From 78a0d12ef82ae087a6cac256ea1c4362fdbc3dae Mon Sep 17 00:00:00 2001
From: Peter Hayman <peteyhayman@gmail.com>
Date: Mon, 14 Oct 2024 18:11:53 +1100
Subject: [PATCH] feat: ik solver

---
 Cargo.lock                                    | 2037 +++--------------
 Cargo.toml                                    |   18 +-
 .../src/components/follow_cursor.rs           |   63 +-
 .../src/scenes/spatial/inverse_kinematics.rs  |   91 +
 .../beet_examples/src/scenes/spatial/mod.rs   |    3 +
 .../src/scenes/spatial/seek_3d.rs             |   14 +-
 .../src/inverse_kinematics/ik_2dof.rs         |  154 ++
 .../inverse_kinematics/ik_2dof_transforms.rs  |   83 +
 .../src/inverse_kinematics/ik_plugin.rs       |   11 +
 .../src/inverse_kinematics/ik_segment.rs      |   54 +
 .../src/inverse_kinematics/mod.rs             |   12 +
 crates/beet_spatial/src/lib.rs                |    6 +-
 .../beet_spatial/src/plugins/beet_plugins.rs  |    3 +-
 examples/inverse_kinematics.rs                |   14 +
 justfile                                      |    2 +-
 15 files changed, 874 insertions(+), 1691 deletions(-)
 create mode 100644 crates/beet_examples/src/scenes/spatial/inverse_kinematics.rs
 create mode 100644 crates/beet_spatial/src/inverse_kinematics/ik_2dof.rs
 create mode 100644 crates/beet_spatial/src/inverse_kinematics/ik_2dof_transforms.rs
 create mode 100644 crates/beet_spatial/src/inverse_kinematics/ik_plugin.rs
 create mode 100644 crates/beet_spatial/src/inverse_kinematics/ik_segment.rs
 create mode 100644 crates/beet_spatial/src/inverse_kinematics/mod.rs
 create mode 100644 examples/inverse_kinematics.rs

diff --git a/Cargo.lock b/Cargo.lock
index cfb2bcd6..9af7293d 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2,131 +2,59 @@
 # It is not intended for manual editing.
 version = 3
 
-[[package]]
-name = "ab_glyph"
-version = "0.2.29"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ec3672c180e71eeaaac3a541fbbc5f5ad4def8b747c595ad30d674e43049f7b0"
-dependencies = [
- "ab_glyph_rasterizer",
- "owned_ttf_parser",
-]
-
-[[package]]
-name = "ab_glyph_rasterizer"
-version = "0.1.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c71b1793ee61086797f5c80b6efa2b8ffa6d5dd703f118545808a7f2e27f7046"
-
-[[package]]
-name = "accesskit"
-version = "0.14.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6cf780eb737f2d4a49ffbd512324d53ad089070f813f7be7f99dbd5123a7f448"
-
 [[package]]
 name = "accesskit"
 version = "0.16.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "99b76d84ee70e30a4a7e39ab9018e2b17a6a09e31084176cc7c0b2dec036ba45"
 
-[[package]]
-name = "accesskit_consumer"
-version = "0.22.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3bdfa1638ddd6eb9c752def95568df8b3ad832df252e9156d2eb783b201ca8a9"
-dependencies = [
- "accesskit 0.14.0",
- "immutable-chunkmap",
-]
-
 [[package]]
 name = "accesskit_consumer"
 version = "0.24.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7a12dc159d52233c43d9fe5415969433cbdd52c3d6e0df51bda7d447427b9986"
 dependencies = [
- "accesskit 0.16.3",
+ "accesskit",
  "immutable-chunkmap",
 ]
 
-[[package]]
-name = "accesskit_macos"
-version = "0.15.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c236a84ff1111defc280cee755eaa953d0b24398786851b9d28322c6d3bb1ebd"
-dependencies = [
- "accesskit 0.14.0",
- "accesskit_consumer 0.22.0",
- "objc2",
- "objc2-app-kit",
- "objc2-foundation",
- "once_cell",
-]
-
 [[package]]
 name = "accesskit_macos"
 version = "0.17.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "49509c722e8da39e6c569f7d13ec51620208988913e738abbc67e3c65f06e6d5"
 dependencies = [
- "accesskit 0.16.3",
- "accesskit_consumer 0.24.3",
+ "accesskit",
+ "accesskit_consumer",
  "objc2",
  "objc2-app-kit",
  "objc2-foundation",
  "once_cell",
 ]
 
-[[package]]
-name = "accesskit_windows"
-version = "0.20.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5d7f43d24b16b3e76bef248124fbfd2493c3a9860edb5aae1010c890e826de5e"
-dependencies = [
- "accesskit 0.14.0",
- "accesskit_consumer 0.22.0",
- "paste",
- "static_assertions",
- "windows 0.54.0",
-]
-
 [[package]]
 name = "accesskit_windows"
 version = "0.23.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "974e96c347384d9133427167fb8a58c340cb0496988dacceebdc1ed27071023b"
 dependencies = [
- "accesskit 0.16.3",
- "accesskit_consumer 0.24.3",
+ "accesskit",
+ "accesskit_consumer",
  "paste",
  "static_assertions",
  "windows 0.58.0",
  "windows-core 0.58.0",
 ]
 
-[[package]]
-name = "accesskit_winit"
-version = "0.20.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "755535e6bf711a42dac28b888b884b10fc00ff4010d9d3bd871c5f5beae5aa78"
-dependencies = [
- "accesskit 0.14.0",
- "accesskit_macos 0.15.0",
- "accesskit_windows 0.20.0",
- "raw-window-handle",
- "winit",
-]
-
 [[package]]
 name = "accesskit_winit"
 version = "0.22.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9987e852fe7e4e5a493f8c8af0b729b47da2750f0dea10a4c8984fe1117ebaec"
 dependencies = [
- "accesskit 0.16.3",
- "accesskit_macos 0.17.3",
- "accesskit_windows 0.23.2",
+ "accesskit",
+ "accesskit_macos",
+ "accesskit_windows",
  "raw-window-handle",
  "winit",
 ]
@@ -330,15 +258,6 @@ version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "175571dd1d178ced59193a6fc02dde1b972eb0bc56c892cde9beeceac5bf0f6b"
 
-[[package]]
-name = "ash"
-version = "0.37.3+1.3.251"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39e9c3835d686b0a6084ab4234fcd1b07dbf6e4767dce60874b12356a25ecd4a"
-dependencies = [
- "libloading 0.7.4",
-]
-
 [[package]]
 name = "ash"
 version = "0.38.0+1.3.281"
@@ -554,7 +473,7 @@ dependencies = [
  "beet_ml",
  "beet_spatial",
  "beetmash",
- "bevy 0.14.2",
+ "bevy",
  "console_log",
  "forky 0.2.0-rc.6",
  "log",
@@ -575,7 +494,7 @@ dependencies = [
  "beet_ml",
  "beet_spatial",
  "beetmash",
- "bevy 0.14.2",
+ "bevy",
  "forky 0.2.0-rc.6",
  "log",
  "pretty_env_logger",
@@ -589,7 +508,7 @@ dependencies = [
  "anyhow",
  "beet_flow_macros",
  "beetmash",
- "bevy 0.14.2",
+ "bevy",
  "extend",
  "heck 0.4.1",
  "log",
@@ -622,7 +541,7 @@ dependencies = [
  "beet_flow",
  "beet_spatial",
  "beetmash",
- "bevy 0.14.2",
+ "bevy",
  "candle-core",
  "candle-nn",
  "candle-transformers",
@@ -656,7 +575,7 @@ dependencies = [
  "anyhow",
  "beet_flow",
  "beetmash",
- "bevy 0.14.2",
+ "bevy",
  "forky 0.2.0-rc.6",
  "log",
  "pretty_env_logger",
@@ -682,7 +601,7 @@ dependencies = [
  "anyhow",
  "beetmash_net",
  "beetmash_scene",
- "bevy 0.15.0-dev",
+ "bevy",
  "extend",
  "forky 0.2.0-rc.6",
  "log",
@@ -695,7 +614,7 @@ name = "beetmash_net"
 version = "0.0.6-rc.7"
 dependencies = [
  "anyhow",
- "bevy 0.15.0-dev",
+ "bevy",
  "bincode",
  "extend",
  "flume",
@@ -717,8 +636,8 @@ name = "beetmash_scene"
 version = "0.0.6-rc.7"
 dependencies = [
  "anyhow",
- "bevy 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
+ "bevy",
+ "bevy_reflect",
  "extend",
  "forky 0.2.0-rc.6",
  "log",
@@ -728,33 +647,12 @@ dependencies = [
  "ts-rs",
 ]
 
-[[package]]
-name = "bevy"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "043c9ad4b6fc4ca52d779873a8ca792a4e37842d07fce95363c9e17e36a1d8a0"
-dependencies = [
- "bevy_internal 0.14.2",
-]
-
 [[package]]
 name = "bevy"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_internal 0.15.0-dev",
-]
-
-[[package]]
-name = "bevy_a11y"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae1a976cb539d6a5a3ff579cdb78187a6bcfbffa7e8224ea28f23d8b983d9389"
-dependencies = [
- "accesskit 0.14.0",
- "bevy_app 0.14.2",
- "bevy_derive 0.14.2",
- "bevy_ecs 0.14.2",
+ "bevy_internal",
 ]
 
 [[package]]
@@ -762,41 +660,11 @@ name = "bevy_a11y"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "accesskit 0.16.3",
- "bevy_app 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
-]
-
-[[package]]
-name = "bevy_animation"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "93aef7d21a0342c24b05059493aa31d58f1798d34a2236569a8789b74df5a475"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_color 0.14.3",
- "bevy_core 0.14.2",
- "bevy_derive 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_hierarchy 0.14.2",
- "bevy_log 0.14.2",
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_render 0.14.2",
- "bevy_time 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_utils 0.14.2",
- "blake3",
- "fixedbitset 0.5.7",
- "petgraph",
- "ron",
- "serde",
- "thiserror",
- "thread_local",
- "uuid",
+ "accesskit",
+ "bevy_app",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_reflect",
 ]
 
 [[package]]
@@ -805,20 +673,20 @@ version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
  "bevy_animation_derive",
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_color 0.15.0-dev",
- "bevy_core 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
- "bevy_log 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_render 0.15.0-dev",
- "bevy_time 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_color",
+ "bevy_core",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_hierarchy",
+ "bevy_log",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_time",
+ "bevy_transform",
+ "bevy_utils",
  "blake3",
  "petgraph",
  "ron",
@@ -834,40 +702,22 @@ name = "bevy_animation_derive"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_macro_utils 0.15.0-dev",
+ "bevy_macro_utils",
  "proc-macro2",
  "quote",
  "syn 2.0.79",
 ]
 
-[[package]]
-name = "bevy_app"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a5361d0f8a8677a5d0102cfe7321a7ecd2a8b9a4f887ce0dde1059311cf9cd42"
-dependencies = [
- "bevy_derive 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_tasks 0.14.2",
- "bevy_utils 0.14.2",
- "console_error_panic_hook",
- "downcast-rs",
- "thiserror",
- "wasm-bindgen",
- "web-sys",
-]
-
 [[package]]
 name = "bevy_app"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_tasks 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_reflect",
+ "bevy_tasks",
+ "bevy_utils",
  "console_error_panic_hook",
  "ctrlc",
  "downcast-rs",
@@ -876,38 +726,6 @@ dependencies = [
  "web-sys",
 ]
 
