From 6b908bfbb41af55df90fbdee598f759a09090904 Mon Sep 17 00:00:00 2001
From: Jonathan Johnson <jon@khonsulabs.com>
Date: Thu, 15 Aug 2024 09:23:28 -0700
Subject: [PATCH] Initial commit

---
 .gitignore  |    1 +
 Cargo.lock  | 3797 +++++++++++++++++++++++++++++++++++++++++++++++++++
 Cargo.toml  |    7 +
 src/main.rs |  719 ++++++++++
 4 files changed, 4524 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 Cargo.lock
 create mode 100644 Cargo.toml
 create mode 100644 src/main.rs

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ea8c4bf
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+++ b/.gitignore
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diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..76bcd94
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diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..75e606a
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,7 @@
+[package]
+name = "skeleton"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+cushy = { path = "../cushy" }
diff --git a/src/main.rs b/src/main.rs
new file mode 100644
index 0000000..66437f8
--- /dev/null
+++ b/src/main.rs
@@ -0,0 +1,719 @@
+use std::{
+    collections::{HashMap, HashSet},
+    f32::consts::PI,
+    fmt::{Debug, Display},
+    ops::{Add, Index, IndexMut, Neg, RangeInclusive, Sub},
+};
+
+use cushy::{
+    animation::{LinearInterpolate, PercentBetween},
+    figures::{
+        units::{Lp, Px},
+        IntoSigned, Point,
+    },
+    kludgine::{
+        shapes::{PathBuilder, Shape, StrokeOptions},
+        DrawableExt, Origin,
+    },
+    styles::Color,
+    value::{Dynamic, DynamicRead, Source},
+    widget::MakeWidget,
+    widgets::{slider::Slidable, Canvas},
+    Run,
+};
+
+#[derive(Clone, Copy, PartialEq, PartialOrd)]
+pub struct Rotation {
+    radians: f32,
+}
+
+impl Rotation {
+    pub fn radians(radians: f32) -> Self {
+        Self { radians }.normalized()
+    }
+
+    pub fn degrees(degrees: f32) -> Self {
+        Self::radians(degrees * PI / 180.0)
+    }
+
+    pub fn to_degrees(&self) -> f32 {
+        self.radians * 180.0 / PI
+    }
+
+    fn normalized(mut self) -> Self {
+        while self.radians > PI {
+            self.radians -= PI * 2.0;
+        }
+        while self.radians < -PI {
+            self.radians += PI * 2.0;
+        }
+        self
+    }
+}
+
+impl PercentBetween for Rotation {
+    fn percent_between(&self, min: &Self, max: &Self) -> cushy::animation::ZeroToOne {
+        self.radians.percent_between(&min.radians, &max.radians)
+    }
+}
+
+impl LinearInterpolate for Rotation {
+    fn lerp(&self, target: &Self, percent: f32) -> Self {
+        Self {
+            radians: self.radians.lerp(&target.radians, percent),
+        }
+    }
+}
+
+impl Debug for Rotation {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        Display::fmt(self, f)
+    }
+}
+
+impl Display for Rotation {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "{}°", self.to_degrees())
+    }
+}
+
+impl Default for Rotation {
+    fn default() -> Self {
+        Self { radians: 0. }
+    }
+}
+
+impl Add for Rotation {
+    type Output = Self;
+
+    fn add(self, rhs: Self) -> Self::Output {
+        Self {
+            radians: self.radians + rhs.radians,
+        }
+    }
+}
+
+impl Sub for Rotation {
+    type Output = Self;
+
+    fn sub(self, rhs: Self) -> Self::Output {
+        Self {
+            radians: self.radians - rhs.radians,
+        }
+    }
+}
+
+impl Neg for Rotation {
+    type Output = Self;
+
+    fn neg(self) -> Self::Output {
+        Self {
+            radians: self.radians,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Copy, PartialEq)]
+pub enum Bone {
+    Rigid {
+        length: f32,
+    },
+    Jointed {
+        start_length: f32,
+        end_length: f32,
+        inverse: bool,
+    },
+}
+
+#[derive(Default, Debug)]
+pub struct Skeleton {
+    initial_joint: Option<JointId>,
+    bones: Vec<SkeletonBone>,
+    joints: Vec<SkeletonJoint>,
+    connections: HashMap<BoneAxis, Vec<JointId>>,
+    generation: usize,
+}
+
+impl Skeleton {
+    pub fn push_bone(&mut self, bone: Bone, label: &'static str) -> BoneId {
+        let id = BoneId(u8::try_from(self.bones.len()).expect("too many bones"));
+        if id == BoneId(0) {
+            let joint = self.push_joint(Rotation::default(), id.axis_a(), id.axis_a());
+            self.initial_joint = Some(joint);
+            self.connections.insert(id.axis_a(), vec![joint]);
+        }
+        self.bones.push(SkeletonBone {
+            generation: self.generation,
+            label,
+            kind: bone,
+            start: Point::default(),
+            joint_pos: None,
+            end: Point::default(),
+            desired_end: None,
+        });
+        id
+    }
+
+    pub fn push_joint(&mut self, angle: Rotation, bone_a: BoneAxis, bone_b: BoneAxis) -> JointId {
+        let id = JointId(u8::try_from(self.joints.len()).expect("too many joints"));
+        self.joints.push(SkeletonJoint {
+            bone_a,
+            bone_b,
+            angle,
+            calculated_position: Point::default(),
+        });
+        self.connections.entry(bone_a).or_default().push(id);
+        if bone_a != bone_b {
+            self.connections.entry(bone_b).or_default().push(id);
+        }
+        id
+    }
+
+    pub fn set_translation(&mut self, translation: Point<f32>) {
+        let bone = self.bones.first_mut().expect("root bone must be defined");
+        bone.start = translation;
+    }
+
+    pub fn translation(&self) -> Point<f32> {
+        self.bones.first().expect("root bone must be defined").start
+    }
+
+    pub fn set_rotation(&mut self, rotation: Rotation) {
+        let joint = self.initial_joint.expect("root bone must be defined");
+        let joint = &mut self[joint];
+        joint.angle = rotation;
+    }
+
+    pub fn rotation(&self) -> Rotation {
+        let joint = self.initial_joint.expect("root bone must be defined");
+        self[joint].angle
+    }
+
+    pub fn solve(&mut self) {
+        if !self.bones.is_empty() {
+            self.generation = self.generation.wrapping_add(1);
+            self.solve_axis(BoneId(0).axis_a());
+        }
+    }
+
+    fn solve_axis(&mut self, axis: BoneAxis) {
+        let mut axis_solved = HashSet::new();
+        let mut to_solve = vec![(axis, None, Rotation::default(), false)];
+        while let Some((axis, current_position, current_rotation, inverse_root)) = to_solve.pop() {
+            if !axis_solved.insert(axis) {
+                continue;
+            }
+
+            let Some(connections) = self.connections.get(&axis) else {
+                continue;
+            };
+
+            println!(
+                "Solving {}:{:?} at {current_position:?} - {current_rotation} - {inverse_root}",
+                self.bones[usize::from(axis.bone.0)].label,
+                axis.end
+            );
+
+            for joint_id in connections {
+                let joint = &mut self.joints[usize::from(joint_id.0)];
+                let other_axis = joint.other_axis(axis);
+                let bone = &mut self.bones[usize::from(other_axis.bone.0)];
+                if bone.generation == self.generation {
+                    // We store connections in both directions, which means we
+                    // can visit bones twice. We want to ensure we only follow
+                    // each bone a single time.
+                    continue;
+                }
+                bone.generation = self.generation;
+                println!(
+                    "  -> {joint_id:?} -> {}:{:?} ({})",
+                    bone.label, other_axis.end, joint.angle
+                );
+                joint.calculated_position = if let Some(current_position) = current_position {
+                    bone.start = current_position;
+                    current_position
+                } else {
+                    debug_assert_eq!(axis.bone.0, 0);
+                    bone.start
+                };
+
+                let angle = if inverse_root {
+                    Rotation::radians(PI) - joint.angle
+                } else {
+                    joint.angle
+                };
+
+                let mut next_rotation = (current_rotation + angle).normalized();
+                let (end, mid) = determine_end_position(
+                    joint.calculated_position,
+                    bone.desired_end,
+                    next_rotation,
+                    &bone.kind,
+                );
+                bone.end = end;
+                bone.joint_pos = mid;
+                if let Some(mid) = mid {
+                    let final_delta = end - mid;
+                    let rotation = Rotation::radians(final_delta.y.atan2(final_delta.x));
+                    // TODO I don't know why rotating by 90 degrees fixes
+                    // everything here. It feels like atan2 should be giving us
+                    // the correct rotation, or the correction amount should be
+                    // driven by an input angle, but a fixed correction amount
+                    // seems to be the correct answer. Without this, a joint
+                    // angle of 0 sticks out at a perpendicular angle.
+                    next_rotation = (rotation + Rotation::radians(PI / 2.)).normalized();
+                }
+
+                if axis == BoneId(0).axis_a() && other_axis == axis {
+                    // The first joint doesn't have any real connection, so we
+                    // must manually traverse the other side of the root bone.
+                    to_solve.push((
+                        axis.bone.axis_b(),
+                        Some(self.bones[0].end),
+                        current_rotation,
+                        true,
+                    ));
+                } else {
+                    to_solve.push((other_axis.inverse(), Some(bone.end), next_rotation, true));
+                }
+            }
+        }
+    }
+}
+
+fn next_point(mut point: Point<f32>, angle: Rotation, length: f32) -> Point<f32> {
+    point.x += length * angle.radians.sin();
+    point.y -= length * angle.radians.cos();
+    point
+}
+
+fn determine_end_position(
+    start: Point<f32>,
+    desired_end: Option<Point<f32>>,
+    angle: Rotation,
+    bone: &Bone,
+) -> (Point<f32>, Option<Point<f32>>) {
+    match bone {
+        Bone::Rigid { length } => (next_point(start, angle, *length), None),
+        Bone::Jointed {
+            start_length,
+            end_length,
+            inverse,
+        } => {
+            if let Some(desired_end) = desired_end {
+                let delta = desired_end - start;
+                let full_length = start_length + end_length;
+                let distance = delta.magnitude();
+                let minimum_size = (start_length - end_length).abs();
+                let desired_length = if distance < minimum_size {
+                    minimum_size
+                } else if distance > full_length {
+                    full_length
+                } else {
+                    distance
+                };
+
+                let desired_angle = Rotation::radians(delta.y.atan2(delta.x) + PI / 2.);
+                let end = if desired_length != distance {
+                    // We need to cap the end point along this sloped line
+                    next_point(start, desired_angle, desired_length)
+                } else {
+                    // The end position is valid
+                    desired_end
+                };
+
+                let joint = get_third_point(
+                    *inverse,
+                    start,
+                    desired_length,
+                    desired_angle,
+                    *start_length,
+                    *end_length,
+                );
+
+                (end, Some(joint))
+            } else {
+                let joint = next_point(start, angle, *start_length);
+                let end = next_point(joint, angle, *end_length);
+                (end, Some(joint))
+            }
+        }
+    }
+}
+
+fn get_third_point(
+    inverse: bool,
+    start: Point<f32>,
+    distance: f32,
+    hyp_angle: Rotation,
+    first: f32,
+    second: f32,
+) -> Point<f32> {
+    let hyp = distance;
+    let first_angle = ((first * first + hyp * hyp - second * second) / (2. * first * hyp)).acos();
+    if first_angle.is_nan() {
+        next_point(start, hyp_angle, first)
+    } else {
+        let first_angle = hyp_angle
+            - Rotation {
+                radians: if inverse { -first_angle } else { first_angle },
+            };
+        next_point(start, first_angle, first)
+    }
+}
+
+impl Index<BoneId> for Skeleton {
+    type Output = SkeletonBone;
+
+    fn index(&self, index: BoneId) -> &Self::Output {
+        &self.bones[usize::from(index.0)]
+    }
+}
+
+impl IndexMut<BoneId> for Skeleton {
+    fn index_mut(&mut self, index: BoneId) -> &mut Self::Output {
+        &mut self.bones[usize::from(index.0)]
+    }
+}
+
+impl Index<JointId> for Skeleton {
+    type Output = SkeletonJoint;
+
+    fn index(&self, index: JointId) -> &Self::Output {
+        &self.joints[usize::from(index.0)]
+    }
+}
+
+impl IndexMut<JointId> for Skeleton {
+    fn index_mut(&mut self, index: JointId) -> &mut Self::Output {
+        &mut self.joints[usize::from(index.0)]
+    }
+}
+
+#[derive(Debug, Clone, Copy, Eq, PartialEq, Hash)]
+pub struct BoneAxis {
+    pub bone: BoneId,
+    pub end: BoneEnd,
+}
+
+impl BoneAxis {
+    pub fn inverse(self) -> Self {
+        Self {
+            bone: self.bone,
+            end: self.end.inverse(),
+        }
+    }
+}
+
+#[derive(Debug)]
+pub struct SkeletonBone {
+    generation: usize,
+    label: &'static str,
+    kind: Bone,
+    start: Point<f32>,
+    joint_pos: Option<Point<f32>>,
+    end: Point<f32>,
+    desired_end: Option<Point<f32>>,
+}
+
+impl SkeletonBone {
+    pub fn set_desired_end(&mut self, end: Option<Point<f32>>) {
+        self.desired_end = end;
+    }
+}
+
+#[derive(Debug)]
+pub struct SkeletonJoint {
+    bone_a: BoneAxis,
+    bone_b: BoneAxis,
+    calculated_position: Point<f32>,
+    angle: Rotation,
+}
+
+impl SkeletonJoint {
+    pub fn other_axis(&self, axis: BoneAxis) -> BoneAxis {
+        if self.bone_a == axis {
+            self.bone_b
+        } else {
+            debug_assert_eq!(self.bone_b, axis);
+            self.bone_a
+        }
+    }
+
+    pub fn set_angle(&mut self, angle: Rotation) {
+        self.angle = angle;
+    }
+}
+
+#[derive(Debug, Clone, Copy, Eq, PartialEq, Ord, PartialOrd, Hash)]
+pub struct BoneId(u8);
+
+impl BoneId {
+    pub const fn axis_a(self) -> BoneAxis {
+        BoneAxis {
+            bone: self,
+            end: BoneEnd::A,
+        }
+    }
+
+    pub const fn axis_b(self) -> BoneAxis {
+        BoneAxis {
+            bone: self,
+            end: BoneEnd::B,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Copy, Eq, PartialEq, Ord, PartialOrd, Hash)]
+pub struct JointId(u8);
+
+#[derive(Debug, Clone, Copy, Eq, PartialEq, Hash)]
+pub enum BoneEnd {
+    A,
+    B,
+}
+
+impl BoneEnd {
+    pub fn inverse(self) -> Self {
+        match self {
+            Self::A => Self::B,
+            Self::B => Self::A,
+        }
+    }
+}
+
+fn main() {
+    let mut skeleton = Skeleton::default();
+    let spine = skeleton.push_bone(Bone::Rigid { length: 3. }, "spine");
+    let r_hip = skeleton.push_bone(Bone::Rigid { length: 0.5 }, "r_hip");
+    let r_leg = skeleton.push_bone(
+        Bone::Jointed {
+            start_length: 1.5,
+            end_length: 1.5,
+            inverse: true,
+        },
+        "r_leg",
+    );
+    let r_foot = skeleton.push_bone(Bone::Rigid { length: 0.5 }, "r_foot");
+    let l_hip = skeleton.push_bone(Bone::Rigid { length: 0.5 }, "l_hip");
+    let l_leg = skeleton.push_bone(
+        Bone::Jointed {
+            start_length: 1.5,
+            end_length: 1.5,
+            inverse: false,
+        },
+        "l_leg",
+    );
+    let l_foot = skeleton.push_bone(Bone::Rigid { length: 0.5 }, "l_foot");
+    let r_shoulder = skeleton.push_bone(Bone::Rigid { length: 0.5 }, "r_shoulder");
+    let r_arm = skeleton.push_bone(
+        Bone::Jointed {
+            start_length: 1.0,
+            end_length: 1.0,
+            inverse: true,
+        },
+        "r_arm",
+    );
+    let r_hand = skeleton.push_bone(Bone::Rigid { length: 0.3 }, "r_hand");
+    let l_shoulder = skeleton.push_bone(Bone::Rigid { length: 0.5 }, "l_shoulder");
+    let l_arm = skeleton.push_bone(
+        Bone::Jointed {
+            start_length: 1.0,
+            end_length: 1.0,
+            inverse: false,
+        },
+        "l_arm",
+    );
+    let l_hand = skeleton.push_bone(Bone::Rigid { length: 0.3 }, "l_hand");
+    let head = skeleton.push_bone(Bone::Rigid { length: 0.5 }, "head");
+
+    let neck = skeleton.push_joint(Rotation::degrees(180.), spine.axis_b(), head.axis_a());
+    // Create some width for the legs to be spaced.
+    skeleton.push_joint(Rotation::degrees(90.), spine.axis_a(), l_hip.axis_a());
+    skeleton.push_joint(Rotation::degrees(-90.), spine.axis_a(), r_hip.axis_a());
+    skeleton.push_joint(Rotation::degrees(90.), l_hip.axis_b(), l_leg.axis_a());
+    let l_ankle_id = skeleton.push_joint(Rotation::degrees(-90.), l_leg.axis_b(), l_foot.axis_a());
+    skeleton.push_joint(Rotation::degrees(-90.), r_hip.axis_b(), r_leg.axis_a());
+    let r_ankle_id = skeleton.push_joint(Rotation::degrees(90.), r_leg.axis_b(), r_foot.axis_a());
+
+    skeleton.push_joint(Rotation::degrees(90.), spine.axis_b(), l_shoulder.axis_a());
+    skeleton.push_joint(Rotation::degrees(-90.), spine.axis_b(), r_shoulder.axis_a());
+    let l_arm_socket =
+        skeleton.push_joint(Rotation::degrees(90.), l_shoulder.axis_b(), l_arm.axis_a());
+    let l_wrist_id = skeleton.push_joint(Rotation::degrees(-175.), l_arm.axis_b(), l_hand.axis_a());
+    let r_arm_socket =
+        skeleton.push_joint(Rotation::degrees(-90.), r_shoulder.axis_b(), r_arm.axis_a());
+    let r_wrist_id = skeleton.push_joint(Rotation::degrees(175.), r_arm.axis_b(), r_hand.axis_a());
+
+    let skeleton = Dynamic::new(skeleton);
+
+    Canvas::new({
+        let skeleton = skeleton.clone();
+        move |context| {
+            let mut s = skeleton.lock();
+            s.prevent_notifications();
+            s.solve();
+
+            let center = Point::from(context.gfx.size().into_signed()) / 2;
+
+            let scale = Px::new(50);
+            for (bone, color) in [
+                (spine, Color::RED),
+                (r_hip, Color::DARKBLUE),
+                (r_leg, Color::BLUE),
+                (r_foot, Color::LIGHTBLUE),
+                (l_hip, Color::DARKGREEN),
+                (l_leg, Color::GREEN),
+                (l_foot, Color::LIGHTGREEN),
+                (r_shoulder, Color::DARKGOLDENROD),
+                (r_arm, Color::GOLDENROD),
+                (r_hand, Color::LIGHTGOLDENRODYELLOW),
+                (l_shoulder, Color::DARKMAGENTA),
+                (l_arm, Color::MAGENTA),
+                (l_hand, Color::LIGHTPINK),
+                (head, Color::YELLOW),
+            ] {
+                let start = s[bone].start.map(|d| scale * d);
+                let end = s[bone].end.map(|d| scale * d);
+                if let Some(joint) = s[bone].joint_pos {
+                    let joint = joint.map(|d| scale * d);
+                    context.gfx.draw_shape(
+                        PathBuilder::new(start)
+                            .line_to(joint)
+                            .build()
+                            .stroke(StrokeOptions::px_wide(1).colored(color))
+                            .translate_by(center),
+                    );
+                    context.gfx.draw_shape(
+                        PathBuilder::new(joint)
+                            .line_to(end)
+                            .build()
+                            .stroke(StrokeOptions::px_wide(1).colored(color))
+                            .translate_by(center),
+                    );
+                } else {
+                    context.gfx.draw_shape(
+                        PathBuilder::new(start)
+                            .line_to(end)
+                            .build()
+                            .stroke(StrokeOptions::px_wide(1).colored(color))
+                            .translate_by(center),
+                    );
+                }
+
+                if let Some(handle) = s[bone].desired_end {
+                    let handle = handle.map(|d| scale * d);
+                    context.gfx.draw_shape(
+                        Shape::filled_circle(Px::new(3), Color::WHITE, Origin::Center)
+                            .translate_by(handle + center),
+                    );
+                }
+            }
+
+            drop(s);
+
+            context.redraw_when_changed(&skeleton);
+        }
+    })
+    .expand()
+    .and(
+        bone_widget("Lower Left Leg", &skeleton, l_leg, 0.5..=3.0, 0.5..=3.0)
+            .and(joint_widget("Left Ankle", &skeleton, l_ankle_id))
+            .and(bone_widget(
+                "Lower Right Leg",
+                &skeleton,
+                r_leg,
+                -3.0..=-0.5,
+                0.5..=3.0,
+            ))
+            .and(joint_widget("Right Ankle", &skeleton, r_ankle_id))
+            .and(joint_widget("Left Shoulder", &skeleton, l_arm_socket))
+            .and(joint_widget("Left Wrist", &skeleton, l_wrist_id))
+            .and(joint_widget("Right Shoulder", &skeleton, r_arm_socket))
+            .and(joint_widget("Right Wrist", &skeleton, r_wrist_id))
+            .and(joint_widget("Neck", &skeleton, neck))
+            .into_rows()
+            .pad()
+            .width(Lp::inches(2)),
+    )
+    .into_columns()
+    .expand()
+    .run()
+    .unwrap();
+}
+
+fn joint_widget(label: &str, skeleton: &Dynamic<Skeleton>, joint: JointId) -> impl MakeWidget {
+    let angle = Dynamic::new(skeleton.read()[joint].angle);
+    angle
+        .for_each({
+            let skeleton = skeleton.clone();
+            move |degrees| {
+                skeleton.lock()[joint].set_angle(*degrees);
+            }
+        })
+        .persist();
+    let angle_slider = angle.slider_between(Rotation::degrees(-180.), Rotation::degrees(180.));
+
+    label.and(angle_slider).into_rows().contain()
+}
+
+fn bone_widget(
+    label: &str,
+    skeleton: &Dynamic<Skeleton>,
+    bone: BoneId,
+    x: RangeInclusive<f32>,
+    y: RangeInclusive<f32>,
+) -> impl MakeWidget {
+    let bone_y = Dynamic::new(skeleton.lock()[bone].desired_end.unwrap_or_default().y);
+    let bone_x = Dynamic::new(skeleton.lock()[bone].desired_end.unwrap_or_default().x);
+
+    bone_y
+        .for_each({
+            let skeleton = skeleton.clone();
+            move |y| {
+                let mut skeleton = skeleton.lock();
+                let current_end = skeleton[bone].desired_end.unwrap_or_default();
+                skeleton[bone].set_desired_end(Some(Point::new(current_end.x, *y)));
+            }
+        })
+        .persist();
+    bone_x
+        .for_each({
+            let skeleton = skeleton.clone();
+            move |x| {
+                let mut skeleton = skeleton.lock();
+                let current_end = skeleton[bone].desired_end.unwrap_or_default();
+                skeleton[bone].set_desired_end(Some(Point::new(*x, current_end.y)));
+            }
+        })
+        .persist();
+    label
+        .and(bone_x.slider_between(*x.start(), *x.end()))
+        .and(bone_y.slider_between(*y.start(), *y.end()))
+        .into_rows()
+        .contain()
+}
+
+#[test]
+fn rotation() {
+    assert_eq!(
+        (Rotation::degrees(90.) + Rotation::degrees(180.))
+            .normalized()
+            .to_degrees()
+            .round() as i32,
+        -90,
+    );
+    assert_eq!(
+        (Rotation::degrees(90.) + Rotation::degrees(-180.))
+            .normalized()
+            .to_degrees()
+            .round() as i32,
+        -90,
+    );
+    // assert_eq!(
+    //     (Rotation::degrees(90.) + Rotation::degrees(-180.))
+    //         .normalized()
+    //         .to_degrees(),
+    //     -90.
+    // );
+}