From 2e69f80b8d8d26442fdc06058ec058675ef0c995 Mon Sep 17 00:00:00 2001
From: Aevyrie <aevyrie@gmail.com>
Date: Sat, 13 Apr 2024 22:33:45 -0700
Subject: [PATCH] Reference Frames (#16)

Adds the concept of reference frames, allowing hierarchies of high
precision objects, e.g. objects in the reference frame of a planet,
which is itself rotating, and orbiting about a star.

---------

Co-authored-by: Oliver Scherer <github@oli-obk.de>
---
 Cargo.toml                          |  13 +
 examples/debug.rs                   |  39 +-
 examples/demo.rs                    |  22 +-
 examples/error.rs                   |  51 +-
 examples/error_child.rs             | 100 ++++
 examples/planets.rs                 | 193 ++++++++
 src/camera.rs                       |  28 +-
 src/debug.rs                        |  51 +-
 src/lib.rs                          | 301 ++++--------
 src/propagation.rs                  | 188 ++++---
 src/reference_frame/local_origin.rs | 735 ++++++++++++++++++++++++++++
 src/reference_frame/mod.rs          | 173 +++++++
 src/world_query.rs                  |  28 +-
 13 files changed, 1576 insertions(+), 346 deletions(-)
 create mode 100644 examples/error_child.rs
 create mode 100644 examples/planets.rs
 create mode 100644 src/reference_frame/local_origin.rs
 create mode 100644 src/reference_frame/mod.rs

diff --git a/Cargo.toml b/Cargo.toml
index 15c508d..6b795ed 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -23,6 +23,7 @@ bevy = { version = "0.13", default-features = false, features = [
     "tonemapping_luts",
 ] }
 bevy_framepace = { version = "0.15", default-features = false }
+rand = "0.8.5"
 
 [features]
 default = ["debug", "camera", "bevy_render"]
@@ -47,3 +48,15 @@ name = "error"
 path = "examples/error.rs"
 required-features = ["default"]
 doc-scrape-examples = true
+
+[[example]]
+name = "error_child"
+path = "examples/error_child.rs"
+required-features = ["default"]
+doc-scrape-examples = true
+
+[[example]]
+name = "planets"
+path = "examples/planets.rs"
+required-features = ["default"]
+doc-scrape-examples = true
diff --git a/examples/debug.rs b/examples/debug.rs
index 1127bc4..162b7d9 100644
--- a/examples/debug.rs
+++ b/examples/debug.rs
@@ -1,7 +1,7 @@
 #![allow(clippy::type_complexity)]
 
 use bevy::prelude::*;
-use big_space::{FloatingOrigin, GridCell};
+use big_space::{reference_frame::ReferenceFrame, FloatingOrigin, GridCell};
 
 fn main() {
     App::new()
@@ -25,22 +25,24 @@ fn movement(
         Query<&mut Transform, With<Mover<1>>>,
         Query<&mut Transform, With<Mover<2>>>,
         Query<&mut Transform, With<Mover<3>>>,
+        Query<&mut Transform, With<Mover<4>>>,
     )>,
 ) {
-    let delta_translation = |offset: f32| -> Vec3 {
-        let t_1 = time.elapsed_seconds() + offset;
-        let dt = time.delta_seconds();
+    let delta_translation = |offset: f32, scale: f32| -> Vec3 {
+        let t_1 = time.elapsed_seconds() * 0.1 + offset;
+        let dt = time.delta_seconds() * 0.1;
         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 p0 = pos(t_0) * scale;
+        let p1 = pos(t_1) * scale;
         p1 - p0
     };
 
-    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);
+    q.p0().single_mut().translation += delta_translation(20.0, 1.0);
+    q.p1().single_mut().translation += delta_translation(251.0, 1.0);
+    q.p2().single_mut().translation += delta_translation(812.0, 1.0);
+    q.p3().single_mut().translation += delta_translation(863.0, 0.4);
 }
 
 #[derive(Component)]
@@ -48,7 +50,7 @@ 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());
+        transform.rotate_z(3.0 * time.delta_seconds() * 0.2);
     }
 }
 
@@ -92,16 +94,21 @@ fn setup(
                 ..default()
             },
             GridCell::<i64>::default(),
+            ReferenceFrame::<i64>::new(0.2, 0.01),
             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()
-            });
+            parent.spawn((
+                PbrBundle {
+                    mesh: mesh_handle,
+                    material: matl_handle,
+                    transform: Transform::from_xyz(0.0, 0.5, 0.0),
+                    ..default()
+                },
+                GridCell::<i64>::default(),
+                Mover::<4>,
+            ));
         });
 
     // light
diff --git a/examples/demo.rs b/examples/demo.rs
index 7396c19..fb930b3 100644
--- a/examples/demo.rs
+++ b/examples/demo.rs
@@ -1,10 +1,11 @@
 use bevy::{
     prelude::*,
     transform::TransformSystem,
-    window::{CursorGrabMode, PrimaryWindow, WindowMode},
+    window::{CursorGrabMode, PrimaryWindow},
 };
 use big_space::{
     camera::{CameraController, CameraInput},
+    propagation::IgnoreFloatingOrigin,
     world_query::GridTransformReadOnly,
     FloatingOrigin, GridCell,
 };
@@ -63,7 +64,8 @@ fn setup(
     let mut translation = Vec3::ZERO;
     for i in -16..=27 {
         let j = 10_f32.powf(i as f32);
-        translation.x += j;
+        let k = 10_f32.powf((i - 1) as f32);
+        translation.x += j / 2.0 + k;
         commands.spawn((
             PbrBundle {
                 mesh: mesh_handle.clone(),
@@ -109,6 +111,7 @@ fn ui_setup(mut commands: Commands) {
             ..default()
         }),
         BigSpaceDebugText,
+        IgnoreFloatingOrigin,
     ));
 
     commands.spawn((
@@ -129,6 +132,7 @@ fn ui_setup(mut commands: Commands) {
         })
         .with_text_justify(JustifyText::Center),
         FunFactText,
+        IgnoreFloatingOrigin,
     ));
 }
 
@@ -150,8 +154,12 @@ fn highlight_nearest_sphere(
         .circle_segments(128);
 }
 
+#[allow(clippy::type_complexity)]
 fn ui_text_system(
-    mut debug_text: Query<&mut Text, (With<BigSpaceDebugText>, Without<FunFactText>)>,
+    mut debug_text: Query<
+        (&mut Text, &GlobalTransform),
+        (With<BigSpaceDebugText>, Without<FunFactText>),
+    >,
     mut fun_text: Query<&mut Text, (With<FunFactText>, Without<BigSpaceDebugText>)>,
     time: Res<Time>,
     origin: Query<GridTransformReadOnly<i128>, With<FloatingOrigin>>,
@@ -194,7 +202,9 @@ fn ui_text_system(
         ("".into(), "".into())
     };
 
-    debug_text.single_mut().sections[0].value =
+    let mut debug_text = debug_text.single_mut();
+
+    debug_text.0.sections[0].value =
         format!("{grid_text}\n{translation_text}\n{camera_text}\n{nearest_text}");
 
     fun_text.single_mut().sections[0].value = fact_text
@@ -255,14 +265,14 @@ fn cursor_grab_system(
     if btn.just_pressed(MouseButton::Left) {
         window.cursor.grab_mode = CursorGrabMode::Locked;
         window.cursor.visible = false;
-        window.mode = WindowMode::BorderlessFullscreen;
+        // window.mode = WindowMode::BorderlessFullscreen;
         cam.defaults_disabled = false;
     }
 
     if key.just_pressed(KeyCode::Escape) {
         window.cursor.grab_mode = CursorGrabMode::None;
         window.cursor.visible = true;
-        window.mode = WindowMode::Windowed;
+        // window.mode = WindowMode::Windowed;
         cam.defaults_disabled = true;
     }
 }
diff --git a/examples/error.rs b/examples/error.rs
index 66ffcd9..03737e8 100644
--- a/examples/error.rs
+++ b/examples/error.rs
@@ -6,7 +6,9 @@
 //! origin when not using this plugin.
 
 use bevy::prelude::*;
-use big_space::{FloatingOrigin, FloatingOriginSettings, GridCell};
+use big_space::{
+    reference_frame::RootReferenceFrame, FloatingOrigin, GridCell, IgnoreFloatingOrigin,
+};
 
 fn main() {
     App::new()
@@ -33,7 +35,7 @@ const DISTANCE: i128 = 21_000_000;
 /// this issue.
 fn toggle_plugin(
     input: Res<ButtonInput<KeyCode>>,
-    settings: Res<big_space::FloatingOriginSettings>,
+    settings: Res<RootReferenceFrame<i128>>,
     mut text: Query<&mut Text>,
     mut disabled: Local<bool>,
     mut floating_origin: Query<&mut GridCell<i128>, With<FloatingOrigin>>,
@@ -43,7 +45,7 @@ fn toggle_plugin(
     }
 
     let mut origin_cell = floating_origin.single_mut();
-    let index_max = DISTANCE / settings.grid_edge_length() as i128;
+    let index_max = DISTANCE / settings.cell_edge_length() as i128;
     let increment = index_max / 100;
 
     let msg = if *disabled {
@@ -60,7 +62,7 @@ fn toggle_plugin(
         "Floating Origin Enabled"
     };
 
-    let dist = index_max.saturating_sub(origin_cell.x) * settings.grid_edge_length() as i128;
+    let dist = index_max.saturating_sub(origin_cell.x) * settings.cell_edge_length() as i128;
 
     let thousands = |num: i128| {
         num.to_string()
@@ -87,32 +89,35 @@ fn rotator_system(time: Res<Time>, mut query: Query<&mut Transform, With<Rotator
 }
 
 fn setup_ui(mut commands: Commands) {
-    commands.spawn(TextBundle {
-        style: Style {
-            align_self: AlignSelf::FlexStart,
-            flex_direction: FlexDirection::Column,
+    commands.spawn((
+        TextBundle {
+            style: Style {
+                align_self: AlignSelf::FlexStart,
+                flex_direction: FlexDirection::Column,
+                ..Default::default()
+            },
+            text: Text {
+                sections: vec![TextSection {
+                    value: "hello: ".to_string(),
+                    style: TextStyle {
+                        font_size: 30.0,
+                        color: Color::WHITE,
+                        ..default()
+                    },
+                }],
+                ..Default::default()
+            },
             ..Default::default()
         },
-        text: Text {
-            sections: vec![TextSection {
-                value: "hello: ".to_string(),
-                style: TextStyle {
-                    font_size: 30.0,
-                    color: Color::WHITE,
-                    ..default()
-                },
-            }],
-            ..Default::default()
-        },
-        ..Default::default()
-    });
+        IgnoreFloatingOrigin,
+    ));
 }
 
 fn setup_scene(
     mut commands: Commands,
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
-    settings: Res<FloatingOriginSettings>,
+    reference_frame: Res<RootReferenceFrame<i128>>,
 ) {
     let mesh_handle = meshes.add(Sphere::new(1.5).mesh());
     let matl_handle = materials.add(StandardMaterial {
@@ -120,7 +125,7 @@ fn setup_scene(
         ..default()
     });
 
-    let d = DISTANCE / settings.grid_edge_length() as i128;
+    let d = DISTANCE / reference_frame.cell_edge_length() as i128;
     let distant_grid_cell = GridCell::<i128>::new(d, d, d);
 