-[[package]]
-name = "bevy_asset"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "60ec5ea257e1ebd3d411f669e29acf60beb715bebc7e1f374c17f49cd3aad46c"
-dependencies = [
- "async-broadcast",
- "async-fs",
- "async-lock",
- "bevy_app 0.14.2",
- "bevy_asset_macros 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_tasks 0.14.2",
- "bevy_utils 0.14.2",
- "bevy_winit 0.14.2",
- "blake3",
- "crossbeam-channel",
- "downcast-rs",
- "futures-io",
- "futures-lite",
- "js-sys",
- "parking_lot",
- "ron",
- "serde",
- "thiserror",
- "uuid",
- "wasm-bindgen",
- "wasm-bindgen-futures",
- "web-sys",
-]
-
 [[package]]
 name = "bevy_asset"
 version = "0.15.0-dev"
@@ -917,13 +735,13 @@ dependencies = [
  "async-fs",
  "async-lock",
  "atomicow",
- "bevy_app 0.15.0-dev",
- "bevy_asset_macros 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_tasks 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
- "bevy_window 0.15.0-dev",
+ "bevy_app",
+ "bevy_asset_macros",
+ "bevy_ecs",
+ "bevy_reflect",
+ "bevy_tasks",
+ "bevy_utils",
+ "bevy_window",
  "bitflags 2.6.0",
  "blake3",
  "crossbeam-channel",
@@ -944,79 +762,33 @@ dependencies = [
  "web-sys",
 ]
 
-[[package]]
-name = "bevy_asset_macros"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c9eb05ce838d282f09d83380b4d6432aec7519d421dee8c75cc20e6148237e6e"
-dependencies = [
- "bevy_macro_utils 0.14.2",
- "proc-macro2",
- "quote",
- "syn 2.0.79",
-]
-
 [[package]]
 name = "bevy_asset_macros"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_macro_utils 0.15.0-dev",
+ "bevy_macro_utils",
  "proc-macro2",
  "quote",
  "syn 2.0.79",
 ]
 
-[[package]]
-name = "bevy_audio"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ee31312a0e67f288fe12a1d9aa679dd0ba8a49e1e6fe5fcd2ba1aa1ea34e5ed"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_derive 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_hierarchy 0.14.2",
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_utils 0.14.2",
- "cpal",
- "rodio 0.18.1",
-]
-
 [[package]]
 name = "bevy_audio"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_hierarchy",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_transform",
+ "bevy_utils",
  "cpal",
- "rodio 0.19.0",
-]
-
-[[package]]
-name = "bevy_color"
-version = "0.14.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "04842e9d38a93f0c75ab46f7f404ea24ef57ad83dbd159e5b4b35318b02257bb"
-dependencies = [
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "bytemuck",
- "encase 0.8.0",
- "serde",
- "thiserror",
- "wgpu-types 0.20.0",
+ "rodio",
 ]
 
 [[package]]
@@ -1024,28 +796,13 @@ name = "bevy_color"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
+ "bevy_math",
+ "bevy_reflect",
  "bytemuck",
- "encase 0.10.0",
+ "encase",
  "serde",
  "thiserror",
- "wgpu-types 22.0.0",
-]
-
-[[package]]
-name = "bevy_core"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de706862871a1fe99ea619bff2f99d73e43ad82f19ef866a9e19a14c957c8537"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_tasks 0.14.2",
- "bevy_utils 0.14.2",
- "serde",
- "uuid",
+ "wgpu-types",
 ]
 
 [[package]]
@@ -1053,57 +810,32 @@ name = "bevy_core"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_tasks 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_app",
+ "bevy_ecs",
+ "bevy_reflect",
+ "bevy_tasks",
+ "bevy_utils",
  "serde",
  "uuid",
 ]
 
-[[package]]
-name = "bevy_core_pipeline"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2f6e1e122ada4cd811442e083fb5ad3e325c59a87271d5ef57193f1c2cad7f8c"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_color 0.14.3",
- "bevy_core 0.14.2",
- "bevy_derive 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_render 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_utils 0.14.2",
- "bitflags 2.6.0",
- "nonmax",
- "radsort",
- "serde",
- "smallvec",
- "thiserror",
-]
-
 [[package]]
 name = "bevy_core_pipeline"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_color 0.15.0-dev",
- "bevy_core 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_color",
+ "bevy_core",
+ "bevy_derive",
+ "bevy_ecs",
  "bevy_image",
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_render 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_transform",
+ "bevy_utils",
  "bitflags 2.6.0",
  "nonmax",
  "radsort",
@@ -1112,77 +844,29 @@ dependencies = [
  "thiserror",
 ]
 
-[[package]]
-name = "bevy_derive"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fbfc33a4c6b80760bb8bf850a2cc65a1e031da62fd3ca8b552189104dc98514"
-dependencies = [
- "bevy_macro_utils 0.14.2",
- "quote",
- "syn 2.0.79",
-]
-
 [[package]]
 name = "bevy_derive"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_macro_utils 0.15.0-dev",
+ "bevy_macro_utils",
  "quote",
  "syn 2.0.79",
 ]
 
-[[package]]
-name = "bevy_diagnostic"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bebb154e0cc78e3bbfbfdb42fb502b14c1cd47e72f16e6d4228dfe6233ba6cbd"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_core 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_tasks 0.14.2",
- "bevy_time 0.14.2",
- "bevy_utils 0.14.2",
- "const-fnv1a-hash",
- "sysinfo 0.30.13",
-]
-
 [[package]]
 name = "bevy_diagnostic"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_core 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_tasks 0.15.0-dev",
- "bevy_time 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_app",
+ "bevy_core",
+ "bevy_ecs",
+ "bevy_tasks",
+ "bevy_time",
+ "bevy_utils",
  "const-fnv1a-hash",
- "sysinfo 0.32.0",
-]
-
-[[package]]
-name = "bevy_ecs"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ee4222406637f3c8e3991a99788cfcde76097bf997c311f1b6297364057483f"
-dependencies = [
- "arrayvec",
- "bevy_ecs_macros 0.14.2",
- "bevy_ptr 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_tasks 0.14.2",
- "bevy_utils 0.14.2",
- "bitflags 2.6.0",
- "concurrent-queue",
- "fixedbitset 0.5.7",
- "nonmax",
- "petgraph",
- "serde",
- "thiserror",
+ "sysinfo",
 ]
 
 [[package]]
@@ -1191,11 +875,11 @@ version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
  "arrayvec",
- "bevy_ecs_macros 0.15.0-dev",
- "bevy_ptr 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_tasks 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_ecs_macros",
+ "bevy_ptr",
+ "bevy_reflect",
+ "bevy_tasks",
+ "bevy_utils",
  "bitflags 2.6.0",
  "concurrent-queue",
  "disqualified",
@@ -1207,61 +891,24 @@ dependencies = [
  "thiserror",
 ]
 
-[[package]]
-name = "bevy_ecs_macros"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "36b573430b67aff7bde8292257494f39343401379bfbda64035ba4918bba7b20"
-dependencies = [
- "bevy_macro_utils 0.14.2",
- "proc-macro2",
- "quote",
- "syn 2.0.79",
-]
-
 [[package]]
 name = "bevy_ecs_macros"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_macro_utils 0.15.0-dev",
+ "bevy_macro_utils",
  "proc-macro2",
  "quote",
  "syn 2.0.79",
 ]
 
-[[package]]
-name = "bevy_encase_derive"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d06c9693847a2a6ea61d6b86288dd4d8b6a79f05d4bf6e27b96d4f5c8d552fe4"
-dependencies = [
- "bevy_macro_utils 0.14.2",
- "encase_derive_impl 0.8.0",
-]
-
 [[package]]
 name = "bevy_encase_derive"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_macro_utils 0.15.0-dev",
- "encase_derive_impl 0.10.0",
-]
-
-[[package]]
-name = "bevy_gilrs"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0422ccb3ce0f79b264100cf064fdc5ef65cef5c7d51bf6378058f9b96fea4183"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_input 0.14.2",
- "bevy_time 0.14.2",
- "bevy_utils 0.14.2",
- "gilrs 0.10.10",
- "thiserror",
+ "bevy_macro_utils",
+ "encase_derive_impl",
 ]
 
 [[package]]
@@ -1269,137 +916,71 @@ name = "bevy_gilrs"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_input 0.15.0-dev",
- "bevy_time 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
- "gilrs 0.11.0",
+ "bevy_app",
+ "bevy_ecs",
+ "bevy_input",
+ "bevy_time",
+ "bevy_utils",
+ "gilrs",
  "thiserror",
 ]
 
-[[package]]
-name = "bevy_gizmos"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfe32af0666d8d8a7fd6eb6b5e41eceefdc6f2e5441c74b812e8f0902a9d7f52"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_color 0.14.3",
- "bevy_core_pipeline 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_gizmos_macros 0.14.2",
- "bevy_math 0.14.2",
- "bevy_pbr 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_render 0.14.2",
- "bevy_sprite 0.14.2",
- "bevy_time 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_utils 0.14.2",
- "bytemuck",
-]
-
 [[package]]
 name = "bevy_gizmos"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_color 0.15.0-dev",
- "bevy_core_pipeline 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_gizmos_macros 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_pbr 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_render 0.15.0-dev",
- "bevy_sprite 0.15.0-dev",
- "bevy_time 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_color",
+ "bevy_core_pipeline",
+ "bevy_ecs",
+ "bevy_gizmos_macros",
+ "bevy_math",
+ "bevy_pbr",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_sprite",
+ "bevy_time",
+ "bevy_transform",
+ "bevy_utils",
  "bytemuck",
 ]
 
-[[package]]
-name = "bevy_gizmos_macros"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "906b052f8cf3f3983f0f6df625fb10cbd9b27d44e362a327dc1ed51300d362bc"
-dependencies = [
- "bevy_macro_utils 0.14.2",
- "proc-macro2",
- "quote",
- "syn 2.0.79",
-]
-
 [[package]]
 name = "bevy_gizmos_macros"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_macro_utils 0.15.0-dev",
+ "bevy_macro_utils",
  "proc-macro2",
  "quote",
  "syn 2.0.79",
 ]
 
-[[package]]
-name = "bevy_gltf"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d6adbd325b90e3c700d0966b5404e226c7deec1b8bda8f36832788d7b435b9b8"
-dependencies = [
- "base64 0.22.1",
- "bevy_animation 0.14.2",
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_color 0.14.3",
- "bevy_core 0.14.2",
- "bevy_core_pipeline 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_hierarchy 0.14.2",
- "bevy_math 0.14.2",
- "bevy_pbr 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_render 0.14.2",
- "bevy_scene 0.14.2",
- "bevy_tasks 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_utils 0.14.2",
- "gltf",
- "percent-encoding",
- "serde",
- "serde_json",
- "smallvec",
- "thiserror",
-]
-
 [[package]]
 name = "bevy_gltf"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
  "base64 0.22.1",
- "bevy_animation 0.15.0-dev",
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_color 0.15.0-dev",
- "bevy_core 0.15.0-dev",
- "bevy_core_pipeline 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
+ "bevy_animation",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_color",
+ "bevy_core",
+ "bevy_core_pipeline",
+ "bevy_ecs",
+ "bevy_hierarchy",
  "bevy_image",
- "bevy_math 0.15.0-dev",
- "bevy_pbr 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_render 0.15.0-dev",
- "bevy_scene 0.15.0-dev",
- "bevy_tasks 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_math",
+ "bevy_pbr",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_scene",
+ "bevy_tasks",
+ "bevy_transform",
+ "bevy_utils",
  "gltf",
  "percent-encoding",
  "serde",
@@ -1408,30 +989,16 @@ dependencies = [
  "thiserror",
 ]
 
