unnecessary Arc Mutex just send it bud

Cargo.toml

@@ -23,7 +23,7 @@ rbx_xml = "0.13.1"
 wgpu = "0.17.0"
 winit = "0.28.6"
 
-#[profile.release]
-#lto = true
-#strip = true
-#codegen-units = 1
+[profile.release]
+lto = true
+strip = true
+codegen-units = 1

src/aabb.rs

@@ -1,91 +0,0 @@
-#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
-pub enum AabbFace{
-	Right,//+X
-	Top,
-	Back,
-	Left,
-	Bottom,
-	Front,
-}
-#[derive(Clone)]
-pub struct Aabb {
-	pub min: glam::Vec3,
-	pub max: glam::Vec3,
-}
-
-impl Default for Aabb {
-	fn default() -> Self {
-		Aabb::new()
-	}
-}
-
-impl Aabb {
-	const VERTEX_DATA: [glam::Vec3; 8] = [
-		glam::vec3(1., -1., -1.),
-		glam::vec3(1., 1., -1.),
-		glam::vec3(1., 1., 1.),
-		glam::vec3(1., -1., 1.),
-		glam::vec3(-1., -1., 1.),
-		glam::vec3(-1., 1., 1.),
-		glam::vec3(-1., 1., -1.),
-		glam::vec3(-1., -1., -1.),
-	];
-
-	pub fn new() -> Self {
-		Self {min: glam::Vec3::INFINITY,max: glam::Vec3::NEG_INFINITY}
-	}
-
-	pub fn grow(&mut self, point:glam::Vec3){
-		self.min=self.min.min(point);
-		self.max=self.max.max(point);
-	}
-	pub fn join(&mut self, aabb:&Aabb){
-		self.min=self.min.min(aabb.min);
-		self.max=self.max.max(aabb.max);
-	}
-	pub fn inflate(&mut self, hs:glam::Vec3){
-		self.min-=hs;
-		self.max+=hs;
-	}
-	pub fn intersects(&self,aabb:&Aabb)->bool{
-		(self.min.cmplt(aabb.max)&aabb.min.cmplt(self.max)).all()
-	}
-	pub fn normal(face:AabbFace) -> glam::Vec3 {
-		match face {
-			AabbFace::Right => glam::vec3(1.,0.,0.),
-			AabbFace::Top => glam::vec3(0.,1.,0.),
-			AabbFace::Back => glam::vec3(0.,0.,1.),
-			AabbFace::Left => glam::vec3(-1.,0.,0.),
-			AabbFace::Bottom => glam::vec3(0.,-1.,0.),
-			AabbFace::Front => glam::vec3(0.,0.,-1.),
-		}
-	}
-	pub fn unit_vertices() -> [glam::Vec3;8] {
-		return Self::VERTEX_DATA;
-	}
-	pub fn face(&self,face:AabbFace) -> Aabb {
-		let mut aabb=self.clone();
-		//in this implementation face = worldspace aabb face
-		match face {
-			AabbFace::Right => aabb.min.x=aabb.max.x,
-			AabbFace::Top => aabb.min.y=aabb.max.y,
-			AabbFace::Back => aabb.min.z=aabb.max.z,
-			AabbFace::Left => aabb.max.x=aabb.min.x,
-			AabbFace::Bottom => aabb.max.y=aabb.min.y,
-			AabbFace::Front => aabb.max.z=aabb.min.z,
-		}
-		return aabb;
-	}
-	pub fn center(&self)->glam::Vec3{
-		return (self.min+self.max)/2.0
-	}
-	//probably use floats for area & volume because we don't care about precision
-	pub fn area_weight(&self)->f32{
-		let d=self.max-self.min;
-		d.x*d.y+d.y*d.z+d.z*d.x
-	}
-	pub fn volume(&self)->f32{
-		let d=self.max-self.min;
-		d.x*d.y*d.z
-	}
-}

src/body.rs

@@ -13,22 +13,9 @@ pub enum PhysicsInstruction {
 	// 	bool,//true = Force
 	// )
 	//InputInstructions conditionally activate RefreshWalkTarget (by doing what SetWalkTargetVelocity used to do and then flagging it)
-	Input(PhysicsInputInstruction),
-}
-#[derive(Debug)]
-pub enum PhysicsInputInstruction {
-	ReplaceMouse(MouseState,MouseState),
-	SetNextMouse(MouseState),
-	SetMoveForward(bool),
-	SetMoveLeft(bool),
-	SetMoveBack(bool),
-	SetMoveRight(bool),
-	SetMoveUp(bool),
-	SetMoveDown(bool),
-	SetJump(bool),
-	SetZoom(bool),
-	Reset,
-	Idle,
+	Input(InputInstruction),
+	//temp
+	SetSpawnPosition(glam::Vec3),
 }
 #[derive(Debug)]
 pub enum InputInstruction {
@@ -47,7 +34,7 @@ pub enum InputInstruction {
 		//for interpolation / networking / playback reasons, most playback heads will always want
 		//to be 1 instruction ahead to generate the next state for interpolation.
 }
-#[derive(Clone)]
+#[derive(Clone,Debug)]
 pub struct Body {
 	position: glam::Vec3,//I64 where 2^32 = 1 u
 	velocity: glam::Vec3,//I64 where 2^32 = 1 u/s
@@ -106,29 +93,49 @@ impl crate::instruction::InstructionConsumer<InputInstruction> for InputState{
 }
 */
 