     // Normally, we would put the floating origin on the camera. However in this example, we want to
diff --git a/examples/error_child.rs b/examples/error_child.rs
new file mode 100644
index 0000000..a027e53
--- /dev/null
+++ b/examples/error_child.rs
@@ -0,0 +1,100 @@
+//! This example demonstrates error accumulating from parent to children in nested reference frames.
+use bevy::{math::DVec3, prelude::*};
+use big_space::{
+    reference_frame::{ReferenceFrame, RootReferenceFrame},
+    FloatingOrigin, GridCell,
+};
+
+fn main() {
+    App::new()
+        .add_plugins((
+            DefaultPlugins.build().disable::<TransformPlugin>(),
+            big_space::FloatingOriginPlugin::<i128>::default(),
+            big_space::camera::CameraControllerPlugin::<i128>::default(),
+            big_space::debug::FloatingOriginDebugPlugin::<i128>::default(),
+        ))
+        .add_systems(Startup, setup_scene)
+        .run()
+}
+
+// The distance being used to test precision. A sphere is placed at this position, and a child is
+// added in the opposite direction. This should sum to zero if we had infinite precision.
+const DISTANT: DVec3 = DVec3::new(1e17, 0.0, 0.0);
+const ORIGIN: DVec3 = DVec3::new(200.0, 0.0, 0.0);
+
+fn setup_scene(
+    mut commands: Commands,
+    mut meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+    root: Res<RootReferenceFrame<i128>>,
+) {
+    let mesh_handle = meshes.add(Sphere::new(0.5).mesh());
+    let matl_handle = materials.add(StandardMaterial {
+        base_color: Color::rgb(0.8, 0.7, 0.6),
+        ..default()
+    });
+
+    // A red sphere located at the origin
+    commands.spawn((
+        PbrBundle {
+            mesh: mesh_handle.clone(),
+            material: materials.add(Color::RED),
+            transform: Transform::from_translation(ORIGIN.as_vec3()),
+            ..default()
+        },
+        GridCell::<i128>::default(),
+    ));
+
+    let parent = root.translation_to_grid(DISTANT);
+    let child = root.translation_to_grid(-DISTANT + ORIGIN);
+    commands
+        .spawn((
+            // A sphere very far from the origin
+            PbrBundle {
+                mesh: mesh_handle.clone(),
+                material: matl_handle.clone(),
+                transform: Transform::from_translation(parent.1),
+                ..default()
+            },
+            parent.0,
+            ReferenceFrame::<i128>::default(),
+        ))
+        .with_children(|parent| {
+            // A green sphere that is a child of the sphere very far from the origin. This child is
+            // very far from its parent, and should be located exactly at the origin (if there was
+            // no floating point error). The distance from the green sphere to the red sphere is the
+            // error caused by float imprecision. Note that the sphere does not have any rendering
+            // artifacts, its position just has a fixed error.
+            parent.spawn((
+                PbrBundle {
+                    mesh: mesh_handle,
+                    material: materials.add(Color::GREEN),
+                    transform: Transform::from_translation(child.1),
+                    ..default()
+                },
+                child.0,
+            ));
+        });
+    // light
+    commands.spawn((
+        DirectionalLightBundle {
+            transform: Transform::from_xyz(4.0, -10.0, -4.0),
+            ..default()
+        },
+        GridCell::<i128>::default(),
+    ));
+    // camera
+    commands.spawn((
+        Camera3dBundle {
+            transform: Transform::from_translation(ORIGIN.as_vec3() + Vec3::new(0.0, 0.0, 8.0))
+                .looking_at(Vec3::ZERO, Vec3::Y),
+            ..default()
+        },
+        GridCell::<i128>::default(),
+        FloatingOrigin,
+        big_space::camera::CameraController::default() // Built-in camera controller
+            .with_speed_bounds([10e-18, 10e35])
+            .with_smoothness(0.9, 0.8)
+            .with_speed(1.0),
+    ));
+}
diff --git a/examples/planets.rs b/examples/planets.rs
new file mode 100644
index 0000000..1c33748
--- /dev/null
+++ b/examples/planets.rs
@@ -0,0 +1,193 @@
+/// Example with spheres at the scale and distance of the earth and moon around the sun, at 1:1
+/// scale. The earth is rotating on its axis, and the camera is in this reference frame, to
+/// demonstrate how high precision nested reference frames work at large scales.
+use bevy::{core_pipeline::bloom::BloomSettings, prelude::*, render::camera::Exposure};
+use big_space::{
+    camera::CameraController,
+    reference_frame::{ReferenceFrame, RootReferenceFrame},
+    FloatingOrigin, GridCell,
+};
+use rand::Rng;
+
+fn main() {
+    App::new()
+        .add_plugins((
+            DefaultPlugins.build().disable::<TransformPlugin>(),
+            big_space::FloatingOriginPlugin::<i64>::default(),
+            big_space::debug::FloatingOriginDebugPlugin::<i64>::default(),
+            big_space::camera::CameraControllerPlugin::<i64>::default(),
+            bevy_framepace::FramepacePlugin,
+        ))
+        .insert_resource(ClearColor(Color::BLACK))
+        .insert_resource(AmbientLight {
+            color: Color::WHITE,
+            brightness: 100.0,
+        })
+        .add_systems(Startup, setup)
+        .add_systems(Update, rotate)
+        .run()
+}
+
+#[derive(Component)]
+struct Rotates(f32);
+
+fn rotate(mut rotate_query: Query<(&mut Transform, &Rotates)>) {
+    for (mut transform, rotates) in rotate_query.iter_mut() {
+        transform.rotate_local_y(rotates.0);
+    }
+}
+
+fn setup(
+    mut commands: Commands,
+    mut meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+    space: Res<RootReferenceFrame<i64>>,
+) {
+    let mut sphere = |radius| meshes.add(Sphere::new(radius).mesh().ico(32).unwrap());
+
+    let star = sphere(1e10);
+    let star_mat = materials.add(StandardMaterial {
+        base_color: Color::WHITE,
+        emissive: Color::rgb_linear(100000., 100000., 100000.),
+        ..default()
+    });
+    let mut rng = rand::thread_rng();
+    for _ in 0..500 {
+        commands.spawn((
+            GridCell::<i64>::new(
+                ((rng.gen::<f32>() - 0.5) * 1e11) as i64,
+                ((rng.gen::<f32>() - 0.5) * 1e11) as i64,
+                ((rng.gen::<f32>() - 0.5) * 1e11) as i64,
+            ),
+            PbrBundle {
+                mesh: star.clone(),
+                material: star_mat.clone(),
+                ..default()
+            },
+        ));
+    }
+
+    let sun_mat = materials.add(StandardMaterial {
+        base_color: Color::WHITE,
+        emissive: Color::rgb_linear(10000000., 10000000., 10000000.),
+        ..default()
+    });
+    let sun_radius_m = 695_508_000.0;
+
+    commands
+        .spawn((
+            GridCell::<i64>::ZERO,
+            PointLightBundle {
+                point_light: PointLight {
+                    intensity: 35.73e27,
+                    range: 1e20,
+                    radius: sun_radius_m,
+                    shadows_enabled: true,
+                    ..default()
+                },
+                ..default()
+            },
+        ))
+        .with_children(|builder| {
+            builder.spawn((PbrBundle {
+                mesh: sphere(sun_radius_m),
+                material: sun_mat,
+                ..default()
+            },));
+        });
+
+    let earth_orbit_radius_m = 149.60e9;
+    let earth_radius_m = 6.371e6;
+
+    let earth_mat = materials.add(StandardMaterial {
+        base_color: Color::BLUE,
+        perceptual_roughness: 0.8,
+        reflectance: 1.0,
+        ..default()
+    });
+
+    let (earth_cell, earth_pos): (GridCell<i64>, _) =
+        space.imprecise_translation_to_grid(Vec3::Z * earth_orbit_radius_m);
+
+    commands
+        .spawn((
+            PbrBundle {
+                mesh: sphere(earth_radius_m),
+                material: earth_mat,
+                transform: Transform::from_translation(earth_pos),
+                ..default()
+            },
+            earth_cell,
+            ReferenceFrame::<i64>::default(),
+            Rotates(0.001),
+        ))
+        .with_children(|commands| {
+            let moon_orbit_radius_m = 385e6;
+            let moon_radius_m = 1.7375e6;
+
+            let moon_mat = materials.add(StandardMaterial {
+                base_color: Color::GRAY,
+                perceptual_roughness: 1.0,
+                reflectance: 0.0,
+                ..default()
+            });
+
+            let (moon_cell, moon_pos): (GridCell<i64>, _) =
+                space.imprecise_translation_to_grid(Vec3::X * moon_orbit_radius_m);
+
+            commands.spawn((
+                PbrBundle {
+                    mesh: sphere(moon_radius_m),
+                    material: moon_mat,
+                    transform: Transform::from_translation(moon_pos),
+                    ..default()
+                },
+                moon_cell,
+            ));
+
+            let (cam_cell, cam_pos): (GridCell<i64>, _) =
+                space.imprecise_translation_to_grid(Vec3::X * (earth_radius_m + 1.0));
+
+            // camera
+            commands.spawn((
+                Camera3dBundle {
+                    transform: Transform::from_translation(cam_pos)
+                        .looking_to(Vec3::NEG_Z, Vec3::X),
+                    camera: Camera {
+                        hdr: true,
+                        ..default()
+                    },
+                    exposure: Exposure::SUNLIGHT,
+                    ..default()
+                },
+                BloomSettings::default(),
+                cam_cell,
+                FloatingOrigin, // Important: marks the floating origin entity for rendering.
+                CameraController::default() // Built-in camera controller
+                    .with_speed_bounds([10e-18, 10e35])
+                    .with_smoothness(0.9, 0.8)
+                    .with_speed(1.0),
+            ));
+
+            let (ball_cell, ball_pos): (GridCell<i64>, _) = space.imprecise_translation_to_grid(
+                Vec3::X * (earth_radius_m + 1.0) + Vec3::NEG_Z * 5.0,
+            );
+
+            let ball_mat = materials.add(StandardMaterial {
+                base_color: Color::FUCHSIA,
+                perceptual_roughness: 1.0,
+                reflectance: 0.0,
+                ..default()
+            });
+
+            commands.spawn((
+                PbrBundle {
+                    mesh: sphere(1.0),
+                    material: ball_mat,
+                    transform: Transform::from_translation(ball_pos),
+                    ..default()
+                },
+                ball_cell,
+            ));
+        });
+}
diff --git a/src/camera.rs b/src/camera.rs
index 349f43f..1957a3e 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -12,8 +12,8 @@ use bevy::{
 
 use crate::{
     precision::GridPrecision,
+    reference_frame::{local_origin::ReferenceFrames, RootReferenceFrame},
     world_query::{GridTransform, GridTransformReadOnly},
-    FloatingOriginSettings,
 };
 
 /// Adds the `big_space` camera controller
@@ -175,12 +175,14 @@ pub fn default_camera_inputs(
 }
 
 /// Find the object nearest the camera
-pub fn nearest_objects<T: GridPrecision>(
-    settings: Res<FloatingOriginSettings>,
-    objects: Query<(Entity, GridTransformReadOnly<T>, &Aabb)>,
-    mut camera: Query<(&mut CameraController, GridTransformReadOnly<T>)>,
+pub fn nearest_objects<P: GridPrecision>(
+    settings: Res<RootReferenceFrame<P>>,
+    objects: Query<(Entity, GridTransformReadOnly<P>, &Aabb)>,
+    mut camera: Query<(&mut CameraController, GridTransformReadOnly<P>)>,
 ) {
-    let (mut camera, cam_pos) = camera.single_mut();
+    let Ok((mut camera, cam_pos)) = camera.get_single_mut() else {
+        return;
+    };
     let nearest_object = objects
         .iter()
         .map(|(entity, obj_pos, aabb)| {
@@ -201,11 +203,17 @@ pub fn nearest_objects<T: GridPrecision>(
 /// Uses [`CameraInput`] state to update the camera position.
 pub fn camera_controller<P: GridPrecision>(
     time: Res<Time>,
-    settings: Res<FloatingOriginSettings>,
+    frames: ReferenceFrames<P>,
     mut input: ResMut<CameraInput>,
-    mut camera: Query<(GridTransform<P>, &mut CameraController)>,
+    mut camera: Query<(Entity, GridTransform<P>, &mut CameraController)>,
 ) {
-    for (mut position, mut controller) in camera.iter_mut() {
+    for (camera, mut position, mut controller) in camera.iter_mut() {
+        let Some(frame) = frames
+            .get_handle(camera)
+            .map(|handle| frames.resolve_handle(handle))
+        else {
+            continue;
+        };
         let speed = match (controller.nearest_object, controller.slow_near_objects) {
             (Some(nearest), true) => nearest.1.abs(),
             _ => controller.speed,
@@ -224,7 +232,7 @@ pub fn camera_controller<P: GridPrecision>(
         let vel_t_next = cam_rot * vel_t_target; // Orients the translation to match the camera
         let vel_t_next = vel_t_current.lerp(vel_t_next, lerp_translation);
         // Convert the high precision translation to a grid cell and low precision translation
-        let (cell_offset, new_translation) = settings.translation_to_grid(vel_t_next);
+        let (cell_offset, new_translation) = frame.translation_to_grid(vel_t_next);
         *position.cell += cell_offset;
         position.transform.translation += new_translation;
 
diff --git a/src/debug.rs b/src/debug.rs
index 7ed2288..97b0156 100644
--- a/src/debug.rs
+++ b/src/debug.rs
@@ -4,7 +4,11 @@ use std::marker::PhantomData;
 
 use bevy::prelude::*;
 
-use crate::{precision::GridPrecision, FloatingOrigin, FloatingOriginSettings, GridCell};
+use crate::{
+    precision::GridPrecision,
+    reference_frame::{local_origin::ReferenceFrames, ReferenceFrame},
+    FloatingOrigin, GridCell,
+};
 
 /// This plugin will render the bounds of occupied grid cells.
 #[derive(Default)]
@@ -13,9 +17,9 @@ impl<P: GridPrecision> Plugin for FloatingOriginDebugPlugin<P> {
     fn build(&self, app: &mut App) {
         app.add_systems(
             PostUpdate,
-            update_debug_bounds::<P>
-                .after(crate::recenter_transform_on_grid::<P>)
-                .before(crate::update_global_from_grid::<P>),
+            (update_debug_bounds::<P>, update_reference_frame_axes::<P>)
+                .chain()
+                .after(bevy::transform::TransformSystem::TransformPropagate),
         );
     }
 }
@@ -23,20 +27,31 @@ impl<P: GridPrecision> Plugin for FloatingOriginDebugPlugin<P> {
 /// Update the rendered debug bounds to only highlight occupied [`GridCell`]s.
 pub fn update_debug_bounds<P: GridPrecision>(
     mut gizmos: Gizmos,
-    settings: Res<FloatingOriginSettings>,
-    occupied_cells: Query<&GridCell<P>, Without<FloatingOrigin>>,
-    origin_cells: Query<&GridCell<P>, With<FloatingOrigin>>,
+    reference_frames: ReferenceFrames<P>,
+    occupied_cells: Query<(Entity, &GridCell<P>), Without<FloatingOrigin>>,
 ) {
-    let Ok(origin_cell) = origin_cells.get_single() else {
-        return;
-    };
-    for cell in occupied_cells.iter() {
-        let cell = cell - origin_cell;
-        let scale = Vec3::splat(settings.grid_edge_length * 0.999);
-        let translation = settings.grid_position(&cell, &Transform::IDENTITY);
-        gizmos.cuboid(
-            Transform::from_translation(translation).with_scale(scale),
-            Color::GREEN,
-        )
+    for (cell_entity, cell) in occupied_cells.iter() {
+        let Some(frame) = reference_frames.get(cell_entity) else {
+            continue;
+        };
+        let transform = frame.global_transform(
+            cell,
+            &Transform::from_scale(Vec3::splat(frame.cell_edge_length() * 0.999)),
+        );
+        gizmos.cuboid(transform, Color::GREEN)
+    }
+}
+
+/// Draw axes for reference frames.
+pub fn update_reference_frame_axes<P: GridPrecision>(
+    mut gizmos: Gizmos,
+    frames: Query<(&GlobalTransform, &ReferenceFrame<P>)>,
+) {
+    for (transform, frame) in frames.iter() {
+        let start = transform.translation();
+        let len = frame.cell_edge_length() * 1.0;
+        gizmos.ray(start, transform.right() * len, Color::RED);
+        gizmos.ray(start, transform.up() * len, Color::GREEN);
+        gizmos.ray(start, transform.back() * len, Color::BLUE);
     }
 }
diff --git a/src/lib.rs b/src/lib.rs
index b9667e2..8f25a1d 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,5 +1,5 @@
-//! This [`bevy`] plugin makes it easy to build high-precision worlds that exceed the size of the
-//! observable universe, with no added dependencies, while remaining largely compatible with the
+//! This [`bevy`] plugin makes it possible to build high-precision worlds that exceed the size of
+//! the observable universe, with no added dependencies, while remaining largely compatible with the
 //! rest of the Bevy ecosystem.
 //!
 //! ### Problem
@@ -14,15 +14,25 @@
 //!
 //! ### 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.
+//! While using the [`FloatingOriginPlugin`], the position of entities is now defined with the
+//! [`ReferenceFrame`], [`GridCell`], and [`Transform`] components. The `ReferenceFrame` is a large
+//! integer grid of cells; entities are located within this grid using the `GridCell` component.
+//! Finally, the `Transform` is used to position the entity relative to the center of its
+//! `GridCell`. If an entity moves into a neighboring cell, its transform will be automatically
+//! 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
+//! `ReferenceFrame`s can also be nested. This allows you to define moving reference frames, which
+//! can make certain use cases much simpler. For example, if you have a planet rotating, and
+//! orbiting around its star, it would be very annoying if you had to compute this orbit and
+//! rotation for all object on the surface in high precision. Instead, you can place the planet and
+//! all objects on its surface in the same reference frame. The motion of the planet will be
+//! inherited by all children in that reference frame, in high precision. Entities at the root of
+//! the hierarchy will be implicitly placed in the [`RootReferenceFrame`].
+//!
+//! The above steps are also applied 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*.
 //!
@@ -31,17 +41,20 @@
 //! 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.
+//! lose precision just because they were far from the origin at some point. The lossy calculation
+//! only occurs when computing the `GlobalTransform` of entities, the high precision `GridCell` and
+//! `Transform` are unaffected.
 //!
 //! # Getting Started
 //!
-//! All that's needed to start using this plugin:
+//! To start using this plugin:
 //! 1. Disable Bevy's transform plugin: `DefaultPlugins.build().disable::<TransformPlugin>()`
 //! 2. Add the [`FloatingOriginPlugin`] to your `App`
 //! 3. Add the [`GridCell`] component to all spatial entities
 //! 4. Add the [`FloatingOrigin`] component to the active camera
+//! 5. Add the [`IgnoreFloatingOrigin`] component
 //!
-//! Take a look at [`FloatingOriginSettings`] resource for some useful helper methods.
+//! Take a look at [`ReferenceFrame`] component for some useful helper methods.
 //!
 //! # Moving Entities
 //!
@@ -78,7 +91,7 @@
 //! 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
+//! [`Transform`] of that entity using [`ReferenceFrame::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.
@@ -86,17 +99,20 @@
 #![allow(clippy::type_complexity)]
 #![deny(missing_docs)]
 
-use bevy::{math::DVec3, prelude::*, transform::TransformSystem};
-use propagation::propagate_transforms;
+use bevy::{prelude::*, transform::TransformSystem};
+use propagation::{propagate_transforms, sync_simple_transforms};
+use reference_frame::local_origin::ReferenceFrames;
 use std::marker::PhantomData;
-use world_query::{GridTransformReadOnly, GridTransformReadOnlyItem};
+use world_query::GridTransformReadOnly;
 
 pub mod grid_cell;
 pub mod precision;
 pub mod propagation;
+pub mod reference_frame;
 pub mod world_query;
 
 pub use grid_cell::GridCell;
+pub use propagation::IgnoreFloatingOrigin;
 
 #[cfg(feature = "debug")]
 pub mod debug;
@@ -106,6 +122,10 @@ pub mod camera;
 
 use precision::*;
 
+use crate::reference_frame::{
+    local_origin::LocalFloatingOrigin, ReferenceFrame, RootReferenceFrame,
+};
+
 /// Add this plugin to your [`App`] for floating origin functionality.
 pub struct FloatingOriginPlugin<P: GridPrecision> {
     /// The edge length of a single cell.
@@ -136,130 +156,44 @@ impl<P: GridPrecision> FloatingOriginPlugin<P> {
 impl<P: GridPrecision + Reflect + FromReflect + TypePath> Plugin for FloatingOriginPlugin<P> {
     fn build(&self, app: &mut App) {
         #[derive(Debug, Hash, PartialEq, Eq, Clone, SystemSet)]
-        struct RootGlobalTransformUpdates;
+        enum FloatingOriginSet {
+            RecenterLargeTransforms,
+            LocalFloatingOrigins,
+            RootGlobalTransforms,
+            PropagateTransforms,
+        }
 
-        app.insert_resource(FloatingOriginSettings::new(
+        let system_set_config = || {
+            (
+                recenter_transform_on_grid::<P>.in_set(FloatingOriginSet::RecenterLargeTransforms),
+                LocalFloatingOrigin::<P>::update
+                    .in_set(FloatingOriginSet::LocalFloatingOrigins)
+                    .after(FloatingOriginSet::RecenterLargeTransforms),
+                (
+                    sync_simple_transforms::<P>,
+                    update_grid_cell_global_transforms::<P>,
+                )
+                    .in_set(FloatingOriginSet::RootGlobalTransforms)
+                    .after(FloatingOriginSet::LocalFloatingOrigins),
+                propagate_transforms::<P>
+                    .in_set(FloatingOriginSet::PropagateTransforms)
+                    .after(FloatingOriginSet::RootGlobalTransforms),
+            )
+                .in_set(TransformSystem::TransformPropagate)
+        };
+
+        app.insert_resource(RootReferenceFrame::<P>(ReferenceFrame::new(
             self.grid_edge_length,
             self.switching_threshold,
-        ))
+        )))
         .register_type::<Transform>()
         .register_type::<GlobalTransform>()
         .register_type::<GridCell<P>>()
+        .register_type::<ReferenceFrame<P>>()
+        .register_type::<RootReferenceFrame<P>>()
         .add_plugins(ValidParentCheckPlugin::<GlobalTransform>::default())
-        .add_systems(
-            PostStartup,
-            (
-                recenter_transform_on_grid::<P>.before(RootGlobalTransformUpdates),
-                (sync_simple_transforms::<P>, update_global_from_grid::<P>)
-                    .in_set(RootGlobalTransformUpdates),
-                propagate_transforms::<P>.after(RootGlobalTransformUpdates),
-            )
-                .in_set(TransformSystem::TransformPropagate),
-        )
-        .add_systems(
-            PostUpdate,
-            (
-                recenter_transform_on_grid::<P>.before(RootGlobalTransformUpdates),
-                (sync_simple_transforms::<P>, update_global_from_grid::<P>)
-                    .in_set(RootGlobalTransformUpdates),
-                propagate_transforms::<P>.after(RootGlobalTransformUpdates),
-            )
-                .in_set(TransformSystem::TransformPropagate),
-        );
-    }
-}
-
-/// Configuration settings for the floating origin plugin.
-#[derive(Reflect, Clone, Resource)]
-pub struct FloatingOriginSettings {
-    grid_edge_length: f32,
-    maximum_distance_from_origin: f32,
-}
-
-impl FloatingOriginSettings {
-    /// Construct a new [`FloatingOriginSettings`] struct. This cannot be updated after the plugin
-    /// is built.
-    pub fn new(grid_edge_length: f32, switching_threshold: f32) -> Self {
-        Self {
-            grid_edge_length,
-            maximum_distance_from_origin: grid_edge_length / 2.0 + switching_threshold,
-        }
-    }
-
-    /// Get the plugin's `grid_edge_length`.
-    pub fn grid_edge_length(&self) -> f32 {
-        self.grid_edge_length
-    }
-
-    /// Get the plugin's `maximum_distance_from_origin`.
-    pub fn maximum_distance_from_origin(&self) -> f32 {
-        self.maximum_distance_from_origin
-    }
-
-    /// Compute the double precision position of an entity's [`Transform`] with respect to the given
-    /// [`GridCell`].
-    pub fn grid_position_double<P: GridPrecision>(
-        &self,
-        pos: &GridCell<P>,
-        transform: &Transform,
-    ) -> DVec3 {
-        DVec3 {
-            x: pos.x.as_f64() * self.grid_edge_length as f64 + transform.translation.x as f64,
-            y: pos.y.as_f64() * self.grid_edge_length as f64 + transform.translation.y as f64,
-            z: pos.z.as_f64() * self.grid_edge_length as f64 + transform.translation.z as f64,
-        }
-    }
-
-    /// Compute the single precision position of an entity's [`Transform`] with respect to the given
-    /// [`GridCell`].
-    pub fn grid_position<P: GridPrecision>(
-        &self,
-        pos: &GridCell<P>,
-        transform: &Transform,
-    ) -> Vec3 {
-        Vec3 {
-            x: pos.x.as_f64() as f32 * self.grid_edge_length + transform.translation.x,
-            y: pos.y.as_f64() as f32 * self.grid_edge_length + transform.translation.y,
-            z: pos.z.as_f64() as f32 * self.grid_edge_length + transform.translation.z,
-        }
-    }
-
-    /// Convert a large translation into a small translation relative to a grid cell.
-    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 as f64 {
-            return (GridCell::default(), input.as_vec3());
-        }
-
-        let x_r = (x / l).round();
-        let y_r = (y / l).round();
-        let z_r = (z / l).round();
-        let t_x = x - x_r * l;
-        let t_y = y - y_r * l;
-        let t_z = z - z_r * l;
-
-        (
-            GridCell {
-                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 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())
+        .add_systems(PostStartup, system_set_config())
+        .add_systems(PostUpdate, system_set_config());
     }
 }
 
@@ -293,86 +227,57 @@ pub struct FloatingOrigin;
 /// If an entity's transform becomes larger than the specified limit, it is relocated to the nearest
 /// grid cell to reduce the size of the transform.
 pub fn recenter_transform_on_grid<P: GridPrecision>(
-    settings: Res<FloatingOriginSettings>,
-    mut query: Query<(&mut GridCell<P>, &mut Transform), (Changed<Transform>, Without<Parent>)>,
+    reference_frames: ReferenceFrames<P>,
+    mut changed_transform: Query<(Entity, &mut GridCell<P>, &mut Transform), Changed<Transform>>,
 ) {
-    query
+    changed_transform
         .par_iter_mut()
-        .for_each(|(mut grid_pos, mut transform)| {
+        .for_each(|(entity, mut grid_pos, mut transform)| {
+            let Some(frame) = reference_frames
+                .get_handle(entity)
+                .map(|handle| reference_frames.resolve_handle(handle))
+            else {
+                return;
+            };
             if transform.as_ref().translation.abs().max_element()
-                > settings.maximum_distance_from_origin
+                > frame.maximum_distance_from_origin()
             {
                 let (grid_cell_delta, translation) =
-                    settings.imprecise_translation_to_grid(transform.as_ref().translation);
+                    frame.imprecise_translation_to_grid(transform.as_ref().translation);
                 *grid_pos += grid_cell_delta;
                 transform.translation = translation;
             }
         });
 }
 
-/// Compute the `GlobalTransform` relative to the floating origin's cell.
-pub fn update_global_from_grid<P: GridPrecision>(
-    settings: Res<FloatingOriginSettings>,
-    origin: Query<(Ref<GridCell<P>>, Ref<FloatingOrigin>)>,
+/// Update the `GlobalTransform` of entities with a [`GridCell`], using the [`ReferenceFrame`] the
+/// entity belongs to.
+pub fn update_grid_cell_global_transforms<P: GridPrecision>(
+    root: Res<RootReferenceFrame<P>>,
+    reference_frames: Query<(&ReferenceFrame<P>, &Children)>,
     mut entities: ParamSet<(
-        Query<
-            (GridTransformReadOnly<P>, &mut GlobalTransform),
-            Or<(Changed<GridCell<P>>, Changed<Transform>)>,
-        >,
-        Query<(GridTransformReadOnly<P>, &mut GlobalTransform)>,
+        Query<(GridTransformReadOnly<P>, &mut GlobalTransform), With<Parent>>, // Node entities
+        Query<(GridTransformReadOnly<P>, &mut GlobalTransform), Without<Parent>>, // Root entities
     )>,
 ) {
-    let Ok((origin_cell, floating_origin)) = origin.get_single() else {
-        return;
-    };
-
-    if origin_cell.is_changed() || floating_origin.is_changed() {
-        let mut all_entities = entities.p1();
-        all_entities.par_iter_mut().for_each(|(local, global)| {
-            update_global_from_cell_local(&settings, &origin_cell, local, global);
-        });
-    } else {
-        let mut moved_cell_entities = entities.p0();
-        moved_cell_entities
-            .par_iter_mut()
-            .for_each(|(local, global)| {
-                update_global_from_cell_local(&settings, &origin_cell, local, global);
-            });
-    }
-}
-
-fn update_global_from_cell_local<P: GridPrecision>(
-    settings: &FloatingOriginSettings,
-    origin_cell: &GridCell<P>,
-    local: GridTransformReadOnlyItem<P>,
-    mut global: Mut<GlobalTransform>,
-) {
-    let grid_cell_delta = *local.cell - *origin_cell;
-    *global = local
-        .transform
-        .with_translation(settings.grid_position(&grid_cell_delta, local.transform))
-        .into();
-}
-
-/// Update [`GlobalTransform`] component of entities that aren't in the hierarchy
-///
-/// Third party plugins should ensure that this is used in concert with [`propagate_transforms`].
-pub fn sync_simple_transforms<P: GridPrecision>(
-    mut query: Query<
-        (&Transform, &mut GlobalTransform),
-        (
-            Changed<Transform>,
-            Without<Parent>,
-            Without<Children>,
-            Without<GridCell<P>>,
-        ),
-    >,
-) {
-    query
+    // Update the GlobalTransform of GridCell entities at the root of the hierarchy
+    entities
+        .p1()
         .par_iter_mut()
-        .for_each(|(transform, mut global_transform)| {
-            *global_transform = GlobalTransform::from(*transform);
+        .for_each(|(grid_transform, mut global_transform)| {
+            *global_transform =
+                root.global_transform(grid_transform.cell, grid_transform.transform);
         });
+
+    // Update the GlobalTransform of GridCell entities that are children of a ReferenceFrame
+    for (frame, children) in &reference_frames {
+        let mut with_parent_query = entities.p0();
+        let mut frame_children = with_parent_query.iter_many_mut(children);
+        while let Some((grid_transform, mut global_transform)) = frame_children.fetch_next() {
+            *global_transform =
+                frame.global_transform(grid_transform.cell, grid_transform.transform);
+        }
+    }
 }
 
 #[cfg(test)]
diff --git a/src/propagation.rs b/src/propagation.rs
index 3422c75..301c558 100644
--- a/src/propagation.rs
+++ b/src/propagation.rs
@@ -1,95 +1,169 @@
 //! Propagates transforms through the entity hierarchy.
 //!
-//! This is a slightly modified version of Bevy's own transform propagation system.
+//! This is a modified version of Bevy's own transform propagation system.
 
-use crate::{precision::GridPrecision, FloatingOrigin, GridCell};
+use crate::{
+    precision::GridPrecision,
+    reference_frame::{ReferenceFrame, RootReferenceFrame},
+    GridCell,
+};
 use bevy::prelude::*;
 
-/// Update [`GlobalTransform`] component of entities based on entity hierarchy and
-/// [`Transform`] component.
+/// Entities with this component will ignore the floating origin, and will instead propagate
+/// transforms normally.
+#[derive(Component, Debug, Reflect)]
+pub struct IgnoreFloatingOrigin;
+
+/// Update [`GlobalTransform`] component of entities that aren't in the hierarchy.
+pub fn sync_simple_transforms<P: GridPrecision>(
+    root: Res<RootReferenceFrame<P>>,
+    mut query: ParamSet<(
+        Query<
+            (&Transform, &mut GlobalTransform, Has<IgnoreFloatingOrigin>),
+            (
+                Or<(Changed<Transform>, Added<GlobalTransform>)>,
+                Without<Parent>,
+                Without<Children>,
+                Without<GridCell<P>>,
+            ),
+        >,
+        Query<
+            (
+                Ref<Transform>,
+                &mut GlobalTransform,
+                Has<IgnoreFloatingOrigin>,
+            ),
+            (Without<Parent>, Without<Children>, Without<GridCell<P>>),
+        >,
+    )>,
+    mut orphaned: RemovedComponents<Parent>,
+) {
+    // Update changed entities.
+    query.p0().par_iter_mut().for_each(
+        |(transform, mut global_transform, ignore_floating_origin)| {
+            if ignore_floating_origin {
+                *global_transform = GlobalTransform::from(*transform);
+            } else {
+                *global_transform = root.global_transform(&GridCell::ZERO, transform);
+            }
+        },
+    );
+    // Update orphaned entities.
+    let mut query = query.p1();
+    let mut iter = query.iter_many_mut(orphaned.read());
+    while let Some((transform, mut global_transform, ignore_floating_origin)) = iter.fetch_next() {
+        if !transform.is_changed() && !global_transform.is_added() {
+            if ignore_floating_origin {
+                *global_transform = GlobalTransform::from(*transform);
+            } else {
+                *global_transform = root.global_transform(&GridCell::ZERO, &transform);
+            }
+        }
+    }
+}
+
+/// Update the [`GlobalTransform`] of entities with a [`Transform`] that are children of a
+/// [`ReferenceFrame`] and do not have a [`GridCell`] component, or that are children of
+/// [`GridCell`]s.
 pub fn propagate_transforms<P: GridPrecision>(
-    origin_moved: Query<
-        (),
-        (
-            Or<(Changed<GridCell<P>>, Changed<FloatingOrigin>)>,
-            With<FloatingOrigin>,
-        ),
+    frames: Query<&Children, With<ReferenceFrame<P>>>,
+    frame_child_query: Query<(Entity, &Children, &GlobalTransform), With<GridCell<P>>>,
+    root_frame_query: Query<
+        (Entity, &Children, &GlobalTransform),
+        (With<GridCell<P>>, Without<Parent>),
     >,
-    mut root_query: Query<
+    root_frame: Res<RootReferenceFrame<P>>,
+    mut root_frame_gridless_query: Query<
         (
             Entity,
             &Children,
-            Ref<Transform>,
+            &Transform,
             &mut GlobalTransform,
-            Option<Ref<GridCell<P>>>,
+            Has<IgnoreFloatingOrigin>,
+        ),
+        (Without<GridCell<P>>, Without<Parent>),
+    >,
+    transform_query: Query<
+        (Ref<Transform>, &mut GlobalTransform, Option<&Children>),
+        (
+            With<Parent>,
+            Without<GridCell<P>>,
+            Without<ReferenceFrame<P>>,
         ),
-        Without<Parent>,
     >,
-    transform_query: Query<(Ref<Transform>, &mut GlobalTransform, Option<&Children>), With<Parent>>,
     parent_query: Query<(Entity, Ref<Parent>)>,
 ) {
-    let origin_cell_changed = !origin_moved.is_empty();
-
-    for (entity, children, transform, mut global_transform, cell) in root_query.iter_mut() {
-        let cell_changed = cell.as_ref().filter(|cell| cell.is_changed()).is_some();
-        let transform_changed = transform.is_changed();
-
-        if transform_changed && cell.is_none() {
-            *global_transform = GlobalTransform::from(*transform);
-        }
-
-        let changed = transform_changed || cell_changed || origin_cell_changed;
-
+    let update_transforms = |(entity, children, global_transform)| {
         for (child, actual_parent) in parent_query.iter_many(children) {
             assert_eq!(
                 actual_parent.get(), entity,
                 "Malformed hierarchy. This probably means that your hierarchy has been improperly maintained, or contains a cycle"
             );
             // SAFETY:
-            // - `child` must have consistent parentage, or the above assertion would panic.
-            // Since `child` is parented to a root entity, the entire hierarchy leading to it is consistent.
-            // - We may operate as if all descendants are consistent, since `propagate_recursive` will panic before
-            //   continuing to propagate if it encounters an entity with inconsistent parentage.
+            // - `child` must have consistent parentage, or the above assertion would panic. Since
+            // `child` is parented to a root entity, the entire hierarchy leading to it is
+            // consistent.
+            // - We may operate as if all descendants are consistent, since `propagate_recursive`
+            //   will panic before continuing to propagate if it encounters an entity with
+            //   inconsistent parentage.
             // - Since each root entity is unique and the hierarchy is consistent and forest-like,
             //   other root entities' `propagate_recursive` calls will not conflict with this one.
-            // - Since this is the only place where `transform_query` gets used, there will be no conflicting fetches elsewhere.
+            // - Since this is the only place where `transform_query` gets used, there will be no
+            //   conflicting fetches elsewhere.
             unsafe {
-                propagate_recursive(
-                    &global_transform,
-                    &transform_query,
-                    &parent_query,
-                    child,
-                    changed || actual_parent.is_changed(),
-                );
+                propagate_recursive(&global_transform, &transform_query, &parent_query, child);
             }
         }
-    }
+    };
+
+    frames.par_iter().for_each(|children| {
+        children
+            .iter()
+            .filter_map(|child| frame_child_query.get(*child).ok())
+            .for_each(|(e, c, g)| update_transforms((e, c, *g)))
+    });
+    root_frame_query
+        .par_iter()
+        .for_each(|(e, c, g)| update_transforms((e, c, *g)));
+    root_frame_gridless_query.par_iter_mut().for_each(
+        |(entity, children, local, mut global, ignore_floating_origin)| {
+            if ignore_floating_origin {
+                *global = GlobalTransform::from(*local);
+            } else {
+                *global = root_frame.global_transform(&GridCell::ZERO, local);
+            }
+            update_transforms((entity, children, *global))
+        },
+    );
 }
 