-[[package]]
-name = "bevy_hierarchy"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a88b912b37e1bc4dbb2aa40723199f74c8b06c4fbb6da0bb4585131df28ef66e"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_core 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_utils 0.14.2",
- "smallvec",
-]
-
 [[package]]
 name = "bevy_hierarchy"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_core 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_app",
+ "bevy_core",
+ "bevy_ecs",
+ "bevy_reflect",
+ "bevy_utils",
  "disqualified",
  "smallvec",
 ]
@@ -1441,11 +1008,11 @@ name = "bevy_image"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_asset 0.15.0-dev",
- "bevy_color 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_asset",
+ "bevy_color",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_utils",
  "bitflags 2.6.0",
  "bytemuck",
  "futures-lite",
@@ -1454,23 +1021,7 @@ dependencies = [
  "ruzstd",
  "serde",
  "thiserror",
- "wgpu 22.1.0",
-]
-
-[[package]]
-name = "bevy_input"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8dd3a54e67cc3ba17971de7b1a7e64eda84493c1e7bb6bfa11c6cf8ac124377b"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_utils 0.14.2",
- "serde",
- "smol_str",
- "thiserror",
+ "wgpu",
 ]
 
 [[package]]
@@ -1478,113 +1029,57 @@ name = "bevy_input"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_app",
+ "bevy_ecs",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_utils",
  "serde",
  "smol_str",
  "thiserror",
 ]
 
-[[package]]
-name = "bevy_internal"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "45d435cac77c568f3aef65f786a5fee0e53c81950c5258182dd2c1d6cd6c4fec"
-dependencies = [
- "bevy_a11y 0.14.2",
- "bevy_animation 0.14.2",
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_audio 0.14.2",
- "bevy_color 0.14.3",
- "bevy_core 0.14.2",
- "bevy_core_pipeline 0.14.2",
- "bevy_derive 0.14.2",
- "bevy_diagnostic 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_gilrs 0.14.2",
- "bevy_gizmos 0.14.2",
- "bevy_gltf 0.14.2",
- "bevy_hierarchy 0.14.2",
- "bevy_input 0.14.2",
- "bevy_log 0.14.2",
- "bevy_math 0.14.2",
- "bevy_pbr 0.14.2",
- "bevy_ptr 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_render 0.14.2",
- "bevy_scene 0.14.2",
- "bevy_sprite 0.14.2",
- "bevy_state 0.14.2",
- "bevy_tasks 0.14.2",
- "bevy_text 0.14.2",
- "bevy_time 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_ui 0.14.2",
- "bevy_utils 0.14.2",
- "bevy_window 0.14.2",
- "bevy_winit 0.14.2",
-]
-
 [[package]]
 name = "bevy_internal"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_a11y 0.15.0-dev",
- "bevy_animation 0.15.0-dev",
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_audio 0.15.0-dev",
- "bevy_color 0.15.0-dev",
- "bevy_core 0.15.0-dev",
- "bevy_core_pipeline 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_diagnostic 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_gilrs 0.15.0-dev",
- "bevy_gizmos 0.15.0-dev",
- "bevy_gltf 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
+ "bevy_a11y",
+ "bevy_animation",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_audio",
+ "bevy_color",
+ "bevy_core",
+ "bevy_core_pipeline",
+ "bevy_derive",
+ "bevy_diagnostic",
+ "bevy_ecs",
+ "bevy_gilrs",
+ "bevy_gizmos",
+ "bevy_gltf",
+ "bevy_hierarchy",
  "bevy_image",
- "bevy_input 0.15.0-dev",
- "bevy_log 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_pbr 0.15.0-dev",
+ "bevy_input",
+ "bevy_log",
+ "bevy_math",
+ "bevy_pbr",
  "bevy_picking",
- "bevy_ptr 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
+ "bevy_ptr",
+ "bevy_reflect",
  "bevy_remote",
- "bevy_render 0.15.0-dev",
- "bevy_scene 0.15.0-dev",
- "bevy_sprite 0.15.0-dev",
- "bevy_state 0.15.0-dev",
- "bevy_tasks 0.15.0-dev",
- "bevy_text 0.15.0-dev",
- "bevy_time 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_ui 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
- "bevy_window 0.15.0-dev",
- "bevy_winit 0.15.0-dev",
-]
-
-[[package]]
-name = "bevy_log"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67240c7596c8f0653e50fce35a60196516817449235193246599facba9002e02"
-dependencies = [
- "android_log-sys",
- "bevy_app 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_utils 0.14.2",
- "tracing-log",
- "tracing-subscriber",
- "tracing-wasm",
+ "bevy_render",
+ "bevy_scene",
+ "bevy_sprite",
+ "bevy_state",
+ "bevy_tasks",
+ "bevy_text",
+ "bevy_time",
+ "bevy_transform",
+ "bevy_ui",
+ "bevy_utils",
+ "bevy_window",
+ "bevy_winit",
 ]
 
 [[package]]
@@ -1593,26 +1088,14 @@ version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
  "android_log-sys",
- "bevy_app 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_app",
+ "bevy_ecs",
+ "bevy_utils",
  "tracing-log",
  "tracing-subscriber",
  "tracing-wasm",
 ]
 
-[[package]]
-name = "bevy_macro_utils"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfc65e570012e64a21f3546df68591aaede8349e6174fb500071677f54f06630"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.79",
- "toml_edit",
-]
-
 [[package]]
 name = "bevy_macro_utils"
 version = "0.15.0-dev"
@@ -1624,27 +1107,13 @@ dependencies = [
  "toml_edit",
 ]
 
-[[package]]
-name = "bevy_math"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5421792749dda753ab3718e77d27bfce38443daf1850b836b97530b6245a4581"
-dependencies = [
- "bevy_reflect 0.14.2",
- "glam 0.27.0",
- "rand",
- "serde",
- "smallvec",
- "thiserror",
-]
-
 [[package]]
 name = "bevy_math"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_reflect 0.15.0-dev",
- "glam 0.29.0",
+ "bevy_reflect",
+ "glam",
  "interpolation",
  "itertools 0.13.0",
  "rand",
@@ -1659,30 +1128,21 @@ name = "bevy_mesh"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_asset 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
+ "bevy_asset",
+ "bevy_derive",
+ "bevy_ecs",
  "bevy_image",
- "bevy_math 0.15.0-dev",
- "bevy_mikktspace 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_math",
+ "bevy_mikktspace",
+ "bevy_reflect",
+ "bevy_transform",
+ "bevy_utils",
  "bitflags 2.6.0",
  "bytemuck",
- "hexasphere 15.0.0",
+ "hexasphere",
  "serde",
- "thiserror",
- "wgpu 22.1.0",
-]
-
-[[package]]
-name = "bevy_mikktspace"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "66cf695a264b043f2c4edb92dd5c742e6892180d2b30dac870012d153f8557ea"
-dependencies = [
- "glam 0.27.0",
+ "thiserror",
+ "wgpu",
 ]
 
 [[package]]
@@ -1690,34 +1150,7 @@ name = "bevy_mikktspace"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "glam 0.29.0",
-]
-
-[[package]]
-name = "bevy_pbr"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4dccaa3c945f19834dcf7cd8eb358236dbf0fc4000dacbc7710564e7856714db"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_color 0.14.3",
- "bevy_core_pipeline 0.14.2",
- "bevy_derive 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_render 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_utils 0.14.2",
- "bevy_window 0.14.2",
- "bitflags 2.6.0",
- "bytemuck",
- "fixedbitset 0.5.7",
- "nonmax",
- "radsort",
- "smallvec",
- "static_assertions",
+ "glam",
 ]
 
 [[package]]
@@ -1725,18 +1158,18 @@ name = "bevy_pbr"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_color 0.15.0-dev",
- "bevy_core_pipeline 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_render 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
- "bevy_window 0.15.0-dev",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_color",
+ "bevy_core_pipeline",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_transform",
+ "bevy_utils",
+ "bevy_window",
  "bitflags 2.6.0",
  "bytemuck",
  "fixedbitset 0.5.7",
@@ -1751,66 +1184,40 @@ name = "bevy_picking"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
- "bevy_input 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_render 0.15.0-dev",
- "bevy_time 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
- "bevy_window 0.15.0-dev",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_hierarchy",
+ "bevy_input",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_time",
+ "bevy_transform",
+ "bevy_utils",
+ "bevy_window",
  "uuid",
 ]
 
-[[package]]
-name = "bevy_ptr"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61baa1bdc1f4a7ac2c18217570a7cc04e1cd54d38456e91782f0371c79afe0a8"
-
 [[package]]
 name = "bevy_ptr"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 
-[[package]]
-name = "bevy_reflect"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2508785a4a5809f25a237eec4fee2c91a4dbcf81324b2bbc2d6c52629e603781"
-dependencies = [
- "bevy_ptr 0.14.2",
- "bevy_reflect_derive 0.14.2",
- "bevy_utils 0.14.2",
- "downcast-rs",
- "erased-serde",
- "glam 0.27.0",
- "petgraph",
- "serde",
- "smallvec",
- "smol_str",
- "thiserror",
- "uuid",
-]
-
 [[package]]
 name = "bevy_reflect"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
  "assert_type_match",
- "bevy_ptr 0.15.0-dev",
- "bevy_reflect_derive 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_ptr",
+ "bevy_reflect_derive",
+ "bevy_utils",
  "disqualified",
  "downcast-rs",
  "erased-serde",
- "glam 0.29.0",
+ "glam",
  "petgraph",
  "serde",
  "smallvec",
@@ -1819,25 +1226,12 @@ dependencies = [
  "uuid",
 ]
 
-[[package]]
-name = "bevy_reflect_derive"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "967d5da1882ec3bb3675353915d3da909cafac033cbf31e58727824a1ad2a288"
-dependencies = [
- "bevy_macro_utils 0.14.2",
- "proc-macro2",
- "quote",
- "syn 2.0.79",
- "uuid",
-]
-
 [[package]]
 name = "bevy_reflect_derive"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_macro_utils 0.15.0-dev",
+ "bevy_macro_utils",
  "proc-macro2",
  "quote",
  "syn 2.0.79",
@@ -1852,13 +1246,13 @@ dependencies = [
  "anyhow",
  "async-channel",
  "async-io",
- "bevy_app 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_tasks 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_app",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_hierarchy",
+ "bevy_reflect",
+ "bevy_tasks",
+ "bevy_utils",
  "http-body-util",
  "hyper",
  "serde",
@@ -1866,89 +1260,41 @@ dependencies = [
  "smol-hyper",
 ]
 