-//hey dumbass just use a delta
-#[derive(Clone,Debug)]
-pub struct MouseState {
-	pub pos: glam::IVec2,
-	pub time: TIME,
+enum MouseInterpolation {
+	First,//just checks the last value
+	Lerp,//lerps between
 }
-impl Default for MouseState{
-	fn default() -> Self {
+
+//hey dumbass just use a delta
+pub struct MouseInterpolationState {
+	interpolation: MouseInterpolation,
+	time0: TIME,
+	time1: TIME,
+	mouse0: glam::IVec2,
+	mouse1: glam::IVec2,
+}
+
+impl MouseInterpolationState {
+	pub fn new() -> Self {
 		Self {
-			time:0,
-			pos:glam::IVec2::ZERO,
+			interpolation:MouseInterpolation::First,
+			time0:0,
+			time1:1,//ONE NANOSECOND!!!! avoid divide by zero
+			mouse0:glam::IVec2::ZERO,
+			mouse1:glam::IVec2::ZERO,
 		}
 	}
-}
-impl MouseState {
-	pub fn lerp(&self,target:&MouseState,time:TIME)->glam::IVec2 {
-		let m0=self.pos.as_i64vec2();
-		let m1=target.pos.as_i64vec2();
-		//these are deltas
-		let t1t=(target.time-time) as i64;
-		let tt0=(time-self.time) as i64;
-		let dt=(target.time-self.time) as i64;
-		((m0*t1t+m1*tt0)/dt).as_ivec2()
+	pub fn move_mouse(&mut self,time:TIME,delta:glam::IVec2){
+		self.time0=self.time1;
+		self.mouse0=self.mouse1;
+		self.time1=time;
+		self.mouse1=self.mouse1+delta;
+	}
+	pub fn interpolated_position(&self,time:TIME) -> glam::IVec2 {
+		match self.interpolation {
+			MouseInterpolation::First => self.mouse0,
+			MouseInterpolation::Lerp => {
+				let m0=self.mouse0.as_i64vec2();
+				let m1=self.mouse1.as_i64vec2();
+				//these are deltas
+				let t1t=(self.time1-time) as i64;
+				let tt0=(time-self.time0) as i64;
+				let dt=(self.time1-self.time0) as i64;
+				((m0*t1t+m1*tt0)/dt).as_ivec2()
+			}
+		}
 	}
 }
 
@@ -151,14 +158,15 @@ impl WalkState {
 	}
 }
 
-#[derive(Clone)]
-pub struct PhysicsCamera {
+// Note: we use the Y=up coordinate space in this example.
+pub struct Camera {
 	offset: glam::Vec3,
 	angles: glam::DVec2,//YAW AND THEN PITCH
 	//punch: glam::Vec3,
 	//punch_velocity: glam::Vec3,
+	fov: glam::Vec2,//slope
 	sensitivity: glam::DVec2,
-	mouse:MouseState,
+	time: TIME,
 }
 
 #[inline]
@@ -170,22 +178,45 @@ fn mat3_from_rotation_y_f64(angle: f64) -> glam::Mat3 {
 		glam::Vec3::new(sina as f32, 0.0, cosa as f32),
 	)
 }
-impl PhysicsCamera {
-	pub fn from_offset(offset:glam::Vec3) -> Self {
+#[inline]
+fn perspective_rh(fov_x_slope: f32, fov_y_slope: f32, z_near: f32, z_far: f32) -> glam::Mat4 {
+	//glam_assert!(z_near > 0.0 && z_far > 0.0);
+	let r = z_far / (z_near - z_far);
+	glam::Mat4::from_cols(
+		glam::Vec4::new(1.0/fov_x_slope, 0.0, 0.0, 0.0),
+		glam::Vec4::new(0.0, 1.0/fov_y_slope, 0.0, 0.0),
+		glam::Vec4::new(0.0, 0.0, r, -1.0),
+		glam::Vec4::new(0.0, 0.0, r * z_near, 0.0),
+	)
+}
+impl Camera {
+	pub fn from_offset(offset:glam::Vec3,aspect:f32) -> Self {
 		Self{
 			offset,
 			angles: glam::DVec2::ZERO,
+			fov: glam::vec2(aspect,1.0),
 			sensitivity: glam::dvec2(1.0/16384.0,1.0/16384.0),
-			mouse:MouseState{pos:glam::IVec2::ZERO,time:-1},//escape initialization hell divide by zero
+			time: 0,
 		}
 	}
-	pub fn simulate_move_angles(&self, mouse_pos: glam::IVec2) -> glam::DVec2 {
-		let mut a=self.angles-self.sensitivity*(mouse_pos-self.mouse.pos).as_dvec2();
+	fn simulate_move_angles(&self, delta: glam::IVec2) -> glam::DVec2 {
+		let mut a=self.angles-self.sensitivity*delta.as_dvec2();
 		a.y=a.y.clamp(-std::f64::consts::FRAC_PI_2, std::f64::consts::FRAC_PI_2);
 		return a
 	}
-	fn simulate_move_rotation_y(&self, mouse_pos_x: i32) -> glam::Mat3 {
-		mat3_from_rotation_y_f64(self.angles.x-self.sensitivity.x*((mouse_pos_x-self.mouse.pos.x) as f64))
+	fn simulate_move_rotation_y(&self, delta_x: i32) -> glam::Mat3 {
+		mat3_from_rotation_y_f64(self.angles.x-self.sensitivity.x*(delta_x as f64))
+	}
+	pub fn proj(&self)->glam::Mat4{
+		perspective_rh(self.fov.x, self.fov.y, 0.5, 2000.0)
+	}
+	pub fn view(&self,pos:glam::Vec3)->glam::Mat4{
+		//f32 good enough for view matrix
+		glam::Mat4::from_translation(pos+self.offset) * glam::Mat4::from_euler(glam::EulerRot::YXZ, self.angles.x as f32, self.angles.y as f32, 0f32)
+	}
+	pub fn set_fov_aspect(&mut self,fov:f32,aspect:f32){
+		self.fov.x=fov*aspect;
+		self.fov.y=fov;
 	}
 }
 
