Default to f32 instead of f64, removing unnecessary casts

client/src/graphics/draw.rs

@@ -435,11 +435,9 @@ impl Draw {
         }
 
         if let Some(sim) = sim.as_deref() {
-            for (node, transform) in nearby_nodes(
-                &sim.graph,
-                &view,
-                f64::from(self.cfg.local_simulation.view_distance),
-            ) {
+            for (node, transform) in
+                nearby_nodes(&sim.graph, &view, self.cfg.local_simulation.view_distance)
+            {
                 for &entity in sim.graph_entities.get(node) {
                     if sim.local_character == Some(entity) {
                         // Don't draw ourself

client/src/graphics/voxels/mod.rs

@@ -124,7 +124,7 @@ impl Voxels {
         let mut nodes = nearby_nodes(
             &sim.graph,
             &view,
-            f64::from(self.config.local_simulation.view_distance),
+            self.config.local_simulation.view_distance,
         );
         histogram!("frame.cpu.voxels.graph_traversal").record(graph_traversal_started.elapsed());
         // Sort nodes by distance to the view to prioritize loading closer data and improve early Z
@@ -142,7 +142,7 @@ impl Voxels {
         for &(node, ref node_transform) in &nodes {
             let node_to_view = local_to_view * node_transform;
             let origin = node_to_view * math::origin();
-            if !frustum_planes.contain(&origin, dodeca::BOUNDING_SPHERE_RADIUS as f32) {
+            if !frustum_planes.contain(&origin, dodeca::BOUNDING_SPHERE_RADIUS) {
                 // Don't bother generating or drawing chunks from nodes that are wholly outside the
                 // frustum.
                 continue;
@@ -183,7 +183,7 @@ impl Voxels {
                             frame.drawn.push(slot);
                             // Transfer transform
                             frame.surface.transforms_mut()[slot.0 as usize] =
-                                node_transform * vertex.chunk_to_node().map(|x| x as f32);
+                                node_transform * vertex.chunk_to_node();
                         }
                         if let (None, &VoxelData::Dense(ref data)) = (&surface, voxels) {
                             // Extract a surface so it can be drawn in future frames

common/src/dodeca.rs

@@ -45,20 +45,32 @@ impl Side {
 
     /// Outward normal vector of this side
     #[inline]
-    pub fn normal(self) -> &'static na::Vector4<f64> {
-        &SIDE_NORMALS[self as usize]
+    pub fn normal(self) -> &'static na::Vector4<f32> {
+        &SIDE_NORMALS_F32[self as usize]
+    }
+
+    /// Outward normal vector of this side
+    #[inline]
+    pub fn normal_f64(self) -> &'static na::Vector4<f64> {
+        &SIDE_NORMALS_F64[self as usize]
+    }
+
+    /// Reflection across this side
+    #[inline]
+    pub fn reflection(self) -> &'static na::Matrix4<f32> {
+        &REFLECTIONS_F32[self as usize]
     }
 
     /// Reflection across this side
     #[inline]
-    pub fn reflection(self) -> &'static na::Matrix4<f64> {
-        &REFLECTIONS[self as usize]
+    pub fn reflection_f64(self) -> &'static na::Matrix4<f64> {
+        &REFLECTIONS_F64[self as usize]
     }
 
     /// Whether `p` is opposite the dodecahedron across the plane containing `self`
     #[inline]
     pub fn is_facing<N: na::RealField + Copy>(self, p: &na::Vector4<N>) -> bool {
-        let r = na::convert::<_, na::RowVector4<N>>(self.reflection().row(3).clone_owned());
+        let r = na::convert::<_, na::RowVector4<N>>(self.reflection_f64().row(3).clone_owned());
         (r * p).x < p.w
     }
 }
@@ -138,37 +150,71 @@ impl Vertex {
     }
 
     /// Transform from euclidean chunk coordinates to hyperbolic node space
-    pub fn chunk_to_node(self) -> na::Matrix4<f64> {
+    pub fn chunk_to_node(self) -> na::Matrix4<f32> {
         self.dual_to_node() * na::Matrix4::new_scaling(1.0 / Self::dual_to_chunk_factor())
     }
 