-[[package]]
-name = "bevy_render"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "836cf8a513db013cbe7d55a331060088efd407e49fd5b05c8404700cd82e7619"
-dependencies = [
- "async-channel",
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_color 0.14.3",
- "bevy_core 0.14.2",
- "bevy_derive 0.14.2",
- "bevy_diagnostic 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_encase_derive 0.14.2",
- "bevy_hierarchy 0.14.2",
- "bevy_math 0.14.2",
- "bevy_mikktspace 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_render_macros 0.14.2",
- "bevy_tasks 0.14.2",
- "bevy_time 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_utils 0.14.2",
- "bevy_window 0.14.2",
- "bitflags 2.6.0",
- "bytemuck",
- "codespan-reporting",
- "downcast-rs",
- "encase 0.8.0",
- "futures-lite",
- "hexasphere 12.0.0",
- "image",
- "js-sys",
- "ktx2",
- "naga 0.20.0",
- "naga_oil 0.14.0",
- "nonmax",
- "ruzstd",
- "send_wrapper",
- "serde",
- "smallvec",
- "thiserror",
- "wasm-bindgen",
- "web-sys",
- "wgpu 0.20.1",
-]
-
 [[package]]
 name = "bevy_render"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
  "async-channel",
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_color 0.15.0-dev",
- "bevy_core 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_diagnostic 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_encase_derive 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_color",
+ "bevy_core",
+ "bevy_derive",
+ "bevy_diagnostic",
+ "bevy_ecs",
+ "bevy_encase_derive",
+ "bevy_hierarchy",
  "bevy_image",
- "bevy_math 0.15.0-dev",
+ "bevy_math",
  "bevy_mesh",
- "bevy_reflect 0.15.0-dev",
- "bevy_render_macros 0.15.0-dev",
- "bevy_tasks 0.15.0-dev",
- "bevy_time 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
- "bevy_window 0.15.0-dev",
+ "bevy_reflect",
+ "bevy_render_macros",
+ "bevy_tasks",
+ "bevy_time",
+ "bevy_transform",
+ "bevy_utils",
+ "bevy_window",
  "bytemuck",
  "codespan-reporting",
  "downcast-rs",
- "encase 0.10.0",
+ "encase",
  "futures-lite",
  "image",
  "js-sys",
  "ktx2",
- "naga 22.1.0",
- "naga_oil 0.15.0",
+ "naga",
+ "naga_oil",
  "nonmax",
  "offset-allocator",
  "send_wrapper",
@@ -1957,19 +1303,7 @@ dependencies = [
  "thiserror",
  "wasm-bindgen",
  "web-sys",
- "wgpu 22.1.0",
-]
-
-[[package]]
-name = "bevy_render_macros"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cbc24e0e95061a38a7744218b9c7e52e4c08b53f1499f33480e2b749f3864432"
-dependencies = [
- "bevy_macro_utils 0.14.2",
- "proc-macro2",
- "quote",
- "syn 2.0.79",
+ "wgpu",
 ]
 
 [[package]]
@@ -1977,95 +1311,49 @@ name = "bevy_render_macros"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_macro_utils 0.15.0-dev",
+ "bevy_macro_utils",
  "proc-macro2",
  "quote",
  "syn 2.0.79",
 ]
 
-[[package]]
-name = "bevy_scene"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ec57a72d75273bdbb6154390688fd07ba79ae9f6f99476d1937f799c736c2da"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_derive 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_hierarchy 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_render 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_utils 0.14.2",
- "serde",
- "thiserror",
- "uuid",
-]
-
 [[package]]
 name = "bevy_scene"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_render 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_hierarchy",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_transform",
+ "bevy_utils",
  "serde",
  "thiserror",
  "uuid",
 ]
 
-[[package]]
-name = "bevy_sprite"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e045b4d8cc8e7422a4c29b1eadbe224f5cc42f170b88d43e7535892fcede3840"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_color 0.14.3",
- "bevy_core_pipeline 0.14.2",
- "bevy_derive 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_render 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_utils 0.14.2",
- "bitflags 2.6.0",
- "bytemuck",
- "fixedbitset 0.5.7",
- "guillotiere",
- "radsort",
- "rectangle-pack",
- "thiserror",
-]
-
 [[package]]
 name = "bevy_sprite"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_color 0.15.0-dev",
- "bevy_core_pipeline 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_math 0.15.0-dev",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_color",
+ "bevy_core_pipeline",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_math",
  "bevy_picking",
- "bevy_reflect 0.15.0-dev",
- "bevy_render 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
- "bevy_window 0.15.0-dev",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_transform",
+ "bevy_utils",
+ "bevy_window",
  "bitflags 2.6.0",
  "bytemuck",
  "fixedbitset 0.5.7",
@@ -2077,43 +1365,17 @@ dependencies = [
  "thiserror",
 ]
 
-[[package]]
-name = "bevy_state"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "25335bfa58cc22371182335c3b133017293bc9b6d3308402fd4d1f978b83f937"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_hierarchy 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_state_macros 0.14.2",
- "bevy_utils 0.14.2",
-]
-
 [[package]]
 name = "bevy_state"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_state_macros 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
-]
-
-[[package]]
-name = "bevy_state_macros"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dee600b659c739f1911f997a81611fec0a1832cf731727956e5fa4e7532b4dd5"
-dependencies = [
- "bevy_macro_utils 0.14.2",
- "proc-macro2",
- "quote",
- "syn 2.0.79",
+ "bevy_app",
+ "bevy_ecs",
+ "bevy_hierarchy",
+ "bevy_reflect",
+ "bevy_state_macros",
+ "bevy_utils",
 ]
 
 [[package]]
@@ -2121,25 +1383,12 @@ name = "bevy_state_macros"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_macro_utils 0.15.0-dev",
+ "bevy_macro_utils",
  "proc-macro2",
  "quote",
  "syn 2.0.79",
 ]
 
-[[package]]
-name = "bevy_tasks"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77865f310b1fc48fb05b7c4adbe76607ec01d0c14f8ab4caba4d714c86439946"
-dependencies = [
- "async-channel",
- "async-executor",
- "concurrent-queue",
- "futures-lite",
- "wasm-bindgen-futures",
-]
-
 [[package]]
 name = "bevy_tasks"
 version = "0.15.0-dev"
@@ -2154,46 +1403,23 @@ dependencies = [
  "wasm-bindgen-futures",
 ]
 
-[[package]]
-name = "bevy_text"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b661db828fd423fc41a4ccf43aa4d1b8e50e75057ec40453317d0d761e8ad62d"
-dependencies = [
- "ab_glyph",
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_color 0.14.3",
- "bevy_ecs 0.14.2",
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_render 0.14.2",
- "bevy_sprite 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_utils 0.14.2",
- "bevy_window 0.14.2",
- "glyph_brush_layout",
- "serde",
- "thiserror",
-]
-
 [[package]]
 name = "bevy_text"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_color 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_render 0.15.0-dev",
- "bevy_sprite 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
- "bevy_window 0.15.0-dev",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_color",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_sprite",
+ "bevy_transform",
+ "bevy_utils",
+ "bevy_window",
  "cosmic-text",
  "serde",
  "sys-locale",
@@ -2201,92 +1427,31 @@ dependencies = [
  "unicode-bidi",
 ]
 
-[[package]]
-name = "bevy_time"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f4e4d53ec32a1b16492396951d04de0d2d90e924bf9adcb8d1adacab5ab6c17c"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_utils 0.14.2",
- "crossbeam-channel",
- "serde",
- "thiserror",
-]
-
 [[package]]
 name = "bevy_time"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_app",
+ "bevy_ecs",
+ "bevy_reflect",
+ "bevy_utils",
  "crossbeam-channel",
  "serde",
  "thiserror",
 ]
 
-[[package]]
-name = "bevy_transform"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d5493dce84427d00a9266e8e4386d738a72ee8640423b62dfcecb6dfccbfe0d2"
-dependencies = [
- "bevy_app 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_hierarchy 0.14.2",
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "serde",
- "thiserror",
-]
-
 [[package]]
 name = "bevy_transform"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_app 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "serde",
- "thiserror",
-]
-
-[[package]]
-name = "bevy_ui"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "56d2cba6603b39a3765f043212ae530e25550af168a7eec6b23b9b93c19bc5f7"
-dependencies = [
- "bevy_a11y 0.14.2",
- "bevy_app 0.14.2",
- "bevy_asset 0.14.2",
- "bevy_color 0.14.3",
- "bevy_core_pipeline 0.14.2",
- "bevy_derive 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_hierarchy 0.14.2",
- "bevy_input 0.14.2",
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_render 0.14.2",
- "bevy_sprite 0.14.2",
- "bevy_text 0.14.2",
- "bevy_transform 0.14.2",
- "bevy_utils 0.14.2",
- "bevy_window 0.14.2",
- "bytemuck",
- "nonmax",
+ "bevy_app",
+ "bevy_ecs",
+ "bevy_hierarchy",
+ "bevy_math",
+ "bevy_reflect",
  "serde",
- "smallvec",
- "taffy",
  "thiserror",
 ]
 
@@ -2295,25 +1460,25 @@ name = "bevy_ui"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "bevy_a11y 0.15.0-dev",
- "bevy_animation 0.15.0-dev",
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_color 0.15.0-dev",
- "bevy_core_pipeline 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
- "bevy_input 0.15.0-dev",
- "bevy_math 0.15.0-dev",
+ "bevy_a11y",
+ "bevy_animation",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_color",
+ "bevy_core_pipeline",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_hierarchy",
+ "bevy_input",
+ "bevy_math",
  "bevy_picking",
- "bevy_reflect 0.15.0-dev",
- "bevy_render 0.15.0-dev",
- "bevy_sprite 0.15.0-dev",
- "bevy_text 0.15.0-dev",
- "bevy_transform 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
- "bevy_window 0.15.0-dev",
+ "bevy_reflect",
+ "bevy_render",
+ "bevy_sprite",
+ "bevy_text",
+ "bevy_transform",
+ "bevy_utils",
+ "bevy_window",
  "bytemuck",
  "nonmax",
  "serde",
@@ -2322,28 +1487,13 @@ dependencies = [
  "thiserror",
 ]
 
-[[package]]
-name = "bevy_utils"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ffb0ec333b5965771153bd746f92ffd8aeeb9d008a8620ffd9ed474859381a5e"
-dependencies = [
- "ahash",
- "bevy_utils_proc_macros 0.14.2",
- "getrandom",
- "hashbrown 0.14.5",
- "thread_local",
- "tracing",
- "web-time",
-]
-
 [[package]]
 name = "bevy_utils"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
  "ahash",
- "bevy_utils_proc_macros 0.15.0-dev",
+ "bevy_utils_proc_macros",
  "getrandom",
  "hashbrown 0.14.5",
  "thread_local",
@@ -2351,17 +1501,6 @@ dependencies = [
  "web-time",
 ]
 
-[[package]]
-name = "bevy_utils_proc_macros"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38f1ab8f2f6f58439d260081d89a42b02690e5fdd64f814edc9417d33fcf2857"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.79",
-]
-
 [[package]]
 name = "bevy_utils_proc_macros"
 version = "0.15.0-dev"
@@ -2372,91 +1511,45 @@ dependencies = [
  "syn 2.0.79",
 ]
 
-[[package]]
-name = "bevy_window"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c89e88a20db64ea8204540afb4699295947c454738fd50293f7b32ab8be857a6"
-dependencies = [
- "bevy_a11y 0.14.2",
- "bevy_app 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_utils 0.14.2",
- "raw-window-handle",
- "serde",
- "smol_str",
-]
-
 [[package]]
 name = "bevy_window"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
  "android-activity",
- "bevy_a11y 0.15.0-dev",
- "bevy_app 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_input 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
+ "bevy_a11y",
+ "bevy_app",
+ "bevy_ecs",
+ "bevy_input",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_utils",
  "raw-window-handle",
  "serde",
  "smol_str",
 ]
 