@@ -246,7 +277,7 @@ impl StyleModifiers{
 	const UP_DIR:glam::Vec3 = glam::Vec3::Y;
 
 	fn get_control(&self,control:u32,controls:u32)->bool{
-		controls&self.controls_mask&control==control
+		controls&self.controls_mask&control!=0
 	}
 
 	fn get_control_dir(&self,controls:u32)->glam::Vec3{
@@ -290,14 +321,13 @@ pub struct PhysicsState{
 	pub intersects:std::collections::HashMap::<u32,RelativeCollision>,
 	//pub intersections: Vec<ModelId>,
 	//camera must exist in state because wormholes modify the camera, also camera punch
-	pub camera:PhysicsCamera,
-	pub next_mouse:MouseState,//Where is the mouse headed next
+	pub camera:Camera,
+	pub mouse_interpolation:MouseInterpolationState,
 	pub controls:u32,
 	pub walk:WalkState,
 	pub grounded:bool,
 	//all models
 	pub models:Vec<ModelPhysics>,
-	pub bvh:crate::bvh::BvhNode,
 	
 	pub modes:Vec<crate::model::ModeDescription>,
 	pub mode_from_mode_id:std::collections::HashMap::<u32,usize>,
@@ -305,20 +335,115 @@ pub struct PhysicsState{
 	//This is not the same as Reset which teleports you to Spawn0
 	pub spawn_point:glam::Vec3,
 }
-#[derive(Clone)]
-pub struct PhysicsOutputState{
-	camera:PhysicsCamera,
-	body:Body,
+
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub enum AabbFace{
+	Right,//+X
+	Top,
+	Back,
+	Left,
+	Bottom,
+	Front,
 }
-impl PhysicsOutputState{
-	pub fn adjust_mouse(&self,mouse:&MouseState)->(glam::Vec3,glam::Vec2){
-		(self.body.extrapolated_position(mouse.time)+self.camera.offset,self.camera.simulate_move_angles(mouse.pos).as_vec2())
+#[derive(Clone)]
+pub struct Aabb {
+	min: glam::Vec3,
+	max: glam::Vec3,
+}
+
+impl Aabb {
+	// const FACE_DATA: [[f32; 3]; 6] = [
+	// 	[0.0f32, 0., 1.],
+	// 	[0.0f32, 0., -1.],
+	// 	[1.0f32, 0., 0.],
+	// 	[-1.0f32, 0., 0.],
+	// 	[0.0f32, 1., 0.],
+	// 	[0.0f32, -1., 0.],
+	// ];
+	const VERTEX_DATA: [glam::Vec3; 8] = [
+		glam::vec3(1., -1., -1.),
+		glam::vec3(1., 1., -1.),
+		glam::vec3(1., 1., 1.),
+		glam::vec3(1., -1., 1.),
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(-1., 1., 1.),
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(-1., -1., -1.),
+	];
+	const VERTEX_DATA_RIGHT: [glam::Vec3; 4] = [
+		glam::vec3(1., -1., -1.),
+		glam::vec3(1., 1., -1.),
+		glam::vec3(1., 1., 1.),
+		glam::vec3(1., -1., 1.),
+	];
+	const VERTEX_DATA_TOP: [glam::Vec3; 4] = [
+		glam::vec3(1., 1., -1.),
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(-1., 1., 1.),
+		glam::vec3(1., 1., 1.),
+	];
+	const VERTEX_DATA_BACK: [glam::Vec3; 4] = [
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(1., -1., 1.),
+		glam::vec3(1., 1., 1.),
+		glam::vec3(-1., 1., 1.),
+	];
+	const VERTEX_DATA_LEFT: [glam::Vec3; 4] = [
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(-1., 1., 1.),
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(-1., -1., -1.),
+	];
+	const VERTEX_DATA_BOTTOM: [glam::Vec3; 4] = [
+		glam::vec3(1., -1., 1.),
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(-1., -1., -1.),
+		glam::vec3(1., -1., -1.),
+	];
+	const VERTEX_DATA_FRONT: [glam::Vec3; 4] = [
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(1., 1., -1.),
+		glam::vec3(1., -1., -1.),
+		glam::vec3(-1., -1., -1.),
+	];
+
+	pub fn new() -> Self {
+		Self {min: glam::Vec3::INFINITY,max: glam::Vec3::NEG_INFINITY}
+	}
+
+	pub fn grow(&mut self, point:glam::Vec3){
+		self.min=self.min.min(point);
+		self.max=self.max.max(point);
+	}
+
+	pub fn normal(face:AabbFace) -> glam::Vec3 {
+		match face {
+			AabbFace::Right => glam::vec3(1.,0.,0.),
+			AabbFace::Top => glam::vec3(0.,1.,0.),
+			AabbFace::Back => glam::vec3(0.,0.,1.),
+			AabbFace::Left => glam::vec3(-1.,0.,0.),
+			AabbFace::Bottom => glam::vec3(0.,-1.,0.),
+			AabbFace::Front => glam::vec3(0.,0.,-1.),
+		}
+	}
+	pub fn unit_vertices() -> [glam::Vec3;8] {
+		return Self::VERTEX_DATA;
+	}
+	pub fn unit_face_vertices(face:AabbFace) -> [glam::Vec3;4] {
+		match face {
+			AabbFace::Right => Self::VERTEX_DATA_RIGHT,
+			AabbFace::Top => Self::VERTEX_DATA_TOP,
+			AabbFace::Back => Self::VERTEX_DATA_BACK,
+			AabbFace::Left => Self::VERTEX_DATA_LEFT,
+			AabbFace::Bottom => Self::VERTEX_DATA_BOTTOM,
+			AabbFace::Front => Self::VERTEX_DATA_FRONT,
+		}
 	}
 }
 
