Merge branch 'lboklin/quat-ori' into 'master'

Redefine Ori as a quaternion

See merge request veloren/veloren!1755

Cargo.lock

@@ -6058,6 +6058,7 @@ dependencies = [
 name = "veloren-common"
 version = "0.8.0"
 dependencies = [
+ "approx 0.4.0",
  "arraygen",
  "assets_manager",
  "criterion",

common/Cargo.toml

@@ -13,6 +13,7 @@ bin_csv = ["csv", "structopt"]
 default = ["simd"]
 
 [dependencies]
+approx = "0.4.0"
 arraygen = "0.1.13"
 crossbeam-utils = "0.8.1"
 crossbeam-channel = "0.5"

common/src/comp/mod.rs

@@ -18,6 +18,7 @@ pub mod invite;
 mod last;
 mod location;
 mod misc;
+pub mod ori;
 mod phys;
 mod player;
 pub mod poise;
@@ -62,9 +63,9 @@ pub use inventory::{
 pub use last::Last;
 pub use location::{Waypoint, WaypointArea};
 pub use misc::Object;
+pub use ori::Ori;
 pub use phys::{
-    Collider, ForceUpdate, Gravity, Mass, Ori, PhysicsState, Pos, PreviousVelDtCache, Scale,
-    Sticky, Vel,
+    Collider, ForceUpdate, Gravity, Mass, PhysicsState, Pos, PreviousVelDtCache, Scale, Sticky, Vel,
 };
 pub use player::Player;
 pub use poise::{Poise, PoiseChange, PoiseSource, PoiseState};