-[[package]]
-name = "bevy_winit"
-version = "0.14.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d0bef8ec3e4b45db943ad4d1c0bf59b09e382ce0651a706e2f33a70fa955303c"
-dependencies = [
- "accesskit_winit 0.20.4",
- "approx",
- "bevy_a11y 0.14.2",
- "bevy_app 0.14.2",
- "bevy_derive 0.14.2",
- "bevy_ecs 0.14.2",
- "bevy_hierarchy 0.14.2",
- "bevy_input 0.14.2",
- "bevy_log 0.14.2",
- "bevy_math 0.14.2",
- "bevy_reflect 0.14.2",
- "bevy_tasks 0.14.2",
- "bevy_utils 0.14.2",
- "bevy_window 0.14.2",
- "cfg-if",
- "crossbeam-channel",
- "raw-window-handle",
- "serde",
- "wasm-bindgen",
- "web-sys",
- "winit",
-]
-
 [[package]]
 name = "bevy_winit"
 version = "0.15.0-dev"
 source = "git+https://github.com/bevyengine/bevy?rev=0c959f77007c29eead7f902bddd3342a1ecbca20#0c959f77007c29eead7f902bddd3342a1ecbca20"
 dependencies = [
- "accesskit_winit 0.22.3",
+ "accesskit_winit",
  "approx",
- "bevy_a11y 0.15.0-dev",
- "bevy_app 0.15.0-dev",
- "bevy_asset 0.15.0-dev",
- "bevy_derive 0.15.0-dev",
- "bevy_ecs 0.15.0-dev",
- "bevy_hierarchy 0.15.0-dev",
+ "bevy_a11y",
+ "bevy_app",
+ "bevy_asset",
+ "bevy_derive",
+ "bevy_ecs",
+ "bevy_hierarchy",
  "bevy_image",
- "bevy_input 0.15.0-dev",
- "bevy_log 0.15.0-dev",
- "bevy_math 0.15.0-dev",
- "bevy_reflect 0.15.0-dev",
- "bevy_tasks 0.15.0-dev",
- "bevy_utils 0.15.0-dev",
- "bevy_window 0.15.0-dev",
+ "bevy_input",
+ "bevy_log",
+ "bevy_math",
+ "bevy_reflect",
+ "bevy_tasks",
+ "bevy_utils",
+ "bevy_window",
  "bytemuck",
  "cfg-if",
  "crossbeam-channel",
@@ -2464,7 +1557,7 @@ dependencies = [
  "serde",
  "wasm-bindgen",
  "web-sys",
- "wgpu-types 22.0.0",
+ "wgpu-types",
  "winit",
 ]
 
@@ -3264,17 +2357,6 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "96a6ac251f4a2aca6b3f91340350eab87ae57c3f127ffeb585e92bd336717991"
 
-[[package]]
-name = "d3d12"
-version = "0.20.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b28bfe653d79bd16c77f659305b195b82bb5ce0c0eb2a4846b82ddbd77586813"
-dependencies = [
- "bitflags 2.6.0",
- "libloading 0.8.5",
- "winapi",
-]
-
 [[package]]
 name = "d3d12"
 version = "22.0.0"
@@ -3505,18 +2587,6 @@ version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "60b1af1c220855b6ceac025d3f6ecdd2b7c4894bfe9cd9bda4fbb4bc7c0d4cf0"
 
-[[package]]
-name = "encase"
-version = "0.8.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a9299a95fa5671ddf29ecc22b00e121843a65cb9ff24911e394b4ae556baf36"
-dependencies = [
- "const_panic",
- "encase_derive 0.8.0",
- "glam 0.27.0",
- "thiserror",
-]
-
 [[package]]
 name = "encase"
 version = "0.10.0"
@@ -3524,38 +2594,18 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b0a05902cf601ed11d564128448097b98ebe3c6574bd7b6a653a3d56d54aa020"
 dependencies = [
  "const_panic",
- "encase_derive 0.10.0",
- "glam 0.29.0",
+ "encase_derive",
+ "glam",
  "thiserror",
 ]
 
-[[package]]
-name = "encase_derive"
-version = "0.8.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "07e09decb3beb1fe2db6940f598957b2e1f7df6206a804d438ff6cb2a9cddc10"
-dependencies = [
- "encase_derive_impl 0.8.0",
-]
-
 [[package]]
 name = "encase_derive"
 version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "181d475b694e2dd56ae919ce7699d344d1fd259292d590c723a50d1189a2ea85"
 dependencies = [
- "encase_derive_impl 0.10.0",
-]
-
-[[package]]
-name = "encase_derive_impl"
-version = "0.8.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fd31dbbd9743684d339f907a87fe212cb7b51d75b9e8e74181fe363199ee9b47"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.79",
+ "encase_derive_impl",
 ]
 
 [[package]]
@@ -3876,7 +2926,7 @@ name = "forky_bevy"
 version = "0.2.0-rc.6"
 dependencies = [
  "anyhow",
- "bevy 0.15.0-dev",
+ "bevy",
  "extend",
  "forky_core 0.2.0-rc.6",
  "forky_web 0.2.0-rc.6",
@@ -4273,51 +3323,17 @@ dependencies = [
  "wasm-bindgen",
 ]
 
-[[package]]
-name = "gilrs"
-version = "0.10.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a556964c6d62458084356ce9770676f5104bd667e12e9a795691076e8a17c5cf"
-dependencies = [
- "fnv",
- "gilrs-core 0.5.15",
- "log",
- "uuid",
- "vec_map",
-]
-
 [[package]]
 name = "gilrs"
 version = "0.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bbb2c998745a3c1ac90f64f4f7b3a54219fd3612d7705e7798212935641ed18f"
-dependencies = [
- "fnv",
- "gilrs-core 0.6.0",
- "log",
- "uuid",
- "vec_map",
-]
-
-[[package]]
-name = "gilrs-core"
-version = "0.5.15"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "732dadc05170599ddec9a89653f10d7a2af54da9181b3fa6e2bd49907ec8f7e4"
-dependencies = [
- "core-foundation 0.9.4",
- "inotify 0.10.2",
- "io-kit-sys",
- "js-sys",
- "libc",
- "libudev-sys",
+checksum = "bbb2c998745a3c1ac90f64f4f7b3a54219fd3612d7705e7798212935641ed18f"
+dependencies = [
+ "fnv",
+ "gilrs-core",
  "log",
- "nix",
  "uuid",
  "vec_map",
- "wasm-bindgen",
- "web-sys",
- "windows 0.58.0",
 ]
 
 [[package]]
@@ -4358,17 +3374,6 @@ dependencies = [
  "xml-rs",
 ]
 
-[[package]]
-name = "glam"
-version = "0.27.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e05e7e6723e3455f4818c7b26e855439f7546cf617ef669d1adedb8669e5cb9"
-dependencies = [
- "bytemuck",
- "rand",
- "serde",
-]
-
 [[package]]
 name = "glam"
 version = "0.29.0"
@@ -4468,15 +3473,6 @@ dependencies = [
  "serde_json",
 ]
 
-[[package]]
-name = "glutin_wgl_sys"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6c8098adac955faa2d31079b65dc48841251f69efd3ac25477903fc424362ead"
-dependencies = [
- "gl_generator",
-]
-
 [[package]]
 name = "glutin_wgl_sys"
 version = "0.6.0"
@@ -4486,17 +3482,6 @@ dependencies = [
  "gl_generator",
 ]
 
-[[package]]
-name = "glyph_brush_layout"
-version = "0.2.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7b1e288bfd2f6c0313f78bf5aa538356ad481a3bb97e9b7f93220ab0066c5992"
-dependencies = [
- "ab_glyph",
- "approx",
- "xi-unicode",
-]
-
 [[package]]
 name = "gpu-alloc"
 version = "0.6.0"
@@ -4516,19 +3501,6 @@ dependencies = [
  "bitflags 2.6.0",
 ]
 
-[[package]]
-name = "gpu-allocator"
-version = "0.25.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6f56f6318968d03c18e1bcf4857ff88c61157e9da8e47c5f29055d60e1228884"
-dependencies = [
- "log",
- "presser",
- "thiserror",
- "winapi",
- "windows 0.52.0",
-]
-
 [[package]]
 name = "gpu-allocator"
 version = "0.26.0"
@@ -4663,16 +3635,6 @@ version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7f24254aa9a54b5c858eaee2f5bccdb46aaf0e486a595ed5fd8f86ba55232a70"
 
-[[package]]
-name = "hexasphere"
-version = "12.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "edd6b038160f086b0a7496edae34169ae22f328793cbe2b627a5a3d8373748ec"
-dependencies = [
- "constgebra",
- "glam 0.27.0",
-]
-
 [[package]]
 name = "hexasphere"
 version = "15.0.0"
@@ -4680,7 +3642,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "741ab88b8cc670443da777c3daab02cebf5a3caccfc04e3c052f55c94d1643fe"
 dependencies = [
  "constgebra",
- "glam 0.29.0",
+ "glam",
 ]
 
 [[package]]
@@ -4866,17 +3828,6 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "inotify"
-version = "0.10.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fdd168d97690d0b8c412d6b6c10360277f4d7ee495c5d0d5d5fe0854923255cc"
-dependencies = [
- "bitflags 1.3.2",
- "inotify-sys",
- "libc",
-]
-
 [[package]]
 name = "inotify"
 version = "0.11.0"
@@ -5397,21 +4348,6 @@ dependencies = [
  "stable_deref_trait",
 ]
 
-[[package]]
-name = "metal"
-version = "0.28.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5637e166ea14be6063a3f8ba5ccb9a4159df7d8f6d61c02fc3d480b1f90dcfcb"
-dependencies = [
- "bitflags 2.6.0",
- "block",
- "core-graphics-types",
- "foreign-types 0.5.0",
- "log",
- "objc",
- "paste",
-]
-
 [[package]]
 name = "metal"
 version = "0.29.0"
@@ -5488,28 +4424,6 @@ dependencies = [
  "syn 2.0.79",
 ]
 
-[[package]]
-name = "naga"
-version = "0.20.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e536ae46fcab0876853bd4a632ede5df4b1c2527a58f6c5a4150fe86be858231"
-dependencies = [
- "arrayvec",
- "bit-set 0.5.3",
- "bitflags 2.6.0",
- "codespan-reporting",
- "hexf-parse",
- "indexmap",
- "log",
- "num-traits",
- "pp-rs",
- "rustc-hash",
- "spirv",
- "termcolor",
- "thiserror",
- "unicode-xid",
-]
-
 [[package]]
 name = "naga"
 version = "22.1.0"
@@ -5532,26 +4446,6 @@ dependencies = [
  "unicode-xid",
 ]
 
-[[package]]
-name = "naga_oil"
-version = "0.14.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "275d9720a7338eedac966141089232514c84d76a246a58ef501af88c5edf402f"
-dependencies = [
- "bit-set 0.5.3",
- "codespan-reporting",
- "data-encoding",
- "indexmap",
- "naga 0.20.0",
- "once_cell",
- "regex",
- "regex-syntax 0.8.5",
- "rustc-hash",
- "thiserror",
- "tracing",
- "unicode-ident",
-]
-
 [[package]]
 name = "naga_oil"
 version = "0.15.0"
@@ -5562,7 +4456,7 @@ dependencies = [
  "codespan-reporting",
  "data-encoding",
  "indexmap",
- "naga 22.1.0",
+ "naga",
  "once_cell",
  "regex",
  "regex-syntax 0.8.5",
@@ -6142,15 +5036,6 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b15813163c1d831bf4a13c3610c05c0d03b39feb07f7e09fa234dac9b15aaf39"
 
-[[package]]
-name = "owned_ttf_parser"
-version = "0.25.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "22ec719bbf3b2a81c109a4e20b1f129b5566b7dce654bc3872f6a05abf82b2c4"
-dependencies = [
- "ttf-parser 0.25.0",
-]
-
 [[package]]
 name = "pad-adapter"
 version = "0.1.1"
@@ -6715,17 +5600,6 @@ dependencies = [
  "windows-sys 0.52.0",
 ]
 
-[[package]]
-name = "rodio"
-version = "0.18.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d1fceb9d127d515af1586d8d0cc601e1245bdb0af38e75c865a156290184f5b3"
-dependencies = [
- "cpal",
- "lewton",
- "thiserror",
-]
-
 [[package]]
 name = "rodio"
 version = "0.19.0"
@@ -7304,7 +6178,7 @@ version = "0.2.0-rc.4"
 dependencies = [
  "anyhow",
  "backtrace",
- "bevy 0.15.0-dev",
+ "bevy",
  "clap",
  "colorize",
  "console_log",
@@ -7409,20 +6283,6 @@ dependencies = [
  "walkdir",
 ]
 