+    /// Transform from euclidean chunk coordinates to hyperbolic node space
+    pub fn chunk_to_node_f64(self) -> na::Matrix4<f64> {
+        self.dual_to_node_f64() * na::Matrix4::new_scaling(1.0 / Self::dual_to_chunk_factor_f64())
+    }
+
     /// Transform from hyperbolic node space to euclidean chunk coordinates
-    pub fn node_to_chunk(self) -> na::Matrix4<f64> {
+    pub fn node_to_chunk(self) -> na::Matrix4<f32> {
         na::Matrix4::new_scaling(Self::dual_to_chunk_factor()) * self.node_to_dual()
     }
 
+    /// Transform from hyperbolic node space to euclidean chunk coordinates
+    pub fn node_to_chunk_f64(self) -> na::Matrix4<f64> {
+        na::Matrix4::new_scaling(Self::dual_to_chunk_factor_f64()) * self.node_to_dual_f64()
+    }
+
     /// Transform from cube-centric coordinates to dodeca-centric coordinates
-    pub fn dual_to_node(self) -> &'static na::Matrix4<f64> {
-        &DUAL_TO_NODE[self as usize]
+    pub fn dual_to_node(self) -> &'static na::Matrix4<f32> {
+        &DUAL_TO_NODE_F32[self as usize]
+    }
+
+    /// Transform from cube-centric coordinates to dodeca-centric coordinates
+    pub fn dual_to_node_f64(self) -> &'static na::Matrix4<f64> {
+        &DUAL_TO_NODE_F64[self as usize]
+    }
+
+    /// Transform from dodeca-centric coordinates to cube-centric coordinates
+    pub fn node_to_dual(self) -> &'static na::Matrix4<f32> {
+        &NODE_TO_DUAL_F32[self as usize]
     }
 
     /// Transform from dodeca-centric coordinates to cube-centric coordinates
-    pub fn node_to_dual(self) -> &'static na::Matrix4<f64> {
-        &NODE_TO_DUAL[self as usize]
+    pub fn node_to_dual_f64(self) -> &'static na::Matrix4<f64> {
+        &NODE_TO_DUAL_F64[self as usize]
     }
 
     /// Scale factor used in conversion from cube-centric coordinates to euclidean chunk coordinates.
     /// Scaling the x, y, and z components of a vector in cube-centric coordinates by this value
     /// and dividing them by the w coordinate will yield euclidean chunk coordinates.
-    pub fn dual_to_chunk_factor() -> f64 {
-        *DUAL_TO_CHUNK_FACTOR
+    pub fn dual_to_chunk_factor() -> f32 {
+        *DUAL_TO_CHUNK_FACTOR_F32
+    }
+
+    /// Scale factor used in conversion from cube-centric coordinates to euclidean chunk coordinates.
+    /// Scaling the x, y, and z components of a vector in cube-centric coordinates by this value
+    /// and dividing them by the w coordinate will yield euclidean chunk coordinates.
+    pub fn dual_to_chunk_factor_f64() -> f64 {
+        *DUAL_TO_CHUNK_FACTOR_F64
     }
 
     /// Scale factor used in conversion from euclidean chunk coordinates to cube-centric coordinates.
     /// Scaling the x, y, and z components of a vector in homogeneous euclidean chunk coordinates by this value
     /// and lorentz-normalizing the result will yield cube-centric coordinates.
-    pub fn chunk_to_dual_factor() -> f64 {
-        *CHUNK_TO_DUAL_FACTOR
+    pub fn chunk_to_dual_factor() -> f32 {
+        *CHUNK_TO_DUAL_FACTOR_F32
+    }
+
+    /// Scale factor used in conversion from euclidean chunk coordinates to cube-centric coordinates.
+    /// Scaling the x, y, and z components of a vector in homogeneous euclidean chunk coordinates by this value
+    /// and lorentz-normalizing the result will yield cube-centric coordinates.
+    pub fn chunk_to_dual_factor_f64() -> f64 {
+        *CHUNK_TO_DUAL_FACTOR_F64
     }
 