 //pretend to be using what we want to eventually do
-type TreyMeshFace = crate::aabb::AabbFace;
-type TreyMesh = crate::aabb::Aabb;
+type TreyMeshFace = AabbFace;
+type TreyMesh = Aabb;
 
 enum PhysicsCollisionAttributes{
 	Contact{//track whether you are contacting the object
@@ -341,7 +466,7 @@ pub struct ModelPhysics {
 
 impl ModelPhysics {
 	fn from_model_transform_attributes(model:&crate::model::IndexedModel,transform:&glam::Affine3A,attributes:PhysicsCollisionAttributes)->Self{
-		let mut aabb=TreyMesh::new();
+		let mut aabb=Aabb::new();
 		for indexed_vertex in &model.unique_vertices {
 			aabb.grow(transform.transform_point3(glam::Vec3::from_array(model.unique_pos[indexed_vertex.pos as usize])));
 		}
@@ -359,16 +484,29 @@ impl ModelPhysics {
 		}
 	}
 	pub fn unit_vertices(&self) -> [glam::Vec3;8] {
-		TreyMesh::unit_vertices()
+		Aabb::unit_vertices()
 	}
 	pub fn mesh(&self) -> &TreyMesh {
 		return &self.mesh;
 	}
-	pub fn face_mesh(&self,face:TreyMeshFace)->TreyMesh{
-		self.mesh.face(face)
+	pub fn unit_face_vertices(&self,face:TreyMeshFace) -> [glam::Vec3;4] {
+		Aabb::unit_face_vertices(face)
+	}
+	pub fn face_mesh(&self,face:TreyMeshFace) -> TreyMesh {
+		let mut aabb=self.mesh.clone();
+		//in this implementation face = worldspace aabb face
+		match face {
+			AabbFace::Right => aabb.min.x=aabb.max.x,
+			AabbFace::Top => aabb.min.y=aabb.max.y,
+			AabbFace::Back => aabb.min.z=aabb.max.z,
+			AabbFace::Left => aabb.max.x=aabb.min.x,
+			AabbFace::Bottom => aabb.max.y=aabb.min.y,
+			AabbFace::Front => aabb.max.z=aabb.min.z,
+		}
+		return aabb;
 	}
 	pub fn face_normal(&self,face:TreyMeshFace) -> glam::Vec3 {
-		TreyMesh::normal(face)//this is wrong for scale
+		Aabb::normal(face)//this is wrong for scale
 	}
 }
 