-[[package]]
-name = "sysinfo"
-version = "0.30.13"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0a5b4ddaee55fb2bea2bf0e5000747e5f5c0de765e5a5ff87f4cd106439f4bb3"
-dependencies = [
- "cfg-if",
- "core-foundation-sys",
- "libc",
- "ntapi",
- "once_cell",
- "windows 0.52.0",
-]
-
 [[package]]
 name = "sysinfo"
 version = "0.32.0"
@@ -7725,12 +6585,6 @@ version = "0.21.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2c591d83f69777866b9126b24c6dd9a18351f177e49d625920d19f989fd31cf8"
 
-[[package]]
-name = "ttf-parser"
-version = "0.25.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5902c5d130972a0000f60860bfbf46f7ca3db5391eddfedd1b8728bd9dc96c0e"
-
 [[package]]
 name = "twox-hash"
 version = "1.6.3"
@@ -8064,32 +6918,6 @@ dependencies = [
  "rustls-pki-types",
 ]
 
-[[package]]
-name = "wgpu"
-version = "0.20.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90e37c7b9921b75dfd26dd973fdcbce36f13dfa6e2dc82aece584e0ed48c355c"
-dependencies = [
- "arrayvec",
- "cfg-if",
- "cfg_aliases 0.1.1",
- "document-features",
- "js-sys",
- "log",
- "naga 0.20.0",
- "parking_lot",
- "profiling",
- "raw-window-handle",
- "smallvec",
- "static_assertions",
- "wasm-bindgen",
- "wasm-bindgen-futures",
- "web-sys",
- "wgpu-core 0.21.1",
- "wgpu-hal 0.21.1",
- "wgpu-types 0.20.0",
-]
-
 [[package]]
 name = "wgpu"
 version = "22.1.0"
@@ -8101,7 +6929,7 @@ dependencies = [
  "document-features",
  "js-sys",
  "log",
- "naga 22.1.0",
+ "naga",
  "parking_lot",
  "profiling",
  "raw-window-handle",
@@ -8110,36 +6938,9 @@ dependencies = [
  "wasm-bindgen",
  "wasm-bindgen-futures",
  "web-sys",
- "wgpu-core 22.1.0",
- "wgpu-hal 22.0.0",
- "wgpu-types 22.0.0",
-]
-
-[[package]]
-name = "wgpu-core"
-version = "0.21.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d50819ab545b867d8a454d1d756b90cd5f15da1f2943334ca314af10583c9d39"
-dependencies = [
- "arrayvec",
- "bit-vec 0.6.3",
- "bitflags 2.6.0",
- "cfg_aliases 0.1.1",
- "codespan-reporting",
- "document-features",
- "indexmap",
- "log",
- "naga 0.20.0",
- "once_cell",
- "parking_lot",
- "profiling",
- "raw-window-handle",
- "rustc-hash",
- "smallvec",
- "thiserror",
- "web-sys",
- "wgpu-hal 0.21.1",
- "wgpu-types 0.20.0",
+ "wgpu-core",
+ "wgpu-hal",
+ "wgpu-types",
 ]
 
 [[package]]
@@ -8155,61 +6956,16 @@ dependencies = [
  "document-features",
  "indexmap",
  "log",
- "naga 22.1.0",
- "once_cell",
- "parking_lot",
- "profiling",
- "raw-window-handle",
- "rustc-hash",
- "smallvec",
- "thiserror",
- "wgpu-hal 22.0.0",
- "wgpu-types 22.0.0",
-]
-
-[[package]]
-name = "wgpu-hal"
-version = "0.21.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "172e490a87295564f3fcc0f165798d87386f6231b04d4548bca458cbbfd63222"
-dependencies = [
- "android_system_properties",
- "arrayvec",
- "ash 0.37.3+1.3.251",
- "bit-set 0.5.3",
- "bitflags 2.6.0",
- "block",
- "cfg_aliases 0.1.1",
- "core-graphics-types",
- "d3d12 0.20.0",
- "glow",
- "glutin_wgl_sys 0.5.0",
- "gpu-alloc",
- "gpu-allocator 0.25.0",
- "gpu-descriptor",
- "hassle-rs",
- "js-sys",
- "khronos-egl",
- "libc",
- "libloading 0.8.5",
- "log",
- "metal 0.28.0",
- "naga 0.20.0",
- "ndk-sys 0.5.0+25.2.9519653",
- "objc",
+ "naga",
  "once_cell",
  "parking_lot",
  "profiling",
- "range-alloc",
  "raw-window-handle",
- "renderdoc-sys",
  "rustc-hash",
  "smallvec",
  "thiserror",
- "wasm-bindgen",
- "web-sys",
- "wgpu-types 0.20.0",
- "winapi",
+ "wgpu-hal",
+ "wgpu-types",
 ]
 
 [[package]]
@@ -8220,17 +6976,17 @@ checksum = "f6bbf4b4de8b2a83c0401d9e5ae0080a2792055f25859a02bf9be97952bbed4f"
 dependencies = [
  "android_system_properties",
  "arrayvec",
- "ash 0.38.0+1.3.281",
+ "ash",
  "bit-set 0.6.0",
  "bitflags 2.6.0",
  "block",
  "cfg_aliases 0.1.1",
  "core-graphics-types",
- "d3d12 22.0.0",
+ "d3d12",
  "glow",
- "glutin_wgl_sys 0.6.0",
+ "glutin_wgl_sys",
  "gpu-alloc",
- "gpu-allocator 0.26.0",
+ "gpu-allocator",
  "gpu-descriptor",
  "hassle-rs",
  "js-sys",
@@ -8238,8 +6994,8 @@ dependencies = [
  "libc",
  "libloading 0.7.4",
  "log",
- "metal 0.29.0",
- "naga 22.1.0",
+ "metal",
+ "naga",
  "ndk-sys 0.5.0+25.2.9519653",
  "objc",
  "once_cell",
@@ -8253,21 +7009,10 @@ dependencies = [
  "thiserror",
  "wasm-bindgen",
  "web-sys",
- "wgpu-types 22.0.0",
+ "wgpu-types",
  "winapi",
 ]
 
-[[package]]
-name = "wgpu-types"
-version = "0.20.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1353d9a46bff7f955a680577f34c69122628cc2076e1d6f3a9be6ef00ae793ef"
-dependencies = [
- "bitflags 2.6.0",
- "js-sys",
- "web-sys",
-]
-
 [[package]]
 name = "wgpu-types"
 version = "22.0.0"
@@ -8333,8 +7078,6 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9252e5725dbed82865af151df558e754e4a3c2c30818359eb17465f1346a1b49"
 dependencies = [
  "windows-core 0.54.0",
- "windows-implement 0.53.0",
- "windows-interface 0.53.0",
  "windows-targets 0.52.6",
 ]
 
@@ -8373,24 +7116,13 @@ version = "0.58.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6ba6d44ec8c2591c134257ce647b7ea6b20335bf6379a27dac5f1641fcf59f99"
 dependencies = [
- "windows-implement 0.58.0",
- "windows-interface 0.58.0",
+ "windows-implement",
+ "windows-interface",
  "windows-result 0.2.0",
  "windows-strings",
  "windows-targets 0.52.6",
 ]
 
-[[package]]
-name = "windows-implement"
-version = "0.53.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "942ac266be9249c84ca862f0a164a39533dc2f6f33dc98ec89c8da99b82ea0bd"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.79",
-]
-
 [[package]]
 name = "windows-implement"
 version = "0.58.0"
@@ -8402,17 +7134,6 @@ dependencies = [
  "syn 2.0.79",
 ]
 
-[[package]]
-name = "windows-interface"
-version = "0.53.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da33557140a288fae4e1d5f8873aaf9eb6613a9cf82c3e070223ff177f598b60"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.79",
-]
-
 [[package]]
 name = "windows-interface"
 version = "0.58.0"
@@ -8751,12 +7472,6 @@ version = "0.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ec107c4503ea0b4a98ef47356329af139c0a4f7750e621cf2973cd3385ebcb3d"
 
-[[package]]
-name = "xi-unicode"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a67300977d3dc3f8034dae89778f502b6ba20b269527b3223ba59c0cf393bb8a"
-
 [[package]]
 name = "xkbcommon-dl"
 version = "0.4.2"
diff --git a/Cargo.toml b/Cargo.toml
index f3a4646a..126f0785 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -7,7 +7,7 @@ opt-level = 1
 opt-level = 3
 
 [workspace.package]
-version = "0.0.4-rc.3"
+version = "0.0.4-rc.2"
 edition = "2021"
 description = "A very flexible AI behavior library for games and robotics."
 documentation = "https://beetmash.com/docs/beet"
@@ -38,12 +38,12 @@ members = [
 
 [workspace.dependencies]
 ## internal
-beet = { path = "./", version = "0.0.4-rc.3" }
-beet_spatial = { path = "crates/beet_spatial", version = "0.0.4-rc.3", default-features = false }
-beet_flow = { path = "crates/beet_flow", version = "0.0.4-rc.3" }
-beet_flow_macros = { path = "crates/beet_flow/macros", version = "0.0.4-rc.3" }
-beet_ml = { path = "crates/beet_ml", version = "0.0.4-rc.3" }
-beet_examples = { path = "crates/beet_examples", version = "0.0.4-rc.3" }
+beet = { path = "./", version = "0.0.4-rc.2" }
+beet_spatial = { path = "crates/beet_spatial", version = "0.0.4-rc.2", default-features = false }
+beet_flow = { path = "crates/beet_flow", version = "0.0.4-rc.2" }
+beet_flow_macros = { path = "crates/beet_flow/macros", version = "0.0.4-rc.2" }
+beet_ml = { path = "crates/beet_ml", version = "0.0.4-rc.2" }
+beet_examples = { path = "crates/beet_examples", version = "0.0.4-rc.2" }
 
 ## local
 beetmash = { version = "0.0.6-rc.2", path = "../beetmash" }
@@ -91,8 +91,8 @@ serde_json = "1"
 ron = "0.8"
 
 #💡 game
-bevy = { version = "0.14", default-features = false, features = [
-# bevy = { git = "https://github.com/bevyengine/bevy", rev = "0c959f77007c29eead7f902bddd3342a1ecbca20", default-features = false, features = [
+# bevy = { version = "0.14", default-features = false, features = [
+bevy = { git = "https://github.com/bevyengine/bevy", rev = "0c959f77007c29eead7f902bddd3342a1ecbca20", default-features = false, features = [
 	"bevy_scene",
 	"serialize",
 	# "bevy_color",
diff --git a/crates/beet_examples/src/components/follow_cursor.rs b/crates/beet_examples/src/components/follow_cursor.rs
index eb056d77..6c4eac74 100644
--- a/crates/beet_examples/src/components/follow_cursor.rs
+++ b/crates/beet_examples/src/components/follow_cursor.rs
@@ -34,13 +34,54 @@ pub fn follow_cursor_2d(
 }
 
