" ]
+graphics = [ "bevy", "bevy_egui" ]
 
 [lib]
 name = "salva3d"
 path = "../../src/lib.rs"
-required-features = ["dim3"]
+required-features = [ "dim3", "f32" ]
 
 [dependencies]
 approx = "0.5"

examples2d/Cargo.toml

@@ -5,7 +5,7 @@ authors = [ "Sébastien Crozet <[email protected]>" ]
 edition = "2018"
 
 [features]
-default = []
+default = ["parallel"]
 parallel = [ "rapier_testbed2d/parallel"]
 
 [dependencies]

src/integrations/rapier/fluids_pipeline.rs

@@ -2,7 +2,7 @@ use crate::coupling::CouplingManager;
 use crate::geometry::{HGrid, HGridEntry};
 use crate::object::{BoundaryHandle, BoundarySet, Fluid};
 use crate::solver::DFSPHSolver;
-use crate::LiquidWorld;
+use crate::{math, LiquidWorld};
 use crate::TimestepManager;
 use approx::AbsDiffEq;
 use na::Unit;
@@ -31,7 +31,7 @@ impl FluidsPipeline {
     /// - `particle_radius`: the radius of every particle for the fluid simulation.
     /// - `smoothing_factor`: the smoothing factor used to compute the SPH kernel radius.
     ///    The kernel radius will be computed as `particle_radius * smoothing_factor * 2.0.
-    pub fn new(particle_radius: f32, smoothing_factor: f32) -> Self {
+    pub fn new(particle_radius: math::Real, smoothing_factor: math::Real) -> Self {
         let dfsph: DFSPHSolver = DFSPHSolver::new();
 
         Self {
@@ -47,8 +47,8 @@ impl FluidsPipeline {
     /// However, it will not integrate these forces. Use the `PhysicsPipeline` for this integration.
     pub fn step(
         &mut self,
-        gravity: &Vector<f32>,
-        dt: f32,
+        gravity: &Vector<math::Real>,
+        dt: math::Real,
         colliders: &ColliderSet,
         bodies: &mut RigidBodySet,
     ) {
@@ -66,7 +66,7 @@ pub enum ColliderSampling {
     ///
     /// It is recommended that those points are separated by a distance smaller or equal to twice
     /// the particle radius used to initialize the LiquidWorld.
-    StaticSampling(Vec<Point<f32>>),
+    StaticSampling(Vec<Point<math::Real>>),
     /// The collider shape is approximated by a dynamic set of points automatically computed based on contacts with fluid particles.
     DynamicContactSampling,
 }
@@ -147,8 +147,8 @@ impl<'a> CouplingManager for ColliderCouplingManager<'a> {
     fn update_boundaries(
         &mut self,
         timestep: &TimestepManager,
-        h: f32,
-        particle_radius: f32,
+        h: math::Real,
+        particle_radius: math::Real,
         hgrid: &HGrid<HGridEntry>,
         fluids: &mut [Fluid],
         boundaries: &mut BoundarySet,
@@ -187,11 +187,11 @@ impl<'a> CouplingManager for ColliderCouplingManager<'a> {
                                 .push(velocity.unwrap_or(Vector::zeros()));
                         }
 
-                        boundary.volumes.resize(points.len(), na::zero::<f32>());
+                        boundary.volumes.resize(points.len(), na::zero::<math::Real>());
                     }
                     ColliderSampling::DynamicContactSampling => {
-                        let prediction = h * na::convert::<_, f32>(0.5);
-                        let margin = particle_radius * na::convert::<_, f32>(0.1);
+                        let prediction = h * na::convert::<_, math::Real>(0.5);
+                        let margin = particle_radius * na::convert::<_, math::Real>(0.1);
                         let collider_pos = collider.position();
                         let aabb = collider
                             .shape()
@@ -218,7 +218,7 @@ impl<'a> CouplingManager for ColliderCouplingManager<'a> {
                                         let dpt = particle_pos - proj.point;
 
                                         if let Some((normal, depth)) =
-                                            Unit::try_new_and_get(dpt, f32::default_epsilon())
+                                            Unit::try_new_and_get(dpt, math::Real::default_epsilon())
                                         {
                                             if proj.is_inside {
                                                 fluid.positions[*particle_id] -=
@@ -227,7 +227,7 @@ impl<'a> CouplingManager for ColliderCouplingManager<'a> {
                                                 let vel_err =
                                                     normal.dot(&fluid.velocities[*particle_id]);
 
-                                                if vel_err > na::zero::<f32>() {
+                                                if vel_err > na::zero::<math::Real>() {
                                                     fluid.velocities[*particle_id] -=
                                                         *normal * vel_err;
                                                 }
@@ -243,7 +243,7 @@ impl<'a> CouplingManager for ColliderCouplingManager<'a> {
                                             .velocities
                                             .push(velocity.unwrap_or(Vector::zeros()));
                                         boundary.positions.push(proj.point);
-                                        boundary.volumes.push(na::zero::<f32>());
+                                        boundary.volumes.push(na::zero::<math::Real>());
                                         coupling.features.push(feature);
                                     }
                                 }

src/integrations/rapier/testbed_plugin.rs

@@ -50,23 +50,23 @@ pub enum FluidsRenderingMode {
     /// Use a red taint the closer to `max` the velocity is.
     VelocityColor {
         /// Fluids with a velocity smaller than this will not have any red taint.
-        min: f32,
+        min: math::Real,
         /// Fluids with a velocity greater than this will be completely red.
-        max: f32,
+        max: math::Real,
     },
     // /// Use a red taint the closer to `max` the velocity is, with opacity, low velocity is more transparent
     // VelocityColorOpacity {
     //     /// Fluids with a velocity smaller than this will not have any red taint.
-    //     min: f32,
+    //     min: math::Real,
     //     /// Fluids with a velocity greater than this will be completely red.
-    //     max: f32,
+    //     max: math::Real,
     // },
     /// Show particles as arrows indicating the velocity
     VelocityArrows {
         /// Fluids with a velocity smaller than this will not have any red taint.
-        min: f32,
+        min: math::Real,
         /// Fluids with a velocity greater than this will be completely red.
-        max: f32,
+        max: math::Real,
     },
 }
 
@@ -84,9 +84,9 @@ pub struct FluidsTestbedPlugin {
     fluids_pipeline: FluidsPipeline,
     f2sn: HashMap<FluidHandle, Vec<EntityWithGraphics>>,
     boundary2sn: HashMap<BoundaryHandle, Vec<EntityWithGraphics>>,
-    f2color: HashMap<FluidHandle, Point3<f32>>,
-    ground_color: Point3<f32>,
-    default_fluid_color: Point3<f32>,
+    f2color: HashMap<FluidHandle, Point3<math::Real>>,
+    ground_color: Point3<math::Real>,
+    default_fluid_color: Point3<math::Real>,
     queue_graphics_reset: bool,
 }
 
@@ -120,7 +120,7 @@ impl FluidsTestbedPlugin {
     }
 
     /// Sets the color used to render the specified fluid.
-    pub fn set_fluid_color(&mut self, fluid: FluidHandle, color: Point3<f32>) {
+    pub fn set_fluid_color(&mut self, fluid: FluidHandle, color: Point3<math::Real>) {
         let _ = self.f2color.insert(fluid, color);
     }
 
@@ -138,14 +138,14 @@ impl FluidsTestbedPlugin {
     fn add_particle_graphics(
         &self,
         particle: &Point<Real>,
-        particle_radius: f32,
+        particle_radius: math::Real,
         graphics: &mut GraphicsManager,
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
         _components: &mut Query<&mut Transform>,
         _harness: &mut Harness,
-        color: &Point3<f32>,
+        color: &Point3<math::Real>,
         force_shape: Option<SharedShape>,
     ) -> Vec<EntityWithGraphics> {
         let shape = if let Some(shape) = force_shape {
@@ -186,11 +186,11 @@ impl FluidsTestbedPlugin {
     }
 
     fn lerp_velocity(
-        velocity: Vector<f32>,
-        start: Vector3<f32>,
-        min: f32,
-        max: f32,
-    ) -> Vector3<f32> {
+        velocity: Vector<math::Real>,
+        start: Vector3<math::Real>,
+        min: math::Real,
+        max: math::Real,
+    ) -> Vector3<math::Real> {
         let end = Vector3::new(1.0, 0.0, 0.0);
         let vel: Vector<Real> = na::convert_unchecked(velocity);
         let vel: Vector<Real> = na::convert(vel);
@@ -357,7 +357,7 @@ impl TestbedPlugin for FluidsTestbedPlugin {
             self.queue_graphics_reset = false;
         }
 
-        let (mut min, mut max) = (f32::MAX, f32::MIN);
+        let (mut min, mut max) = (math::Real::MAX, math::Real::MIN);
         for (handle, fluid) in self.fluids_pipeline.liquid_world.fluids().iter() {
             if let Some(entities) = self.f2sn.get_mut(&handle) {
                 for (idx, particle) in fluid.positions.iter().enumerate() {