     /// Convenience method for `self.chunk_to_node().determinant() < 0`.
@@ -179,15 +225,16 @@ impl Vertex {
 
 pub const VERTEX_COUNT: usize = 20;
 pub const SIDE_COUNT: usize = 12;
-pub const BOUNDING_SPHERE_RADIUS: f64 = 1.2264568712514068;
+pub const BOUNDING_SPHERE_RADIUS_F64: f64 = 1.2264568712514068;
+pub const BOUNDING_SPHERE_RADIUS: f32 = BOUNDING_SPHERE_RADIUS_F64 as f32;
 
 lazy_static! {
     /// Whether two sides share an edge
     static ref ADJACENT: [[bool; SIDE_COUNT]; SIDE_COUNT] = {
         let mut result = [[false; SIDE_COUNT]; SIDE_COUNT];
         for i in 0..SIDE_COUNT {
             for j in 0..SIDE_COUNT {
-                let cosh_distance = (REFLECTIONS[i] * REFLECTIONS[j])[(3, 3)];
+                let cosh_distance = (REFLECTIONS_F64[i] * REFLECTIONS_F64[j])[(3, 3)];
                 // Possile cosh_distances: 1, 4.23606 = 2+sqrt(5), 9.47213 = 5+2*sqrt(5), 12.70820 = 6+3*sqrt(5);
                 // < 2.0 indicates identical faces; < 5.0 indicates adjacent faces; > 5.0 indicates non-adjacent faces
                 result[i][j] = (2.0..5.0).contains(&cosh_distance);
@@ -197,7 +244,7 @@ lazy_static! {
     };
 
     /// Vector corresponding to the outer normal of each side
-    static ref SIDE_NORMALS: [na::Vector4<f64>; SIDE_COUNT] = {
+    static ref SIDE_NORMALS_F64: [na::Vector4<f64>; SIDE_COUNT] = {
         let phi = libm::sqrt(1.25) + 0.5; // golden ratio
         let f = math::lorentz_normalize(&na::Vector4::new(1.0, phi, 0.0, libm::sqrt(phi)));
 
@@ -219,8 +266,8 @@ lazy_static! {
     };
 
     /// Transform that moves from a neighbor to a reference node, for each side
-    static ref REFLECTIONS: [na::Matrix4<f64>; SIDE_COUNT] = {
-        SIDE_NORMALS.map(|r| math::reflect(&r))
+    static ref REFLECTIONS_F64: [na::Matrix4<f64>; SIDE_COUNT] = {
+        SIDE_NORMALS_F64.map(|r| math::reflect(&r))
     };
 
     /// Sides incident to a vertex, in canonical order
@@ -267,26 +314,26 @@ lazy_static! {
     };
 
     /// Transform that converts from cube-centric coordinates to dodeca-centric coordinates
-    static ref DUAL_TO_NODE: [na::Matrix4<f64>; VERTEX_COUNT] = {
-        let mip_origin_normal = math::mip(&math::origin(), &SIDE_NORMALS[0]); // This value is the same for every side
+    static ref DUAL_TO_NODE_F64: [na::Matrix4<f64>; VERTEX_COUNT] = {
+        let mip_origin_normal = math::mip(&math::origin(), &SIDE_NORMALS_F64[0]); // This value is the same for every side
         let mut result = [na::zero(); VERTEX_COUNT];
         for i in 0..VERTEX_COUNT {
             let [a, b, c] = VERTEX_SIDES[i];
             let vertex_position = math::lorentz_normalize(
-                &(math::origin() - (a.normal() + b.normal() + c.normal()) * mip_origin_normal),
+                &(math::origin() - (a.normal_f64() + b.normal_f64() + c.normal_f64()) * mip_origin_normal),
             );
-            result[i] = na::Matrix4::from_columns(&[-a.normal(), -b.normal(), -c.normal(), vertex_position]);
+            result[i] = na::Matrix4::from_columns(&[-a.normal_f64(), -b.normal_f64(), -c.normal_f64(), vertex_position]);
         }
         result
     };
 
     /// Transform that converts from dodeca-centric coordinates to cube-centric coordinates
-    static ref NODE_TO_DUAL: [na::Matrix4<f64>; VERTEX_COUNT] = {
-        DUAL_TO_NODE.map(|m| math::mtranspose(&m))
+    static ref NODE_TO_DUAL_F64: [na::Matrix4<f64>; VERTEX_COUNT] = {
+        DUAL_TO_NODE_F64.map(|m| math::mtranspose(&m))
     };
 
-    static ref DUAL_TO_CHUNK_FACTOR: f64 = (2.0 + 5.0f64.sqrt()).sqrt();
-    static ref CHUNK_TO_DUAL_FACTOR: f64 = 1.0 / *DUAL_TO_CHUNK_FACTOR;
+    static ref DUAL_TO_CHUNK_FACTOR_F64: f64 = (2.0 + 5.0f64.sqrt()).sqrt();
+    static ref CHUNK_TO_DUAL_FACTOR_F64: f64 = 1.0 / *DUAL_TO_CHUNK_FACTOR_F64;
 
     /// Vertex shared by 3 sides
     static ref SIDES_TO_VERTEX: [[[Option<Vertex>; SIDE_COUNT]; SIDE_COUNT]; SIDE_COUNT] = {
@@ -321,11 +368,18 @@ lazy_static! {
         let mut result = [false; VERTEX_COUNT];
 
         for v in Vertex::iter() {
-            result[v as usize] = math::parity(&v.chunk_to_node());
+            result[v as usize] = math::parity(&v.chunk_to_node_f64());
         }
 
         result
     };
+
+    static ref SIDE_NORMALS_F32: [na::Vector4<f32>; SIDE_COUNT] = SIDE_NORMALS_F64.map(|n| n.cast());
+    static ref REFLECTIONS_F32: [na::Matrix4<f32>; SIDE_COUNT] = REFLECTIONS_F64.map(|n| n.cast());
+    static ref DUAL_TO_NODE_F32: [na::Matrix4<f32>; VERTEX_COUNT] = DUAL_TO_NODE_F64.map(|n| n.cast());
+    static ref NODE_TO_DUAL_F32: [na::Matrix4<f32>; VERTEX_COUNT] = NODE_TO_DUAL_F64.map(|n| n.cast());
+    static ref DUAL_TO_CHUNK_FACTOR_F32: f32 = *DUAL_TO_CHUNK_FACTOR_F64 as f32;
+    static ref CHUNK_TO_DUAL_FACTOR_F32: f32 = *CHUNK_TO_DUAL_FACTOR_F64 as f32;
 }
 
 #[cfg(test)]
@@ -371,15 +425,15 @@ mod tests {
 
     #[test]
     fn radius() {
-        let corner = Vertex::A.chunk_to_node() * math::origin();
+        let corner = Vertex::A.chunk_to_node_f64() * math::origin();
         assert_abs_diff_eq!(
-            BOUNDING_SPHERE_RADIUS,
+            BOUNDING_SPHERE_RADIUS_F64,
             math::distance(&corner, &math::origin()),
             epsilon = 1e-10
         );
         let phi = (1.0 + 5.0f64.sqrt()) / 2.0; // Golden ratio
         assert_abs_diff_eq!(
-            BOUNDING_SPHERE_RADIUS,
+            BOUNDING_SPHERE_RADIUS_F64,
             (1.5 * phi).sqrt().asinh(),
             epsilon = 1e-10
         );
@@ -389,7 +443,7 @@ mod tests {
     fn chunk_to_node() {
         // Chunk coordinates of (1, 1, 1) should be at the center of a dodecahedron.
         let mut chunk_corner_in_node_coordinates =
-            Vertex::A.chunk_to_node() * na::Vector4::new(1.0, 1.0, 1.0, 1.0);
+            Vertex::A.chunk_to_node_f64() * na::Vector4::new(1.0, 1.0, 1.0, 1.0);
         chunk_corner_in_node_coordinates /= chunk_corner_in_node_coordinates.w;
         assert_abs_diff_eq!(
             chunk_corner_in_node_coordinates,
@@ -401,8 +455,8 @@ mod tests {
     #[test]
     fn node_to_chunk() {
         assert_abs_diff_eq!(
-            Vertex::A.chunk_to_node().try_inverse().unwrap(),
-            Vertex::A.node_to_chunk(),
+            Vertex::A.chunk_to_node_f64().try_inverse().unwrap(),
+            Vertex::A.node_to_chunk_f64(),
             epsilon = 1e-10
         );
     }

common/src/graph.rs

@@ -136,7 +136,7 @@ impl Graph {
                     None => continue,
                     Some(x) => x,
                 };
-                let mat = na::convert::<_, na::Matrix4<T>>(*side.reflection());
+                let mat = na::convert::<_, na::Matrix4<T>>(*side.reflection_f64());
                 location = mat * location;
                 transform = mat * transform;
                 continue 'outer;

common/src/graph_collision.rs

@@ -172,8 +172,8 @@ mod tests {
             let chosen_chunk_transform: na::Matrix4<f32> =
                 self.chosen_voxel.node_path.iter().fold(
                     na::Matrix4::identity(),
-                    |transform: na::Matrix4<f32>, side| transform * side.reflection().cast::<f32>(),
-                ) * self.chosen_voxel.vertex.dual_to_node().cast();
+                    |transform: na::Matrix4<f32>, side| transform * side.reflection(),
+                ) * self.chosen_voxel.vertex.dual_to_node();
 
             let dual_to_grid_factor = graph.layout().dual_to_grid_factor();
             let ray_target = chosen_chunk_transform
@@ -184,7 +184,7 @@ mod tests {
                     1.0,
                 ));
 
-            let ray_position = Vertex::A.dual_to_node().cast()
+            let ray_position = Vertex::A.dual_to_node()
                 * math::lorentz_normalize(&na::Vector4::new(
                     self.start_chunk_relative_grid_ray_start[0] / dual_to_grid_factor,
                     self.start_chunk_relative_grid_ray_start[1] / dual_to_grid_factor,
@@ -435,7 +435,7 @@ mod tests {
         }
 
         // The node coordinates of the corner of the missing node
-        let vertex_pos = Vertex::A.dual_to_node().cast::<f32>() * math::origin();
+        let vertex_pos = Vertex::A.dual_to_node() * math::origin();
 
         // Use a ray starting from the origin. The direction vector is vertex_pos with the w coordinate
         // set to 0 and normalized

common/src/node.rs

@@ -383,7 +383,7 @@ impl ChunkLayout {
     pub fn new(dimension: u8) -> Self {
         ChunkLayout {
             dimension,
-            dual_to_grid_factor: Vertex::dual_to_chunk_factor() as f32 * dimension as f32,
+            dual_to_grid_factor: Vertex::dual_to_chunk_factor() * dimension as f32,
         }
     }
 

common/src/plane.rs

@@ -15,7 +15,7 @@ impl From<Side> for Plane<f64> {
     /// A surface overlapping with a particular dodecahedron side
     fn from(side: Side) -> Self {
         Self {
-            normal: *side.normal(),
+            normal: *side.normal_f64(),
         }
     }
 }
@@ -42,7 +42,7 @@ impl Mul<Plane<f64>> for Side {
     type Output = Plane<f64>;
     /// Reflect a plane across the side
     fn mul(self, rhs: Plane<f64>) -> Plane<f64> {
-        self.reflection() * rhs
+        self.reflection_f64() * rhs
     }
 }
 
@@ -72,7 +72,7 @@ impl<N: na::RealField + Copy> Plane<N> {
 impl Plane<f64> {
     /// Like `distance_to`, but using chunk coordinates for a chunk in the same node space
     pub fn distance_to_chunk(&self, chunk: Vertex, coord: &na::Vector3<f64>) -> f64 {
-        let pos = lorentz_normalize(&(chunk.chunk_to_node() * coord.push(1.0)));
+        let pos = lorentz_normalize(&(chunk.chunk_to_node_f64() * coord.push(1.0)));
         self.distance_to(&pos)
     }
 }

common/src/sim_config.rs

@@ -64,8 +64,8 @@ fn meters_to_absolute(chunk_size: u8, voxel_size: f32) -> f32 {
     let a = dodeca::Vertex::A.chunk_to_node() * na::Vector4::new(1.0, 0.5, 0.5, 1.0);
     let b = dodeca::Vertex::A.chunk_to_node() * na::Vector4::new(0.0, 0.5, 0.5, 1.0);
     let minimum_chunk_face_separation = math::distance(&a, &b);
-    let absolute_voxel_size = minimum_chunk_face_separation / f64::from(chunk_size);
-    absolute_voxel_size as f32 / voxel_size
+    let absolute_voxel_size = minimum_chunk_face_separation / f32::from(chunk_size);
+    absolute_voxel_size / voxel_size
 }
 
 /// Static configuration information relevant to character physics as provided in configuration files