 
-#[derive(Default, Component, Reflect)]
+#[derive(Component, Reflect)]
 #[reflect(Default, Component)]
-pub struct FollowCursor3d;
+pub struct FollowCursor3d {
+	pub intersect_point: Vec3,
+	pub intersect_plane: InfinitePlane3d,
+}
+
+impl FollowCursor3d {
+	/// Follows the cursor on the XZ plane with the Y axis as the normal.
+	pub const ORIGIN_Y: Self = Self {
+		intersect_point: Vec3::ZERO,
+		intersect_plane: InfinitePlane3d { normal: Dir3::Y },
+	};
+
+	/// Follows the cursor on the XY plane with the Z axis as the normal.
+	pub const ORIGIN_Z: Self = Self {
+		intersect_point: Vec3::ZERO,
+		intersect_plane: InfinitePlane3d { normal: Dir3::Z },
+	};
+
+
+	pub fn new(intersect_point: Vec3, intersect_plane: Vec3) -> Self {
+		Self {
+			intersect_point,
+			intersect_plane: InfinitePlane3d::new(intersect_plane),
+		}
+	}
+	pub fn with_intersect_point(self, intersect_point: Vec3) -> Self {
+		Self {
+			intersect_point,
+			..self
+		}
+	}
+	pub fn with_intersect_plane(self, intersect_plane: Vec3) -> Self {
+		Self {
+			intersect_plane: InfinitePlane3d::new(intersect_plane),
+			..self
+		}
+	}
+}
+
+impl Default for FollowCursor3d {
+	fn default() -> Self { Self::ORIGIN_Y }
+}
 
 pub fn follow_cursor_3d(
 	camera_query: Query<(&Camera, &GlobalTransform)>,
-	mut cursor_query: Query<&mut Transform, With<FollowCursor3d>>,
+	mut cursor_query: Query<(&mut Transform, &FollowCursor3d)>,
 	windows: Query<&Window>,
 ) {
 	let Ok((camera, camera_transform)) = camera_query.get_single() else {
@@ -60,14 +101,14 @@ pub fn follow_cursor_3d(
 		return;
 	};
 
-	let Some(dist) =
-		ray.intersect_plane(Vec3::ZERO, InfinitePlane3d::new(Vec3::Y))
-	else {
-		return;
-	};
-	let point = ray.get_point(dist);
-
-	for mut transform in cursor_query.iter_mut() {
+	for (mut transform, follow_cursor) in cursor_query.iter_mut() {
+		let Some(dist) = ray.intersect_plane(
+			follow_cursor.intersect_point,
+			follow_cursor.intersect_plane,
+		) else {
+			continue;
+		};
+		let point = ray.get_point(dist);
 		transform.translation = point;
 	}
 }
diff --git a/crates/beet_examples/src/scenes/spatial/inverse_kinematics.rs b/crates/beet_examples/src/scenes/spatial/inverse_kinematics.rs
new file mode 100644
index 00000000..c1d3768c
--- /dev/null
+++ b/crates/beet_examples/src/scenes/spatial/inverse_kinematics.rs
@@ -0,0 +1,91 @@
+use crate::prelude::FollowCursor3d;
+use beet_spatial::prelude::Ik2Dof;
+use beet_spatial::prelude::Ik2DofTransforms;
+use beet_spatial::prelude::IkSegment;
+// use crate::beet::prelude::*;
+// use beetmash::core::scenes::Foxie;
+use beetmash::prelude::*;
+// use bevy::animation::RepeatAnimation;
+use bevy::{
+	color::palettes::tailwind,
+	prelude::*,
+};
+// use std::time::Duration;
+
+
+pub fn inverse_kinematics(mut commands: Commands) {
+	let ik_solver = Ik2Dof::new(IkSegment::DEG_360, IkSegment::DEG_360);
+	let arm_width = 0.1;
+
+	commands.spawn((
+		Name::new("Camera"),
+		BundlePlaceholder::Camera3d,
+		Transform::from_xyz(0., 0., 5.0).looking_at(Vec3::ZERO, Vec3::Y),
+	));
+	let target = commands
+		.spawn((
+			Name::new("Mouse"),
+			FollowCursor3d::ORIGIN_Z,
+			Transform::default().looking_to(-Vec3::Z, Vec3::Y),
+			BundlePlaceholder::Pbr {
+				mesh: Circle::new(0.2).into(),
+				material: MaterialPlaceholder::unlit(tailwind::BLUE_500),
+			},
+		))
+		.id();
+
+
+	let root = commands
+		.spawn((
+			Name::new("IK Root"),
+			Transform::default().looking_to(Vec3::X, Vec3::Y),
+		))
+		.id();
+	let mut entity1 = Entity::PLACEHOLDER;
+	let mut entity2 = Entity::PLACEHOLDER;
+
+	commands.entity(root).with_children(|parent| {
+		entity1 = ik_segment(
+			&mut parent.spawn_empty(),
+			&ik_solver.segment1,
+			Transform::default(),
+			arm_width,
+		);
+	});
+
+	commands.entity(entity1).with_children(|parent| {
+		entity2 = ik_segment(
+			&mut parent.spawn_empty(),
+			&ik_solver.segment2,
+			Transform::from_xyz(0., 0., -ik_solver.segment1.len),
+			arm_width,
+		);
+	});
+
+	commands.spawn((
+		Name::new("IK Solver"),
+		Ik2DofTransforms::new(ik_solver, target, entity1, entity2),
+	));
+}
+
+
+pub fn ik_segment(
+	commands: &mut EntityCommands,
+	seg: &IkSegment,
+	transform: Transform,
+	arm_width: f32,
+) -> Entity {
+	commands
+		.insert((Name::new("Segment"), transform, Visibility::Visible))
+		.with_children(|parent| {
+			parent.spawn((
+				Name::new("Mesh"),
+				Transform::from_xyz(0., 0., -seg.len * 0.5),
+				BundlePlaceholder::Pbr {
+					mesh: Cuboid::new(arm_width, arm_width, seg.len).into(),
+					material: MaterialPlaceholder::unlit(tailwind::AMBER_500),
+				},
+			));
+		})
+		.id()
+}
diff --git a/crates/beet_examples/src/scenes/spatial/mod.rs b/crates/beet_examples/src/scenes/spatial/mod.rs
index f62070c8..9f23d497 100644
--- a/crates/beet_examples/src/scenes/spatial/mod.rs
+++ b/crates/beet_examples/src/scenes/spatial/mod.rs
@@ -10,6 +10,9 @@ pub use self::forage::*;
 pub mod hello_animation;
 #[allow(unused_imports)]
 pub use self::hello_animation::*;
+pub mod inverse_kinematics;
+#[allow(unused_imports)]
+pub use self::inverse_kinematics::*;
 pub mod seek;
 #[allow(unused_imports)]
 pub use self::seek::*;
diff --git a/crates/beet_examples/src/scenes/spatial/seek_3d.rs b/crates/beet_examples/src/scenes/spatial/seek_3d.rs
index 26798232..bda09c3d 100644
--- a/crates/beet_examples/src/scenes/spatial/seek_3d.rs
+++ b/crates/beet_examples/src/scenes/spatial/seek_3d.rs
@@ -1,5 +1,5 @@
-use crate::prelude::*;
 use crate::beet::prelude::*;
+use crate::prelude::*;
 use beetmash::core::scenes::Foxie;
 use beetmash::prelude::*;
 use bevy::prelude::*;
@@ -10,15 +10,17 @@ pub fn seek_3d(mut commands: Commands) {
 	// camera
 	commands.spawn((
 		Name::new("Camera"),
-		BundlePlaceholder::Camera3d, CameraDistance {
-		width: 80.,
-		offset: Vec3::new(0., 20., 40.),
-	}));
+		BundlePlaceholder::Camera3d,
+		CameraDistance {
+			width: 80.,
+			offset: Vec3::new(0., 20., 40.),
+		},
+	));
 