@@ -418,30 +556,6 @@ impl Body {
 	}
 }
 
-impl Default for PhysicsState{
-	fn default() -> Self {
- 		Self{
-			spawn_point:glam::vec3(0.0,50.0,0.0),
-			body: Body::with_pva(glam::vec3(0.0,50.0,0.0),glam::vec3(0.0,0.0,0.0),glam::vec3(0.0,-100.0,0.0)),
-			time: 0,
-			style:StyleModifiers::default(),
-			grounded: false,
-			contacts: std::collections::HashMap::new(),
-			intersects: std::collections::HashMap::new(),
-			models: Vec::new(),
-			bvh:crate::bvh::BvhNode::default(),
-			walk: WalkState::new(),
-			camera: PhysicsCamera::from_offset(glam::vec3(0.0,4.5-2.5,0.0)),
-			next_mouse: MouseState::default(),
-			controls: 0,
-			world:WorldState{},
-			game:GameMechanicsState::default(),
-			modes:Vec::new(),
-			mode_from_mode_id:std::collections::HashMap::new(),
-		}
-	}
-}
-
 impl PhysicsState {
 	pub fn clear(&mut self){
 		self.models.clear();
@@ -449,174 +563,6 @@ impl PhysicsState {
 		self.contacts.clear();
 		self.intersects.clear();
 	}
-
-	pub fn into_worker(mut self)->crate::worker::CompatWorker<TimedInstruction<InputInstruction>,PhysicsOutputState,Box<dyn FnMut(TimedInstruction<InputInstruction>)->PhysicsOutputState>>{
-		let mut mouse_blocking=true;
-		let mut last_mouse_time=self.next_mouse.time;
-		let mut timeline=std::collections::VecDeque::new();
-		crate::worker::CompatWorker::new(self.output(),Box::new(move |ins:TimedInstruction<InputInstruction>|{
-			if if let Some(phys_input)=match ins.instruction{
-				InputInstruction::MoveMouse(m)=>{
-					if mouse_blocking{
-						//tell the game state which is living in the past about its future
-						timeline.push_front(TimedInstruction{
-							time:last_mouse_time,
-							instruction:PhysicsInputInstruction::SetNextMouse(MouseState{time:ins.time,pos:m}),
-						});
-					}else{
-						//mouse has just started moving again after being still for longer than 10ms.
-						//replace the entire mouse interpolation state to avoid an intermediate state with identical m0.t m1.t timestamps which will divide by zero
-						timeline.push_front(TimedInstruction{
-							time:last_mouse_time,
-							instruction:PhysicsInputInstruction::ReplaceMouse(
-								MouseState{time:last_mouse_time,pos:self.next_mouse.pos},
-								MouseState{time:ins.time,pos:m}
-							),
-						});
-						//delay physics execution until we have an interpolation target
-						mouse_blocking=true;
-					}
-					last_mouse_time=ins.time;
-					None
-				},
-				InputInstruction::MoveForward(s)=>Some(PhysicsInputInstruction::SetMoveForward(s)),
-				InputInstruction::MoveLeft(s)=>Some(PhysicsInputInstruction::SetMoveLeft(s)),
-				InputInstruction::MoveBack(s)=>Some(PhysicsInputInstruction::SetMoveBack(s)),
-				InputInstruction::MoveRight(s)=>Some(PhysicsInputInstruction::SetMoveRight(s)),
-				InputInstruction::MoveUp(s)=>Some(PhysicsInputInstruction::SetMoveUp(s)),
-				InputInstruction::MoveDown(s)=>Some(PhysicsInputInstruction::SetMoveDown(s)),
-				InputInstruction::Jump(s)=>Some(PhysicsInputInstruction::SetJump(s)),
-				InputInstruction::Zoom(s)=>Some(PhysicsInputInstruction::SetZoom(s)),
-				InputInstruction::Reset=>Some(PhysicsInputInstruction::Reset),
-				InputInstruction::Idle=>Some(PhysicsInputInstruction::Idle),
-			}{
-				//non-mouse event
-				timeline.push_back(TimedInstruction{
-					time:ins.time,
-					instruction:phys_input,
-				});
-				
-				if mouse_blocking{
-					//assume the mouse has stopped moving after 10ms.
-					//shitty mice are 125Hz which is 8ms so this should cover that.
-					//setting this to 100us still doesn't print even though it's 10x lower than the polling rate,
-					//so mouse events are probably not handled separately from drawing and fire right before it :(
-					if 10_000_000<ins.time-self.next_mouse.time{
-						//push an event to extrapolate no movement from
-						timeline.push_front(TimedInstruction{
-							time:last_mouse_time,
-							instruction:PhysicsInputInstruction::SetNextMouse(MouseState{time:ins.time,pos:self.next_mouse.pos}),
-						});
-						last_mouse_time=ins.time;
-						//stop blocking. the mouse is not moving so the physics does not need to live in the past and wait for interpolation targets.
-						mouse_blocking=false;
-						true
-					}else{
-						false
-					}
-				}else{
-					//keep this up to date so that it can be used as a known-timestamp
-					//that the mouse was not moving when the mouse starts moving again
-					last_mouse_time=ins.time;
-					true
-				}
-			}else{
-				//mouse event
-				true
-			}{
-				//empty queue
-				while let Some(instruction)=timeline.pop_front(){
-					self.run(instruction.time);
-					self.process_instruction(TimedInstruction{
-						time:instruction.time,
-						instruction:PhysicsInstruction::Input(instruction.instruction),
-					});
-				}
-			}
-			self.output()
-		}))
-	}
-
-	pub fn output(&self)->PhysicsOutputState{
-		PhysicsOutputState{
-			body:self.body.clone(),
-			camera:self.camera.clone(),
-		}
-	}
-
-	pub fn generate_models(&mut self,indexed_models:&crate::model::IndexedModelInstances){
-		let mut starts=Vec::new();
-		let mut spawns=Vec::new();
-		let mut ordered_checkpoints=Vec::new();
-		let mut unordered_checkpoints=Vec::new();
-		for model in &indexed_models.models{
-			//make aabb and run vertices to get realistic bounds
-			for model_instance in &model.instances{
-				if let Some(model_physics)=ModelPhysics::from_model(model,model_instance){
-					let model_id=self.models.len() as u32;
-					self.models.push(model_physics);
-					for attr in &model_instance.temp_indexing{
-						match attr{
-							crate::model::TempIndexedAttributes::Start{mode_id}=>starts.push((*mode_id,model_id)),
-							crate::model::TempIndexedAttributes::Spawn{mode_id,stage_id}=>spawns.push((*mode_id,model_id,*stage_id)),
-							crate::model::TempIndexedAttributes::OrderedCheckpoint{mode_id,checkpoint_id}=>ordered_checkpoints.push((*mode_id,model_id,*checkpoint_id)),
-							crate::model::TempIndexedAttributes::UnorderedCheckpoint{mode_id}=>unordered_checkpoints.push((*mode_id,model_id)),
-						}
-					}
-				}
-			}
-		}
-		self.bvh=crate::bvh::generate_bvh(self.models.iter().map(|m|m.mesh().clone()).collect());
-		//I don't wanna write structs for temporary structures
-		//this code builds ModeDescriptions from the unsorted lists at the top of the function
-		starts.sort_by_key(|tup|tup.0);
-		let mut eshmep=std::collections::HashMap::new();
-		let mut modedatas:Vec<(u32,Vec<(u32,u32)>,Vec<(u32,u32)>,Vec<u32>)>=starts.into_iter().enumerate().map(|(i,tup)|{
-			eshmep.insert(tup.0,i);
-			(tup.1,Vec::new(),Vec::new(),Vec::new())
-		}).collect();
-		for tup in spawns{
-			if let Some(mode_id)=eshmep.get(&tup.0){
-				if let Some(modedata)=modedatas.get_mut(*mode_id){
-					modedata.1.push((tup.2,tup.1));
-				}
-			}
-		}
-		for tup in ordered_checkpoints{
-			if let Some(mode_id)=eshmep.get(&tup.0){
-				if let Some(modedata)=modedatas.get_mut(*mode_id){
-					modedata.2.push((tup.2,tup.1));
-				}
-			}
-		}
-		for tup in unordered_checkpoints{
-			if let Some(mode_id)=eshmep.get(&tup.0){
-				if let Some(modedata)=modedatas.get_mut(*mode_id){
-					modedata.3.push(tup.1);
-				}
-			}
-		}
-		let num_modes=self.modes.len();
-		for (mode_id,mode) in eshmep{
-			self.mode_from_mode_id.insert(mode_id,num_modes+mode);
-		}
-		self.modes.append(&mut modedatas.into_iter().map(|mut tup|{
-			tup.1.sort_by_key(|tup|tup.0);
-			tup.2.sort_by_key(|tup|tup.0);
-			let mut eshmep1=std::collections::HashMap::new();
-			let mut eshmep2=std::collections::HashMap::new();
-			crate::model::ModeDescription{
-				start:tup.0,
-				spawns:tup.1.into_iter().enumerate().map(|(i,tup)|{eshmep1.insert(tup.0,i);tup.1}).collect(),
-				ordered_checkpoints:tup.2.into_iter().enumerate().map(|(i,tup)|{eshmep2.insert(tup.0,i);tup.1}).collect(),
-				unordered_checkpoints:tup.3,
-				spawn_from_stage_id:eshmep1,
-				ordered_checkpoint_from_checkpoint_id:eshmep2,
-			}
-		}).collect());
-		println!("Physics Objects: {}",self.models.len());
-	}
-
 	pub fn get_mode(&self,mode_id:u32)->Option<&crate::model::ModeDescription>{
 		if let Some(&mode)=self.mode_from_mode_id.get(&mode_id){
 			self.modes.get(mode)
@@ -746,8 +692,8 @@ impl PhysicsState {
 		}
 	}
 	fn mesh(&self) -> TreyMesh {
-		let mut aabb=TreyMesh::new();
-		for vertex in TreyMesh::unit_vertices(){
+		let mut aabb=Aabb::new();
+		for vertex in Aabb::unit_vertices(){
 			aabb.grow(self.body.position+self.style.hitbox_halfsize*vertex);
 		}
 		aabb
@@ -764,7 +710,7 @@ impl PhysicsState {
 		let (v,a)=(-self.body.velocity,self.body.acceleration);
 		//collect x
 		match collision_data.face {
-			TreyMeshFace::Top|TreyMeshFace::Back|TreyMeshFace::Bottom|TreyMeshFace::Front=>{
+			AabbFace::Top|AabbFace::Back|AabbFace::Bottom|AabbFace::Front=>{
 				for t in zeroes2(mesh0.max.x-mesh1.min.x,v.x,0.5*a.x) {
 					//negative t = back in time
 					//must be moving towards surface to collide
@@ -792,14 +738,14 @@ impl PhysicsState {
 					}
 				}
 			},
-			TreyMeshFace::Left=>{
+			AabbFace::Left=>{
 				//generate event if v.x<0||a.x<0
 				if -v.x<0f32{
 					best_time=time;
 					exit_face=Some(TreyMeshFace::Left);
 				}
 			},
-			TreyMeshFace::Right=>{
+			AabbFace::Right=>{
 				//generate event if 0<v.x||0<a.x
 				if 0f32<(-v.x){
 					best_time=time;
@@ -809,7 +755,7 @@ impl PhysicsState {
 		}
 		//collect y
 		match collision_data.face {
-			TreyMeshFace::Left|TreyMeshFace::Back|TreyMeshFace::Right|TreyMeshFace::Front=>{
+			AabbFace::Left|AabbFace::Back|AabbFace::Right|AabbFace::Front=>{
 				for t in zeroes2(mesh0.max.y-mesh1.min.y,v.y,0.5*a.y) {
 					//negative t = back in time
 					//must be moving towards surface to collide
@@ -837,14 +783,14 @@ impl PhysicsState {
 					}
 				}
 			},
-			TreyMeshFace::Bottom=>{
+			AabbFace::Bottom=>{
 				//generate event if v.y<0||a.y<0
 				if -v.y<0f32{
 					best_time=time;
 					exit_face=Some(TreyMeshFace::Bottom);
 				}
 			},
-			TreyMeshFace::Top=>{
+			AabbFace::Top=>{
 				//generate event if 0<v.y||0<a.y
 				if 0f32<(-v.y){
 					best_time=time;
@@ -854,7 +800,7 @@ impl PhysicsState {
 		}
 		//collect z
 		match collision_data.face {
-			TreyMeshFace::Left|TreyMeshFace::Bottom|TreyMeshFace::Right|TreyMeshFace::Top=>{
+			AabbFace::Left|AabbFace::Bottom|AabbFace::Right|AabbFace::Top=>{
 				for t in zeroes2(mesh0.max.z-mesh1.min.z,v.z,0.5*a.z) {
 					//negative t = back in time
 					//must be moving towards surface to collide
@@ -882,14 +828,14 @@ impl PhysicsState {
 					}
 				}
 			},
-			TreyMeshFace::Front=>{
+			AabbFace::Front=>{
 				//generate event if v.z<0||a.z<0
 				if -v.z<0f32{
 					best_time=time;
 					exit_face=Some(TreyMeshFace::Front);
 				}
 			},
-			TreyMeshFace::Back=>{
+			AabbFace::Back=>{
 				//generate event if 0<v.z||0<a.z
 				if 0f32<(-v.z){
 					best_time=time;
@@ -907,18 +853,18 @@ impl PhysicsState {
 		None
 	}
 	fn predict_collision_start(&self,time:TIME,time_limit:TIME,model_id:u32) -> Option<TimedInstruction<PhysicsInstruction>> {
-		let mesh0=self.mesh();
-		let mesh1=self.models.get(model_id as usize).unwrap().mesh();
-		let (p,v,a,time)=(self.body.position,self.body.velocity,self.body.acceleration,self.body.time);
 		//find best t
 		let mut best_time=time_limit;
 		let mut best_face:Option<TreyMeshFace>=None;
+		let mesh0=self.mesh();
+		let mesh1=self.models.get(model_id as usize).unwrap().mesh();
+		let (p,v,a)=(self.body.position,self.body.velocity,self.body.acceleration);
 		//collect x
 		for t in zeroes2(mesh0.max.x-mesh1.min.x,v.x,0.5*a.x) {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&0f32<v.x+a.x*t{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -934,7 +880,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&v.x+a.x*t<0f32{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -951,7 +897,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&0f32<v.y+a.y*t{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -967,7 +913,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&v.y+a.y*t<0f32{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -984,7 +930,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&0f32<v.z+a.z*t{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -1000,7 +946,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&v.z+a.z*t<0f32{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -1039,15 +985,13 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 		// 	collector.collect(self.predict_collision_end2(self.time,time_limit,collision_data));
 		// }
 		//check for collision start instructions (against every part in the game with no optimization!!)
-		let mut aabb=crate::aabb::Aabb::new();
-		aabb.grow(self.body.extrapolated_position(self.time));
-		aabb.grow(self.body.extrapolated_position(time_limit));
-		aabb.inflate(self.style.hitbox_halfsize);
-		self.bvh.the_tester(&aabb,&mut |id|{
-			if !(self.contacts.contains_key(&id)||self.intersects.contains_key(&id)){
-				collector.collect(self.predict_collision_start(self.time,time_limit,id));
+		for i in 0..self.models.len() {
+			let i=i as u32;
+			if self.contacts.contains_key(&i)||self.intersects.contains_key(&i){
+				continue;
 			}
-		});
+			collector.collect(self.predict_collision_start(self.time,time_limit,i));
+		}
 		if self.grounded {
 			//walk maintenance
 			collector.collect(self.next_walk_instruction());
@@ -1062,22 +1006,24 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsState {
 	fn process_instruction(&mut self, ins:TimedInstruction<PhysicsInstruction>) {
 		match &ins.instruction {
-			PhysicsInstruction::Input(PhysicsInputInstruction::Idle)
-			|PhysicsInstruction::Input(PhysicsInputInstruction::SetNextMouse(_))
-			|PhysicsInstruction::Input(PhysicsInputInstruction::ReplaceMouse(_,_))
-			|PhysicsInstruction::StrafeTick => (),
-			_=>println!("{}|{:?}",ins.time,ins.instruction),
+			PhysicsInstruction::StrafeTick => (),
+			PhysicsInstruction::Input(InputInstruction::MoveMouse(_)) => (),
+			_=>println!("{:?}",ins),
 		}
 		//selectively update body
 		match &ins.instruction {
-			//PhysicsInstruction::Input(InputInstruction::MoveMouse(_)) => (),//dodge time for mouse movement
+			PhysicsInstruction::Input(InputInstruction::MoveMouse(_)) => (),//dodge time for mouse movement
 			PhysicsInstruction::Input(_)
+			|PhysicsInstruction::SetSpawnPosition(_)
 			|PhysicsInstruction::ReachWalkTargetVelocity
 			|PhysicsInstruction::CollisionStart(_)
 			|PhysicsInstruction::CollisionEnd(_)
 			|PhysicsInstruction::StrafeTick => self.advance_time(ins.time),
 		}
 		match ins.instruction {
+			PhysicsInstruction::SetSpawnPosition(position)=>{
+				self.spawn_point=position;
+			}
 			PhysicsInstruction::CollisionStart(c) => {
 				let model=c.model(&self.models).unwrap();
 				match &model.attributes{
@@ -1085,15 +1031,17 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						match &contacting.surf{
 							Some(surf)=>println!("I'm surfing!"),
 							None=>match &c.face {
-								TreyMeshFace::Top => {
+								AabbFace::Top => {
 									//ground
 									self.grounded=true;
 								},
 								_ => (),
 							},
 						}
-						//check ground
-						self.contacts.insert(c.model,c);
+						match &general.booster{
+							Some(booster)=>self.body.velocity+=booster.velocity,
+							None=>(),
+						}
 						match &general.stage_element{
 							Some(stage_element)=>{
 								if stage_element.force||self.game.stage_id<stage_element.stage_id{
@@ -1123,16 +1071,11 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 							},
 							None=>(),
 						}
+						//check ground
+						self.contacts.insert(c.model,c);
 						//flatten v
 						let mut v=self.body.velocity;
 						self.contact_constrain_velocity(&mut v);
-						match &general.booster{
-							Some(booster)=>{
-								v+=booster.velocity;
-								self.contact_constrain_velocity(&mut v);
-							},
-							None=>(),
-						}
 						self.body.velocity=v;
 						if self.grounded&&self.style.get_control(StyleModifiers::CONTROL_JUMP,self.controls){
 							self.jump();
@@ -1155,7 +1098,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						self.body.acceleration=a;
 						//check ground
 						match &c.face {
-							TreyMeshFace::Top => {
+							AabbFace::Top => {
 								self.grounded=false;
 							},
 							_ => (),
@@ -1168,7 +1111,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 				}
 			},
 			PhysicsInstruction::StrafeTick => {
-				let camera_mat=self.camera.simulate_move_rotation_y(self.camera.mouse.lerp(&self.next_mouse,self.time).x);
+				let camera_mat=self.camera.simulate_move_rotation_y(self.mouse_interpolation.interpolated_position(self.time).x-self.mouse_interpolation.mouse0.x);
 				let control_dir=camera_mat*self.style.get_control_dir(self.controls);
 				let d=self.body.velocity.dot(control_dir);
 				if d<self.style.mv {
@@ -1191,32 +1134,28 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 				let mut refresh_walk_target=true;
 				let mut refresh_walk_target_velocity=true;
 				match input_instruction{
-					PhysicsInputInstruction::SetNextMouse(m) => {
-						self.camera.angles=self.camera.simulate_move_angles(self.next_mouse.pos);
-						(self.camera.mouse,self.next_mouse)=(self.next_mouse.clone(),m);
+					InputInstruction::MoveMouse(m) => {
+						self.camera.angles=self.camera.simulate_move_angles(self.mouse_interpolation.mouse1-self.mouse_interpolation.mouse0);
+						self.mouse_interpolation.move_mouse(self.time,m);
 					},
-					PhysicsInputInstruction::ReplaceMouse(m0,m1) => {
-						self.camera.angles=self.camera.simulate_move_angles(m0.pos);
-						(self.camera.mouse,self.next_mouse)=(m0,m1);
-					},
-					PhysicsInputInstruction::SetMoveForward(s) => self.set_control(StyleModifiers::CONTROL_MOVEFORWARD,s),
-					PhysicsInputInstruction::SetMoveLeft(s) => self.set_control(StyleModifiers::CONTROL_MOVELEFT,s),
-					PhysicsInputInstruction::SetMoveBack(s) => self.set_control(StyleModifiers::CONTROL_MOVEBACK,s),
-					PhysicsInputInstruction::SetMoveRight(s) => self.set_control(StyleModifiers::CONTROL_MOVERIGHT,s),
-					PhysicsInputInstruction::SetMoveUp(s) => self.set_control(StyleModifiers::CONTROL_MOVEUP,s),
-					PhysicsInputInstruction::SetMoveDown(s) => self.set_control(StyleModifiers::CONTROL_MOVEDOWN,s),
-					PhysicsInputInstruction::SetJump(s) => {
+					InputInstruction::MoveForward(s) => self.set_control(StyleModifiers::CONTROL_MOVEFORWARD,s),
+					InputInstruction::MoveLeft(s) => self.set_control(StyleModifiers::CONTROL_MOVELEFT,s),
+					InputInstruction::MoveBack(s) => self.set_control(StyleModifiers::CONTROL_MOVEBACK,s),
+					InputInstruction::MoveRight(s) => self.set_control(StyleModifiers::CONTROL_MOVERIGHT,s),
+					InputInstruction::MoveUp(s) => self.set_control(StyleModifiers::CONTROL_MOVEUP,s),
+					InputInstruction::MoveDown(s) => self.set_control(StyleModifiers::CONTROL_MOVEDOWN,s),
+					InputInstruction::Jump(s) => {
 						self.set_control(StyleModifiers::CONTROL_JUMP,s);
 						if self.grounded{
 							self.jump();
 						}
 						refresh_walk_target_velocity=false;
 					},
-					PhysicsInputInstruction::SetZoom(s) => {
+					InputInstruction::Zoom(s) => {
 						self.set_control(StyleModifiers::CONTROL_ZOOM,s);
 						refresh_walk_target=false;
 					},
-					PhysicsInputInstruction::Reset => {
+					InputInstruction::Reset => {
 						//temp
 						self.body.position=self.spawn_point;
 						self.body.velocity=glam::Vec3::ZERO;
@@ -1227,12 +1166,12 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						self.grounded=false;
 						refresh_walk_target=false;
 					},
-					PhysicsInputInstruction::Idle => {refresh_walk_target=false;},//literally idle!
+					InputInstruction::Idle => {refresh_walk_target=false;},//literally idle!
 				}
 				if refresh_walk_target{
 					//calculate walk target velocity
 					if refresh_walk_target_velocity{
-						let camera_mat=self.camera.simulate_move_rotation_y(self.camera.mouse.lerp(&self.next_mouse,self.time).x);
+						let camera_mat=self.camera.simulate_move_rotation_y(self.mouse_interpolation.interpolated_position(self.time).x-self.mouse_interpolation.mouse0.x);
 						let control_dir=camera_mat*self.style.get_control_dir(self.controls);
 						self.walk.target_velocity=self.style.walkspeed*control_dir;
 					}

