From 82d5518654816886ac5392a5fdbc221410d65215 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Thu, 16 Jan 2025 13:17:03 +0100
Subject: [PATCH 01/43] Reworked Segment2d into it's cartesian form

---
 crates/bevy_gizmos/src/primitives/dim2.rs     | 25 +++--
 .../src/bounding/bounded2d/primitive_impls.rs | 24 ++---
 crates/bevy_math/src/primitives/dim2.rs       | 93 ++++++++++++++-----
 examples/2d/bounding_2d.rs                    |  7 +-
 examples/math/render_primitives.rs            |  9 +-
 5 files changed, 101 insertions(+), 57 deletions(-)

diff --git a/crates/bevy_gizmos/src/primitives/dim2.rs b/crates/bevy_gizmos/src/primitives/dim2.rs
index beb9c6f315f24..ffddfede98887 100644
--- a/crates/bevy_gizmos/src/primitives/dim2.rs
+++ b/crates/bevy_gizmos/src/primitives/dim2.rs
@@ -540,10 +540,7 @@ where
         }
         // draw normal of the plane (orthogonal to the plane itself)
         let normal = primitive.normal;
-        let normal_segment = Segment2d {
-            direction: normal,
-            half_length: HALF_MIN_LINE_LEN,
-        };
+        let normal_segment = Segment2d::from_direction(normal, HALF_MIN_LINE_LEN * 2.);
         self.primitive_2d(
             &normal_segment,
             // offset the normal so it starts on the plane line
@@ -577,8 +574,8 @@ where
 {
     gizmos: &'a mut GizmoBuffer<Config, Clear>,
 
-    direction: Dir2,  // Direction of the line segment
-    half_length: f32, // Half-length of the line segment
+    point1: Vec2, // First point of the segment
+    point2: Vec2, // Second point of the segment
 
     isometry: Isometry2d, // isometric transformation of the line segment
     color: Color,         // color of the line segment
@@ -616,8 +613,8 @@ where
     ) -> Self::Output<'_> {
         Segment2dBuilder {
             gizmos: self,
-            direction: primitive.direction,
-            half_length: primitive.half_length,
+            point1: primitive.point1(),
+            point2: primitive.point2(),
 
             isometry: isometry.into(),
             color: color.into(),
@@ -637,14 +634,16 @@ where
             return;
         }
 
-        let direction = self.direction * self.half_length;
-        let start = self.isometry * (-direction);
-        let end = self.isometry * direction;
+        let segment = Segment2d::new(self.point1, self.point2)
+            .offset(self.isometry.translation)
+            .rotated(self.isometry.rotation);
 
         if self.draw_arrow {
-            self.gizmos.arrow_2d(start, end, self.color);
+            self.gizmos
+                .arrow_2d(segment.point1(), segment.point2(), self.color);
         } else {
-            self.gizmos.line_2d(start, end, self.color);
+            self.gizmos
+                .line_2d(segment.point1(), segment.point2(), self.color);
         }
     }
 }
diff --git a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
index e6c08136881b1..f1632e87a08bb 100644
--- a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
@@ -265,18 +265,11 @@ impl Bounded2d for Line2d {
 
 impl Bounded2d for Segment2d {
     fn aabb_2d(&self, isometry: impl Into<Isometry2d>) -> Aabb2d {
-        let isometry = isometry.into();
-
-        // Rotate the segment by `rotation`
-        let direction = isometry.rotation * *self.direction;
-        let half_size = (self.half_length * direction).abs();
-
-        Aabb2d::new(isometry.translation, half_size)
+        Aabb2d::from_point_cloud(isometry, &[self.point1(), self.point2()])
     }
 
     fn bounding_circle(&self, isometry: impl Into<Isometry2d>) -> BoundingCircle {
-        let isometry = isometry.into();
-        BoundingCircle::new(isometry.translation, self.half_length)
+        BoundingCircle::from_point_cloud(isometry, &[self.point1(), self.point2()])
     }
 }
 
@@ -336,7 +329,8 @@ impl Bounded2d for Triangle2d {
         if let Some((point1, point2)) = side_opposite_to_non_acute {
             // The triangle is obtuse or right, so the minimum bounding circle's diameter is equal to the longest side.
             // We can compute the minimum bounding circle from the line segment of the longest side.
-            let (segment, center) = Segment2d::from_points(point1, point2);
+            let segment = Segment2d::new(point1, point2).centered();
+            let center = (point1 + point2) / 2.;
             segment.bounding_circle(isometry * Isometry2d::from_translation(center))
         } else {
             // The triangle is acute, so the smallest bounding circle is the circumcircle.
@@ -416,12 +410,8 @@ impl Bounded2d for Capsule2d {
     fn aabb_2d(&self, isometry: impl Into<Isometry2d>) -> Aabb2d {
         let isometry = isometry.into();
 
-        // Get the line segment between the semicircles of the rotated capsule
-        let segment = Segment2d {
-            // Multiplying a normalized vector (Vec2::Y) with a rotation returns a normalized vector.
-            direction: isometry.rotation * Dir2::Y,
-            half_length: self.half_length,
-        };
+        // Get the line segment between the hemicircles of the rotated capsule
+        let segment = Segment2d::from_direction(isometry.rotation * Dir2::Y, self.half_length * 2.);
         let (a, b) = (segment.point1(), segment.point2());
 
         // Expand the line segment by the capsule radius to get the capsule half-extents
@@ -886,7 +876,7 @@ mod tests {
     fn segment() {
         let translation = Vec2::new(2.0, 1.0);
         let isometry = Isometry2d::from_translation(translation);
-        let segment = Segment2d::from_points(Vec2::new(-1.0, -0.5), Vec2::new(1.0, 0.5)).0;
+        let segment = Segment2d::new(Vec2::new(-1.0, -0.5), Vec2::new(1.0, 0.5));
 
         let aabb = segment.aabb_2d(isometry);
         assert_eq!(aabb.min, Vec2::new(1.0, 0.5));
diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index cdd5b805cde3a..18264a70eab53 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -5,7 +5,7 @@ use thiserror::Error;
 use super::{Measured2d, Primitive2d, WindingOrder};
 use crate::{
     ops::{self, FloatPow},
-    Dir2, Vec2,
+    Dir2, Rot2, Vec2,
 };
 
 #[cfg(feature = "alloc")]
@@ -1221,22 +1221,18 @@ impl Primitive2d for Line2d {}
 )]
 #[doc(alias = "LineSegment2d")]
 pub struct Segment2d {
-    /// The direction of the line segment
-    pub direction: Dir2,
-    /// Half the length of the line segment. The segment extends by this amount in both
-    /// the given direction and its opposite direction
-    pub half_length: f32,
+    /// First point of the segment
+    pub point1: Vec2,
+    /// Second point of the segment
+    pub point2: Vec2,
 }
 impl Primitive2d for Segment2d {}
 
 impl Segment2d {
-    /// Create a new `Segment2d` from a direction and full length of the segment
+    /// Create a new `Segment2d` from the two points composing it
     #[inline(always)]
-    pub fn new(direction: Dir2, length: f32) -> Self {
-        Self {
-            direction,
-            half_length: length / 2.0,
-        }
+    pub fn new(point1: Vec2, point2: Vec2) -> Self {
+        Self { point1, point2 }
     }
 
     /// Create a new `Segment2d` from its endpoints and compute its geometric center
@@ -1245,27 +1241,82 @@ impl Segment2d {
     ///
     /// Panics if `point1 == point2`
     #[inline(always)]
+    #[deprecated(since = "0.15.1", note = "Use the `new` constructor instead")]
     pub fn from_points(point1: Vec2, point2: Vec2) -> (Self, Vec2) {
-        let diff = point2 - point1;
-        let length = diff.length();
+        (Self::new(point1, point2), (point1 + point2) / 2.)
+    }
 
-        (
-            // We are dividing by the length here, so the vector is normalized.
-            Self::new(Dir2::new_unchecked(diff / length), length),
-            (point1 + point2) / 2.,
-        )
+    /// Create a new `Segment2d` at the origin from a `direction` and `half_length`
+    #[inline(always)]
+    pub fn from_direction(direction: Dir2, length: f32) -> Segment2d {
+        let half_length = length / 2.;
+        Self::new(direction * -half_length, direction * half_length)
     }
 
     /// Get the position of the first point on the line segment
     #[inline(always)]
     pub fn point1(&self) -> Vec2 {
-        *self.direction * -self.half_length
+        self.point1
     }
 
     /// Get the position of the second point on the line segment
     #[inline(always)]
     pub fn point2(&self) -> Vec2 {
-        *self.direction * self.half_length
+        self.point2
+    }
+
+    /// Get the segment's center
+    #[inline(always)]
+    pub fn center(&self) -> Vec2 {
+        (self.point1() + self.point2()) / 2.
+    }
+
+    /// Get the segment's length
+    #[inline(always)]
+    pub fn length(&self) -> f32 {
+        self.point1().distance(self.point2())
+    }
+
+    /// Get the segment offset by a vector
+    #[inline(always)]
+    pub fn offset(&self, offset: Vec2) -> Segment2d {
+        Self::new(self.point1() + offset, self.point2() + offset)
+    }
+
+    /// Get the segment rotated around it's center
+    #[inline(always)]
+    pub fn rotated(&self, rotation: Rot2) -> Segment2d {
+        pub fn rotate_point(p: Vec2, rotation: Rot2) -> Vec2 {
+            Vec2::new(
+                p.x * rotation.cos - p.y * rotation.sin,
+                p.x * rotation.sin + p.y * rotation.cos,
+            )
+        }
+        // We center the segment for the purpose of the rotation, then offset back to it's original position
+        let offset_from_origin = self.center();
+        let centered = self.centered();
+        let centered_rotated: Segment2d = Segment2d::new(
+            rotate_point(centered.point1(), rotation),
+            rotate_point(centered.point2(), rotation),
+        );
+        centered_rotated.offset(offset_from_origin)
+    }
+
+    /// Get the segment with it's center is at the origin
+    #[inline(always)]
+    pub fn centered(&self) -> Segment2d {
+        let center = self.center();
+        self.offset(-center)
+    }
+
+    /// Get the segment with a new length
+    #[inline(always)]
+    pub fn resized(&self, length: f32) -> Segment2d {
+        let offset_from_origin = self.center();
+        let centered = self.centered();
+        let ratio = length / self.length();
+        let segment = Segment2d::new(centered.point1() * ratio, centered.point2() * ratio);
+        segment.offset(offset_from_origin)
     }
 }
 
diff --git a/examples/2d/bounding_2d.rs b/examples/2d/bounding_2d.rs
index f4c24e739432f..fe8dccae9c040 100644
--- a/examples/2d/bounding_2d.rs
+++ b/examples/2d/bounding_2d.rs
@@ -224,13 +224,16 @@ fn setup(mut commands: Commands) {
             Vec2::new(40., 50.),
         )),
         Spin,
-        DesiredVolume::Aabb,
+        DesiredVolume::Circle,
         Intersects::default(),
     ));
 
     commands.spawn((
         Transform::from_xyz(-OFFSET_X, -OFFSET_Y, 0.),
-        Shape::Line(Segment2d::new(Dir2::from_xy(1., 0.3).unwrap(), 90.)),
+        Shape::Line(Segment2d::from_direction(
+            Dir2::from_xy(1., 0.3).unwrap(),
+            90.,
+        )),
         Spin,
         DesiredVolume::Circle,
         Intersects::default(),
diff --git a/examples/math/render_primitives.rs b/examples/math/render_primitives.rs
index 4d9b3325510bf..4df5bf5261abe 100644
--- a/examples/math/render_primitives.rs
+++ b/examples/math/render_primitives.rs
@@ -187,12 +187,13 @@ const LINE2D: Line2d = Line2d { direction: Dir2::X };
 const LINE3D: Line3d = Line3d { direction: Dir3::X };
 
 const SEGMENT_2D: Segment2d = Segment2d {
-    direction: Dir2::X,
-    half_length: BIG_2D,
+    point1: Vec2::new(-BIG_2D / 2., 0.),
+    point2: Vec2::new(BIG_2D / 2., 0.),
 };
+
 const SEGMENT_3D: Segment3d = Segment3d {
-    direction: Dir3::X,
-    half_length: BIG_3D,
+    point1: Vec3::new(-BIG_3D / 2., 0., 0.),
+    point2: Vec3::new(BIG_3D / 2., 0., 0.),
 };
 
 const POLYLINE_2D: Polyline2d<4> = Polyline2d {

From a33987bb058826145542e6827611ff1071c6cc92 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Thu, 16 Jan 2025 13:46:21 +0100
Subject: [PATCH 02/43] fixed extrusion

---
 crates/bevy_math/src/bounding/bounded3d/extrusion.rs | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/bounding/bounded3d/extrusion.rs b/crates/bevy_math/src/bounding/bounded3d/extrusion.rs
index 5403fa176ea53..dcf4b7bb13042 100644
--- a/crates/bevy_math/src/bounding/bounded3d/extrusion.rs
+++ b/crates/bevy_math/src/bounding/bounded3d/extrusion.rs
@@ -348,7 +348,10 @@ mod tests {
 
     #[test]
     fn segment() {
-        let extrusion = Extrusion::new(Segment2d::new(Dir2::new_unchecked(Vec2::NEG_Y), 3.), 4.0);
+        let extrusion = Extrusion::new(
+            Segment2d::from_direction(Dir2::new_unchecked(Vec2::NEG_Y), 3.),
+            4.0,
+        );
         let translation = Vec3::new(3., 4., 5.);
         let rotation = Quat::from_rotation_x(FRAC_PI_4);
         let isometry = Isometry3d::new(translation, rotation);

From be0416cbd81a9703b4cdc99d8c232b43367c1929 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Thu, 16 Jan 2025 13:54:38 +0100
Subject: [PATCH 03/43] fix commit order mistake

---
 examples/math/render_primitives.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/math/render_primitives.rs b/examples/math/render_primitives.rs
index 4df5bf5261abe..30dfbaf88efe7 100644
--- a/examples/math/render_primitives.rs
+++ b/examples/math/render_primitives.rs
@@ -192,8 +192,8 @@ const SEGMENT_2D: Segment2d = Segment2d {
 };
 
 const SEGMENT_3D: Segment3d = Segment3d {
-    point1: Vec3::new(-BIG_3D / 2., 0., 0.),
-    point2: Vec3::new(BIG_3D / 2., 0., 0.),
+    direction: Dir3::X,
+    half_length: BIG_3D,
 };
 
 const POLYLINE_2D: Polyline2d<4> = Polyline2d {

From b3d4deb8d0eff5a6f725656446a323359bb09916 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Thu, 16 Jan 2025 14:01:05 +0100
Subject: [PATCH 04/43] fix typo

---
 crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
index f1632e87a08bb..ac1e41cb1f3bc 100644
--- a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
@@ -410,7 +410,7 @@ impl Bounded2d for Capsule2d {
     fn aabb_2d(&self, isometry: impl Into<Isometry2d>) -> Aabb2d {
         let isometry = isometry.into();
 
-        // Get the line segment between the hemicircles of the rotated capsule
+        // Get the line segment between the semicircles of the rotated capsule
         let segment = Segment2d::from_direction(isometry.rotation * Dir2::Y, self.half_length * 2.);
         let (a, b) = (segment.point1(), segment.point2());
 

From e3d846426bf37d3a365a9891a432c997ec8224f7 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Thu, 16 Jan 2025 19:44:31 +0100
Subject: [PATCH 05/43] fix changed method name and fixed method docs

---
 crates/bevy_math/src/primitives/dim2.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index 18264a70eab53..f0a38deed996f 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1246,9 +1246,9 @@ impl Segment2d {
         (Self::new(point1, point2), (point1 + point2) / 2.)
     }
 
-    /// Create a new `Segment2d` at the origin from a `direction` and `half_length`
+    /// Create a new `Segment2d` at the origin from a `direction` and `length`
     #[inline(always)]
-    pub fn from_direction(direction: Dir2, length: f32) -> Segment2d {
+    pub fn from_direction_and_length(direction: Dir2, length: f32) -> Segment2d {
         let half_length = length / 2.;
         Self::new(direction * -half_length, direction * half_length)
     }

From b9e3cdf1d42bf6b91e471d70debb36c2472bd652 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Thu, 16 Jan 2025 19:47:12 +0100
Subject: [PATCH 06/43] apply from_direction rename

---
 crates/bevy_gizmos/src/primitives/dim2.rs                  | 2 +-
 crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs | 5 ++++-
 crates/bevy_math/src/bounding/bounded3d/extrusion.rs       | 2 +-
 examples/2d/bounding_2d.rs                                 | 2 +-
 4 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/crates/bevy_gizmos/src/primitives/dim2.rs b/crates/bevy_gizmos/src/primitives/dim2.rs
index ffddfede98887..26dd7aa302edb 100644
--- a/crates/bevy_gizmos/src/primitives/dim2.rs
+++ b/crates/bevy_gizmos/src/primitives/dim2.rs
@@ -540,7 +540,7 @@ where
         }
         // draw normal of the plane (orthogonal to the plane itself)
         let normal = primitive.normal;
-        let normal_segment = Segment2d::from_direction(normal, HALF_MIN_LINE_LEN * 2.);
+        let normal_segment = Segment2d::from_direction_and_length(normal, HALF_MIN_LINE_LEN * 2.);
         self.primitive_2d(
             &normal_segment,
             // offset the normal so it starts on the plane line
diff --git a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
index ac1e41cb1f3bc..9386b9bffe0dc 100644
--- a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
@@ -411,7 +411,10 @@ impl Bounded2d for Capsule2d {
         let isometry = isometry.into();
 
         // Get the line segment between the semicircles of the rotated capsule
-        let segment = Segment2d::from_direction(isometry.rotation * Dir2::Y, self.half_length * 2.);
+        let segment = Segment2d::from_direction_and_length(
+            isometry.rotation * Dir2::Y,
+            self.half_length * 2.,
+        );
         let (a, b) = (segment.point1(), segment.point2());
 
         // Expand the line segment by the capsule radius to get the capsule half-extents
diff --git a/crates/bevy_math/src/bounding/bounded3d/extrusion.rs b/crates/bevy_math/src/bounding/bounded3d/extrusion.rs
index dcf4b7bb13042..47d5d6676356a 100644
--- a/crates/bevy_math/src/bounding/bounded3d/extrusion.rs
+++ b/crates/bevy_math/src/bounding/bounded3d/extrusion.rs
@@ -349,7 +349,7 @@ mod tests {
     #[test]
     fn segment() {
         let extrusion = Extrusion::new(
-            Segment2d::from_direction(Dir2::new_unchecked(Vec2::NEG_Y), 3.),
+            Segment2d::from_direction_and_length(Dir2::new_unchecked(Vec2::NEG_Y), 3.),
             4.0,
         );
         let translation = Vec3::new(3., 4., 5.);
diff --git a/examples/2d/bounding_2d.rs b/examples/2d/bounding_2d.rs
index fe8dccae9c040..0b8017e0487f0 100644
--- a/examples/2d/bounding_2d.rs
+++ b/examples/2d/bounding_2d.rs
@@ -230,7 +230,7 @@ fn setup(mut commands: Commands) {
 
     commands.spawn((
         Transform::from_xyz(-OFFSET_X, -OFFSET_Y, 0.),
-        Shape::Line(Segment2d::from_direction(
+        Shape::Line(Segment2d::from_direction_and_length(
             Dir2::from_xy(1., 0.3).unwrap(),
             90.,
         )),

From 4619993a6f1ec6c3637d3cee37a1d0263c084f37 Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Thu, 16 Jan 2025 19:48:37 +0100
Subject: [PATCH 07/43] Update crates/bevy_math/src/primitives/dim2.rs

Co-authored-by: Alice Cecile <alice.i.cecile@gmail.com>
---
 crates/bevy_math/src/primitives/dim2.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index f0a38deed996f..9cae9fdcd4d3a 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1283,7 +1283,7 @@ impl Segment2d {
         Self::new(self.point1() + offset, self.point2() + offset)
     }
 
-    /// Get the segment rotated around it's center
+    /// Compute a new segment, based on the original segment rotated around its center
     #[inline(always)]
     pub fn rotated(&self, rotation: Rot2) -> Segment2d {
         pub fn rotate_point(p: Vec2, rotation: Rot2) -> Vec2 {

From e54a5fcfc7f417e89aee40202730bb191c9eb88f Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Thu, 16 Jan 2025 19:50:16 +0100
Subject: [PATCH 08/43] rework segment3d

---
 crates/bevy_gizmos/src/primitives/dim3.rs     |  8 +-
 .../src/bounding/bounded3d/primitive_impls.rs | 10 +--
 crates/bevy_math/src/primitives/dim3.rs       | 74 ++++++++++++++-----
 3 files changed, 62 insertions(+), 30 deletions(-)

diff --git a/crates/bevy_gizmos/src/primitives/dim3.rs b/crates/bevy_gizmos/src/primitives/dim3.rs
index b99ab9a31a793..20d6b28215aea 100644
--- a/crates/bevy_gizmos/src/primitives/dim3.rs
+++ b/crates/bevy_gizmos/src/primitives/dim3.rs
@@ -228,9 +228,11 @@ where
             return;
         }
 
-        let isometry = isometry.into();
-        let direction = primitive.direction.as_vec3();
-        self.line(isometry * direction, isometry * (-direction), color);
+        let isometry: Isometry3d = isometry.into();
+        let transformed = primitive
+            .rotated(isometry.rotation)
+            .offset(isometry.translation.into());
+        self.line(transformed.point1(), transformed.point1(), color);
     }
 }
 
diff --git a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
index 679d8577f0d41..cb5412afec673 100644
--- a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
@@ -76,18 +76,12 @@ impl Bounded3d for Line3d {
 
 impl Bounded3d for Segment3d {
     fn aabb_3d(&self, isometry: impl Into<Isometry3d>) -> Aabb3d {
-        let isometry = isometry.into();
-
-        // Rotate the segment by `rotation`
-        let direction = isometry.rotation * *self.direction;
-        let half_size = (self.half_length * direction).abs();
-
-        Aabb3d::new(isometry.translation, half_size)
+        Aabb3d::from_point_cloud(isometry, [self.point1(), self.point2()].iter().copied())
     }
 
     fn bounding_sphere(&self, isometry: impl Into<Isometry3d>) -> BoundingSphere {
         let isometry = isometry.into();
-        BoundingSphere::new(isometry.translation, self.half_length)
+        BoundingSphere::from_point_cloud(isometry, &[self.point1(), self.point2()])
     }
 }
 
diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index 8d25df5b83d0a..eec54cae64806 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -359,22 +359,25 @@ impl Primitive3d for Line3d {}
     reflect(Serialize, Deserialize)
 )]
 pub struct Segment3d {
-    /// The direction of the line
-    pub direction: Dir3,
-    /// Half the length of the line segment. The segment extends by this amount in both
-    /// the given direction and its opposite direction
-    pub half_length: f32,
+    /// The first point of the segment
+    pub point1: Vec3,
+    /// The second point of the segment
+    pub point2: Vec3,
 }
 impl Primitive3d for Segment3d {}
 
 impl Segment3d {
+    /// Create a new `Segment3d` from it's points
+    #[inline(always)]
+    pub fn new(point1: Vec3, point2: Vec3) -> Self {
+        Self { point1, point2 }
+    }
+
     /// Create a new `Segment3d` from a direction and full length of the segment
     #[inline(always)]
-    pub fn new(direction: Dir3, length: f32) -> Self {
-        Self {
-            direction,
-            half_length: length / 2.0,
-        }
+    pub fn from_direction_and_length(direction: Dir3, length: f32) -> Self {
+        let half_length = length / 2.;
+        Self::new(direction * -half_length, direction * -half_length)
     }
 
     /// Create a new `Segment3d` from its endpoints and compute its geometric center
@@ -384,26 +387,59 @@ impl Segment3d {
     /// Panics if `point1 == point2`
     #[inline(always)]
     pub fn from_points(point1: Vec3, point2: Vec3) -> (Self, Vec3) {
-        let diff = point2 - point1;
-        let length = diff.length();
+        let segment = Self::new(point1, point2);
 
-        (
-            // We are dividing by the length here, so the vector is normalized.
-            Self::new(Dir3::new_unchecked(diff / length), length),
-            (point1 + point2) / 2.,
-        )
+        (segment, segment.center())
     }
 
     /// Get the position of the first point on the line segment
     #[inline(always)]
     pub fn point1(&self) -> Vec3 {
-        *self.direction * -self.half_length
+        self.point1
     }
 
     /// Get the position of the second point on the line segment
     #[inline(always)]
     pub fn point2(&self) -> Vec3 {
-        *self.direction * self.half_length
+        self.point2
+    }
+
+    /// Get the center of the segment
+    #[inline(always)]
+    pub fn center(&self) -> Vec3 {
+        (self.point1() + self.point2()) / 2.
+    }
+
+    /// Get the length of the segment
+    #[inline(always)]
+    pub fn length(&self) -> f32 {
+        self.point1().distance(self.point2())
+    }
+
+    /// Get the segment offset by a vector
+    #[inline(always)]
+    pub fn offset(&self, offset: Vec3) -> Segment3d {
+        Self::new(self.point1() + offset, self.point2() + offset)
+    }
+
+    /// Get the segment rotated around it's center
+    #[inline(always)]
+    pub fn rotated(&self, rotation: Quat) -> Segment3d {
+        // We center the segment for the purpose of the rotation, then offset back to it's original position
+        let offset_from_origin = self.center();
+        let centered = self.centered();
+        let centered_rotated = Segment3d::new(
+            rotation.mul_vec3(centered.point1()),
+            rotation.mul_vec3(centered.point2()),
+        );
+        centered_rotated.offset(offset_from_origin)
+    }
+
+    /// Get the segment offset so that it's center is at the origin
+    #[inline(always)]
+    pub fn centered(&self) -> Segment3d {
+        let center = self.center();
+        self.offset(-center)
     }
 }
 

From bd971f6c03d4e3e2ff937e5041daafc7baee7978 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Thu, 16 Jan 2025 20:00:57 +0100
Subject: [PATCH 09/43] fix segment3d render primitive

---
 examples/math/render_primitives.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/math/render_primitives.rs b/examples/math/render_primitives.rs
index 30dfbaf88efe7..4df5bf5261abe 100644
--- a/examples/math/render_primitives.rs
+++ b/examples/math/render_primitives.rs
@@ -192,8 +192,8 @@ const SEGMENT_2D: Segment2d = Segment2d {
 };
 
 const SEGMENT_3D: Segment3d = Segment3d {
-    direction: Dir3::X,
-    half_length: BIG_3D,
+    point1: Vec3::new(-BIG_3D / 2., 0., 0.),
+    point2: Vec3::new(BIG_3D / 2., 0., 0.),
 };
 
 const POLYLINE_2D: Polyline2d<4> = Polyline2d {

From 334de9bf9f341aa80dbe072aa1a3c3f000702dca Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Thu, 16 Jan 2025 23:12:23 +0100
Subject: [PATCH 10/43] Update crates/bevy_gizmos/src/primitives/dim3.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_gizmos/src/primitives/dim3.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_gizmos/src/primitives/dim3.rs b/crates/bevy_gizmos/src/primitives/dim3.rs
index 20d6b28215aea..e7c0a11129b5e 100644
--- a/crates/bevy_gizmos/src/primitives/dim3.rs
+++ b/crates/bevy_gizmos/src/primitives/dim3.rs
@@ -232,7 +232,7 @@ where
         let transformed = primitive
             .rotated(isometry.rotation)
             .offset(isometry.translation.into());
-        self.line(transformed.point1(), transformed.point1(), color);
+        self.line(transformed.point1(), transformed.point2(), color);
     }
 }
 

From 42b9ef15a72802f31aa70559d9d6439f4df2d666 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 01:34:40 +0100
Subject: [PATCH 11/43] optimized bounding circle computation for segment2d

---
 crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
index 9386b9bffe0dc..83efddb281c6d 100644
--- a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
@@ -269,7 +269,11 @@ impl Bounded2d for Segment2d {
     }
 
     fn bounding_circle(&self, isometry: impl Into<Isometry2d>) -> BoundingCircle {
-        BoundingCircle::from_point_cloud(isometry, &[self.point1(), self.point2()])
+        let isometry: Isometry2d = isometry.into();
+        let local_center = self.center();
+        let radius = local_center.distance(self.point1);
+        let local_circle = BoundingCircle::new(local_center, radius);
+        local_circle.transformed_by(isometry.translation, isometry.rotation)
     }
 }
 

From c4602283d1de61e9d4cf977d6bb596448378d669 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 01:36:08 +0100
Subject: [PATCH 12/43] missing import

---
 crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs | 1 +
 1 file changed, 1 insertion(+)

diff --git a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
index 83efddb281c6d..1ede885611f73 100644
--- a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
@@ -1,6 +1,7 @@
 //! Contains [`Bounded2d`] implementations for [geometric primitives](crate::primitives).
 
 use crate::{
+    bounding::BoundingVolume,
     ops,
     primitives::{
         Annulus, Arc2d, Capsule2d, Circle, CircularSector, CircularSegment, Ellipse, Line2d,

From 02783a4c184b4cf9851a966cce57e8f725bb62c1 Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Fri, 17 Jan 2025 01:37:22 +0100
Subject: [PATCH 13/43] Update
 crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
index cb5412afec673..104b6ec044185 100644
--- a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
@@ -76,7 +76,7 @@ impl Bounded3d for Line3d {
 
 impl Bounded3d for Segment3d {
     fn aabb_3d(&self, isometry: impl Into<Isometry3d>) -> Aabb3d {
-        Aabb3d::from_point_cloud(isometry, [self.point1(), self.point2()].iter().copied())
+        Aabb3d::from_point_cloud(isometry, &[self.point1(), self.point2()])
     }
 
     fn bounding_sphere(&self, isometry: impl Into<Isometry3d>) -> BoundingSphere {

From c0418c68ddb19181015d65d05543299498eebfd6 Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Fri, 17 Jan 2025 01:43:20 +0100
Subject: [PATCH 14/43] Update crates/bevy_math/src/primitives/dim2.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_math/src/primitives/dim2.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index 9cae9fdcd4d3a..36ac713bc4e62 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1221,9 +1221,9 @@ impl Primitive2d for Line2d {}
 )]
 #[doc(alias = "LineSegment2d")]
 pub struct Segment2d {
-    /// First point of the segment
+    /// The first point of the line segment
     pub point1: Vec2,
-    /// Second point of the segment
+    /// The second point of the line segment
     pub point2: Vec2,
 }
 impl Primitive2d for Segment2d {}

From c7f1e2a40084d41bb54f6ceab2c4f5e629eb7b0f Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Fri, 17 Jan 2025 01:43:57 +0100
Subject: [PATCH 15/43] Update crates/bevy_math/src/primitives/dim3.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_math/src/primitives/dim3.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index eec54cae64806..b679e426d85c0 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -377,7 +377,7 @@ impl Segment3d {
     #[inline(always)]
     pub fn from_direction_and_length(direction: Dir3, length: f32) -> Self {
         let half_length = length / 2.;
-        Self::new(direction * -half_length, direction * -half_length)
+        Self::new(direction * -half_length, direction * half_length)
     }
 
     /// Create a new `Segment3d` from its endpoints and compute its geometric center

From f976e996042ac9a18b88511f4e5ed797e5266ff9 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 01:45:49 +0100
Subject: [PATCH 16/43] revert example change

---
 examples/2d/bounding_2d.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/2d/bounding_2d.rs b/examples/2d/bounding_2d.rs
index 0b8017e0487f0..a90718058c214 100644
--- a/examples/2d/bounding_2d.rs
+++ b/examples/2d/bounding_2d.rs
@@ -224,7 +224,7 @@ fn setup(mut commands: Commands) {
             Vec2::new(40., 50.),
         )),
         Spin,
-        DesiredVolume::Circle,
+        DesiredVolume::Aabb,
         Intersects::default(),
     ));
 

From b9ce95424ba91702beb42350e9a852dd95081bf4 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 01:48:16 +0100
Subject: [PATCH 17/43] deprecated from_points of Segment3d

---
 crates/bevy_math/src/primitives/dim3.rs | 1 +
 1 file changed, 1 insertion(+)

diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index b679e426d85c0..f03df4177b86d 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -386,6 +386,7 @@ impl Segment3d {
     ///
     /// Panics if `point1 == point2`
     #[inline(always)]
+    #[deprecated(since = "0.15.1", note = "Use the `new` constructor instead")]
     pub fn from_points(point1: Vec3, point2: Vec3) -> (Self, Vec3) {
         let segment = Self::new(point1, point2);
 

From 3da4e4607ac3bd29113e9a7b0959eec024be0292 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 01:49:48 +0100
Subject: [PATCH 18/43] unified segment2d and 3d from_points implementation

---
 crates/bevy_math/src/primitives/dim3.rs | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index f03df4177b86d..ae55671112e87 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -388,9 +388,7 @@ impl Segment3d {
     #[inline(always)]
     #[deprecated(since = "0.15.1", note = "Use the `new` constructor instead")]
     pub fn from_points(point1: Vec3, point2: Vec3) -> (Self, Vec3) {
-        let segment = Self::new(point1, point2);
-
-        (segment, segment.center())
+        (Self::new(point1, point2), (point1 + point2) / 2.)
     }
 
     /// Get the position of the first point on the line segment

From a5e6cad18640c0cc9bc42e84f846a56d87c0cb57 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 02:03:13 +0100
Subject: [PATCH 19/43] revert change

---
 crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
index 104b6ec044185..cb5412afec673 100644
--- a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
@@ -76,7 +76,7 @@ impl Bounded3d for Line3d {
 
 impl Bounded3d for Segment3d {
     fn aabb_3d(&self, isometry: impl Into<Isometry3d>) -> Aabb3d {
-        Aabb3d::from_point_cloud(isometry, &[self.point1(), self.point2()])
+        Aabb3d::from_point_cloud(isometry, [self.point1(), self.point2()].iter().copied())
     }
 
     fn bounding_sphere(&self, isometry: impl Into<Isometry3d>) -> BoundingSphere {

From 7ec709f8e88f92d3c216c2b6de121ce4696ee6c5 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 02:04:52 +0100
Subject: [PATCH 20/43] optimized segment3d bounding sphere generation

---
 crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
index cb5412afec673..6f839547e78ff 100644
--- a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
@@ -1,7 +1,7 @@
 //! Contains [`Bounded3d`] implementations for [geometric primitives](crate::primitives).
 
 use crate::{
-    bounding::{Bounded2d, BoundingCircle},
+    bounding::{Bounded2d, BoundingCircle, BoundingVolume},
     ops,
     primitives::{
         Capsule3d, Cone, ConicalFrustum, Cuboid, Cylinder, InfinitePlane3d, Line3d, Polyline3d,
@@ -81,7 +81,8 @@ impl Bounded3d for Segment3d {
 
     fn bounding_sphere(&self, isometry: impl Into<Isometry3d>) -> BoundingSphere {
         let isometry = isometry.into();
-        BoundingSphere::from_point_cloud(isometry, &[self.point1(), self.point2()])
+        let local_sphere = BoundingSphere::new(self.center(), self.length() / 2.);
+        local_sphere.transformed_by(isometry.translation, isometry.rotation)
     }
 }
 

From 2ce9647680040a8c35a771f0078c241480984548 Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Fri, 17 Jan 2025 02:05:55 +0100
Subject: [PATCH 21/43] Update crates/bevy_math/src/primitives/dim2.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_math/src/primitives/dim2.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index 36ac713bc4e62..b411c5162671c 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1229,7 +1229,7 @@ pub struct Segment2d {
 impl Primitive2d for Segment2d {}
 
 impl Segment2d {
-    /// Create a new `Segment2d` from the two points composing it
+    /// Create a new `Segment2d` from its endpoints
     #[inline(always)]
     pub fn new(point1: Vec2, point2: Vec2) -> Self {
         Self { point1, point2 }

From 070f9e86be6a9611a485b82edf6c28a11bbe30cc Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 02:07:21 +0100
Subject: [PATCH 22/43] fix deprecation version number

---
 crates/bevy_math/src/primitives/dim2.rs | 2 +-
 crates/bevy_math/src/primitives/dim3.rs | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index 36ac713bc4e62..cec5949e44c81 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1241,7 +1241,7 @@ impl Segment2d {
     ///
     /// Panics if `point1 == point2`
     #[inline(always)]
-    #[deprecated(since = "0.15.1", note = "Use the `new` constructor instead")]
+    #[deprecated(since = "0.16", note = "Use the `new` constructor instead")]
     pub fn from_points(point1: Vec2, point2: Vec2) -> (Self, Vec2) {
         (Self::new(point1, point2), (point1 + point2) / 2.)
     }
diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index ae55671112e87..8570f2feb25e4 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -386,7 +386,7 @@ impl Segment3d {
     ///
     /// Panics if `point1 == point2`
     #[inline(always)]
-    #[deprecated(since = "0.15.1", note = "Use the `new` constructor instead")]
+    #[deprecated(since = "0.16", note = "Use the `new` constructor instead")]
     pub fn from_points(point1: Vec3, point2: Vec3) -> (Self, Vec3) {
         (Self::new(point1, point2), (point1 + point2) / 2.)
     }

From c00a6ee27cd5fb9631d5cafa28c69a12bc1b0077 Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Fri, 17 Jan 2025 02:07:31 +0100
Subject: [PATCH 23/43] Update crates/bevy_math/src/primitives/dim2.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_math/src/primitives/dim2.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index b411c5162671c..ba1a53e792045 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1231,7 +1231,7 @@ impl Primitive2d for Segment2d {}
 impl Segment2d {
     /// Create a new `Segment2d` from its endpoints
     #[inline(always)]
-    pub fn new(point1: Vec2, point2: Vec2) -> Self {
+    pub const fn new(point1: Vec2, point2: Vec2) -> Self {
         Self { point1, point2 }
     }
 

From f1686ca98710b474ea84918ed697635d514e6f3f Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Fri, 17 Jan 2025 02:09:56 +0100
Subject: [PATCH 24/43] Update crates/bevy_math/src/primitives/dim2.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_math/src/primitives/dim2.rs | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index a0818e7d9dfea..f13aabd308292 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1277,10 +1277,10 @@ impl Segment2d {
         self.point1().distance(self.point2())
     }
 
-    /// Get the segment offset by a vector
+    /// Get the segment translated by the given vector
     #[inline(always)]
-    pub fn offset(&self, offset: Vec2) -> Segment2d {
-        Self::new(self.point1() + offset, self.point2() + offset)
+    pub fn translated(&self, translation: Vec2) -> Segment2d {
+        Self::new(self.point1() + translation, self.point2() + translation)
     }
 
     /// Compute a new segment, based on the original segment rotated around its center

From 8b259491a5c0f254d8ccac706c6635eeb497194e Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 02:13:17 +0100
Subject: [PATCH 25/43] apply translated rename

---
 crates/bevy_math/src/primitives/dim2.rs | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index f13aabd308292..d3d0601663239 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1299,14 +1299,14 @@ impl Segment2d {
             rotate_point(centered.point1(), rotation),
             rotate_point(centered.point2(), rotation),
         );
-        centered_rotated.offset(offset_from_origin)
+        centered_rotated.translated(offset_from_origin)
     }
 
     /// Get the segment with it's center is at the origin
     #[inline(always)]
     pub fn centered(&self) -> Segment2d {
         let center = self.center();
-        self.offset(-center)
+        self.translated(-center)
     }
 
     /// Get the segment with a new length
@@ -1316,7 +1316,7 @@ impl Segment2d {
         let centered = self.centered();
         let ratio = length / self.length();
         let segment = Segment2d::new(centered.point1() * ratio, centered.point2() * ratio);
-        segment.offset(offset_from_origin)
+        segment.translated(offset_from_origin)
     }
 }
 

From 2988fd0ff3a6a0d6eaeeca2474e3a01a4efb9261 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 02:25:35 +0100
Subject: [PATCH 26/43] more renaming translated

---
 crates/bevy_gizmos/src/primitives/dim2.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_gizmos/src/primitives/dim2.rs b/crates/bevy_gizmos/src/primitives/dim2.rs
index 26dd7aa302edb..5991feb5e1516 100644
--- a/crates/bevy_gizmos/src/primitives/dim2.rs
+++ b/crates/bevy_gizmos/src/primitives/dim2.rs
@@ -635,7 +635,7 @@ where
         }
 
         let segment = Segment2d::new(self.point1, self.point2)
-            .offset(self.isometry.translation)
+            .translated(self.isometry.translation)
             .rotated(self.isometry.rotation);
 
         if self.draw_arrow {

From c9431c9c507e5d0b098a6e06acc48360abed9b5a Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 02:25:49 +0100
Subject: [PATCH 27/43] renaming and adding new rotation methods

---
 crates/bevy_gizmos/src/primitives/dim2.rs |  2 +-
 crates/bevy_math/src/primitives/dim2.rs   | 29 ++++++++++++++++-------
 2 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/crates/bevy_gizmos/src/primitives/dim2.rs b/crates/bevy_gizmos/src/primitives/dim2.rs
index 5991feb5e1516..515a1ad2bb2c0 100644
--- a/crates/bevy_gizmos/src/primitives/dim2.rs
+++ b/crates/bevy_gizmos/src/primitives/dim2.rs
@@ -636,7 +636,7 @@ where
 
         let segment = Segment2d::new(self.point1, self.point2)
             .translated(self.isometry.translation)
-            .rotated(self.isometry.rotation);
+            .rotated_around_center(self.isometry.rotation);
 
         if self.draw_arrow {
             self.gizmos
diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index d3d0601663239..37dcf3ee81c6f 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1283,7 +1283,7 @@ impl Segment2d {
         Self::new(self.point1() + translation, self.point2() + translation)
     }
 
-    /// Compute a new segment, based on the original segment rotated around its center
+    /// Compute a new segment, based on the original segment rotated around the origin
     #[inline(always)]
     pub fn rotated(&self, rotation: Rot2) -> Segment2d {
         pub fn rotate_point(p: Vec2, rotation: Rot2) -> Vec2 {
@@ -1292,14 +1292,25 @@ impl Segment2d {
                 p.x * rotation.sin + p.y * rotation.cos,
             )
         }
-        // We center the segment for the purpose of the rotation, then offset back to it's original position
-        let offset_from_origin = self.center();
-        let centered = self.centered();
-        let centered_rotated: Segment2d = Segment2d::new(
-            rotate_point(centered.point1(), rotation),
-            rotate_point(centered.point2(), rotation),
-        );
-        centered_rotated.translated(offset_from_origin)
+        Segment2d::new(
+            rotate_point(self.point1(), rotation),
+            rotate_point(self.point2(), rotation),
+        )
+    }
+
+    /// Compute a new segment, based on the original segment rotated around a given point
+    #[inline(always)]
+    pub fn rotated_around(&self, rotation: Rot2, point: Vec2) -> Segment2d {
+        // We offset our segment so that our segment is rotated as if from the origin, then we can apply the offset back
+        let offset = self.translated(-point);
+        let rotated = offset.rotated(rotation);
+        rotated.translated(point)
+    }
+
+    /// Compute a new segment, based on the original segment rotated around its center
+    #[inline(always)]
+    pub fn rotated_around_center(&self, rotation: Rot2) -> Segment2d {
+        self.rotated_around(rotation, self.center())
     }
 
     /// Get the segment with it's center is at the origin

From ff8bd4c2880840ee40a0e4e8b0357f707cf6c09d Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Fri, 17 Jan 2025 02:27:21 +0100
Subject: [PATCH 28/43] Update crates/bevy_math/src/primitives/dim2.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_math/src/primitives/dim2.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index 37dcf3ee81c6f..b4065a6fdcd4d 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1313,7 +1313,7 @@ impl Segment2d {
         self.rotated_around(rotation, self.center())
     }
 
-    /// Get the segment with it's center is at the origin
+    /// Get the segment with its center at the origin
     #[inline(always)]
     pub fn centered(&self) -> Segment2d {
         let center = self.center();

From 7a779350066af5fa9f879c8f62347a3f48bbb145 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 02:36:41 +0100
Subject: [PATCH 29/43] improve segment3d methods

---
 crates/bevy_gizmos/src/primitives/dim3.rs |  4 +--
 crates/bevy_math/src/primitives/dim3.rs   | 35 +++++++++++++++--------
 2 files changed, 25 insertions(+), 14 deletions(-)

diff --git a/crates/bevy_gizmos/src/primitives/dim3.rs b/crates/bevy_gizmos/src/primitives/dim3.rs
index e7c0a11129b5e..9d0657f09bd47 100644
--- a/crates/bevy_gizmos/src/primitives/dim3.rs
+++ b/crates/bevy_gizmos/src/primitives/dim3.rs
@@ -230,8 +230,8 @@ where
 
         let isometry: Isometry3d = isometry.into();
         let transformed = primitive
-            .rotated(isometry.rotation)
-            .offset(isometry.translation.into());
+            .translated(isometry.translation.into())
+            .rotated_around_center(isometry.rotation);
         self.line(transformed.point1(), transformed.point2(), color);
     }
 }
diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index 8570f2feb25e4..4064fefea582c 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -415,30 +415,41 @@ impl Segment3d {
         self.point1().distance(self.point2())
     }
 
-    /// Get the segment offset by a vector
+    /// Get the segment translated by a vector
     #[inline(always)]
-    pub fn offset(&self, offset: Vec3) -> Segment3d {
-        Self::new(self.point1() + offset, self.point2() + offset)
+    pub fn translated(&self, translation: Vec3) -> Segment3d {
+        Self::new(self.point1() + translation, self.point2() + translation)
     }
 
     /// Get the segment rotated around it's center
     #[inline(always)]
     pub fn rotated(&self, rotation: Quat) -> Segment3d {
-        // We center the segment for the purpose of the rotation, then offset back to it's original position
-        let offset_from_origin = self.center();
-        let centered = self.centered();
-        let centered_rotated = Segment3d::new(
-            rotation.mul_vec3(centered.point1()),
-            rotation.mul_vec3(centered.point2()),
-        );
-        centered_rotated.offset(offset_from_origin)
+        Segment3d::new(
+            rotation.mul_vec3(self.point1()),
+            rotation.mul_vec3(self.point2()),
+        )
+    }
+
+    /// Compute a new segment, based on the original segment rotated around a given point
+    #[inline(always)]
+    pub fn rotated_around(&self, rotation: Quat, point: Vec3) -> Segment3d {
+        // We offset our segment so that our segment is rotated as if from the origin, then we can apply the offset back
+        let offset = self.translated(-point);
+        let rotated = offset.rotated(rotation);
+        rotated.translated(point)
+    }
+
+    /// Compute a new segment, based on the original segment rotated around its center
+    #[inline(always)]
+    pub fn rotated_around_center(&self, rotation: Quat) -> Segment3d {
+        self.rotated_around(rotation, self.center())
     }
 
     /// Get the segment offset so that it's center is at the origin
     #[inline(always)]
     pub fn centered(&self) -> Segment3d {
         let center = self.center();
-        self.offset(-center)
+        self.translated(-center)
     }
 }
 

From 7804e7ee8b832c5681d0d98e4d9a2b4a4d43b4c0 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 02:41:06 +0100
Subject: [PATCH 30/43] removed deprecated method call

---
 crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
index 6f839547e78ff..1f4e2a1666d17 100644
--- a/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded3d/primitive_impls.rs
@@ -459,8 +459,7 @@ mod tests {
     fn segment() {
         let translation = Vec3::new(2.0, 1.0, 0.0);
 
-        let segment =
-            Segment3d::from_points(Vec3::new(-1.0, -0.5, 0.0), Vec3::new(1.0, 0.5, 0.0)).0;
+        let segment = Segment3d::new(Vec3::new(-1.0, -0.5, 0.0), Vec3::new(1.0, 0.5, 0.0));
 
         let aabb = segment.aabb_3d(translation);
         assert_eq!(aabb.min, Vec3A::new(1.0, 0.5, 0.0));

From 681f4d3b1e66e6c2f8e9b5a186227fbe5dd701f1 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 20:59:50 +0100
Subject: [PATCH 31/43] added midpoint alias

---
 crates/bevy_math/src/primitives/dim2.rs | 1 +
 crates/bevy_math/src/primitives/dim3.rs | 1 +
 2 files changed, 2 insertions(+)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index b4065a6fdcd4d..55255cb43aded 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1267,6 +1267,7 @@ impl Segment2d {
 
     /// Get the segment's center
     #[inline(always)]
+    #[doc(alias = "midpoint")]
     pub fn center(&self) -> Vec2 {
         (self.point1() + self.point2()) / 2.
     }
diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index 4064fefea582c..02c51a2d4e852 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -405,6 +405,7 @@ impl Segment3d {
 
     /// Get the center of the segment
     #[inline(always)]
+    #[doc(alias = "midpoint")]
     pub fn center(&self) -> Vec3 {
         (self.point1() + self.point2()) / 2.
     }

From fdabe19a82758a5eab44a0958f30af52dd0a84bd Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 21:02:18 +0100
Subject: [PATCH 32/43] changed internal segment representation to an array

---
 crates/bevy_math/src/primitives/dim2.rs | 14 +++++++-------
 crates/bevy_math/src/primitives/dim3.rs | 14 +++++++-------
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index 55255cb43aded..86342b8079786 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1221,10 +1221,8 @@ impl Primitive2d for Line2d {}
 )]
 #[doc(alias = "LineSegment2d")]
 pub struct Segment2d {
-    /// The first point of the line segment
-    pub point1: Vec2,
-    /// The second point of the line segment
-    pub point2: Vec2,
+    /// The endpoints of the line segment.
+    pub vertices: [Vec2; 2],
 }
 impl Primitive2d for Segment2d {}
 
@@ -1232,7 +1230,9 @@ impl Segment2d {
     /// Create a new `Segment2d` from its endpoints
     #[inline(always)]
     pub const fn new(point1: Vec2, point2: Vec2) -> Self {
-        Self { point1, point2 }
+        Self {
+            vertices: [point1, point2],
+        }
     }
 
     /// Create a new `Segment2d` from its endpoints and compute its geometric center
@@ -1256,13 +1256,13 @@ impl Segment2d {
     /// Get the position of the first point on the line segment
     #[inline(always)]
     pub fn point1(&self) -> Vec2 {
-        self.point1
+        self.vertices[0]
     }
 
     /// Get the position of the second point on the line segment
     #[inline(always)]
     pub fn point2(&self) -> Vec2 {
-        self.point2
+        self.vertices[1]
     }
 
     /// Get the segment's center
diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index 02c51a2d4e852..1f8550f308560 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -359,10 +359,8 @@ impl Primitive3d for Line3d {}
     reflect(Serialize, Deserialize)
 )]
 pub struct Segment3d {
-    /// The first point of the segment
-    pub point1: Vec3,
-    /// The second point of the segment
-    pub point2: Vec3,
+    /// The endpoints of the line segment.
+    pub vertices: [Vec3; 2],
 }
 impl Primitive3d for Segment3d {}
 
@@ -370,7 +368,9 @@ impl Segment3d {
     /// Create a new `Segment3d` from it's points
     #[inline(always)]
     pub fn new(point1: Vec3, point2: Vec3) -> Self {
-        Self { point1, point2 }
+        Self {
+            vertices: [point1, point2],
+        }
     }
 
     /// Create a new `Segment3d` from a direction and full length of the segment
@@ -394,13 +394,13 @@ impl Segment3d {
     /// Get the position of the first point on the line segment
     #[inline(always)]
     pub fn point1(&self) -> Vec3 {
-        self.point1
+        self.vertices[0]
     }
 
     /// Get the position of the second point on the line segment
     #[inline(always)]
     pub fn point2(&self) -> Vec3 {
-        self.point2
+        self.vertices[1]
     }
 
     /// Get the center of the segment

From 1fd5de3205c3087cf6dc59f32d51c125ca1e3be1 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 21:05:29 +0100
Subject: [PATCH 33/43] implement representation changes

---
 crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
index 1ede885611f73..ba222eb69631b 100644
--- a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
@@ -272,7 +272,7 @@ impl Bounded2d for Segment2d {
     fn bounding_circle(&self, isometry: impl Into<Isometry2d>) -> BoundingCircle {
         let isometry: Isometry2d = isometry.into();
         let local_center = self.center();
-        let radius = local_center.distance(self.point1);
+        let radius = local_center.distance(self.point1());
         let local_circle = BoundingCircle::new(local_center, radius);
         local_circle.transformed_by(isometry.translation, isometry.rotation)
     }

From dbe951fee67e8a47556b8a546390c3d4bf7524f8 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Fri, 17 Jan 2025 22:57:57 +0100
Subject: [PATCH 34/43] fixed version

---
 crates/bevy_math/src/primitives/dim2.rs | 2 +-
 crates/bevy_math/src/primitives/dim3.rs | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index 86342b8079786..ca47535866534 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1241,7 +1241,7 @@ impl Segment2d {
     ///
     /// Panics if `point1 == point2`
     #[inline(always)]
-    #[deprecated(since = "0.16", note = "Use the `new` constructor instead")]
+    #[deprecated(since = "0.16.0", note = "Use the `new` constructor instead")]
     pub fn from_points(point1: Vec2, point2: Vec2) -> (Self, Vec2) {
         (Self::new(point1, point2), (point1 + point2) / 2.)
     }
diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index 1f8550f308560..51a04db39c387 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -386,7 +386,7 @@ impl Segment3d {
     ///
     /// Panics if `point1 == point2`
     #[inline(always)]
-    #[deprecated(since = "0.16", note = "Use the `new` constructor instead")]
+    #[deprecated(since = "0.16.0", note = "Use the `new` constructor instead")]
     pub fn from_points(point1: Vec3, point2: Vec3) -> (Self, Vec3) {
         (Self::new(point1, point2), (point1 + point2) / 2.)
     }

From fd63766a361e99d4c984fc73b672e645c0fd2306 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Sat, 18 Jan 2025 01:06:10 +0100
Subject: [PATCH 35/43] fixed internal change

---
 examples/math/render_primitives.rs | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/examples/math/render_primitives.rs b/examples/math/render_primitives.rs
index 4df5bf5261abe..4332516ac27f5 100644
--- a/examples/math/render_primitives.rs
+++ b/examples/math/render_primitives.rs
@@ -187,13 +187,14 @@ const LINE2D: Line2d = Line2d { direction: Dir2::X };
 const LINE3D: Line3d = Line3d { direction: Dir3::X };
 
 const SEGMENT_2D: Segment2d = Segment2d {
-    point1: Vec2::new(-BIG_2D / 2., 0.),
-    point2: Vec2::new(BIG_2D / 2., 0.),
+    vertices: [Vec2::new(-BIG_2D / 2., 0.), Vec2::new(BIG_2D / 2., 0.)],
 };
 
 const SEGMENT_3D: Segment3d = Segment3d {
-    point1: Vec3::new(-BIG_3D / 2., 0., 0.),
-    point2: Vec3::new(BIG_3D / 2., 0., 0.),
+    vertices: [
+        Vec3::new(-BIG_3D / 2., 0., 0.),
+        Vec3::new(BIG_3D / 2., 0., 0.),
+    ],
 };
 
 const POLYLINE_2D: Polyline2d<4> = Polyline2d {

From 1721259d660a588b6c137c58a188a58ead62d6bb Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Sat, 18 Jan 2025 15:32:22 +0100
Subject: [PATCH 36/43] Update crates/bevy_math/src/primitives/dim3.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_math/src/primitives/dim3.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index 51a04db39c387..fe51c2a4fe662 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -365,7 +365,7 @@ pub struct Segment3d {
 impl Primitive3d for Segment3d {}
 
 impl Segment3d {
-    /// Create a new `Segment3d` from it's points
+    /// Create a new `Segment3d` from its endpoints
     #[inline(always)]
     pub fn new(point1: Vec3, point2: Vec3) -> Self {
         Self {

From 35c0f3c221ace6fba49696a8ce2e5de3680da9e7 Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Sat, 18 Jan 2025 15:32:31 +0100
Subject: [PATCH 37/43] Update crates/bevy_math/src/primitives/dim3.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_math/src/primitives/dim3.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index fe51c2a4fe662..6d05cba361d95 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -367,7 +367,7 @@ impl Primitive3d for Segment3d {}
 impl Segment3d {
     /// Create a new `Segment3d` from its endpoints
     #[inline(always)]
-    pub fn new(point1: Vec3, point2: Vec3) -> Self {
+    pub const fn new(point1: Vec3, point2: Vec3) -> Self {
         Self {
             vertices: [point1, point2],
         }

From 00cfaa0aadcbef89b13448f05b2415f49e892604 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Sat, 18 Jan 2025 15:34:13 +0100
Subject: [PATCH 38/43] added resized method to segment3d

---
 crates/bevy_math/src/primitives/dim3.rs | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index 6d05cba361d95..03a6bfa227df2 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -452,6 +452,16 @@ impl Segment3d {
         let center = self.center();
         self.translated(-center)
     }
+
+    /// Get the segment with a new length
+    #[inline(always)]
+    pub fn resized(&self, length: f32) -> Segment3d {
+        let offset_from_origin = self.center();
+        let centered = self.centered();
+        let ratio = length / self.length();
+        let segment = Segment3d::new(centered.point1() * ratio, centered.point2() * ratio);
+        segment.translated(offset_from_origin)
+    }
 }
 
 /// A series of connected line segments in 3D space.

From 2fc35ba961664b82ecbf76fa2d55cd0c198759e3 Mon Sep 17 00:00:00 2001
From: Sigma-dev <antonin.duthil@epitech.eu>
Date: Sat, 18 Jan 2025 15:44:29 +0100
Subject: [PATCH 39/43] fixed segment2d bounding circle

---
 crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
index ba222eb69631b..e1fe6afd774d5 100644
--- a/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
+++ b/crates/bevy_math/src/bounding/bounded2d/primitive_impls.rs
@@ -334,9 +334,8 @@ impl Bounded2d for Triangle2d {
         if let Some((point1, point2)) = side_opposite_to_non_acute {
             // The triangle is obtuse or right, so the minimum bounding circle's diameter is equal to the longest side.
             // We can compute the minimum bounding circle from the line segment of the longest side.
-            let segment = Segment2d::new(point1, point2).centered();
-            let center = (point1 + point2) / 2.;
-            segment.bounding_circle(isometry * Isometry2d::from_translation(center))
+            let segment = Segment2d::new(point1, point2);
+            segment.bounding_circle(isometry)
         } else {
             // The triangle is acute, so the smallest bounding circle is the circumcircle.
             let (Circle { radius }, circumcenter) = self.circumcircle();

From 6f6e781e0c204be393446da5872b53e8af264e2f Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Sat, 18 Jan 2025 16:22:52 +0100
Subject: [PATCH 40/43] Update crates/bevy_gizmos/src/primitives/dim3.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_gizmos/src/primitives/dim3.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/crates/bevy_gizmos/src/primitives/dim3.rs b/crates/bevy_gizmos/src/primitives/dim3.rs
index 9d0657f09bd47..31a2274e841b4 100644
--- a/crates/bevy_gizmos/src/primitives/dim3.rs
+++ b/crates/bevy_gizmos/src/primitives/dim3.rs
@@ -230,8 +230,8 @@ where
 
         let isometry: Isometry3d = isometry.into();
         let transformed = primitive
-            .translated(isometry.translation.into())
-            .rotated_around_center(isometry.rotation);
+            .rotated(isometry.rotation)
+            .translated(isometry.translation.into());
         self.line(transformed.point1(), transformed.point2(), color);
     }
 }

From eccfd2b205102c17e71f4241d9cfe4e848809086 Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Sat, 18 Jan 2025 16:23:24 +0100
Subject: [PATCH 41/43] Update crates/bevy_math/src/primitives/dim3.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_math/src/primitives/dim3.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bevy_math/src/primitives/dim3.rs b/crates/bevy_math/src/primitives/dim3.rs
index 03a6bfa227df2..a828fa8247587 100644
--- a/crates/bevy_math/src/primitives/dim3.rs
+++ b/crates/bevy_math/src/primitives/dim3.rs
@@ -422,7 +422,7 @@ impl Segment3d {
         Self::new(self.point1() + translation, self.point2() + translation)
     }
 
-    /// Get the segment rotated around it's center
+    /// Compute a new segment, based on the original segment rotated around the origin
     #[inline(always)]
     pub fn rotated(&self, rotation: Quat) -> Segment3d {
         Segment3d::new(

From af65238f54b52f9f72f1f5e188dc75f276ef95f4 Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Sat, 18 Jan 2025 16:24:45 +0100
Subject: [PATCH 42/43] Update crates/bevy_math/src/primitives/dim2.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_math/src/primitives/dim2.rs | 11 +----------
 1 file changed, 1 insertion(+), 10 deletions(-)

diff --git a/crates/bevy_math/src/primitives/dim2.rs b/crates/bevy_math/src/primitives/dim2.rs
index ca47535866534..c336edac45a76 100644
--- a/crates/bevy_math/src/primitives/dim2.rs
+++ b/crates/bevy_math/src/primitives/dim2.rs
@@ -1287,16 +1287,7 @@ impl Segment2d {
     /// Compute a new segment, based on the original segment rotated around the origin
     #[inline(always)]
     pub fn rotated(&self, rotation: Rot2) -> Segment2d {
-        pub fn rotate_point(p: Vec2, rotation: Rot2) -> Vec2 {
-            Vec2::new(
-                p.x * rotation.cos - p.y * rotation.sin,
-                p.x * rotation.sin + p.y * rotation.cos,
-            )
-        }
-        Segment2d::new(
-            rotate_point(self.point1(), rotation),
-            rotate_point(self.point2(), rotation),
-        )
+        Segment2d::new(rotation * self.point1(), rotation * self.point2())
     }
 
     /// Compute a new segment, based on the original segment rotated around a given point

From 58d62438c57d54fb9d137f06efdf08f18efa61ea Mon Sep 17 00:00:00 2001
From: Sigma-dev <72008323+Sigma-dev@users.noreply.github.com>
Date: Sat, 18 Jan 2025 16:25:27 +0100
Subject: [PATCH 43/43] Update crates/bevy_gizmos/src/primitives/dim2.rs

Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
---
 crates/bevy_gizmos/src/primitives/dim2.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/crates/bevy_gizmos/src/primitives/dim2.rs b/crates/bevy_gizmos/src/primitives/dim2.rs
index 515a1ad2bb2c0..d38ba3ab4ca95 100644
--- a/crates/bevy_gizmos/src/primitives/dim2.rs
+++ b/crates/bevy_gizmos/src/primitives/dim2.rs
@@ -635,8 +635,8 @@ where
         }
 
         let segment = Segment2d::new(self.point1, self.point2)
-            .translated(self.isometry.translation)
-            .rotated_around_center(self.isometry.rotation);
+            .rotated(self.isometry.rotation)
+            .translated(self.isometry.translation);
 
         if self.draw_arrow {
             self.gizmos