 	// cheese
 	let target = commands
 		.spawn((
-			FollowCursor3d,
+			FollowCursor3d::default(),
 			Transform::from_xyz(20., 0., 40.).with_scale(Vec3::splat(3.)),
 			BundlePlaceholder::Scene("kaykit/cheese.glb#Scene0".into()),
 		))
diff --git a/crates/beet_spatial/src/inverse_kinematics/ik_2dof.rs b/crates/beet_spatial/src/inverse_kinematics/ik_2dof.rs
new file mode 100644
index 00000000..8010aab8
--- /dev/null
+++ b/crates/beet_spatial/src/inverse_kinematics/ik_2dof.rs
@@ -0,0 +1,154 @@
+use crate::prelude::*;
+use bevy::prelude::*;
+use std::f32::consts::PI;
+
+/// Inverse Kinematics solver for a 2dof planar arm, for instance shoulder & elbow hinge joints.
+#[derive(Debug, Default, Clone, Copy, Reflect)]
+pub struct Ik2Dof {
+	pub segment1: IkSegment,
+	pub segment2: IkSegment,
+	pub arm_style: IkArmStyle,
+}
+
+#[derive(Debug, Default, Clone, Copy, Reflect)]
+pub enum IkArmStyle {
+	#[default]
+	Overarm,
+	Underarm,
+}
+
+
+pub enum Ik2DofSolution {
+	/// The target is reachable and the solution is valid.
+	Reachable(f32, f32),
+	Stretched(f32, f32),
+	/// The target angle cannot be reached, but this is as close as it can get.
+	Invalid(f32, f32),
+}
+
+
+impl Ik2Dof {
+	pub fn new(segment1: IkSegment, segment2: IkSegment) -> Self {
+		Self {
+			segment1,
+			segment2,
+			arm_style: default(),
+		}
+	}
+
+	pub fn reach(&self) -> f32 { self.segment1.len + self.segment2.len }
+
+	/// Solve the inverse kinematics problem for a 2DOF arm using the Law of Cosines technique.
+	/// Returns angles in radians
+	pub fn solve(&self, mut target: Vec2) -> (f32, f32) {
+		let (l1, l2) = (self.segment1.len, self.segment2.len);
+		let reach = self.reach();
+
+		// if the target is not reachable, clamp the target to the maximum reach
+		if target.length_squared() > reach.powi(2) {
+			target = target.normalize_or_zero() * (reach - f32::EPSILON);
+		}
+
+		// in the case of negative x, flip the target to positive x
+		let is_neg = target.x < 0.0;
+		if target.x < 0. {
+			target.x = -target.x;
+			target.y = -target.y;
+		};
+
+
+		// Calculate angle for segment 2 using the Law of Cosines
+		let cos_angle2 =
+			(target.x.powi(2) + target.y.powi(2) - l1.powi(2) - l2.powi(2))
+				/ (2.0 * l1 * l2);
+		let angle2 = match self.arm_style {
+			IkArmStyle::Overarm => -cos_angle2.acos(),
+			IkArmStyle::Underarm => cos_angle2.acos(),
+		}
+		.clamp(self.segment2.min_angle, self.segment2.max_angle);
+
+		// Calculate angle for segment 1 using the Law of Cosines and adjust for target position
+		let k1 = l1 + l2 * angle2.cos();
+		let k2 = l2 * angle2.sin();
+		let angle1 = (target.y.atan2(target.x) - k2.atan2(k1))
+			.clamp(self.segment1.min_angle, self.segment1.max_angle);
+
+		if is_neg {
+			(angle1 + PI, angle2)
+		} else {
+			(angle1, angle2)
+		}
+	}
+}
+
+
+
+
+#[cfg(test)]
+mod tests {
+	use crate::prelude::*;
+	use bevy::prelude::*;
+	use std::f32::consts::PI;
+
+	#[test]
+	fn test_reachable_target() {
+		let ik_solver = Ik2Dof::default();
+
+		let target = Vec2::new(1.0, 1.0);
+		let (angle1, angle2) = ik_solver.solve(target);
+
+		// Assert the angles are within reasonable bounds for this reachable target
+		assert!((angle1).abs() <= PI);
+		assert!((angle2).abs() <= PI);
+	}
+
+	#[test]
+	fn test_unreachable_target_too_far() {
+		let ik_solver = Ik2Dof::default();
+
+		let target = Vec2::new(3.0, 3.0);
+		let (angle1, angle2) = ik_solver.solve(target);
+
+		// Since the target is unreachable, check if it returns the neutral position or an indicator value
+		assert_eq!((angle1, angle2), (0.0, 0.0));
+	}
+
+	// #[test]
+	// fn test_unreachable_target_too_close() {
+	// 	let ik_solver = Ik2Dof::default();
+
+	// 	let target = Vec2::new(0.1, 0.1);
+	// 	let (angle1, angle2) = ik_solver.solve(target);
+
+	// 	// Since the target is unreachable due to being too close, it should also return neutral position
+	// 	assert_eq!((angle1, angle2), (0.0, 0.0));
+	// }
+
+	#[test]
+	fn test_within_joint_limits() {
+		let segment1 = IkSegment {
+			len: 1.0,
+			min_angle: -std::f32::consts::FRAC_PI_2, // -90 degrees
+			max_angle: std::f32::consts::FRAC_PI_2,  // 90 degrees
+		};
+		let segment2 = IkSegment {
+			len: 1.0,
+			min_angle: -std::f32::consts::FRAC_PI_2, // -90 degrees
+			max_angle: std::f32::consts::FRAC_PI_2,  // 90 degrees
+		};
+		let ik_solver = Ik2Dof::new(segment1, segment2);
+
+		let target = Vec2::new(1.0, 0.0);
+		let (angle1, angle2) = ik_solver.solve(target);
+
+		// Assert the angles are within the specified joint limits
+		assert!(
+			angle1 >= -std::f32::consts::FRAC_PI_2
+				&& angle1 <= std::f32::consts::FRAC_PI_2
+		);
+		assert!(
+			angle2 >= -std::f32::consts::FRAC_PI_2
+				&& angle2 <= std::f32::consts::FRAC_PI_2
+		);
+	}
+}
diff --git a/crates/beet_spatial/src/inverse_kinematics/ik_2dof_transforms.rs b/crates/beet_spatial/src/inverse_kinematics/ik_2dof_transforms.rs
new file mode 100644
index 00000000..3a4ec979
--- /dev/null
+++ b/crates/beet_spatial/src/inverse_kinematics/ik_2dof_transforms.rs
@@ -0,0 +1,83 @@
+use crate::prelude::*;
+use bevy::ecs::entity::MapEntities;
+use bevy::ecs::reflect::ReflectMapEntities;
+use bevy::prelude::*;
+
+
+
+#[derive(Debug, Clone, Component, Reflect)]
+#[reflect(Component, MapEntities)]
+pub struct Ik2DofTransforms {
+	pub ik: Ik2Dof,
+	pub target: Entity,
+	pub segment1: Entity,
+	pub segment2: Entity,
+}
+
+impl Ik2DofTransforms {
+	pub fn new(
+		ik: Ik2Dof,
+		target: Entity,
+		segment1: Entity,
+		segment2: Entity,
+	) -> Self {
+		Self {
+			ik,
+			target,
+			segment1,
+			segment2,
+		}
+	}
+}
+
+
+impl MapEntities for Ik2DofTransforms {
+	fn map_entities<M: EntityMapper>(&mut self, entity_mapper: &mut M) {
+		self.target = entity_mapper.map_entity(self.target);
+		self.segment1 = entity_mapper.map_entity(self.segment1);
+		self.segment2 = entity_mapper.map_entity(self.segment2);
+	}
+}
+
+
+pub fn ik_2dof_transforms(
+	mut transforms: Query<&mut Transform>,
+	query: Populated<&Ik2DofTransforms>,
+) {
+	for ik_transforms in query.iter() {
+		let Ok(target) = transforms.get(ik_transforms.target) else {
+			continue;
+		};
+		// TODO this will need to be rotated etc in 3d
+		let pos = target.translation.truncate();
+		let (angle1, angle2) = ik_transforms.ik.solve(pos);
+
+		if let Ok(mut segment1) = transforms.get_mut(ik_transforms.segment1) {
+			segment1.rotation = Quat::from_rotation_x(angle1);
+		}
+		if let Ok(mut segment2) = transforms.get_mut(ik_transforms.segment2) {
+			segment2.rotation = Quat::from_rotation_x(angle2);
+		}
+	}
+}
+pub fn ik_2dof_transforms_test(
+	time: Res<Time>,
+	mut transforms: Query<&mut Transform>,
+	query: Populated<&Ik2DofTransforms>,
+) {
+	for ik_transforms in query.iter() {
+		if let Ok(mut segment1) = transforms.get_mut(ik_transforms.segment1) {
+			let angle1 = time.elapsed_seconds().sin();
+			// let dir = Vec3::new(angle1.cos(), angle1.sin(), 0.0);
+			segment1.rotation = Quat::from_rotation_x(angle1);
+			// segment1.rotation = Quat::look_at(dir);
+		}
+		if let Ok(mut segment2) = transforms.get_mut(ik_transforms.segment2) {
+			let angle2 = time.elapsed_seconds().sin();
+			// let dir = Vec3::new(angle2.cos(), angle2.sin(), 0.0);
+			// segment2.translation = Vec3::new(ik_transforms.ik.segment1.len, 0.0, 0.0);
+			// segment2.rotation = Quat::look_at(dir);
+			segment2.rotation = Quat::from_rotation_x(angle2);
+		}
+	}
+}
diff --git a/crates/beet_spatial/src/inverse_kinematics/ik_plugin.rs b/crates/beet_spatial/src/inverse_kinematics/ik_plugin.rs
new file mode 100644
index 00000000..f04cb6ae
--- /dev/null
+++ b/crates/beet_spatial/src/inverse_kinematics/ik_plugin.rs
@@ -0,0 +1,11 @@
+use crate::prelude::*;
+use bevy::prelude::*;
+
+
+pub fn ik_plugin(app: &mut App) {
+	app /*-*/
+		.add_systems(Update, ik_2dof_transforms)
+		// .add_systems(Update, ik_2dof_transforms_test)
+		.register_type::<Ik2DofTransforms>()
+		/*-*/;
+}
diff --git a/crates/beet_spatial/src/inverse_kinematics/ik_segment.rs b/crates/beet_spatial/src/inverse_kinematics/ik_segment.rs
new file mode 100644
index 00000000..7f9f70e3
--- /dev/null
+++ b/crates/beet_spatial/src/inverse_kinematics/ik_segment.rs
@@ -0,0 +1,54 @@
+use bevy::prelude::*;
+use std::f32::consts::FRAC_PI_2;
+use std::f32::consts::FRAC_PI_4;
+use std::f32::consts::PI;
+
+#[derive(Debug, Clone, Copy, Reflect)]
+pub struct IkSegment {
+	pub len: f32,
+	pub min_angle: f32,
+	pub max_angle: f32,
+}
+
+
+impl Default for IkSegment {
+	fn default() -> Self {
+		Self {
+			len: 1.0,
+			min_angle: -PI,
+			max_angle: PI,
+		}
+	}
+}
+
+impl IkSegment {
+	/// An IK segment with a length of 1.0 and a full rotation range.
+	pub const DEG_360: Self = Self {
+		len: 1.0,
+		min_angle: -PI,
+		max_angle: PI,
+	};
+
+	/// An IK segment with a length of 1.0 and a total .
+	pub const DEG_180: Self = Self {
+		len: 1.0,
+		min_angle: -FRAC_PI_2,
+		max_angle: FRAC_PI_2,
+	};
+
+	pub const DEG_90: Self = Self {
+		len: 1.0,
+		min_angle: -FRAC_PI_4,
+		max_angle: FRAC_PI_4,
+	};
+
+
+	pub fn with_len(self, len: f32) -> Self { Self { len, ..self } }
+	pub fn with_angle(self, angle: f32) -> Self {
+		Self {
+			min_angle: -angle,
+			max_angle: angle,
+			..self
+		}
+	}
+}
diff --git a/crates/beet_spatial/src/inverse_kinematics/mod.rs b/crates/beet_spatial/src/inverse_kinematics/mod.rs
new file mode 100644
index 00000000..a6c28023
--- /dev/null
+++ b/crates/beet_spatial/src/inverse_kinematics/mod.rs
@@ -0,0 +1,12 @@
+pub mod ik_2dof;
+#[allow(unused_imports)]
+pub use self::ik_2dof::*;
+pub mod ik_2dof_transforms;
+#[allow(unused_imports)]
+pub use self::ik_2dof_transforms::*;
+pub mod ik_plugin;
+#[allow(unused_imports)]
+pub use self::ik_plugin::*;
+pub mod ik_segment;
+#[allow(unused_imports)]
+pub use self::ik_segment::*;
diff --git a/crates/beet_spatial/src/lib.rs b/crates/beet_spatial/src/lib.rs
index 04766b34..62468808 100644
--- a/crates/beet_spatial/src/lib.rs
+++ b/crates/beet_spatial/src/lib.rs
@@ -1,10 +1,11 @@
 #![feature(let_chains, anonymous_lifetime_in_impl_trait)]
 #[cfg(feature = "animation")]
 pub mod animation;
-pub mod plugins;
 #[cfg(feature = "assets")]
 pub mod asset_actions;
+pub mod inverse_kinematics;
 pub mod movement;
+pub mod plugins;
 pub mod robotics;
 pub mod steer;
 #[cfg(feature = "ui")]
@@ -13,10 +14,11 @@ pub mod ui;
 pub mod prelude {
 	#[cfg(feature = "animation")]
 	pub use crate::animation::*;
-	pub use crate::plugins::*;
 	#[cfg(feature = "assets")]
 	pub use crate::asset_actions::*;
+	pub use crate::inverse_kinematics::*;
 	pub use crate::movement::*;
+	pub use crate::plugins::*;
 	pub use crate::robotics::*;
 	pub use crate::steer::algo::*;
 	pub use crate::steer::steer_actions::*;
diff --git a/crates/beet_spatial/src/plugins/beet_plugins.rs b/crates/beet_spatial/src/plugins/beet_plugins.rs
index 3ecf02a2..6eb94ad4 100644
--- a/crates/beet_spatial/src/plugins/beet_plugins.rs
+++ b/crates/beet_spatial/src/plugins/beet_plugins.rs
@@ -11,7 +11,8 @@ impl PluginGroup for BeetSpatialPlugins {
 		#[allow(unused_mut)]
 		let mut builder = PluginGroupBuilder::start::<Self>()
 			.add(MovementPlugin::default())
-			.add(SteerPlugin::default());
+			.add(SteerPlugin::default())
+			.add(ik_plugin);
 
 
 		#[cfg(feature = "animation")]
diff --git a/examples/inverse_kinematics.rs b/examples/inverse_kinematics.rs
new file mode 100644
index 00000000..0139fe72
--- /dev/null
+++ b/examples/inverse_kinematics.rs
@@ -0,0 +1,14 @@
+use beet_examples::prelude::*;
+use bevy::prelude::*;
+
+pub fn main() {
+	App::new()
+		.add_plugins(running_beet_example_plugin)
+		.add_systems(
+			Startup,
+			(
+				beet_examples::scenes::spatial::inverse_kinematics,
+			),
+		)
+		.run();
+}
diff --git a/justfile b/justfile
index 08bfeed4..7494cf98 100644
--- a/justfile
+++ b/justfile
@@ -35,7 +35,7 @@ serve-doc:
 test-all *args:
 	just watch 'cargo test --workspace --lib -- {{args}}'
 
-test-core *args:
+test-spatial *args:
 	just watch 'cargo test -p beet_spatial --lib -- {{args}}'
 
 test-ecs *args: