Doubles

[erincatto]

Added a compile time option to use double precision body positions. Most math remains single precision with minimal performance loss.

BOX3D_DOUBLE_PRECISION

Improved accuracy of body inertia computation when shapes are far from the body origin.

WARNING: several APIs changed but migration should be straight forward if doubles are not enabled.

[Copilot]

Pull request overview

Adds an optional “large world” mode that keeps absolute body positions in double precision (BOX3D_DOUBLE_PRECISION) while preserving mostly-float internal math, plus associated API, debug-draw, and test updates. This also adjusts mass/inertia computations to be origin-independent when shapes are far from the body origin.

Changes:

• Introduces b3Pos / b3WorldTransform and related boundary helpers (b3SubPos, b3OffsetPos, etc.), updating APIs that consume/return world positions.
• Improves robustness/precision for far-from-origin operations (AABB construction, sweeps/TOI, collision manifolds, queries, debug draw origin shifting).
• Expands unit/samples coverage for large-world invariants and updates docs/CI to test double-precision builds.

Reviewed changes

Copilot reviewed 113 out of 115 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
test/test_world.c	Updates tests to b3Pos; adds explosion regression test.
test/test_shape.c	Updates inertia expectations (center-of-mass basis).
test/test_math.c	Adds large-world boundary helper tests.
test/test_height_field.c	Updates shape-cast input API usage.
test/test_distance.c	Updates distance/shape-cast input API usage.
test/test_determinism.c	Splits expected determinism constants by precision mode.
test/test_collision.c	Adds large-world manifold/AABB regression tests.
test/test_body.c	New tests for far-offset mass/inertia correctness.
test/main.c	Registers new tests (body/query/large-world).
test/CMakeLists.txt	Adds new test sources.
src/wheel_joint.c	Migrates joint drawing/center deltas to world types.
src/weld_joint.c	Migrates center delta and debug draw to world types.
src/types.c	Updates default debug-draw no-op signatures to world types.
src/triangle_manifold.c	Updates distance input API usage.
src/spherical_joint.c	Migrates transforms/draw calls to world types.
src/sphere.c	Switches inertia to COM basis; updates query inputs.
src/solver.c	Recenters CCD sweeps; uses conservative fat AABBs.
src/shape.h	Updates proxy creation signature; adds fat-AABB helper decl.
src/shape.c	Adds b3ComputeFatShapeAABB; updates ray/closest-point paths.
src/sensor.c	Uses relative transforms for float-frame sensor overlap.
src/revolute_joint.c	Migrates transforms/draw calls to world types.
src/prismatic_joint.c	Migrates transforms/draw calls to world types.
src/physics_world.h	Updates debug point/line storage to b3Pos.
src/parallel_joint.c	Migrates draw calls to world transform + b3Pos.
src/motor_joint.c	Updates delta-center computation for b3Pos.
src/mesh.c	Updates overlap/shape-cast distance input API usage.
src/mesh_contact.c	Uses world transforms + relative conversion where needed.
src/math_internal.h	Removes Steiner helper declaration (COM inertia basis).
src/math_functions.c	Adds b3IsBoundedAABB, b3IsValidPosition, etc.
src/joint.h	Updates debug draw function signatures to world transforms.
src/joint.c	Migrates joint reactions/separation/draw to world types.
src/hull.c	Adds b3CreateRock; switches inertia to COM basis.
src/height_field.c	Updates shape-cast and overlap distance input API usage.
src/dynamic_tree.c	Replaces shape-cast traversal with box-cast traversal.
src/distance_joint.c	Migrates anchor/length/draw to b3Pos/world transforms.
src/core.c	Adds b3IsDoublePrecision() runtime query.
src/convex_manifold.c	Updates distance input API usage.
src/contact.h	Refactors contact recycling cache; updates transform types.
src/contact.c	Migrates contact update/manifold building to world transforms.
src/compound.c	Reworks compound cast to use box-cast traversal.
src/CMakeLists.txt	Adds CMake option propagation for BOX3D_DOUBLE_PRECISION.
src/capsule.c	Switches inertia to COM basis; updates query inputs.
src/broad_phase.c	Uses demoted relative transforms for float-frame AABB queries.
src/box3d.natvis	Adds natvis visualizers for new world types.
src/body.h	Updates body sim storage to world types; adds relative sweep helper.
shared/utils.h	Adds RandomPos helper for world positions.
shared/stability.h	Updates CreateMeshDrop signature to include origin.
shared/stability.c	Applies mesh-drop origin in b3Pos and offsets.
shared/overflow_color.c	Updates body positions to b3Pos.
shared/human.h	Updates CreateHuman signature to accept b3Pos.
shared/determinism.c	Hashes b3WorldTransform and uses b3Pos positions.
samples/shaders/shapes/geom.glsl	Adds grid offset uniform usage for large-world rendering.
samples/shaders/post/gtao_prefilter_depth.glsl	Renames doc text from render3d to Box3D.
samples/shaders/post/gtao_denoise.glsl	Renames doc text from render3d to Box3D.
samples/shaders/common/xe_gtao_common.glsl	Renames doc text from render3d to Box3D.
samples/shaders/common/pbr.glsl	Updates procedural grid API for wrapped origin offsets.
samples/sample.h	Migrates sample interfaces/state to b3Pos/world transforms.
samples/sample_tree.cpp	Updates debug draw calls and distance math for b3Pos.
samples/sample_stacking.cpp	Updates camera pivots and positions to b3Pos.
samples/sample_shapes.cpp	Updates camera pivots and positions to b3Pos.
samples/sample_robustness.cpp	Updates camera pivots to b3Pos.
samples/sample_ragdoll.cpp	Updates camera pivots and positions to b3Pos.
samples/sample_issues.cpp	Updates debug draw transforms/points to world types.
samples/sample_geometry.cpp	Updates debug draw transforms to world types.
samples/sample_events.cpp	Migrates event rendering to b3Pos/world transforms.
samples/sample_determinism.cpp	Updates camera pivot to b3Pos.
samples/sample_continuous.cpp	Updates camera pivots and query usage for new APIs.
samples/sample_compound.cpp	Header include cleanup + debug draw transform updates.
samples/sample_benchmark.cpp	Updates camera pivots and debug axes to world types.
samples/main.cpp	Sets draw origin; shows precision mode in title; grid wrapping.
samples/host/camera.h	Adds b3Pos pick origin; eye-relative camera representation.
samples/host/camera.cpp	Implements eye-relative view + world-eye lifting for picking.
samples/gfx/renderer.h	Adds draw origin + grid wrap to frame input.
samples/gfx/renderer.c	Passes grid offset uniform to shaders.
samples/gfx/picking.h	Removes obsolete pick helper (camera owns it now).
samples/gfx/keycodes.h	Simplifies comment to TODO placeholder.
samples/gfx/geometry_registry.c	Increases registry entry cap.
samples/gfx/draw.h	Converts draw API to world-space (b3Pos/world transforms).
samples/gfx/debug_adapter.h	Exposes grid cell size for host-side wrapping.
samples/gfx/debug_adapter.c	Shifts debug draw into camera-relative frame via draw origin.
samples/gfx/CMakeLists.txt	Removes picking header; comment cleanup.
samples/CMakeLists.txt	Reorders/clarifies sample source listing/comments.
include/box3d/math_functions.h	Adds b3Pos/b3WorldTransform + boundary helpers/inlines.
include/box3d/constants.h	Widens B3_HUGE when double precision is enabled.
include/box3d/collision.h	Adds box-cast API; adds b3CreateRock; clarifies frames.
include/box3d/base.h	Adds b3IsDoublePrecision() declaration.
extern/sokol/README.md	Removes vendored sokol notes (file deleted).
docs/simulation.md	Updates examples for b3Pos/b3WorldTransform query signatures.
docs/large_worlds.md	New documentation for large-world (double-precision) mode.
docs/collision.md	Updates docs for relative transforms + box-cast API.
docs/CMakeLists.txt	Adds large_worlds.md to Doxygen build.
docs/character.md	Updates mover query signatures and guidance for origin usage.
CMakeLists.txt	Adds top-level BOX3D_DOUBLE_PRECISION option.
.gitignore	Ignores build-dp/.
.github/workflows/build.yml	Adds double-precision CI jobs (Ubuntu/Windows + samples).

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