-/// COPIED EXACTLY FROM BEVY
+/// COPIED FROM BEVY
 ///
 /// Recursively propagates the transforms for `entity` and all of its descendants.
 ///
 /// # Panics
 ///
-/// If `entity`'s descendants have a malformed hierarchy, this function will panic occur before propagating
-/// the transforms of any malformed entities and their descendants.
+/// If `entity`'s descendants have a malformed hierarchy, this function will panic occur before
+/// propagating the transforms of any malformed entities and their descendants.
 ///
 /// # Safety
 ///
-/// - While this function is running, `transform_query` must not have any fetches for `entity`,
-/// nor any of its descendants.
-/// - The caller must ensure that the hierarchy leading to `entity`
-/// is well-formed and must remain as a tree or a forest. Each entity must have at most one parent.
-unsafe fn propagate_recursive(
+/// - While this function is running, `transform_query` must not have any fetches for `entity`, nor
+/// any of its descendants.
+/// - The caller must ensure that the hierarchy leading to `entity` is well-formed and must remain
+/// as a tree or a forest. Each entity must have at most one parent.
+unsafe fn propagate_recursive<P: GridPrecision>(
     parent: &GlobalTransform,
     transform_query: &Query<
         (Ref<Transform>, &mut GlobalTransform, Option<&Children>),
-        With<Parent>,
+        (
+            With<Parent>,
+            Without<GridCell<P>>,
+            Without<ReferenceFrame<P>>,
+        ),
     >,
     parent_query: &Query<(Entity, Ref<Parent>)>,
     entity: Entity,
-    mut changed: bool,
 ) {
     let (global_matrix, children) = {
         let Ok((transform, mut global_transform, children)) =
@@ -123,10 +197,8 @@ unsafe fn propagate_recursive(
                 return;
             };
 
-        changed |= transform.is_changed();
-        if changed {
-            *global_transform = parent.mul_transform(*transform);
-        }
+        *global_transform = parent.mul_transform(*transform);
+
         (*global_transform, children)
     };
 
@@ -142,13 +214,7 @@ unsafe fn propagate_recursive(
         // The above assertion ensures that each child has one and only one unique parent throughout the
         // entire hierarchy.
         unsafe {
-            propagate_recursive(
-                &global_matrix,
-                transform_query,
-                parent_query,
-                child,
-                changed || actual_parent.is_changed(),
-            );
+            propagate_recursive(&global_matrix, transform_query, parent_query, child);
         }
     }
 }
diff --git a/src/reference_frame/local_origin.rs b/src/reference_frame/local_origin.rs
new file mode 100644
index 0000000..963056d
--- /dev/null
+++ b/src/reference_frame/local_origin.rs
@@ -0,0 +1,735 @@
+//! Describes how the floating origin's position is propagated through the hierarchy of reference
+//! frames, and used to compute the floating origin's position relative to each reference frame.
+
+use bevy::{
+    ecs::{
+        prelude::*,
+        system::{
+            lifetimeless::{Read, Write},
+            SystemParam,
+        },
+    },
+    hierarchy::prelude::*,
+    log::prelude::*,
+    math::{prelude::*, DAffine3, DQuat},
+    transform::prelude::*,
+};
+
+use super::{ReferenceFrame, RootReferenceFrame};
+use crate::{FloatingOrigin, GridCell, GridPrecision};
+
+pub use inner::LocalFloatingOrigin;
+
+/// A module kept private to enforce use of setters and getters within the parent module.
+mod inner {
+    use bevy::{
+        math::{prelude::*, DAffine3, DMat3, DQuat},
+        reflect::prelude::*,
+    };
+
+    use crate::{GridCell, GridPrecision};
+
+    /// An isometry that describes the location of the floating origin's grid cell's origin, in the
+    /// local reference frame.
+    ///
+    /// Used to compute the [`GlobalTransform`](bevy::transform::components::GlobalTransform) of
+    /// every entity within a reference frame. Because this tells us where the floating origin cell
+    /// is located in the local frame, we can compute the inverse transform once, then use it to
+    /// transform every entity relative to the floating origin.
+    ///
+    /// If the floating origin is in this local reference frame, the `float` fields will be
+    /// identity. The `float` fields` will be non-identity when the floating origin is in a
+    /// different reference frame that does not perfectly align with this one. Different reference
+    /// frames can be rotated and offset from each other - consider the reference frame of a planet,
+    /// spinning about its axis and orbiting about a star, it will not align with the reference
+    /// frame of the star system!
+    #[derive(Default, Debug, Clone, PartialEq, Reflect)]
+    pub struct LocalFloatingOrigin<P: GridPrecision> {
+        /// The local cell that the floating origin's grid cell origin falls into.
+        cell: GridCell<P>,
+        /// The translation of floating origin's grid cell relative to the origin of
+        /// [`LocalFloatingOrigin::cell`].
+        translation: Vec3,
+        /// The rotation of the floating origin's grid cell relative to the origin of
+        /// [`LocalFloatingOrigin::cell`].
+        rotation: DQuat,
+        /// Transform from the local reference frame to the floating origin's grid cell. This is
+        /// used to compute the `GlobalTransform` of all entities in this reference frame.
+        ///
+        /// Imagine you have the local reference frame and the floating origin's reference frame
+        /// overlapping in space, misaligned. This transform is the smallest possible that will
+        /// align the two reference frame grids, going from the local frame, to the floating
+        /// origin's frame.
+        ///
+        /// This is like a camera's "view transform", but instead of transforming an object into a
+        /// camera's view space, this will transform an object into the floating origin's reference
+        /// frame.
+        ///   - That object must be positioned in the same [`super::ReferenceFrame`] that this
+        ///     [`LocalFloatingOrigin`] is part of.
+        ///   - That object's position must be relative to the same grid cell as defined by
+        ///     [`Self::cell`].
+        ///
+        /// The above requirements help to ensure this transform has a small magnitude, maximizing
+        /// precision, and minimizing floating point error.
+        reference_frame_transform: DAffine3,
+    }
+
+    impl<P: GridPrecision> LocalFloatingOrigin<P> {
+        /// The reference frame transform from the local reference frame, to the floating origin's
+        /// reference frame. See [Self::reference_frame_transform].
+        pub fn reference_frame_transform(&self) -> DAffine3 {
+            self.reference_frame_transform
+        }
+
+        /// Gets [`Self::cell`].
+        pub fn cell(&self) -> GridCell<P> {
+            self.cell
+        }
+
+        /// Gets [`Self::translation`].
+        pub fn translation(&self) -> Vec3 {
+            self.translation
+        }
+
+        /// Gets [`Self::rotation`].
+        pub fn rotation(&self) -> DQuat {
+            self.rotation
+        }
+
+        /// Update this local floating origin, and compute the new inverse transform.
+        pub fn set(
+            &mut self,
+            translation_grid: GridCell<P>,
+            translation_float: Vec3,
+            rotation_float: DQuat,
+        ) {
+            self.cell = translation_grid;
+            self.translation = translation_float;
+            self.rotation = rotation_float;
+
+            self.reference_frame_transform = DAffine3 {
+                matrix3: DMat3::from_quat(self.rotation),
+                translation: self.translation.as_dvec3(),
+            }
+            .inverse()
+        }
+
+        /// Create a new [`LocalFloatingOrigin`].
+        pub fn new(cell: GridCell<P>, translation: Vec3, rotation: DQuat) -> Self {
+            let reference_frame_transform = DAffine3 {
+                matrix3: DMat3::from_quat(rotation),
+                translation: translation.as_dvec3(),
+            }
+            .inverse();
+
+            Self {
+                cell,
+                translation,
+                rotation,
+                reference_frame_transform,
+            }
+        }
+    }
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Hash)]
+/// Use the [`ReferenceFrames`] [`SystemParam`] to do useful things with this handle.
+///
+/// A reference frame can either be a node in the entity hierarchy stored as a component, or will be
+/// the root reference frame, which is tracked with a resource. This handle is used to unify access
+/// to reference frames with a single lightweight type.
+pub enum ReferenceFrameHandle {
+    /// The reference frame is a node in the hierarchy, stored in a [`ReferenceFrame`] component.
+    Node(Entity),
+    /// The root reference frame, defined in the [`RootReferenceFrame`] resource.
+    Root,
+}
+
+impl ReferenceFrameHandle {
+    /// Propagate the local origin position from `self` to `child`.
+    ///
+    /// This is not a method on `References` to help prevent misuse when accidentally
+    /// swapping the position of arguments.
+    fn propagate_origin_to_child<P: GridPrecision>(
+        self,
+        reference_frames: &mut ReferenceFramesMut<P>,
+        child: ReferenceFrameHandle,
+    ) {
+        let (this_frame, _this_cell, _this_transform) = reference_frames.get(self);
+        let (child_frame, child_cell, child_transform) = reference_frames.get(child);
+
+        // compute double precision translation of origin treating child as the origin grid cell. Add this to the origin's float translation in double,
+        let origin_cell_relative_to_child = this_frame.local_floating_origin.cell() - child_cell;
+        let origin_translation = this_frame.grid_position_double(
+            &origin_cell_relative_to_child,
+            &Transform::from_translation(this_frame.local_floating_origin.translation()),
+        );
+
+        // then combine with rotation to get a double transform from the child's cell origin to the origin.
+        let origin_rotation = this_frame.local_floating_origin.rotation();
+        let origin_transform_child_cell_local =
+            DAffine3::from_rotation_translation(origin_rotation, origin_translation);
+
+        // Take the inverse of the child's transform as double (this is the "view" transform of the child reference frame)
+        let child_view_child_cell_local = DAffine3::from_rotation_translation(
+            child_transform.rotation.as_dquat(),
+            child_transform.translation.as_dvec3(),
+        )
+        .inverse();
+
+        // then multiply this by the double transform we got of the origin. This is now a transform64 of the origin, wrt to the child.
+        let origin_child_affine = child_view_child_cell_local * origin_transform_child_cell_local;
+
+        //  We can decompose into translation (high precision) and rotation.
+        let (_, origin_child_rotation, origin_child_translation) =
+            origin_child_affine.to_scale_rotation_translation();
+        let (child_origin_cell, child_origin_translation_float) =
+            child_frame.translation_to_grid(origin_child_translation);
+
+        reference_frames.update(child, |child_frame, _, _| {
+            child_frame.local_floating_origin.set(
+                child_origin_cell,
+                child_origin_translation_float,
+                origin_child_rotation,
+            );
+        })
+    }
+
+    fn propagate_origin_to_parent<P: GridPrecision>(
+        self,
+        reference_frames: &mut ReferenceFramesMut<P>,
+        parent: ReferenceFrameHandle,
+    ) {
+        let (this_frame, this_cell, this_transform) = reference_frames.get(self);
+        let (parent_frame, _parent_cell, _parent_transform) = reference_frames.get(parent);
+
+        // Get this frame's double precision transform, relative to its cell. We ignore the grid
+        // cell here because we don't want to lose precision - we can do these calcs relative to
+        // this cell, then add the grid cell offset at the end.
+        let this_transform = DAffine3::from_rotation_translation(
+            this_transform.rotation.as_dquat(),
+            this_transform.translation.as_dvec3(),
+        );
+
+        // Get the origin's double position in this reference frame
+        let origin_translation = this_frame.grid_position_double(
+            &this_frame.local_floating_origin.cell(),
+            &Transform::from_translation(this_frame.local_floating_origin.translation()),
+        );
+        let this_local_origin_transform = DAffine3::from_rotation_translation(
+            this_frame.local_floating_origin.rotation(),
+            origin_translation,
+        );
+
+        // Multiply to move the origin into the parent's reference frame
+        let origin_affine = this_transform * this_local_origin_transform;
+
+        let (_, origin_rot, origin_trans) = origin_affine.to_scale_rotation_translation();
+        let (origin_cell_relative_to_this_cell, origin_translation_remainder) =
+            parent_frame.translation_to_grid(origin_trans);
+
+        // Up until now we have been computing as if this cell is located at the origin, to maximize
+        // precision. Now that we are done with floats, we can add the cell offset.
+        let parent_origin_cell = origin_cell_relative_to_this_cell + this_cell;
+
+        reference_frames.update(parent, |parent_frame, _, _| {
+            parent_frame.local_floating_origin.set(
+                parent_origin_cell,
+                origin_translation_remainder,
+                origin_rot,
+            );
+        });
+    }
+}
+
+/// Used to access a reference frame using a single system param. Needed because the reference frame
+/// could either be a component or a resource (if at the root of the hierarchy).
+#[derive(SystemParam)]
+pub struct ReferenceFrames<'w, 's, P: GridPrecision> {
+    parent: Query<'w, 's, Read<Parent>>,
+    frame_root: Res<'w, RootReferenceFrame<P>>,
+    frame_query: Query<'w, 's, (Entity, Read<ReferenceFrame<P>>)>,
+}
+
+impl<'w, 's, P: GridPrecision> ReferenceFrames<'w, 's, P> {
+    /// Get the reference frame from a handle.
+    pub fn resolve_handle(&self, handle: ReferenceFrameHandle) -> &ReferenceFrame<P> {
+        match handle {
+            ReferenceFrameHandle::Node(frame_entity) => self
+                .frame_query
+                .get(frame_entity)
+                .map(|(_entity, frame)| frame)
+                .unwrap_or_else(|e| {
+                    panic!("{} {handle:?} failed to resolve.\n\tEnsure all GridPrecision components are using the <{}> generic, and all required components are present.\n\tQuery Error: {e}", std::any::type_name::<ReferenceFrameHandle>(), std::any::type_name::<P>())
+                }),
+            ReferenceFrameHandle::Root => {
+                &self.frame_root
+            }
+        }
+    }
+
+    /// Get a handle to this entity's reference frame, if it exists.
+    #[inline]
+    pub fn get_handle(&self, this: Entity) -> Option<ReferenceFrameHandle> {
+        match self.parent.get(this).map(|parent| **parent) {
+            Err(_) => Some(ReferenceFrameHandle::Root),
+            Ok(parent) => match self.frame_query.contains(parent) {
+                true => Some(ReferenceFrameHandle::Node(parent)),
+                false => None,
+            },
+        }
+    }
+
+    /// Get a reference to this entity's reference frame, if it exists.
+    #[inline]
+    pub fn get(&self, this: Entity) -> Option<&ReferenceFrame<P>> {
+        self.get_handle(this)
+            .map(|handle| self.resolve_handle(handle))
+    }
+}
+
+/// Used to access a reference frame. Needed because the reference frame could either be a
+/// component, or a resource if at the root of the hierarchy.
+#[derive(SystemParam)]
+pub struct ReferenceFramesMut<'w, 's, P: GridPrecision> {
+    parent: Query<'w, 's, Read<Parent>>,
+    children: Query<'w, 's, Read<Children>>,
+    frame_root: ResMut<'w, RootReferenceFrame<P>>,
+    frame_query: Query<
+        'w,
+        's,
+        (
+            Entity,
+            Read<GridCell<P>>,
+            Read<Transform>,
+            Write<ReferenceFrame<P>>,
+            Option<Read<Parent>>,
+        ),
+    >,
+}
+
+impl<'w, 's, P: GridPrecision> ReferenceFramesMut<'w, 's, P> {
+    /// Get mutable access to the [`ReferenceFrame`], and run the provided function or closure,
+    /// optionally returning data.
+    ///
+    /// ## Panics
+    ///
+    /// This will panic if the handle passed in is invalid.
+    ///
+    /// ## Why a closure?
+    ///
+    /// This expects a closure because the reference frame could be stored as a component or a
+    /// resource, making it difficult (impossible?) to return a mutable reference to the reference
+    /// frame when the types involved are different. The main issue seems to be that the component
+    /// is returned as a `Mut<T>`; getting a mutable reference to the internal value requires that
+    /// this function return a reference to a value owned by the function.
+    ///
+    /// I tried returning an enum or a boxed trait object, but ran into issues expressing the
+    /// lifetimes. Worth revisiting if this turns out to be annoying, but seems pretty insignificant
+    /// at the time of writing.
+    #[inline]
+    pub fn update<T>(
+        &mut self,
+        handle: ReferenceFrameHandle,
+        mut func: impl FnMut(&mut ReferenceFrame<P>, &GridCell<P>, &Transform) -> T,
+    ) -> T {
+        match handle {
+            ReferenceFrameHandle::Node(frame_entity) => self
+                .frame_query
+                .get_mut(frame_entity)
+                .map(|(_entity, cell, transform, mut frame, _parent)| {
+                    func(frame.as_mut(), cell, transform)
+                })
+                .expect("The supplied reference frame handle to node is no longer valid."),
+            ReferenceFrameHandle::Root => func(
+                &mut self.frame_root,
+                &GridCell::default(), // the reference frame itself is not within another.
+                &Transform::default(), // the reference frame itself is not within another.
+            ),
+        }
+    }
+
+    /// Get the reference frame and the position of the reference frame from a handle.
+    pub fn get(
+        &self,
+        handle: ReferenceFrameHandle,
+    ) -> (&ReferenceFrame<P>, GridCell<P>, Transform) {
+        match handle {
+            ReferenceFrameHandle::Node(frame_entity) => self
+                .frame_query
+                .get(frame_entity)
+                .map(|(_entity, cell, transform, frame, _parent)| (frame, *cell, *transform))
+                .unwrap_or_else(|e| {
+                    panic!("{} {handle:?} failed to resolve.\n\tEnsure all GridPrecision components are using the <{}> generic, and all required components are present.\n\tQuery Error: {e}", std::any::type_name::<ReferenceFrameHandle>(), std::any::type_name::<P>())
+                }),
+            ReferenceFrameHandle::Root => {
+                (&self.frame_root, GridCell::default(), Transform::default())
+            }
+        }
+    }
+
+    /// Get a handle to this entity's reference frame, if it exists.
+    #[inline]
+    fn get_handle(&self, this: Entity) -> Option<ReferenceFrameHandle> {
+        match self.parent.get(this).map(|parent| **parent) {
+            Err(_) => Some(ReferenceFrameHandle::Root),
+            Ok(parent) => match self.frame_query.contains(parent) {
+                true => Some(ReferenceFrameHandle::Node(parent)),
+                false => None,
+            },
+        }
+    }
+
+    /// Get a handle to the parent reference frame of this reference frame, if it exists.
+    #[inline]
+    fn parent(&mut self, this: ReferenceFrameHandle) -> Option<ReferenceFrameHandle> {
+        match this {
+            ReferenceFrameHandle::Node(this) => self.get_handle(this),
+            ReferenceFrameHandle::Root => None,
+        }
+    }
+
+    /// Get handles to all reference frames that are children of this reference frame. Applies a
+    /// filter to the returned children.
+    #[inline]
+    fn children_filtered(
+        &mut self,
+        this: ReferenceFrameHandle,
+        mut filter: impl FnMut(Entity) -> bool,
+    ) -> Vec<ReferenceFrameHandle> {
+        match this {
+            ReferenceFrameHandle::Node(this) => self
+                .children
+                .get(this)
+                .iter()
+                .flat_map(|c| c.iter())
+                .filter(|entity| filter(**entity))
+                .filter(|child| self.frame_query.contains(**child))
+                .map(|child| ReferenceFrameHandle::Node(*child))
+                .collect(),
+            ReferenceFrameHandle::Root => self
+                .frame_query
+                .iter()
+                .filter(|(entity, ..)| filter(*entity))
+                .filter(|(.., parent)| parent.is_none())
+                .map(|(entity, ..)| ReferenceFrameHandle::Node(entity))
+                .collect(),
+        }
+    }
+
+    /// Get handles to all reference frames that are children of this reference frame.
+    #[inline]
+    fn children(&mut self, this: ReferenceFrameHandle) -> Vec<ReferenceFrameHandle> {
+        self.children_filtered(this, |_| true)
+    }
+
+    /// Get handles to all reference frames that are siblings of this reference frame.
+    #[inline]
+    fn siblings(&mut self, this: ReferenceFrameHandle) -> Vec<ReferenceFrameHandle> {
+        match this {
+            ReferenceFrameHandle::Node(this_entity) => {
+                if let Some(parent) = self.parent(this) {
+                    self.children_filtered(parent, |e| e != this_entity)
+                } else {
+                    Vec::new()
+                }
+            }
+            ReferenceFrameHandle::Root => Vec::new(),
+        }
+    }
+}
+
+impl<P: GridPrecision> LocalFloatingOrigin<P> {
+    /// Update the [`LocalFloatingOrigin`] of every [`ReferenceFrame`] in the world. This does not
+    /// update any entity transforms, instead this is a preceding step that updates every reference
+    /// frame, so it knows where the floating origin is located with respect to that reference
+    /// frame. This is all done in high precision if possible, however any loss in precision will
+    /// only affect the rendering precision. The high precision coordinates ([`GridCell`] and
+    /// [`Transform`]) are the source of truth and never mutated.
+    pub fn update(
+        origin: Query<(Entity, &GridCell<P>), With<FloatingOrigin>>,
+        mut reference_frames: ReferenceFramesMut<P>,
+        mut frame_stack: Local<Vec<ReferenceFrameHandle>>,
+    ) {
+        /// The maximum reference frame tree depth, defensively prevents infinite looping in case
+        /// there is a degenerate hierarchy. It might take a while, but at least it's not forever?
+        const MAX_REFERENCE_FRAME_DEPTH: usize = usize::MAX;
+
+        let (origin_entity, origin_cell) = origin
+            .get_single()
+            .expect("There can only be one entity with the `FloatingOrigin` component.");
+
+        let Some(mut this_frame) = reference_frames.get_handle(origin_entity) else {
+            error!("The floating origin is not in a valid reference frame. The floating origin entity must be a child of an entity with the `ReferenceFrame`, `GridCell`, and `Transform` components, or be at the root of the parent-child hierarchy.");
+            return;
+        };
+
+        // Prepare by resetting the `origin_transform` of the floating origin's reference frame.
+        // Because the floating origin is within this reference frame, there is no grid misalignment
+        // and thus no need for any floating offsets.
+        reference_frames.update(this_frame, |frame, _, _| {
+            frame
+                .local_floating_origin
+                .set(*origin_cell, Vec3::ZERO, DQuat::IDENTITY);
+        });
+
+        // Seed the frame stack with the floating origin's reference frame. From this point out, we
+        // will only look at siblings and parents, which will allow us to visit the entire tree.
+        frame_stack.clear();
+        frame_stack.push(this_frame);
+
+        // Recurse up and across the tree, updating siblings and their children.
+        for _ in 0..MAX_REFERENCE_FRAME_DEPTH {
+            // We start by propagating up to the parent of this frame, then propagating down to the
+            // siblings of this frame (children of the parent that are not this frame).
+            if let Some(parent_frame) = reference_frames.parent(this_frame) {
+                this_frame.propagate_origin_to_parent(&mut reference_frames, parent_frame);
+                for sibling_frame in reference_frames.siblings(this_frame) {
+                    // The siblings of this frame are also the children of the parent frame.
+                    parent_frame.propagate_origin_to_child(&mut reference_frames, sibling_frame);
+                    frame_stack.push(sibling_frame); // We'll recurse through children next
+                }
+            }
+
+            // All of the reference frames pushed on the stack have been processed. We can now pop
+            // those off the stack and recursively process their children all the way out to the
+            // leaves of the tree.
+            while let Some(this_frame) = frame_stack.pop() {
+                for child_frame in reference_frames.children(this_frame) {
+                    this_frame.propagate_origin_to_child(&mut reference_frames, child_frame);
+                    frame_stack.push(child_frame) // Push processed child onto the stack
+                }
+            }
+
+            // Finally, now that the siblings of this frame have been recursively processed, we
+            // process the parent and set it as the current reference frame. Note that every time we
+            // step to a parent, "this frame" and all descendants have already been processed, so we
+            // only need to process the siblings.
+            match reference_frames.parent(this_frame) {
+                Some(parent_frame) => this_frame = parent_frame,
+                None => return, // We have reached the root of the tree, and can exit.
+            }
+        }
+
+        error!("Reached the maximum reference frame depth ({MAX_REFERENCE_FRAME_DEPTH}), and exited early to prevent an infinite loop. This might be caused by a degenerate hierarchy.")
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use bevy::{ecs::system::SystemState, math::DVec3};
+
+    use super::*;
+    use crate::*;
+
+    /// Test that the reference frame getters do what they say they do.
+    #[test]
+    fn frame_hierarchy_getters() {
+        let mut app = App::new();
+        app.add_plugins(FloatingOriginPlugin::<i32>::default());
+
+        let frame_bundle = (
+            Transform::default(),
+            GridCell::<i32>::default(),
+            ReferenceFrame::<i32>::default(),
+        );
+
+        let child_1 = app.world.spawn(frame_bundle.clone()).id();
+        let child_2 = app.world.spawn(frame_bundle.clone()).id();
+        let parent = app.world.spawn(frame_bundle.clone()).id();
+        app.world
+            .entity_mut(parent)
+            .push_children(&[child_1, child_2]);
+
+        let mut state = SystemState::<ReferenceFramesMut<i32>>::new(&mut app.world);
+        let mut ref_frame = state.get_mut(&mut app.world);
+
+        // Children
+        let result = ref_frame.children(ReferenceFrameHandle::Root);
+        assert_eq!(result, vec![ReferenceFrameHandle::Node(parent)]);
+        let result = ref_frame.children(ReferenceFrameHandle::Node(parent));
+        assert!(result.contains(&ReferenceFrameHandle::Node(child_1)));
+        assert!(result.contains(&ReferenceFrameHandle::Node(child_2)));
+        let result = ref_frame.children(ReferenceFrameHandle::Node(child_1));
+        assert_eq!(result, Vec::new());
+
+        // Parent
+        let result = ref_frame.parent(ReferenceFrameHandle::Root);
+        assert_eq!(result, None);
+        let result = ref_frame.parent(ReferenceFrameHandle::Node(parent));
+        assert_eq!(result, Some(ReferenceFrameHandle::Root));
+        let result = ref_frame.parent(ReferenceFrameHandle::Node(child_1));
+        assert_eq!(result, Some(ReferenceFrameHandle::Node(parent)));
+
+        // Siblings
+        let result = ref_frame.siblings(ReferenceFrameHandle::Root);
+        assert_eq!(result, vec![]);
+        let result = ref_frame.siblings(ReferenceFrameHandle::Node(parent));
+        assert_eq!(result, vec![]);
+        let result = ref_frame.siblings(ReferenceFrameHandle::Node(child_1));
+        assert_eq!(result, vec![ReferenceFrameHandle::Node(child_2)]);
+    }
+
+    #[test]
+    fn child_propagation() {
+        let mut app = App::new();
+        app.add_plugins(FloatingOriginPlugin::<i32>::default());
+
+        let root = ReferenceFrameHandle::Root;
+
+        app.insert_resource(RootReferenceFrame(ReferenceFrame {
+            local_floating_origin: LocalFloatingOrigin::new(
+                GridCell::<i32>::new(1_000_000, -1, -1),
+                Vec3::ZERO,
+                DQuat::from_rotation_z(-std::f64::consts::FRAC_PI_2),
+            ),
+            ..default()
+        }));
+
+        let child = app
+            .world
+            .spawn((
+                Transform::from_rotation(Quat::from_rotation_z(std::f32::consts::FRAC_PI_2))
+                    .with_translation(Vec3::new(1.0, 1.0, 0.0)),
+                GridCell::<i32>::new(1_000_000, 0, 0),
+                ReferenceFrame::<i32>::default(),
+            ))
+            .id();
+        let child = ReferenceFrameHandle::Node(child);
+
+        let mut state = SystemState::<ReferenceFramesMut<i32>>::new(&mut app.world);
+        let mut reference_frames = state.get_mut(&mut app.world);
+
+        // The function we are testing
+        root.propagate_origin_to_child(&mut reference_frames, child);
+
+        let (child_frame, ..) = reference_frames.get(child);
+
+        let computed_grid = child_frame.local_floating_origin.cell();
+        let correct_grid = GridCell::new(-1, 0, -1);
+        assert_eq!(computed_grid, correct_grid);
+
+        let computed_rot = child_frame.local_floating_origin.rotation();
+        let correct_rot = DQuat::from_rotation_z(std::f64::consts::PI);
+        let rot_error = computed_rot.angle_between(correct_rot);
+        assert!(rot_error < 1e-10);
+
+        // Even though we are 2 billion units from the origin, our precision is still pretty good.
+        // The loss of precision is coming from the affine multiplication that moves the origin into
+        // the child's reference frame. The good news is that precision loss only scales with the
+        // distance of the origin to the child (in the child's reference frame). In this test we are
+        // saying that the floating origin is - with respect to the root - pretty near the child.
+        // Even though the child and floating origin are very far from the origin, we only lose
+        // precision based on how for the origin is from the child.
+        let computed_trans = child_frame.local_floating_origin.translation();
+        let correct_trans = Vec3::new(-1.0, 1.0, 0.0);
+        let trans_error = computed_trans.distance(correct_trans);
+        assert!(trans_error < 1e-4);
+    }
+
+    #[test]
+    fn parent_propagation() {
+        let mut app = App::new();
+        app.add_plugins(FloatingOriginPlugin::<i64>::default());
+
+        let root = ReferenceFrameHandle::Root;
+
+        let child = app
+            .world
+            .spawn((
+                Transform::from_rotation(Quat::from_rotation_z(std::f32::consts::FRAC_PI_2))
+                    .with_translation(Vec3::new(1.0, 1.0, 0.0)),
+                GridCell::<i64>::new(150_000_003_000, 0, 0), // roughly radius of earth orbit
+                ReferenceFrame {
+                    local_floating_origin: LocalFloatingOrigin::new(
+                        GridCell::<i64>::new(0, 3_000, 0),
+                        Vec3::new(5.0, 5.0, 0.0),
+                        DQuat::from_rotation_z(-std::f64::consts::FRAC_PI_2),
+                    ),
+                    ..default()
+                },
+            ))
+            .id();
+        let child = ReferenceFrameHandle::Node(child);
+
+        let mut state = SystemState::<ReferenceFramesMut<i64>>::new(&mut app.world);
+        let mut reference_frames = state.get_mut(&mut app.world);
+
+        // The function we are testing
+        child.propagate_origin_to_parent(&mut reference_frames, root);
+
+        let (root_frame, ..) = reference_frames.get(root);
+
+        let computed_grid = root_frame.local_floating_origin.cell();
+        let correct_grid = GridCell::new(150_000_000_000, 0, 0);
+        assert_eq!(computed_grid, correct_grid);
+
+        let computed_rot = root_frame.local_floating_origin.rotation();
+        let correct_rot = DQuat::IDENTITY;
+        let rot_error = computed_rot.angle_between(correct_rot);
+        assert!(rot_error < 1e-7);
+
+        // This is the error of the position of the floating origin if the origin was a person
+        // standing on earth, and their position was resampled with respect to the sun. This is 0.3
+        // meters, but recall that this will be the error when positioning the other planets in the
+        // solar system when rendering.
+        //
+        // This error scales with the distance of the floating origin from the origin of its
+        // reference frame, in this case the radius of the earth, not the radius of the orbit.
+        let computed_trans = root_frame.local_floating_origin.translation();
+        let correct_trans = Vec3::new(-4.0, 6.0, 0.0);
+        let trans_error = computed_trans.distance(correct_trans);
+        assert!(trans_error < 0.3);
+    }
+
+    #[test]
+    fn origin_transform() {
+        let mut app = App::new();
+        app.add_plugins(FloatingOriginPlugin::<i32>::default());
+
+        let root = ReferenceFrameHandle::Root;
+
+        app.insert_resource(RootReferenceFrame(ReferenceFrame {
+            local_floating_origin: LocalFloatingOrigin::new(
+                GridCell::<i32>::new(0, 0, 0),
+                Vec3::new(1.0, 1.0, 0.0),
+                DQuat::from_rotation_z(0.0),
+            ),
+            ..default()
+        }));
+
+        let child = app
+            .world
+            .spawn((
+                Transform::default()
+                    .with_rotation(Quat::from_rotation_z(-std::f32::consts::FRAC_PI_2))
+                    .with_translation(Vec3::new(3.0, 3.0, 0.0)),
+                GridCell::<i32>::new(0, 0, 0),
+                ReferenceFrame::<i32>::default(),
+            ))
+            .id();
+        let child = ReferenceFrameHandle::Node(child);
+
+        let mut state = SystemState::<ReferenceFramesMut<i32>>::new(&mut app.world);
+        let mut reference_frames = state.get_mut(&mut app.world);
+
+        root.propagate_origin_to_child(&mut reference_frames, child);
+
+        let (child_frame, ..) = reference_frames.get(child);
+        let child_local_point = DVec3::new(5.0, 5.0, 0.0);
+
+        let computed_transform = child_frame
+            .local_floating_origin
+            .reference_frame_transform();
+        let computed_pos = computed_transform.transform_point3(child_local_point);
+
+        let correct_transform = DAffine3::from_rotation_translation(
+            DQuat::from_rotation_z(-std::f64::consts::FRAC_PI_2),
+            DVec3::new(2.0, 2.0, 0.0),
+        );
+        let correct_pos = correct_transform.transform_point3(child_local_point);
+
+        assert!((computed_pos - correct_pos).length() < 1e-6);
+        assert!((computed_pos - DVec3::new(7.0, -3.0, 0.0)).length() < 1e-6);
+    }
+}
diff --git a/src/reference_frame/mod.rs b/src/reference_frame/mod.rs
new file mode 100644
index 0000000..e8a1249
--- /dev/null
+++ b/src/reference_frame/mod.rs
@@ -0,0 +1,173 @@
+//! Adds the concept of hierarchical, nesting [`ReferenceFrame`]s, to group entities that move
+//! through space together, like entities on a planet, rotating about the planet's axis, and,
+//! orbiting a star.
+
+use bevy::{
+    ecs::{component::Component, system::Resource},
+    math::{Affine3A, DAffine3, DVec3, Vec3},
+    prelude::{Deref, DerefMut},
+    reflect::Reflect,
+    transform::components::{GlobalTransform, Transform},
+};
+
+use crate::{GridCell, GridPrecision};
+
+use self::local_origin::LocalFloatingOrigin;
+
+pub mod local_origin;
+
+/// All entities that have no parent are implicitly in the root [`ReferenceFrame`].
+///
+/// Because this relationship is implicit, it lives outside of the entity/component hierarchy, and
+/// is a singleton; this is why the root reference frame is a resource unlike all other
+/// [`ReferenceFrame`]s which are components.
+#[derive(Debug, Clone, Resource, Reflect, Deref, DerefMut)]
+pub struct RootReferenceFrame<P: GridPrecision>(pub(crate) ReferenceFrame<P>);
+
+/// A component that defines a reference frame for children of this entity with [`GridCell`]s.
+///
+/// Entities without a parent are implicitly in the [`RootReferenceFrame`].
+///
+/// ## Motivation
+///
+/// Reference frames are hierarchical, allowing more precision for objects with similar relative
+/// velocities. Entities in the same reference frame as the [`crate::FloatingOrigin`] will be
+/// rendered with the most precision. Reference frames are transformed relative to each other
+/// using 64 bit float transforms.
+///
+/// ## Example
+///
+/// You can use reference frames to ensure all entities on a planet, and the planet itself, are in
+/// the same rotating reference frame, instead of moving rapidly through space around a star, or
+/// worse, around the center of the galaxy.
+#[derive(Debug, Clone, Reflect, Component)]
+pub struct ReferenceFrame<P: GridPrecision> {
+    /// The high-precision position of the floating origin's current grid cell local to this
+    /// reference frame.
+    local_floating_origin: LocalFloatingOrigin<P>,
+    /// Defines the uniform scale of the grid by the length of the edge of a grid cell.
+    cell_edge_length: f32,
+    /// How far an entity can move from the origin before its grid cell is recomputed.
+    maximum_distance_from_origin: f32,
+}
+
+impl<P: GridPrecision> Default for ReferenceFrame<P> {
+    fn default() -> Self {
+        Self::new(2_000f32, 100f32)
+    }
+}
+
+impl<P: GridPrecision> ReferenceFrame<P> {
+    /// Construct a new [`ReferenceFrame`]. The properties of a reference frame cannot be changed
+    /// after construction.
+    pub fn new(cell_edge_length: f32, switching_threshold: f32) -> Self {
+        Self {
+            local_floating_origin: LocalFloatingOrigin::default(),
+            cell_edge_length,
+            maximum_distance_from_origin: cell_edge_length / 2.0 + switching_threshold,
+        }
+    }
+
+    /// Get the position of the floating origin relative to the current reference frame.
+    pub fn local_floating_origin(&self) -> &LocalFloatingOrigin<P> {
+        &self.local_floating_origin
+    }
+
+    /// Get the size of each cell this reference frame's grid.
+    pub fn cell_edge_length(&self) -> f32 {
+        self.cell_edge_length
+    }
+
+    /// Get the reference frame's [`Self::maximum_distance_from_origin`].
+    pub fn maximum_distance_from_origin(&self) -> f32 {
+        self.maximum_distance_from_origin
+    }
+
+    /// Compute the double precision position of an entity's [`Transform`] with respect to the given
+    /// [`GridCell`] within this reference frame.
+    pub fn grid_position_double(&self, pos: &GridCell<P>, transform: &Transform) -> DVec3 {
+        DVec3 {
+            x: pos.x.as_f64() * self.cell_edge_length as f64 + transform.translation.x as f64,
+            y: pos.y.as_f64() * self.cell_edge_length as f64 + transform.translation.y as f64,
+            z: pos.z.as_f64() * self.cell_edge_length as f64 + transform.translation.z as f64,
+        }
+    }
+
+    /// Compute the single precision position of an entity's [`Transform`] with respect to the given
+    /// [`GridCell`].
+    pub fn grid_position(&self, pos: &GridCell<P>, transform: &Transform) -> Vec3 {
+        Vec3 {
+            x: pos.x.as_f64() as f32 * self.cell_edge_length + transform.translation.x,
+            y: pos.y.as_f64() as f32 * self.cell_edge_length + transform.translation.y,
+            z: pos.z.as_f64() as f32 * self.cell_edge_length + transform.translation.z,
+        }
+    }
+
+    /// Returns the floating point position of a [`GridCell`].
+    pub fn grid_to_float(&self, pos: &GridCell<P>) -> DVec3 {
+        DVec3 {
+            x: pos.x.as_f64() * self.cell_edge_length as f64,
+            y: pos.y.as_f64() * self.cell_edge_length as f64,
+            z: pos.z.as_f64() * self.cell_edge_length as f64,
+        }
+    }
+
+    /// Convert a large translation into a small translation relative to a grid cell.
+    pub fn translation_to_grid(&self, input: impl Into<DVec3>) -> (GridCell<P>, Vec3) {
+        let l = self.cell_edge_length as f64;
+        let input = input.into();
+        let DVec3 { x, y, z } = 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();
+        let y_r = (y / l).round();
+        let z_r = (z / l).round();
+        let t_x = x - x_r * l;
+        let t_y = y - y_r * l;
+        let t_z = z - z_r * l;
+
+        (
+            GridCell {
+                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 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(&self, input: Vec3) -> (GridCell<P>, Vec3) {
+        self.translation_to_grid(input.as_dvec3())
+    }
+
+    /// Compute the [`GlobalTransform`] of an entity in this reference frame.
+    pub fn global_transform(
+        &self,
+        local_cell: &GridCell<P>,
+        local_transform: &Transform,
+    ) -> GlobalTransform {
+        // The reference frame transform from the floating origin's reference frame, to the local
+        // reference frame.
+        let transform_origin = self.local_floating_origin().reference_frame_transform();
+        // The grid cell offset of this entity relative to the floating origin's cell in this local
+        // reference frame.
+        let cell_origin_relative = *local_cell - self.local_floating_origin().cell();
+        let grid_offset = self.grid_to_float(&cell_origin_relative);
+        let local_transform = DAffine3::from_scale_rotation_translation(
+            local_transform.scale.as_dvec3(),
+            local_transform.rotation.as_dquat(),
+            local_transform.translation.as_dvec3() + grid_offset,
+        );
+        let global_64 = transform_origin * local_transform;
+
+        Affine3A {
+            matrix3: global_64.matrix3.as_mat3().into(),
+            translation: global_64.translation.as_vec3a(),
+        }
+        .into()
+    }
+}
diff --git a/src/world_query.rs b/src/world_query.rs
index 15c0268..816314b 100644
--- a/src/world_query.rs
+++ b/src/world_query.rs
@@ -5,8 +5,8 @@ use bevy::ecs::query::QueryData;
 use bevy::math::DVec3;
 use bevy::prelude::*;
 
-use crate::precision::GridPrecision;
-use crate::{FloatingOriginSettings, GridCell};
+use crate::GridCell;
+use crate::{precision::GridPrecision, reference_frame::ReferenceFrame};
 
 #[derive(QueryData)]
 #[query_data(mutable)]
@@ -23,13 +23,13 @@ pub struct GridTransform<P: GridPrecision> {
 
 impl<'w, P: GridPrecision> GridTransformItem<'w, P> {
     /// Compute the global position with double precision.
-    pub fn position_double(&self, settings: &FloatingOriginSettings) -> DVec3 {
-        settings.grid_position_double(&self.cell, &self.transform)
+    pub fn position_double(&self, reference_frame: &ReferenceFrame<P>) -> DVec3 {
+        reference_frame.grid_position_double(&self.cell, &self.transform)
     }
 
     /// Compute the global position.
-    pub fn position(&self, settings: &FloatingOriginSettings) -> Vec3 {
-        settings.grid_position(&self.cell, &self.transform)
+    pub fn position(&self, reference_frame: &ReferenceFrame<P>) -> Vec3 {
+        reference_frame.grid_position(&self.cell, &self.transform)
     }
 
     /// Get a copy of the fields to work with.
@@ -43,13 +43,13 @@ impl<'w, P: GridPrecision> GridTransformItem<'w, P> {
 
 impl<'w, P: GridPrecision> GridTransformReadOnlyItem<'w, P> {
     /// Compute the global position with double precision.
-    pub fn position_double(&self, settings: &FloatingOriginSettings) -> DVec3 {
-        settings.grid_position_double(self.cell, self.transform)
+    pub fn position_double(&self, reference_frame: &ReferenceFrame<P>) -> DVec3 {
+        reference_frame.grid_position_double(self.cell, self.transform)
     }
 
     /// Compute the global position.
-    pub fn position(&self, settings: &FloatingOriginSettings) -> Vec3 {
-        settings.grid_position(self.cell, self.transform)
+    pub fn position(&self, reference_frame: &ReferenceFrame<P>) -> Vec3 {
+        reference_frame.grid_position(self.cell, self.transform)
     }
 
     /// Get a copy of the fields to work with.
@@ -98,12 +98,12 @@ impl<P: GridPrecision> std::ops::Add for GridTransformOwned<P> {
 
 impl<P: GridPrecision> GridTransformOwned<P> {
     /// Compute the global position with double precision.
-    pub fn position_double(&self, space: &FloatingOriginSettings) -> DVec3 {
-        space.grid_position_double(&self.cell, &self.transform)
+    pub fn position_double(&self, reference_frame: &ReferenceFrame<P>) -> DVec3 {
+        reference_frame.grid_position_double(&self.cell, &self.transform)
     }
 
     /// Compute the global position.
-    pub fn position(&self, space: &FloatingOriginSettings) -> Vec3 {
-        space.grid_position(&self.cell, &self.transform)
+    pub fn position(&self, reference_frame: &ReferenceFrame<P>) -> Vec3 {
+        reference_frame.grid_position(&self.cell, &self.transform)
     }
 }