From 19d667014569f467112b8aaabbc9bf82507bdf1f Mon Sep 17 00:00:00 2001
From: Aevyrie Roessler <aevyrie@gmail.com>
Date: Sun, 29 Jan 2023 00:05:37 -0800
Subject: [PATCH] Final tidying

---
 Cargo.toml        |   5 --
 examples/debug.rs | 135 ++++++++++++++++++++++++++++++++
 examples/demo.rs  | 190 +++++++++++++++++++---------------------------
 examples/error.rs |   2 +-
 src/camera.rs     | 146 +++++++++++++++++++++++++++++++++++
 src/debug.rs      |   1 -
 src/lib.rs        |  99 +++++++++++++++++-------
 7 files changed, 430 insertions(+), 148 deletions(-)
 create mode 100644 examples/debug.rs
 create mode 100644 src/camera.rs

diff --git a/Cargo.toml b/Cargo.toml
index 9554bfa..74764cd 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -8,7 +8,6 @@ description = "A floating origin plugin for bevy"
 
 [dependencies]
 bevy = { version = "0.9", default_features = false }
-bevy_rapier3d = { version = "0.19", optional = true }
 bevy_polyline = "0.4"
 
 [dev-dependencies]
@@ -17,7 +16,3 @@ bevy = { version = "0.9", default_features = false, features = [
     "bevy_winit",
     "x11",
 ] }
-
-
-[features]
-rapier = ["bevy_rapier3d"]
diff --git a/examples/debug.rs b/examples/debug.rs
new file mode 100644
index 0000000..00f714f
--- /dev/null
+++ b/examples/debug.rs
@@ -0,0 +1,135 @@
+use bevy::prelude::*;
+use big_space::{FloatingOrigin, GridCell};
+
+fn main() {
+    App::new()
+        .add_plugins(DefaultPlugins.build().disable::<TransformPlugin>())
+        .add_plugin(big_space::FloatingOriginPlugin::<i64>::new(0.5, 0.01))
+        .add_plugin(big_space::debug::FloatingOriginDebugPlugin::<i64>::default())
+        .insert_resource(ClearColor(Color::BLACK))
+        .add_startup_system(setup)
+        .add_system(movement)
+        .add_system(rotation)
+        .run()
+}
+
+#[derive(Component)]
+struct Mover<const N: usize>;
+
+fn movement(
+    time: Res<Time>,
+    mut q: ParamSet<(
+        Query<&mut Transform, With<Mover<1>>>,
+        Query<&mut Transform, With<Mover<2>>>,
+        Query<&mut Transform, With<Mover<3>>>,
+    )>,
+) {
+    let delta_translation = |offset: f32| -> Vec3 {
+        let t_1 = time.elapsed_seconds() + offset;
+        let dt = time.delta_seconds();
+        let t_0 = t_1 - dt;
+        let pos =
+            |t: f32| -> Vec3 { Vec3::new(t.cos() * 2.0, t.sin() * 2.0, (t * 1.3).sin() * 2.0) };
+        let p0 = pos(t_0);
+        let p1 = pos(t_1);
+        let dp = p1 - p0;
+        dp
+    };
+
+    q.p0().single_mut().translation += delta_translation(20.0);
+    q.p1().single_mut().translation += delta_translation(251.0);
+    q.p2().single_mut().translation += delta_translation(812.0);
+}
+
+#[derive(Component)]
+struct Rotator;
+
+fn rotation(time: Res<Time>, mut query: Query<&mut Transform, With<Rotator>>) {
+    for mut transform in &mut query {
+        transform.rotate_x(3.0 * time.delta_seconds());
+    }
+}
+
+fn setup(
+    mut commands: Commands,
+    mut meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+) {
+    let mesh_handle = meshes.add(
+        shape::Icosphere {
+            radius: 0.1,
+            ..default()
+        }
+        .try_into()
+        .unwrap(),
+    );
+    let matl_handle = materials.add(StandardMaterial {
+        base_color: Color::YELLOW,
+        ..default()
+    });
+
+    commands.spawn((
+        PbrBundle {
+            mesh: mesh_handle.clone(),
+            material: matl_handle.clone(),
+            transform: Transform::from_xyz(0.0, 0.0, 1.0),
+            ..default()
+        },
+        GridCell::<i64>::default(),
+        Mover::<1>,
+    ));
+    commands.spawn((
+        PbrBundle {
+            mesh: mesh_handle.clone(),
+            material: matl_handle.clone(),
+            transform: Transform::from_xyz(1.0, 0.0, 0.0),
+            ..default()
+        },
+        GridCell::<i64>::default(),
+        Mover::<2>,
+    ));
+    commands
+        .spawn((
+            PbrBundle {
+                mesh: mesh_handle.clone(),
+                material: matl_handle.clone(),
+                transform: Transform::from_xyz(0.0, 1.0, 0.0),
+                ..default()
+            },
+            GridCell::<i64>::default(),
+            Rotator,
+            Mover::<3>,
+        ))
+        .with_children(|parent| {
+            parent.spawn(PbrBundle {
+                mesh: mesh_handle,
+                material: matl_handle,
+                transform: Transform::from_xyz(0.0, 0.0, 1.0),
+                ..default()
+            });
+        });
+
+    // light
+    commands.spawn((
+        PointLightBundle {
+            transform: Transform::from_xyz(4.0, 8.0, 4.0),
+            point_light: PointLight {
+                intensity: 10_000f32,
+                ..default()
+            },
+            ..default()
+        },
+        GridCell::<i64>::default(),
+    ));
+
+    // camera
+    commands.spawn((
+        Camera3dBundle {
+            transform: Transform::from_xyz(0.0, 0.0, 8.0)
+                .looking_at(Vec3::new(0.0, 0.0, 0.0), Vec3::Y),
+            ..default()
+        },
+        GridCell::<i64>::default(),
+        FloatingOrigin,
+    ));
+}
diff --git a/examples/demo.rs b/examples/demo.rs
index 00f714f..1e77e47 100644
--- a/examples/demo.rs
+++ b/examples/demo.rs
@@ -1,127 +1,27 @@
-use bevy::prelude::*;
-use big_space::{FloatingOrigin, GridCell};
+use bevy::{
+    math::Vec3A,
+    prelude::*,
+    render::primitives::{Aabb, Sphere},
+};
+use big_space::{camera::CameraController, FloatingOrigin, GridCell};
 
 fn main() {
     App::new()
         .add_plugins(DefaultPlugins.build().disable::<TransformPlugin>())
-        .add_plugin(big_space::FloatingOriginPlugin::<i64>::new(0.5, 0.01))
-        .add_plugin(big_space::debug::FloatingOriginDebugPlugin::<i64>::default())
+        .add_plugin(big_space::FloatingOriginPlugin::<i128>::default())
+        .add_plugin(big_space::debug::FloatingOriginDebugPlugin::<i128>::default())
+        .add_plugin(big_space::camera::CameraControllerPlugin)
         .insert_resource(ClearColor(Color::BLACK))
         .add_startup_system(setup)
-        .add_system(movement)
-        .add_system(rotation)
+        .add_system(cursor_grab_system)
         .run()
 }
 
-#[derive(Component)]
-struct Mover<const N: usize>;
-
-fn movement(
-    time: Res<Time>,
-    mut q: ParamSet<(
-        Query<&mut Transform, With<Mover<1>>>,
-        Query<&mut Transform, With<Mover<2>>>,
-        Query<&mut Transform, With<Mover<3>>>,
-    )>,
-) {
-    let delta_translation = |offset: f32| -> Vec3 {
-        let t_1 = time.elapsed_seconds() + offset;
-        let dt = time.delta_seconds();
-        let t_0 = t_1 - dt;
-        let pos =
-            |t: f32| -> Vec3 { Vec3::new(t.cos() * 2.0, t.sin() * 2.0, (t * 1.3).sin() * 2.0) };
-        let p0 = pos(t_0);
-        let p1 = pos(t_1);
-        let dp = p1 - p0;
-        dp
-    };
-
-    q.p0().single_mut().translation += delta_translation(20.0);
-    q.p1().single_mut().translation += delta_translation(251.0);
-    q.p2().single_mut().translation += delta_translation(812.0);
-}
-
-#[derive(Component)]
-struct Rotator;
-
-fn rotation(time: Res<Time>, mut query: Query<&mut Transform, With<Rotator>>) {
-    for mut transform in &mut query {
-        transform.rotate_x(3.0 * time.delta_seconds());
-    }
-}
-
 fn setup(
     mut commands: Commands,
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
-    let mesh_handle = meshes.add(
-        shape::Icosphere {
-            radius: 0.1,
-            ..default()
-        }
-        .try_into()
-        .unwrap(),
-    );
-    let matl_handle = materials.add(StandardMaterial {
-        base_color: Color::YELLOW,
-        ..default()
-    });
-
-    commands.spawn((
-        PbrBundle {
-            mesh: mesh_handle.clone(),
-            material: matl_handle.clone(),
-            transform: Transform::from_xyz(0.0, 0.0, 1.0),
-            ..default()
-        },
-        GridCell::<i64>::default(),
-        Mover::<1>,
-    ));
-    commands.spawn((
-        PbrBundle {
-            mesh: mesh_handle.clone(),
-            material: matl_handle.clone(),
-            transform: Transform::from_xyz(1.0, 0.0, 0.0),
-            ..default()
-        },
-        GridCell::<i64>::default(),
-        Mover::<2>,
-    ));
-    commands
-        .spawn((
-            PbrBundle {
-                mesh: mesh_handle.clone(),
-                material: matl_handle.clone(),
-                transform: Transform::from_xyz(0.0, 1.0, 0.0),
-                ..default()
-            },
-            GridCell::<i64>::default(),
-            Rotator,
-            Mover::<3>,
-        ))
-        .with_children(|parent| {
-            parent.spawn(PbrBundle {
-                mesh: mesh_handle,
-                material: matl_handle,
-                transform: Transform::from_xyz(0.0, 0.0, 1.0),
-                ..default()
-            });
-        });
-
-    // light
-    commands.spawn((
-        PointLightBundle {
-            transform: Transform::from_xyz(4.0, 8.0, 4.0),
-            point_light: PointLight {
-                intensity: 10_000f32,
-                ..default()
-            },
-            ..default()
-        },
-        GridCell::<i64>::default(),
-    ));
-
     // camera
     commands.spawn((
         Camera3dBundle {
@@ -129,7 +29,73 @@ fn setup(
                 .looking_at(Vec3::new(0.0, 0.0, 0.0), Vec3::Y),
             ..default()
         },
-        GridCell::<i64>::default(),
-        FloatingOrigin,
+        GridCell::<i128>::default(), // All spatial entities need this component
+        FloatingOrigin, // Important: marks this as the entity to use as teh floating origin
+        CameraController {
+            max_speed: 10e12,
+            smoothness: 0.9,
+            ..default()
+        }, // Built-in camera controller
     ));
+
+    let mesh_handle = meshes.add(
+        shape::Icosphere {
+            radius: 0.5,
+            subdivisions: 16,
+        }
+        .try_into()
+        .unwrap(),
+    );
+    let matl_handle = materials.add(StandardMaterial {
+        base_color: Color::YELLOW,
+        unlit: false,
+        ..default()
+    });
+
+    let mut translation = Vec3::ZERO;
+    for i in 1..100i128 {
+        let j = i.pow(10) as f32 + 1.0;
+        translation.x += j;
+        commands.spawn((
+            PbrBundle {
+                mesh: mesh_handle.clone(),
+                material: matl_handle.clone(),
+                transform: Transform::from_scale(Vec3::splat(j)).with_translation(translation),
+                ..default()
+            },
+            Aabb::from(Sphere {
+                center: Vec3A::ZERO,
+                radius: j / 2.0,
+            }),
+            GridCell::<i128>::default(),
+        ));
+    }
+
+    // light
+    commands.spawn((DirectionalLightBundle {
+        directional_light: DirectionalLight {
+            illuminance: 100_000.0,
+            ..default()
+        },
+        ..default()
+    },));
+}
+
+fn cursor_grab_system(
+    mut windows: ResMut<Windows>,
+    btn: Res<Input<MouseButton>>,
+    key: Res<Input<KeyCode>>,
+) {
+    let window = windows.get_primary_mut().unwrap();
+
+    use bevy::window::CursorGrabMode;
+    if btn.just_pressed(MouseButton::Left) {
+        window.set_cursor_grab_mode(CursorGrabMode::Locked);
+        window.set_cursor_visibility(false);
+    }
+
+    if key.just_pressed(KeyCode::Escape) {
+        window.set_cursor_grab_mode(CursorGrabMode::None);
+        window.set_cursor_visibility(true);
+    }
 }
diff --git a/examples/error.rs b/examples/error.rs
index ade2a8a..bc1abc7 100644
--- a/examples/error.rs
+++ b/examples/error.rs
@@ -26,7 +26,7 @@ fn main() {
 ///
 /// This plugin can function much further from the origin without any issues. Try setting this to:
 /// 10_000_000_000_000_000_000_000_000_000_000_000_000
-const DISTANCE: f32 = 20_000_000.0;
+const DISTANCE: f32 = 10_000_000.0;
 
 /// Move the floating origin back to the "true" origin when the user presses the spacebar to emulate
 /// disabling the plugin. Normally you would make your active camera the floating origin to avoid
diff --git a/src/camera.rs b/src/camera.rs
new file mode 100644
index 0000000..9da453c
--- /dev/null
+++ b/src/camera.rs
@@ -0,0 +1,146 @@
+//! Provides a camera controller compatible with the floating origin plugin.
+
+use bevy::{
+    input::mouse::MouseMotion, prelude::*, render::primitives::Aabb, transform::TransformSystem,
+    utils::HashMap,
+};
+
+/// Adds the `big_space` camera controller
+pub struct CameraControllerPlugin;
+impl Plugin for CameraControllerPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<CameraInput>()
+            .add_system(default_camera_inputs.before(camera_controller))
+            .add_system_to_stage(
+                CoreStage::PostUpdate,
+                camera_controller.after(TransformSystem::TransformPropagate),
+            );
+    }
+}
+
+/// Per-camera settings for the `big_space` floating origin camera controller.
+#[derive(Clone, Debug, Reflect, Component)]
+pub struct CameraController {
+    /// Smoothness of motion, from `0.0` to `1.0`.
+    pub smoothness: f32,
+    /// Maximum possible speed.
+    pub max_speed: f32,
+    /// Whether the camera should slow down when approaching an entity's [`Aabb`].
+    pub slow_near_objects: bool,
+}
+impl Default for CameraController {
+    fn default() -> Self {
+        Self {
+            smoothness: 0.2,
+            max_speed: 10e8,
+            slow_near_objects: true,
+        }
+    }
+}
+
+/// Input state used to command camera motion. Reset every time the values are read to update the
+/// camera. Allows you to map any input to camera motions. Uses aircraft principle axes conventions.
+#[derive(Clone, Debug, Default, Reflect, Resource)]
+pub struct CameraInput {
+    /// Z-negative
+    pub forward: f32,
+    /// Y-positive
+    pub up: f32,
+    /// X-positive
+    pub right: f32,
+    /// Positive = right wing down
+    pub roll: f32,
+    /// Positive = nose up
+    pub pitch: f32,
+    /// Positive = nose right
+    pub yaw: f32,
+}
+
+impl CameraInput {
+    /// Reset the controller back to zero to ready fro the next frame.
+    pub fn reset(&mut self) {
+        *self = CameraInput::default();
+    }
+
+    /// Returns the desired velocity transform.
+    pub fn target_velocity(&self, speed: f32, dt: f32) -> Transform {
+        let mut new_transform = Transform::from_rotation(Quat::from_euler(
+            EulerRot::XYZ,
+            self.pitch * dt,
+            self.yaw * dt,
+            self.roll * dt,
+        ));
+
+        let delta = Vec3::new(self.right, self.up, self.forward) * speed * dt;
+
+        new_transform.translation = delta;
+        new_transform
+    }
+}
+
+/// Provides sensible keyboard and mouse input defaults
+pub fn default_camera_inputs(
+    keyboard: Res<Input<KeyCode>>,
+    mut mouse_move: EventReader<MouseMotion>,
+    mut cam: ResMut<CameraInput>,
+) {
+    keyboard.pressed(KeyCode::W).then(|| cam.forward -= 1.0);
+    keyboard.pressed(KeyCode::S).then(|| cam.forward += 1.0);
+    keyboard.pressed(KeyCode::A).then(|| cam.right -= 1.0);
+    keyboard.pressed(KeyCode::D).then(|| cam.right += 1.0);
+    keyboard.pressed(KeyCode::Space).then(|| cam.up += 1.0);
+    keyboard.pressed(KeyCode::LControl).then(|| cam.up -= 1.0);
+    keyboard.pressed(KeyCode::Q).then(|| cam.roll += 1.0);
+    keyboard.pressed(KeyCode::E).then(|| cam.roll -= 1.0);
+    if let Some(total_mouse_motion) = mouse_move.iter().map(|e| e.delta).reduce(|sum, i| sum + i) {
+        cam.pitch += total_mouse_motion.y * -0.1;
+        cam.yaw += total_mouse_motion.x * -0.1;
+    }
+}
+
+/// Uses [`CameraInput`] state to update the camera position.
+pub fn camera_controller(
+    time: Res<Time>,
+    mut input: ResMut<CameraInput>,
+    mut camera: Query<(
+        Entity,
+        &mut Transform,
+        &GlobalTransform,
+        &mut CameraController,
+    )>,
+    objects: Query<(&GlobalTransform, &Aabb)>,
+    mut velocities: Local<HashMap<Entity, Transform>>,
+) {
+    let (entity, mut cam_transform, cam_global_transform, controller) = camera.single_mut();
+
+    let speed = if controller.slow_near_objects {
+        let mut nearest_object = f32::MAX;
+        for (transform, aabb) in &objects {
+            let distance = (transform.translation() + Vec3::from(aabb.center)
+                - cam_global_transform.translation())
+            .length()
+                - aabb.half_extents.max_element();
+            nearest_object = nearest_object.min(distance);
+        }
+        nearest_object.abs().clamp(1.0, controller.max_speed)
+    } else {
+        controller.max_speed
+    };
+
+    let lerp_val = 1.0 - controller.smoothness.clamp(0.0, 0.99999999); // The lerp factor
+
+    let v_current = velocities.entry(entity).or_default();
+    let v_target = input.target_velocity(speed, time.delta_seconds());
+
+    let v_next = Transform {
+        translation: v_current.translation.lerp(v_target.translation, lerp_val),
+        rotation: v_current.rotation.slerp(v_target.rotation, lerp_val),
+        ..default()
+    };
+    let cam_rot = cam_transform.rotation;
+    cam_transform.translation += cam_rot * v_next.translation;
+    cam_transform.rotation *= v_next.rotation;
+    *v_current = v_next;
+
+    input.reset();
+}
diff --git a/src/debug.rs b/src/debug.rs
index 5db2439..4714266 100644
--- a/src/debug.rs
+++ b/src/debug.rs
@@ -161,7 +161,6 @@ pub fn build_cube(
 
     let polyline = polylines.add(Polyline {
         vertices: vertices.into(),
-        ..Default::default()
     });
 
     let material = polyline_materials.add(PolylineMaterial {
diff --git a/src/lib.rs b/src/lib.rs
index de955d4..0cf29ab 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -2,17 +2,46 @@
 //! observable universe, with no added dependencies, while remaining largely compatible with the
 //! rest of the Bevy ecosystem.
 //!
-//! ## Problem
+//! ### Problem
 //!
 //! Objects far from the origin suffer from reduced precision, causing rendered meshes to jitter and
 //! jiggle, and transformation calculations to encounter catastrophic cancellation.
 //!
-//! ## Solution
+//! As the camera moves farther from the origin, the scale of floats needed to describe the position
+//! of meshes and the camera get larger, which in turn means there is less precision available.
+//! Consequently, when the matrix math is done to compute the position of objects in view space,
+//! mesh vertices will be displaced due to this lost precision.
 //!
-//! While using the [`FloatingOriginPlugin`], entities are placed into a large fixed precision grid,
-//! and their [`Transform`]s are recomputed to be relative to their current grid cell. If an entity
-//! moves into a neighboring cell, its transform will be recomputed. This prevents `Transforms` from
-//! ever becoming larger than a single grid cell.
+//! ### Solution
+//!
+//! While using the [`FloatingOriginPlugin`], entities are placed into a [`GridCell`] in a large
+//! fixed precision grid. Inside a `GridCell`, an entity's `Transform` is relative to the center of
+//! that grid cell. If an entity moves into a neighboring cell, its transform will be recomputed
+//! relative to the center of that new cell. This prevents `Transforms` from ever becoming larger
+//! than a single grid cell, and thus prevents floating point precision artifacts.
+//!
+//! The same thing happens to the entity marked with the [`FloatingOrigin`] component. The only
+//! difference is that the `GridCell` of the floating origin is used when computing the
+//! `GlobalTransform` of all other entities. To an outside observer, as the floating origin camera
+//! moves through space and reaches the limits of its `GridCell`, it would appear to teleport to the
+//! opposite side of the cell, similar to the spaceship in the game *Asteroids*.
+//!
+//! The `GlobalTransform` of all entities is computed relative to the floating origin's grid cell.
+//! Because of this, entities very far from the origin will have very large, imprecise positions.
+//! However, this is always relative to the camera (floating origin), so these artifacts will always
+//! be too far away to be seen, no matter where the camera moves. Because this only affects the
+//! `GlobalTransform` and not the `Transform`, this also means that entities will never permanently
+//! lose precision just because they were far from the origin at some point.
+//!
+//! # Getting Started
+//!
+//! All that's needed to start using this plugin:
+//! 1. Add the [`FloatingOriginPlugin`] to your `App`
+//! 2. Add the [`GridCell`] component to all spatial entities
+//! 3. Add the [`FloatingOrigin`] component to the active camera
+//!
+//! Take a look at [`FloatingOriginSettings`] resource for configuration options, as well as some
+//! useful helper methods.
 //!
 //! # Moving Entities
 //!
@@ -38,28 +67,29 @@
 //!
 //! If you are updating the position of an entity with absolute positions, and the position exceeds
 //! the bounds of the entity's grid cell, the floating origin plugin will recenter that entity into
-//! its new cell. Every time you update that entity, you will be fighting with the floating origin
-//! plugin as it constantly recenters your entity. This can especially cause problems with camera
-//! controllers which may not expect the large discontinuity in position as an entity moves between
-//! cells.
+//! its new cell. Every time you update that entity, you will be fighting with the plugin as it
+//! constantly recenters your entity. This can especially cause problems with camera controllers
+//! which may not expect the large discontinuity in position as an entity moves between cells.
 //!
 //! The other reason to avoid this is you will likely run into precision issues! This plugin exists
 //! because single precision is limited, and the larger the position coordinates get, the less
 //! precision you have.
 //!
-//! However, if you have something that cannot accumulate error, like the orbit of a planet, you can
-//! instead do the orbital calculation (position as a function of time) to compute the absolute
-//! position of the planet, then directly compute the [`GridCell`] and [`Transform`] of that entity
-//! using [`FloatingOriginSettings::translation_to_grid`]. If the star this planet is orbiting
-//! around is also moving through space, note that you can add/subtract grid cells. This means you
-//! can do each calculation in the reference frame of the moving body, and sum up the computed
-//! translations and grid cell offsets to get a more precise result.
+//! However, if you have something that must not accumulate error, like the orbit of a planet, you
+//! can instead do the orbital calculation (position as a function of time) to compute the absolute
+//! position of the planet with high precision, then directly compute the [`GridCell`] and
+//! [`Transform`] of that entity using [`FloatingOriginSettings::translation_to_grid`]. If the star
+//! this planet is orbiting around is also moving through space, note that you can add/subtract grid
+//! cells. This means you can do each calculation in the reference frame of the moving body, and sum
+//! up the computed translations and grid cell offsets to get a more precise result.
 
+#![allow(clippy::type_complexity)]
 #![deny(missing_docs)]
 
 use bevy::{math::DVec3, prelude::*, transform::TransformSystem};
 use std::marker::PhantomData;
 
+pub mod camera;
 pub mod debug;
 pub mod precision;
 
@@ -173,12 +203,16 @@ impl FloatingOriginSettings {
     }
 
     /// Convert a large translation into a small translation relative to a grid cell.
-    pub fn translation_to_grid<P: GridPrecision>(&self, input: Vec3) -> (GridCell<P>, Vec3) {
-        let l = self.grid_edge_length;
-        let Vec3 { x, y, z } = input;
+    pub fn translation_to_grid<P: GridPrecision>(
+        &self,
+        input: impl Into<DVec3>,
+    ) -> (GridCell<P>, Vec3) {
+        let l = self.grid_edge_length as f64;
+        let input = input.into();
+        let DVec3 { x, y, z } = input;
 
-        if input.abs().max_element() < self.maximum_distance_from_origin {
-            return (GridCell::default(), input);
+        if input.abs().max_element() < self.maximum_distance_from_origin as f64 {
+            return (GridCell::default(), input.as_vec3());
         }
 
         let x_r = (x / l).round();
@@ -190,13 +224,21 @@ impl FloatingOriginSettings {
 
         (
             GridCell {
-                x: P::from_f32(x_r),
-                y: P::from_f32(y_r),
-                z: P::from_f32(z_r),
+                x: P::from_f32(x_r as f32),
+                y: P::from_f32(y_r as f32),
+                z: P::from_f32(z_r as f32),
             },
-            Vec3::new(t_x, t_y, t_z),
+            Vec3::new(t_x as f32, t_y as f32, t_z as f32),
         )
     }
+
+    /// Convert a large translation into a small translation relative to a grid cell.
+    pub fn imprecise_translation_to_grid<P: GridPrecision>(
+        &self,
+        input: Vec3,
+    ) -> (GridCell<P>, Vec3) {
+        self.translation_to_grid(input.as_dvec3())
+    }
 }
 
 impl Default for FloatingOriginSettings {
@@ -333,7 +375,7 @@ pub fn recenter_transform_on_grid<P: GridPrecision>(
             > settings.maximum_distance_from_origin
         {
             let (grid_cell_delta, translation) =
-                settings.translation_to_grid(transform.as_ref().translation);
+                settings.imprecise_translation_to_grid(transform.as_ref().translation);
             *grid_pos = *grid_pos + grid_cell_delta;
             transform.translation = translation;
         }
@@ -376,7 +418,6 @@ fn update_global_from_cell_local<P: GridPrecision>(
 ) {
     let grid_cell_delta = entity_cell - origin_cell;
     *global = local
-        .clone()
         .with_translation(settings.grid_position(&grid_cell_delta, local))
         .into();
 }
@@ -450,7 +491,7 @@ pub fn transform_propagate_system<P: GridPrecision>(
             changed |= changed_children;
             for child in children {
                 let _ = propagate_recursive(
-                    &global_transform,
+                    global_transform,
                     &mut transform_query,
                     &children_query,
                     *child,