common/src/comp/ori.rs

@@ -0,0 +1,332 @@
+use crate::util::{Dir, Plane, Projection};
+use serde::{Deserialize, Serialize};
+use specs::Component;
+use specs_idvs::IdvStorage;
+use std::f32::consts::PI;
+use vek::{Quaternion, Vec2, Vec3};
+
+// Orientation
+#[derive(Copy, Clone, Debug, PartialEq, Serialize, Deserialize)]
+#[serde(into = "SerdeOri")]
+#[serde(from = "SerdeOri")]
+pub struct Ori(Quaternion<f32>);
+
+impl Default for Ori {
+    /// Returns the default orientation (no rotation; default Dir)
+    fn default() -> Self { Self(Quaternion::identity()) }
+}
+
+impl Ori {
+    pub fn new(quat: Quaternion<f32>) -> Self {
+        #[cfg(debug_assert)]
+        {
+            let v4 = quat.into_vec4();
+            debug_assert!(v4.map(f32::is_finite).reduce_and());
+            debug_assert!(v4.is_normalized());
+        }
+        Self(quat)
+    }
+
+    /// Tries to convert into a Dir and then the appropriate rotation
+    pub fn from_unnormalized_vec<T>(vec: T) -> Option<Self>
+    where
+        T: Into<Vec3<f32>>,
+    {
+        Dir::from_unnormalized(vec.into()).map(Self::from)
+    }
+
+    /// Look direction as a vector (no pedantic normalization performed)
+    pub fn look_vec(self) -> Vec3<f32> { self.to_quat() * *Dir::default() }
+
+    /// Get the internal quaternion representing the rotation from
+    /// `Dir::default()` to this orientation.
+    ///
+    /// The operation is a cheap copy.
+    pub fn to_quat(self) -> Quaternion<f32> {
+        debug_assert!(self.is_normalized());
+        self.0
+    }
+
+    /// Look direction (as a Dir it is pedantically normalized)
+    pub fn look_dir(&self) -> Dir { self.to_quat() * Dir::default() }
+
+    pub fn up(&self) -> Dir { self.pitched_up(PI / 2.0).look_dir() }
+
+    pub fn down(&self) -> Dir { self.pitched_down(PI / 2.0).look_dir() }
+
+    pub fn left(&self) -> Dir { self.yawed_left(PI / 2.0).look_dir() }
+
+    pub fn right(&self) -> Dir { self.yawed_right(PI / 2.0).look_dir() }
+
+    pub fn slerp(ori1: Self, ori2: Self, s: f32) -> Self {
+        Self(Quaternion::slerp(ori1.0, ori2.0, s).normalized())
+    }
+
+    pub fn slerped_towards(self, ori: Ori, s: f32) -> Self { Self::slerp(self, ori, s) }
+
+    /// Multiply rotation quaternion by `q`
+    /// (the rotations are in local vector space).
+    ///
+    /// ```
+    /// use vek::{Quaternion, Vec3};
+    /// use veloren_common::{comp::Ori, util::Dir};
+    ///
+    /// let ang = 90_f32.to_radians();
+    /// let roll_right = Quaternion::rotation_y(ang);
+    /// let pitch_up = Quaternion::rotation_x(ang);
+    ///
+    /// let ori1 = Ori::from(Dir::new(Vec3::unit_x()));
+    /// let ori2 = Ori::default().rotated(roll_right).rotated(pitch_up);
+    ///
+    /// assert!((ori1.look_dir().dot(*ori2.look_dir()) - 1.0).abs() <= std::f32::EPSILON);
+    /// ```
+    pub fn rotated(self, q: Quaternion<f32>) -> Self {
+        Self((self.to_quat() * q.normalized()).normalized())
+    }
+
+    /// Premultiply rotation quaternion by `q`
+    /// (the rotations are in global vector space).
+    ///
+    /// ```
+    /// use vek::{Quaternion, Vec3};
+    /// use veloren_common::{comp::Ori, util::Dir};
+    ///
+    /// let ang = 90_f32.to_radians();
+    /// let roll_right = Quaternion::rotation_y(ang);
+    /// let pitch_up = Quaternion::rotation_x(ang);
+    ///
+    /// let ori1 = Ori::from(Dir::up());
+    /// let ori2 = Ori::default().prerotated(roll_right).prerotated(pitch_up);
+    ///
+    /// assert!((ori1.look_dir().dot(*ori2.look_dir()) - 1.0).abs() <= std::f32::EPSILON);
+    /// ```
+    pub fn prerotated(self, q: Quaternion<f32>) -> Self {
+        Self((q.normalized() * self.to_quat()).normalized())
+    }
+
+    /// Take `global` into this Ori's local vector space
+    ///
+    /// ```
+    /// use vek::Vec3;
+    /// use veloren_common::{comp::Ori, util::Dir};
+    ///
+    /// let ang = 90_f32.to_radians();
+    /// let (fw, left, up) = (Dir::default(), Dir::left(), Dir::up());
+    ///
+    /// let ori = Ori::default().rolled_left(ang).pitched_up(ang);
+    /// approx::assert_relative_eq!(ori.global_to_local(fw).dot(*-up), 1.0);
+    /// approx::assert_relative_eq!(ori.global_to_local(left).dot(*fw), 1.0);
+    /// let ori = Ori::default().rolled_right(ang).pitched_up(2.0 * ang);
+    /// approx::assert_relative_eq!(ori.global_to_local(up).dot(*left), 1.0);
+    /// ```
+    pub fn global_to_local<T>(&self, global: T) -> <Quaternion<f32> as std::ops::Mul<T>>::Output
+    where
+        Quaternion<f32>: std::ops::Mul<T>,
+    {
+        self.to_quat().inverse() * global
+    }
+
+    /// Take `local` into the global vector space
+    ///
+    /// ```
+    /// use vek::Vec3;
+    /// use veloren_common::{comp::Ori, util::Dir};
+    ///
+    /// let ang = 90_f32.to_radians();
+    /// let (fw, left, up) = (Dir::default(), Dir::left(), Dir::up());
+    ///
+    /// let ori = Ori::default().rolled_left(ang).pitched_up(ang);
+    /// approx::assert_relative_eq!(ori.local_to_global(fw).dot(*left), 1.0);
+    /// approx::assert_relative_eq!(ori.local_to_global(left).dot(*-up), 1.0);
+    /// let ori = Ori::default().rolled_right(ang).pitched_up(2.0 * ang);
+    /// approx::assert_relative_eq!(ori.local_to_global(up).dot(*left), 1.0);
+    /// ```
+    pub fn local_to_global<T>(&self, local: T) -> <Quaternion<f32> as std::ops::Mul<T>>::Output
+    where
+        Quaternion<f32>: std::ops::Mul<T>,
+    {
+        self.to_quat() * local
+    }
+
+    pub fn pitched_up(self, angle_radians: f32) -> Self {
+        self.rotated(Quaternion::rotation_x(angle_radians))
+    }
+
+    pub fn pitched_down(self, angle_radians: f32) -> Self {
+        self.rotated(Quaternion::rotation_x(-angle_radians))
+    }
+
+    pub fn yawed_left(self, angle_radians: f32) -> Self {
+        self.rotated(Quaternion::rotation_z(angle_radians))
+    }
+
+    pub fn yawed_right(self, angle_radians: f32) -> Self {
+        self.rotated(Quaternion::rotation_z(-angle_radians))
+    }
+
+    pub fn rolled_left(self, angle_radians: f32) -> Self {
+        self.rotated(Quaternion::rotation_y(-angle_radians))
+    }
+
+    pub fn rolled_right(self, angle_radians: f32) -> Self {
+        self.rotated(Quaternion::rotation_y(angle_radians))
+    }
+
+    /// Returns a version without sideways tilt (roll)
+    ///
+    /// ```
+    /// use veloren_common::comp::Ori;
+    ///
+    /// let ang = 45_f32.to_radians();
+    /// let zenith = vek::Vec3::unit_z();
+    ///
+    /// let rl = Ori::default().rolled_left(ang);
+    /// assert!((rl.up().angle_between(zenith) - ang).abs() <= std::f32::EPSILON);
+    /// assert!(rl.uprighted().up().angle_between(zenith) <= std::f32::EPSILON);
+    ///
+    /// let pd_rr = Ori::default().pitched_down(ang).rolled_right(ang);
+    /// let pd_upr = pd_rr.uprighted();
+    ///
+    /// assert!((pd_upr.up().angle_between(zenith) - ang).abs() <= std::f32::EPSILON);
+    ///
+    /// let ang1 = pd_upr.rolled_right(ang).up().angle_between(zenith);
+    /// let ang2 = pd_rr.up().angle_between(zenith);
+    /// assert!((ang1 - ang2).abs() <= std::f32::EPSILON);
+    /// ```
+    pub fn uprighted(self) -> Self {
+        let fw = self.look_dir();
+        match Dir::up().projected(&Plane::from(fw)) {
+            Some(dir_p) => {
+                let up = self.up();
+                let go_right_s = fw.cross(*up).dot(*dir_p).signum();
+                self.rolled_right(up.angle_between(*dir_p) * go_right_s)
+            },
+            None => self,
+        }
+    }
+
+    fn is_normalized(&self) -> bool { self.0.into_vec4().is_normalized() }
+}
+
+impl From<Dir> for Ori {
+    fn from(dir: Dir) -> Self {
+        let from = Dir::default();
+        let q = Quaternion::<f32>::rotation_from_to_3d(*from, *dir).normalized();
+
+        Self(q).uprighted()
+    }
+}
+
+impl From<Quaternion<f32>> for Ori {
+    fn from(quat: Quaternion<f32>) -> Self { Self::new(quat) }
+}
+
+impl From<vek::quaternion::repr_simd::Quaternion<f32>> for Ori {
+    fn from(
+        vek::quaternion::repr_simd::Quaternion { x, y, z, w }: vek::quaternion::repr_simd::Quaternion<f32>,
+    ) -> Self {
+        Self::from(Quaternion { x, y, z, w })
+    }
+}
+
+impl From<Ori> for Quaternion<f32> {
+    fn from(Ori(q): Ori) -> Self { q }
+}
+
+impl From<Ori> for vek::quaternion::repr_simd::Quaternion<f32> {
+    fn from(Ori(Quaternion { x, y, z, w }): Ori) -> Self {
+        vek::quaternion::repr_simd::Quaternion { x, y, z, w }
+    }
+}
+
+impl From<Ori> for Dir {
+    fn from(ori: Ori) -> Self { ori.look_dir() }
+}
+
+impl From<Ori> for Vec3<f32> {
+    fn from(ori: Ori) -> Self { ori.look_vec() }
+}
+
+impl From<Ori> for vek::vec::repr_simd::Vec3<f32> {
+    fn from(ori: Ori) -> Self { vek::vec::repr_simd::Vec3::from(ori.look_vec()) }
+}
+
+impl From<Ori> for Vec2<f32> {
+    fn from(ori: Ori) -> Self { ori.look_vec().xy() }
+}
+
+impl From<Ori> for vek::vec::repr_simd::Vec2<f32> {
+    fn from(ori: Ori) -> Self { vek::vec::repr_simd::Vec2::from(ori.look_vec().xy()) }
+}
+
+// Validate at Deserialization
+#[derive(Copy, Clone, Default, Debug, PartialEq, Serialize, Deserialize)]
+struct SerdeOri(Quaternion<f32>);
+
+impl From<SerdeOri> for Ori {
+    fn from(serde_quat: SerdeOri) -> Self {
+        let quat: Quaternion<f32> = serde_quat.0;
+        if quat.into_vec4().map(f32::is_nan).reduce_or() {
+            tracing::warn!(
+                ?quat,
+                "Deserialized rotation quaternion containing NaNs, replacing with default"
+            );
+            Default::default()
+        } else if !Self(quat).is_normalized() {
+            tracing::warn!(
+                ?quat,
+                "Deserialized unnormalized rotation quaternion (magnitude: {}), replacing with \
+                 default",
+                quat.magnitude()
+            );
+            Default::default()
+        } else {
+            Self::new(quat)
+        }
+    }
+}
+impl Into<SerdeOri> for Ori {
+    fn into(self) -> SerdeOri { SerdeOri(self.to_quat()) }
+}
+
+impl Component for Ori {
+    type Storage = IdvStorage<Self>;
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn from_to_dir() {
+        let from_to = |dir: Dir| {
+            let ori = Ori::from(dir);
+
+            approx::assert_relative_eq!(ori.look_dir().dot(*dir), 1.0);
+            approx::assert_relative_eq!((ori.to_quat() * Dir::default()).dot(*dir), 1.0);
+        };
+
+        let angles = 32;
+        for i in 0..angles {
+            let theta = PI * 2. * (i as f32) / (angles as f32);
+            let v = Vec3::unit_y();
+            let q = Quaternion::rotation_x(theta);
+            from_to(Dir::new(q * v));
+            let v = Vec3::unit_z();
+            let q = Quaternion::rotation_y(theta);
+            from_to(Dir::new(q * v));
+            let v = Vec3::unit_x();
+            let q = Quaternion::rotation_z(theta);
+            from_to(Dir::new(q * v));
+        }
+    }
+
+    #[test]
+    fn dirs() {
+        let ori = Ori::default();
+        let def = Dir::default();
+        for dir in &[ori.up(), ori.down(), ori.left(), ori.right()] {
+            approx::assert_relative_eq!(dir.dot(*def), 0.0);
+        }
+    }
+}

common/src/comp/phys.rs

@@ -1,4 +1,4 @@
-use crate::{uid::Uid, util::Dir};
+use crate::uid::Uid;
 use serde::{Deserialize, Serialize};
 use specs::{Component, DerefFlaggedStorage, NullStorage};
 use specs_idvs::IdvStorage;
@@ -20,18 +20,6 @@ impl Component for Vel {
     type Storage = IdvStorage<Self>;
 }
 
-// Orientation
-#[derive(Copy, Clone, Default, Debug, PartialEq, Serialize, Deserialize)]
-pub struct Ori(pub Dir);
-
-impl Ori {
-    pub fn vec(&self) -> &Vec3<f32> { &*self.0 }
-}
-
-impl Component for Ori {
-    type Storage = IdvStorage<Self>;
-}
-
 /// Cache of Velocity (of last tick) * dt (of curent tick)
 /// It's updated and read in physics sys to speed up entity<->entity collisions
 /// no need to send it via network

common/src/states/basic_beam.rs

@@ -183,7 +183,7 @@ impl CharacterBehavior for Data {
                     update.server_events.push_front(ServerEvent::BeamSegment {
                         properties,
                         pos,
-                        ori: Ori(data.inputs.look_dir),
+                        ori: Ori::from(data.inputs.look_dir),
                     });
                     update.character = CharacterState::BasicBeam(Data {
                         timer: self

common/src/states/climb.rs

@@ -1,5 +1,5 @@
 use crate::{
-    comp::{CharacterState, Climb, EnergySource, StateUpdate},
+    comp::{CharacterState, Climb, EnergySource, Ori, StateUpdate},
     consts::GRAVITY,
     event::LocalEvent,
     states::behavior::{CharacterBehavior, JoinData},
@@ -64,14 +64,13 @@ impl CharacterBehavior for Data {
         }
 
         // Set orientation direction based on wall direction
-        let ori_dir = Vec2::from(wall_dir);
-
-        // Smooth orientation
-        update.ori.0 = Dir::slerp_to_vec3(
-            update.ori.0,
-            ori_dir.into(),
-            if data.physics.on_ground { 9.0 } else { 2.0 } * data.dt.0,
-        );
+        if let Some(ori_dir) = Dir::from_unnormalized(Vec2::from(wall_dir).into()) {
+            // Smooth orientation
+            update.ori = update.ori.slerped_towards(
+                Ori::from(ori_dir),
+                if data.physics.on_ground { 9.0 } else { 2.0 } * data.dt.0,
+            );
+        };
 
         // Apply Vertical Climbing Movement
         if update.vel.0.z <= CLIMB_SPEED {

common/src/states/glide.rs

@@ -1,6 +1,6 @@
 use super::utils::handle_climb;
 use crate::{
-    comp::{inventory::slot::EquipSlot, CharacterState, StateUpdate},
+    comp::{inventory::slot::EquipSlot, CharacterState, Ori, StateUpdate},
     states::behavior::{CharacterBehavior, JoinData},
     util::Dir,
 };
@@ -49,8 +49,10 @@ impl CharacterBehavior for Data {
             };
 
         // Determine orientation vector from movement direction vector
-        let horiz_vel = Vec2::from(update.vel.0);
-        update.ori.0 = Dir::slerp_to_vec3(update.ori.0, horiz_vel.into(), 2.0 * data.dt.0);
+        let horiz_vel = Vec2::<f32>::from(update.vel.0);
+        if let Some(dir) = Dir::from_unnormalized(update.vel.0) {
+            update.ori = update.ori.slerped_towards(Ori::from(dir), 2.0 * data.dt.0);
+        };
 
         // Apply Glide antigrav lift
         let horiz_speed_sq = horiz_vel.magnitude_squared();

common/src/states/utils.rs

@@ -188,7 +188,7 @@ pub fn handle_forced_movement(
 
             update.vel.0 += Vec2::broadcast(data.dt.0)
                 * accel
-                * (data.inputs.move_dir * efficiency + (*update.ori.0).xy() * strength);
+                * (data.inputs.move_dir * efficiency + Vec2::from(update.ori) * strength);
         },
         ForcedMovement::Leap {
             vertical,
@@ -231,11 +231,11 @@ pub fn handle_orientation(data: &JoinData, update: &mut StateUpdate, rate: f32)
     } else if !data.inputs.move_dir.is_approx_zero() {
         data.inputs.move_dir
     } else {
-        update.ori.0.xy()
+        update.ori.into()
     };
 
     // Smooth orientation
-    update.ori.0 = Dir::slerp_to_vec3(update.ori.0, ori_dir.into(), rate * data.dt.0);
+    update.ori = Dir::slerp_to_vec3(update.ori.look_dir(), ori_dir.into(), rate * data.dt.0).into();
 }
 
 /// Updates components to move player as if theyre swimming

common/src/util/dir.rs

@@ -1,3 +1,4 @@
+use super::{Plane, Projection};
 use serde::{Deserialize, Serialize};
 use tracing::warn;
 use vek::*;
@@ -10,7 +11,7 @@ use vek::*;
 #[serde(from = "SerdeDir")]
 pub struct Dir(Vec3<f32>);
 impl Default for Dir {
-    fn default() -> Self { Self(Vec3::unit_y()) }
+    fn default() -> Self { Self::forward() }
 }
 
 // Validate at Deserialization
@@ -81,12 +82,38 @@ impl Dir {
         Self(slerp_normalized(from.0, to.0, factor))
     }
 
+    pub fn slerped_to(self, to: Self, factor: f32) -> Self {
+        Self(slerp_normalized(self.0, to.0, factor))
+    }
+
     /// Note: this uses `from` if `to` is unnormalizable
     pub fn slerp_to_vec3(from: Self, to: Vec3<f32>, factor: f32) -> Self {
         Self(slerp_to_unnormalized(from.0, to, factor).unwrap_or_else(|e| e))
     }
 
+    pub fn rotation_between(&self, to: Self) -> Quaternion<f32> {
+        Quaternion::<f32>::rotation_from_to_3d(self.0, to.0)
+    }
+
+    pub fn rotation(&self) -> Quaternion<f32> { Self::default().rotation_between(*self) }
+
     pub fn is_valid(&self) -> bool { !self.0.map(f32::is_nan).reduce_or() && self.is_normalized() }
+
+    pub fn up() -> Self { Dir::new(Vec3::<f32>::unit_z()) }
+
+    pub fn down() -> Self { -Dir::new(Vec3::<f32>::unit_z()) }
+
+    pub fn left() -> Self { -Dir::new(Vec3::<f32>::unit_x()) }
+
+    pub fn right() -> Self { Dir::new(Vec3::<f32>::unit_x()) }
+
+    pub fn forward() -> Self { Dir::new(Vec3::<f32>::unit_y()) }
+
+    pub fn back() -> Self { -Dir::new(Vec3::<f32>::unit_y()) }
+
+    pub fn vec(&self) -> &Vec3<f32> { &self.0 }
+
+    pub fn to_vec(self) -> Vec3<f32> { self.0 }
 }
 
 impl std::ops::Deref for Dir {
@@ -95,8 +122,31 @@ impl std::ops::Deref for Dir {
     fn deref(&self) -> &Vec3<f32> { &self.0 }
 }
 
-impl From<Vec3<f32>> for Dir {
-    fn from(dir: Vec3<f32>) -> Self { Dir::new(dir) }
+impl From<Dir> for Vec3<f32> {
+    fn from(dir: Dir) -> Self { *dir }
+}
+
+impl Projection<Plane> for Dir {
+    type Output = Option<Self>;
+
+    fn projected(self, plane: &Plane) -> Self::Output {
+        Dir::from_unnormalized(plane.projection(*self))
+    }
+}
+
+impl Projection<Dir> for Vec3<f32> {
+    type Output = Vec3<f32>;
+
+    fn projected(self, dir: &Dir) -> Self::Output {
+        let dir = **dir;
+        self.dot(dir) * dir
+    }
+}
+
+impl std::ops::Mul<Dir> for Quaternion<f32> {
+    type Output = Dir;
+
+    fn mul(self, dir: Dir) -> Self::Output { Dir((self * *dir).normalized()) }
 }
 
 impl std::ops::Neg for Dir {

common/src/util/mod.rs

@@ -2,6 +2,8 @@ mod color;
 pub mod dir;
 pub mod find_dist;
 mod option;
+pub mod plane;
+pub mod projection;
 pub mod userdata_dir;
 
 pub const GIT_VERSION: &str = include_str!(concat!(env!("OUT_DIR"), "/githash"));
@@ -28,6 +30,8 @@ lazy_static::lazy_static! {
 pub use color::*;
 pub use dir::*;
 pub use option::*;
+pub use plane::*;
+pub use projection::*;
 
 #[cfg(feature = "tracy")] pub use tracy_client;
 

common/src/util/plane.rs

@@ -0,0 +1,53 @@
+use super::{Dir, Projection};
+use serde::{Deserialize, Serialize};
+use vek::*;
+
+/// Plane
+
+// plane defined by its normal and origin
+#[derive(Copy, Clone, Debug, PartialEq, Serialize, Deserialize)]
+pub struct Plane {
+    pub normal: Dir,
+    /// Distance from origin in the direction of normal
+    pub d: f32,
+}
+
+impl Plane {
+    pub fn new(dir: Dir) -> Self { Self::from(dir) }
+
+    pub fn distance(&self, to: Vec3<f32>) -> f32 { self.normal.dot(to) - self.d }
+
+    // fn center(&self) -> Vec3<f32> { *self.normal * self.d }
+
+    pub fn projection(&self, v: Vec3<f32>) -> Vec3<f32> { v - *self.normal * self.distance(v) }
+
+    pub fn xy() -> Self { Plane::from(Dir::new(Vec3::unit_z())) }
+
+    pub fn yz() -> Self { Plane::from(Dir::new(Vec3::unit_x())) }
+
+    pub fn zx() -> Self { Plane::from(Dir::new(Vec3::unit_y())) }
+}
+
+impl From<Dir> for Plane {
+    fn from(dir: Dir) -> Self {
+        Plane {
+            normal: dir,
+            d: 0.0,
+        }
+    }
+}
+
+impl Projection<Plane> for Vec3<f32> {
+    type Output = Vec3<f32>;
+
+    fn projected(self, plane: &Plane) -> Self::Output { plane.projection(self) }
+}
+
+impl<T> Projection<Plane> for Extent2<T>
+where
+    T: Projection<Plane, Output = T>,
+{
+    type Output = Self;
+
+    fn projected(self, plane: &Plane) -> Self::Output { self.map(|v| v.projected(plane)) }
+}

common/src/util/projection.rs

@@ -0,0 +1,28 @@
+use vek::{Vec2, Vec3};
+
+/// Projection trait for projection of linear types and shapes
+pub trait Projection<T> {
+    type Output;
+
+    fn projected(self, onto: &T) -> Self::Output;
+}
+
+// Impls
+
+impl Projection<Vec2<f32>> for Vec2<f32> {
+    type Output = Self;
+
+    fn projected(self, v: &Self) -> Self::Output {
+        let v = *v;
+        self.dot(v) * v / v.magnitude_squared()
+    }
+}
+
+impl Projection<Vec3<f32>> for Vec3<f32> {
+    type Output = Self;
+
+    fn projected(self, v: &Self) -> Self::Output {
+        let v = *v;
+        v * self.dot(v) / v.magnitude_squared()
+    }
+}

common/sys/src/beam.rs

@@ -149,8 +149,8 @@ impl<'a> System<'a> for Sys {
                 let hit = entity != b
                     && !health_b.is_dead
                     // Collision shapes
-                    && (sphere_wedge_cylinder_collision(pos.0, frame_start_dist, frame_end_dist, *ori.0, beam_segment.angle, pos_b.0, rad_b, height_b)
-                    || last_pos_b_maybe.map_or(false, |pos_maybe| {sphere_wedge_cylinder_collision(pos.0, frame_start_dist, frame_end_dist, *ori.0, beam_segment.angle, (pos_maybe.0).0, rad_b, height_b)}));
+                    && (sphere_wedge_cylinder_collision(pos.0, frame_start_dist, frame_end_dist, *ori.look_dir(), beam_segment.angle, pos_b.0, rad_b, height_b)
+                    || last_pos_b_maybe.map_or(false, |pos_maybe| {sphere_wedge_cylinder_collision(pos.0, frame_start_dist, frame_end_dist, *ori.look_dir(), beam_segment.angle, (pos_maybe.0).0, rad_b, height_b)}));
 
                 if hit {
                     // See if entities are in the same group
@@ -183,7 +183,7 @@ impl<'a> System<'a> for Sys {
                         attacker_info,
                         b,
                         inventory_b_maybe,
-                        ori.0,
+                        ori.look_dir(),
                         false,
                         1.0,
                         |e| server_emitter.emit(e),

common/sys/src/melee.rs

@@ -95,10 +95,12 @@ impl<'a> System<'a> for Sys {
             )
                 .join()
             {
+                let look_dir = *ori.look_dir();
+
                 // 2D versions
                 let pos2 = Vec2::from(pos.0);
                 let pos_b2 = Vec2::<f32>::from(pos_b.0);
-                let ori2 = Vec2::from(*ori.0);
+                let ori2 = Vec2::from(look_dir);
 
                 // Scales
                 let scale = scale_maybe.map_or(1.0, |s| s.0);
@@ -128,7 +130,7 @@ impl<'a> System<'a> for Sys {
                         GroupTarget::OutOfGroup
                     };
 
-                    let dir = Dir::new((pos_b.0 - pos.0).try_normalized().unwrap_or(*ori.0));
+                    let dir = Dir::new((pos_b.0 - pos.0).try_normalized().unwrap_or(look_dir));
 
                     let attacker_info = Some(AttackerInfo {
                         entity,

common/sys/src/projectile.rs

@@ -8,6 +8,7 @@ use common::{
     resources::DeltaTime,
     span,
     uid::UidAllocator,
+    util::Dir,
     GroupTarget,
 };
 use specs::{
@@ -125,7 +126,7 @@ impl<'a> System<'a> for Sys {
                                     attacker_info,
                                     target_entity,
                                     inventories.get(target_entity),
-                                    ori.0,
+                                    ori.look_dir(),
                                     false,
                                     1.0,
                                     |e| server_emitter.emit(e),
@@ -192,9 +193,9 @@ impl<'a> System<'a> for Sys {
                 }
             } else if let Some(dir) = velocities
                 .get(entity)
-                .and_then(|vel| vel.0.try_normalized())
+                .and_then(|vel| Dir::from_unnormalized(vel.0))
             {
-                ori.0 = dir.into();
+                *ori = dir.into();
             }
 
             if projectile.time_left == Duration::default() {

common/sys/src/shockwave.rs

@@ -104,13 +104,14 @@ impl<'a> System<'a> for Sys {
             let frame_start_dist = (shockwave.speed * (time_since_creation - dt)).max(0.0);
             let frame_end_dist = (shockwave.speed * time_since_creation).max(frame_start_dist);
             let pos2 = Vec2::from(pos.0);
+            let look_dir = ori.look_dir();
 
             // From one frame to the next a shockwave travels over a strip of an arc
             // This is used for collision detection
             let arc_strip = ArcStrip {
                 origin: pos2,
                 // TODO: make sure this is not Vec2::new(0.0, 0.0)
-                dir: ori.0.xy(),
+                dir: look_dir.xy(),
                 angle: shockwave.angle,
                 start: frame_start_dist,
                 end: frame_end_dist,
@@ -194,7 +195,7 @@ impl<'a> System<'a> for Sys {
                     && (!shockwave.requires_ground || physics_state_b.on_ground);
 
                 if hit {
-                    let dir = Dir::new((pos_b.0 - pos.0).try_normalized().unwrap_or(*ori.0));
+                    let dir = Dir::from_unnormalized(pos_b.0 - pos.0).unwrap_or(look_dir);
 
                     let attacker_info =
                         shockwave_owner

nix/rustPkgs.nix

@@ -6,7 +6,7 @@ let
 
   channel = mozPkgs.rustChannelOf {
     rustToolchain = ../rust-toolchain;
-    sha256 = "sha256-kDtMqYvrTbahqYHYFQOWyvT0+F5o4UVcqkMZt0c43kc=";
+    sha256 = "sha256-9wp6afVeZqCOEgXxYQiryYeF07kW5IHh3fQaOKF2oRI=";
   };
 in
 channel // {

server/src/cmd.rs

@@ -22,7 +22,6 @@ use common::{
     resources::TimeOfDay,
     terrain::{Block, BlockKind, SpriteKind, TerrainChunkSize},
     uid::Uid,
-    util::Dir,
     vol::RectVolSize,
     Damage, DamageSource, Explosion, LoadoutBuilder, RadiusEffect,
 };
@@ -1164,18 +1163,23 @@ fn handle_object(
             server
                 .state
                 .create_object(pos, *obj_type)
-                .with(comp::Ori(
-                    // converts player orientation into a 90° rotation for the object by using the
-                    // axis with the highest value
-                    Dir::from_unnormalized(ori.0.map(|e| {
-                        if e.abs() == ori.0.map(|e| e.abs()).reduce_partial_max() {
-                            e
-                        } else {
-                            0.0
-                        }
-                    }))
+                .with(
+                    comp::Ori::from_unnormalized_vec(
+                        // converts player orientation into a 90° rotation for the object by using
+                        // the axis with the highest value
+                        {
+                            let look_dir = ori.look_dir();
+                            look_dir.map(|e| {
+                                if e.abs() == look_dir.map(|e| e.abs()).reduce_partial_max() {
+                                    e
+                                } else {
+                                    0.0
+                                }
+                            })
+                        },
+                    )
                     .unwrap_or_default(),
-                ))
+                )
                 .build();
             server.notify_client(
                 client,

server/src/events/inventory_manip.rs

@@ -518,7 +518,7 @@ pub fn handle_inventory(server: &mut Server, entity: EcsEntity, manip: comp::Slo
     for (pos, ori, item) in dropped_items {
         state
             .create_object(Default::default(), comp::object::Body::Pouch)
-            .with(comp::Pos(pos.0 + *ori.0 + Vec3::unit_z()))
+            .with(comp::Pos(pos.0 + *ori.look_dir() + Vec3::unit_z()))
             .with(item)
             .with(comp::Vel(Vec3::zero()))
             .build();
@@ -536,7 +536,7 @@ pub fn handle_inventory(server: &mut Server, entity: EcsEntity, manip: comp::Slo
             ),
             _ => {
                 vel.0
-                    + *ori.0 * 20.0
+                    + *ori.look_dir() * 20.0
                     + Vec3::unit_z() * 15.0
                     + Vec3::<f32>::zero().map(|_| rand::thread_rng().gen::<f32>() - 0.5) * 4.0
             },

server/src/state_ext.rs

@@ -11,7 +11,6 @@ use common::{
     },
     effect::Effect,
     uid::{Uid, UidAllocator},
-    util::Dir,
 };
 use common_net::{
     msg::{CharacterInfo, PlayerListUpdate, PresenceKind, ServerGeneral},
@@ -148,15 +147,14 @@ impl StateExt for State {
             .create_entity_synced()
             .with(pos)
             .with(comp::Vel(Vec3::zero()))
-            .with(comp::Ori(Dir::new(
-                Vec3::new(
+            .with(
+                comp::Ori::from_unnormalized_vec(Vec3::new(
                     thread_rng().gen_range(-1.0..1.0),
                     thread_rng().gen_range(-1.0..1.0),
                     0.0,
-                )
-                .try_normalized()
+                ))
                 .unwrap_or_default(),
-            )))
+            )
             .with(comp::Collider::Box {
                 radius: body.radius(),
                 z_min: 0.0,
@@ -209,7 +207,7 @@ impl StateExt for State {
             .create_entity_synced()
             .with(pos)
             .with(vel)
-            .with(comp::Ori(Dir::from_unnormalized(vel.0).unwrap_or_default()))
+            .with(comp::Ori::from_unnormalized_vec(vel.0).unwrap_or_default())
             .with(comp::Mass(0.0))
             .with(comp::Collider::Point)
             .with(body)

server/src/sys/agent.rs

@@ -198,7 +198,7 @@ impl<'a> System<'a> for Sys {
                 let mut inputs = &mut controller.inputs;
 
                 // Default to looking in orientation direction (can be overridden below)
-                inputs.look_dir = ori.0;
+                inputs.look_dir = ori.look_dir();
 
                 const AVG_FOLLOW_DIST: f32 = 6.0;
                 const MAX_FOLLOW_DIST: f32 = 12.0;

voxygen/src/ecs/comp.rs

@@ -1,4 +1,4 @@
-use common::util::Dir;
+use common::comp::Ori;
 use specs::Component;
 use specs_idvs::IdvStorage;
 use vek::*;
@@ -33,7 +33,7 @@ impl Component for HpFloaterList {
 #[derive(Copy, Clone, Debug)]
 pub struct Interpolated {
     pub pos: Vec3<f32>,
-    pub ori: Dir,
+    pub ori: Ori,
 }
 impl Component for Interpolated {
     type Storage = IdvStorage<Self>;

voxygen/src/ecs/sys/interpolation.rs

@@ -2,7 +2,6 @@ use crate::ecs::comp::Interpolated;
 use common::{
     comp::{Ori, Pos, Vel},
     resources::DeltaTime,
-    util::Dir,
 };
 use specs::{Entities, Join, Read, ReadStorage, System, WriteStorage};
 use tracing::warn;
@@ -31,16 +30,16 @@ impl<'a> System<'a> for Sys {
             // Update interpolation values
             if i.pos.distance_squared(pos.0) < 64.0 * 64.0 {
                 i.pos = Lerp::lerp(i.pos, pos.0 + vel.0 * 0.03, 10.0 * dt.0);
-                i.ori = Dir::slerp(i.ori, ori.0, 5.0 * dt.0);
+                i.ori = Ori::slerp(i.ori, *ori, 5.0 * dt.0);
             } else {
                 i.pos = pos.0;
-                i.ori = ori.0;
+                i.ori = *ori;
             }
         }
         // Insert interpolation components for entities which don't have them
         for (entity, pos, ori) in (&entities, &positions, &orientations, !&interpolated)
             .join()
-            .map(|(e, p, o, _)| (e, p.0, o.0))
+            .map(|(e, p, o, _)| (e, p.0, *o))
             .collect::<Vec<_>>()
         {
             interpolated

voxygen/src/hud/mod.rs

@@ -1736,10 +1736,13 @@ impl Hud {
                 .set(self.ids.velocity, ui_widgets);
             // Player's orientation vector
             let orientation_text = match debug_info.ori {
-                Some(ori) => format!(
-                    "Orientation: ({:.1}, {:.1}, {:.1})",
-                    ori.0.x, ori.0.y, ori.0.z,
-                ),
+                Some(ori) => {
+                    let look_dir = ori.look_dir();
+                    format!(
+                        "Orientation: ({:.1}, {:.1}, {:.1})",
+                        look_dir.x, look_dir.y, look_dir.z,
+                    )
+                },
                 None => "Player has no Ori component".to_owned(),
             };
             Text::new(&orientation_text)

voxygen/src/scene/figure/mod.rs

@@ -584,12 +584,12 @@ impl FigureMgr {
                 .map(|i| {
                     (
                         (anim::vek::Vec3::from(i.pos),),
-                        anim::vek::Vec3::from(*i.ori),
+                        anim::vek::Quaternion::<f32>::from(i.ori),
                     )
                 })
                 .unwrap_or((
                     (anim::vek::Vec3::<f32>::from(pos.0),),
-                    anim::vek::Vec3::<f32>::unit_y(),
+                    anim::vek::Quaternion::<f32>::default(),
                 ));
 
             // Maintaining figure data and sending new figure data to the GPU turns out to
@@ -754,8 +754,9 @@ impl FigureMgr {
                                 active_tool_kind,
                                 second_tool_kind,
                                 vel.0,
-                                ori,
-                                state.last_ori,
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                 time,
                                 state.avg_vel,
                                 state.acc_vel,
@@ -770,8 +771,9 @@ impl FigureMgr {
                             (
                                 active_tool_kind,
                                 second_tool_kind,
-                                ori,
-                                state.last_ori,
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                 time,
                             ),
                             state.state_time,
@@ -785,8 +787,9 @@ impl FigureMgr {
                                 active_tool_kind,
                                 second_tool_kind,
                                 vel.0,
-                                ori,
-                                state.last_ori,
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                 time,
                                 state.avg_vel,
                             ),
@@ -816,8 +819,9 @@ impl FigureMgr {
                                 (
                                     active_tool_kind,
                                     second_tool_kind,
-                                    ori,
-                                    state.last_ori,
+                                    // TODO: Update to use the quaternion.
+                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                     time,
                                     Some(s.stage_section),
                                 ),
@@ -861,8 +865,9 @@ impl FigureMgr {
                                     active_tool_kind,
                                     second_tool_kind,
                                     vel.0.magnitude(),
-                                    ori,
-                                    state.last_ori,
+                                    // TODO: Update to use the quaternion.
+                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                     time,
                                     Some(s.stage_section),
                                 ),
@@ -891,8 +896,9 @@ impl FigureMgr {
                                     active_tool_kind,
                                     second_tool_kind,
                                     vel.0.magnitude(),
-                                    ori,
-                                    state.last_ori,
+                                    // TODO: Update to use the quaternion.
+                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                     time,
                                     Some(s.stage_section),
                                 ),
@@ -967,7 +973,14 @@ impl FigureMgr {
                         CharacterState::Sneak { .. } => {
                             anim::character::SneakAnimation::update_skeleton(
                                 &target_base,
-                                (active_tool_kind, vel.0, ori, state.last_ori, time),
+                                (
+                                    active_tool_kind,
+                                    vel.0,
+                                    // TODO: Update to use the quaternion.
+                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    time,
+                                ),
                                 state.state_time,
                                 &mut state_animation_rate,
                                 skeleton_attr,
@@ -1308,8 +1321,9 @@ impl FigureMgr {
                                     (
                                         active_tool_kind,
                                         second_tool_kind,
-                                        ori,
-                                        state.last_ori,
+                                        // TODO: Update to use the quaternion.
+                                        ori * anim::vek::Vec3::<f32>::unit_y(),
+                                        state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                         vel.0,
                                         time,
                                     ),
@@ -1326,8 +1340,9 @@ impl FigureMgr {
                                     active_tool_kind,
                                     second_tool_kind,
                                     vel.0,
-                                    ori,
-                                    state.last_ori,
+                                    // TODO: Update to use the quaternion.
+                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                     time,
                                 ),
                                 state.state_time,
@@ -1338,7 +1353,14 @@ impl FigureMgr {
                         CharacterState::Climb { .. } => {
                             anim::character::ClimbAnimation::update_skeleton(
                                 &target_base,
-                                (active_tool_kind, second_tool_kind, vel.0, ori, time),
+                                (
+                                    active_tool_kind,
+                                    second_tool_kind,
+                                    vel.0,
+                                    // TODO: Update to use the quaternion.
+                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    time,
+                                ),
                                 state.state_time,
                                 &mut state_animation_rate,
                                 skeleton_attr,
@@ -1360,8 +1382,9 @@ impl FigureMgr {
                                     active_tool_kind,
                                     second_tool_kind,
                                     vel.0,
-                                    ori,
-                                    state.last_ori,
+                                    // TODO: Update to use the quaternion.
+                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                     time,
                                 ),
                                 state.state_time,
@@ -1448,7 +1471,14 @@ impl FigureMgr {
                         (true, true, false) => {
                             anim::quadruped_small::RunAnimation::update_skeleton(
                                 &QuadrupedSmallSkeleton::default(),
-                                (vel.0.magnitude(), ori, state.last_ori, time, state.avg_vel),
+                                (
+                                    vel.0.magnitude(),
+                                    // TODO: Update to use the quaternion.
+                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    time,
+                                    state.avg_vel,
+                                ),
                                 state.state_time,
                                 &mut state_animation_rate,
                                 skeleton_attr,
@@ -1457,7 +1487,14 @@ impl FigureMgr {
                         // Running
                         (false, _, true) => anim::quadruped_small::RunAnimation::update_skeleton(
                             &QuadrupedSmallSkeleton::default(),
-                            (vel.0.magnitude(), ori, state.last_ori, time, state.avg_vel),
+                            (
+                                vel.0.magnitude(),
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                time,
+                                state.avg_vel,
+                            ),
                             state.state_time,
                             &mut state_animation_rate,
                             skeleton_attr,
@@ -1644,8 +1681,9 @@ impl FigureMgr {
                                 &QuadrupedMediumSkeleton::default(),
                                 (
                                     vel.0.magnitude(),
-                                    ori,
-                                    state.last_ori,
+                                    // TODO: Update to use the quaternion.
+                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                     time,
                                     state.avg_vel,
                                     state.acc_vel,
@@ -1660,8 +1698,9 @@ impl FigureMgr {
                             &QuadrupedMediumSkeleton::default(),
                             (
                                 vel.0.magnitude(),
-                                ori,
-                                state.last_ori,
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                 time,
                                 state.avg_vel,
                                 state.acc_vel,
@@ -1962,7 +2001,14 @@ impl FigureMgr {
                         // Running
                         (true, true, false) => anim::quadruped_low::RunAnimation::update_skeleton(
                             &QuadrupedLowSkeleton::default(),
-                            (vel.0.magnitude(), ori, state.last_ori, time, state.avg_vel),
+                            (
+                                vel.0.magnitude(),
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                time,
+                                state.avg_vel,
+                            ),
                             state.state_time,
                             &mut state_animation_rate,
                             skeleton_attr,
@@ -1970,7 +2016,14 @@ impl FigureMgr {
                         // Swimming
                         (false, _, true) => anim::quadruped_low::RunAnimation::update_skeleton(
                             &QuadrupedLowSkeleton::default(),
-                            (vel.0.magnitude(), ori, state.last_ori, time, state.avg_vel),
+                            (
+                                vel.0.magnitude(),
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                time,
+                                state.avg_vel,
+                            ),
                             state.state_time,
                             &mut state_animation_rate,
                             skeleton_attr,
@@ -2397,7 +2450,14 @@ impl FigureMgr {
                         // Idle
                         (_, false, _) => anim::fish_medium::IdleAnimation::update_skeleton(
                             &FishMediumSkeleton::default(),
-                            (vel.0, ori, state.last_ori, time, state.avg_vel),
+                            (
+                                vel.0,
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                time,
+                                state.avg_vel,
+                            ),
                             state.state_time,
                             &mut state_animation_rate,
                             skeleton_attr,
@@ -2407,8 +2467,9 @@ impl FigureMgr {
                             &FishMediumSkeleton::default(),
                             (
                                 vel.0,
-                                ori,
-                                state.last_ori,
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                 time,
                                 state.avg_vel,
                                 state.acc_vel,
@@ -2479,7 +2540,14 @@ impl FigureMgr {
                         // Running
                         (true, true, false) => anim::dragon::RunAnimation::update_skeleton(
                             &DragonSkeleton::default(),
-                            (vel.0.magnitude(), ori, state.last_ori, time, state.avg_vel),
+                            (
+                                vel.0.magnitude(),
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                time,
+                                state.avg_vel,
+                            ),
                             state.state_time,
                             &mut state_animation_rate,
                             skeleton_attr,
@@ -2563,7 +2631,14 @@ impl FigureMgr {
                         // Running
                         (true, true, false) => anim::theropod::RunAnimation::update_skeleton(
                             &TheropodSkeleton::default(),
-                            (vel.0.magnitude(), ori, state.last_ori, time, state.avg_vel),
+                            (
+                                vel.0.magnitude(),
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                time,
+                                state.avg_vel,
+                            ),
                             state.state_time,
                             &mut state_animation_rate,
                             skeleton_attr,
@@ -2571,7 +2646,14 @@ impl FigureMgr {
                         // In air
                         (false, _, false) => anim::theropod::JumpAnimation::update_skeleton(
                             &TheropodSkeleton::default(),
-                            (vel.0.magnitude(), ori, state.last_ori, time, state.avg_vel),
+                            (
+                                vel.0.magnitude(),
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                time,
+                                state.avg_vel,
+                            ),
                             state.state_time,
                             &mut state_animation_rate,
                             skeleton_attr,
@@ -2782,7 +2864,14 @@ impl FigureMgr {
                         // Idle
                         (_, false, _) => anim::fish_small::IdleAnimation::update_skeleton(
                             &FishSmallSkeleton::default(),
-                            (vel.0, ori, state.last_ori, time, state.avg_vel),
+                            (
+                                vel.0,
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                time,
+                                state.avg_vel,
+                            ),
                             state.state_time,
                             &mut state_animation_rate,
                             skeleton_attr,
@@ -2792,8 +2881,9 @@ impl FigureMgr {
                             &FishSmallSkeleton::default(),
                             (
                                 vel.0,
-                                ori,
-                                state.last_ori,
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                 time,
                                 state.avg_vel,
                                 state.acc_vel,
@@ -2863,8 +2953,9 @@ impl FigureMgr {
                                 active_tool_kind,
                                 second_tool_kind,
                                 vel.0.magnitude(),
-                                ori,
-                                state.last_ori,
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                 time,
                                 state.avg_vel,
                             ),
@@ -2942,8 +3033,9 @@ impl FigureMgr {
                                     active_tool_kind,
                                     second_tool_kind,
                                     vel.0.magnitude(),
-                                    ori,
-                                    state.last_ori,
+                                    // TODO: Update to use the quaternion.
+                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                     time,
                                     Some(s.stage_section),
                                 ),
@@ -2972,8 +3064,9 @@ impl FigureMgr {
                                     active_tool_kind,
                                     second_tool_kind,
                                     vel.0.magnitude(),
-                                    ori,
-                                    state.last_ori,
+                                    // TODO: Update to use the quaternion.
+                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
                                     time,
                                     Some(s.stage_section),
                                 ),
@@ -3271,7 +3364,13 @@ impl FigureMgr {
                         // Running
                         (true, true, false) => anim::golem::RunAnimation::update_skeleton(
                             &GolemSkeleton::default(),
-                            (vel.0.magnitude(), ori, state.last_ori, time),
+                            (
+                                vel.0.magnitude(),
+                                // TODO: Update to use the quaternion.
+                                ori * anim::vek::Vec3::<f32>::unit_y(),
+                                state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                time,
+                            ),
                             state.state_time,
                             &mut state_animation_rate,
                             skeleton_attr,
@@ -3974,7 +4073,7 @@ pub struct FigureStateMeta {
     locals: Consts<FigureLocals>,
     lantern_offset: anim::vek::Vec3<f32>,
     state_time: f64,
-    last_ori: anim::vek::Vec3<f32>,
+    last_ori: anim::vek::Quaternion<f32>,
     lpindex: u8,
     can_shadow_sun: bool,
     visible: bool,
@@ -4021,7 +4120,7 @@ impl<S: Skeleton> FigureState<S> {
                 locals: renderer.create_consts(&[FigureLocals::default()]).unwrap(),
                 lantern_offset,
                 state_time: 0.0,
-                last_ori: anim::vek::Vec3::zero(),
+                last_ori: Ori::default().into(),
                 lpindex: 0,
                 visible: false,
                 can_shadow_sun: false,
@@ -4040,7 +4139,7 @@ impl<S: Skeleton> FigureState<S> {
         &mut self,
         renderer: &mut Renderer,
         pos: anim::vek::Vec3<f32>,
-        ori: anim::vek::Vec3<f32>,
+        ori: anim::vek::Quaternion<f32>,
         scale: f32,
         col: vek::Rgba<f32>,
         dt: f32,
@@ -4079,13 +4178,14 @@ impl<S: Skeleton> FigureState<S> {
         /* let radius = vek::Extent3::<f32>::from(model.bounds.half_size()).reduce_partial_max();
         let _bounds = BoundingSphere::new(pos.into_array(), scale * 0.8 * radius); */
 
-        self.last_ori = vek::Lerp::lerp(self.last_ori, ori, 15.0 * dt);
+        self.last_ori = vek::Lerp::lerp(self.last_ori, ori, 15.0 * dt).normalized();
 
         self.state_time += (dt * state_animation_rate) as f64;
 
-        let mat = anim::vek::Mat4::rotation_z(-ori.x.atan2(ori.y))
-            * anim::vek::Mat4::rotation_x(ori.z.atan2(anim::vek::Vec2::from(ori).magnitude()))
-            * anim::vek::Mat4::scaling_3d(anim::vek::Vec3::from(0.8 * scale));
+        let mat = {
+            anim::vek::Mat4::from(ori)
+                * anim::vek::Mat4::scaling_3d(anim::vek::Vec3::from(0.8 * scale))
+        };
 
         let atlas_offs = model.allocation.rectangle.min;
 

voxygen/src/scene/mod.rs

@@ -571,17 +571,12 @@ impl Scene {
                 })
                 .map(|(pos, ori, interpolated, light_anim)| {
                     // Use interpolated values if they are available
-                    let (pos, ori) =
-                        interpolated.map_or((pos.0, ori.map(|o| o.0)), |i| (i.pos, Some(i.ori)));
-                    let rot = {
-                        if let Some(o) = ori {
-                            Mat3::rotation_z(-o.x.atan2(o.y))
-                        } else {
-                            Mat3::identity()
-                        }
-                    };
+                    let (pos, rot) = interpolated
+                        .map_or((pos.0, ori.copied().unwrap_or_default()), |i| {
+                            (i.pos, i.ori)
+                        });
                     Light::new(
-                        pos + (rot * light_anim.offset),
+                        pos + (rot.to_quat() * light_anim.offset),
                         light_anim.col,
                         light_anim.strength,
                     )

voxygen/src/scene/particle.rs

@@ -375,7 +375,7 @@ impl ParticleMgr {
             .join()
         {
             if let CharacterState::BasicBeam(b) = character_state {
-                let particle_ori = b.particle_ori.unwrap_or(*ori.vec());
+                let particle_ori = b.particle_ori.unwrap_or_else(|| ori.look_vec());
                 if b.stage_section == StageSection::Cast {
                     if b.static_data.base_hps > 0.0 {
                         // Emit a light when using healing
@@ -586,7 +586,8 @@ impl ParticleMgr {
 
             let radians = shockwave.properties.angle.to_radians();
 
-            let theta = ori.0.y.atan2(ori.0.x);
+            let ori_vec = ori.look_vec();
+            let theta = ori_vec.y.atan2(ori_vec.x);
             let dtheta = radians / distance;
 
             let heartbeats = self.scheduler.heartbeats(Duration::from_millis(1));

voxygen/src/scene/simple.rs

@@ -183,7 +183,10 @@ impl Scene {
                 state.update(
                     renderer,
                     anim::vek::Vec3::zero(),
-                    anim::vek::Vec3::new(start_angle.sin(), -start_angle.cos(), 0.0),
+                    anim::vek::Quaternion::rotation_from_to_3d(
+                        anim::vek::Vec3::unit_y(),
+                        anim::vek::Vec3::new(start_angle.sin(), -start_angle.cos(), 0.0),
+                    ),
                     1.0,
                     Rgba::broadcast(1.0),
                     15.0, // Want to get there immediately.
@@ -350,7 +353,10 @@ impl Scene {
             self.figure_state.update(
                 renderer,
                 anim::vek::Vec3::zero(),
-                anim::vek::Vec3::new(self.char_ori.sin(), -self.char_ori.cos(), 0.0),
+                anim::vek::Quaternion::rotation_from_to_3d(
+                    anim::vek::Vec3::unit_y(),
+                    anim::vek::Vec3::new(self.char_ori.sin(), -self.char_ori.cos(), 0.0),
+                ),
                 1.0,
                 Rgba::broadcast(1.0),
                 scene_data.delta_time,