src/bvh.rs

@@ -1,107 +0,0 @@
-use crate::aabb::Aabb;
-
-//da algaritum
-//lista boxens
-//sort by {minx,maxx,miny,maxy,minz,maxz} (6 lists)
-//find the sets that minimizes the sum of surface areas
-//splitting is done when the minimum split sum of surface areas is larger than the node's own surface area
-
-//start with bisection into octrees because a bad bvh is still 1000x better than no bvh
-//sort the centerpoints on each axis (3 lists)
-//bv is put into octant based on whether it is upper or lower in each list
-#[derive(Default)]
-pub struct BvhNode{
-	children:Vec<Self>,
-	models:Vec<u32>,
-	aabb:Aabb,
-}
-
-impl BvhNode{
-	pub fn the_tester<F:FnMut(u32)>(&self,aabb:&Aabb,f:&mut F){
-		for &model in &self.models{
-			f(model);
-		}
-		for child in &self.children{
-			if aabb.intersects(&child.aabb){
-				child.the_tester(aabb,f);
-			}
-		}
-	}
-}
-
-pub fn generate_bvh(boxen:Vec<Aabb>)->BvhNode{
-	generate_bvh_node(boxen.into_iter().enumerate().collect())
-}
-
-fn generate_bvh_node(boxen:Vec<(usize,Aabb)>)->BvhNode{
-	let n=boxen.len();
-	if n<20{
-		let mut aabb=Aabb::new();
-		let models=boxen.into_iter().map(|b|{aabb.join(&b.1);b.0 as u32}).collect();
-		BvhNode{
-			children:Vec::new(),
-			models,
-			aabb,
-		}
-	}else{
-		let mut octant=std::collections::HashMap::with_capacity(n);//this ids which octant the boxen is put in
-		let mut sort_x=Vec::with_capacity(n);
-		let mut sort_y=Vec::with_capacity(n);
-		let mut sort_z=Vec::with_capacity(n);
-		for (i,aabb) in boxen.iter(){
-			let center=aabb.center();
-			octant.insert(*i,0);
-			sort_x.push((*i,center.x));
-			sort_y.push((*i,center.y));
-			sort_z.push((*i,center.z));
-		}
-		sort_x.sort_by(|tup0,tup1|tup0.1.partial_cmp(&tup1.1).unwrap());
-		sort_y.sort_by(|tup0,tup1|tup0.1.partial_cmp(&tup1.1).unwrap());
-		sort_z.sort_by(|tup0,tup1|tup0.1.partial_cmp(&tup1.1).unwrap());
-		let h=n/2;
-		let median_x=sort_x[h].1;
-		let median_y=sort_y[h].1;
-		let median_z=sort_z[h].1;
-		for (i,c) in sort_x{
-			if median_x<c{
-				octant.insert(i,octant[&i]+1<<0);
-			}
-		}
-		for (i,c) in sort_y{
-			if median_y<c{
-				octant.insert(i,octant[&i]+1<<1);
-			}
-		}
-		for (i,c) in sort_z{
-			if median_z<c{
-				octant.insert(i,octant[&i]+1<<2);
-			}
-		}
-		//generate lists for unique octant values
-		let mut list_list=Vec::with_capacity(8);
-		let mut octant_list=Vec::with_capacity(8);
-		for (i,aabb) in boxen.into_iter(){
-			let octant_id=octant[&i];
-			let list_id=if let Some(list_id)=octant_list.iter().position(|&id|id==octant_id){
-				list_id
-			}else{
-				let list_id=list_list.len();
-				octant_list.push(octant_id);
-				list_list.push(Vec::new());
-				list_id
-			};
-			list_list[list_id].push((i,aabb));
-		}
-		let mut aabb=Aabb::new();
-		let children=list_list.into_iter().map(|b|{
-			let node=generate_bvh_node(b);
-			aabb.join(&node.aabb);
-			node
-		}).collect();
-		BvhNode{
-			children,
-			models:Vec::new(),
-			aabb,
-		}
-	}
-}

src/instruction.rs

@@ -1,11 +1,11 @@
 #[derive(Debug)]
 pub struct TimedInstruction<I> {
-	pub time: crate::physics::TIME,
+	pub time: crate::body::TIME,
 	pub instruction: I,
 }
 
 pub trait InstructionEmitter<I> {
-	fn next_instruction(&self, time_limit:crate::physics::TIME) -> Option<TimedInstruction<I>>;
+	fn next_instruction(&self, time_limit:crate::body::TIME) -> Option<TimedInstruction<I>>;
 }
 pub trait InstructionConsumer<I> {
 	fn process_instruction(&mut self, instruction:TimedInstruction<I>);
@@ -13,11 +13,11 @@ pub trait InstructionConsumer<I> {
 
 //PROPER PRIVATE FIELDS!!!
 pub struct InstructionCollector<I> {
-	time: crate::physics::TIME,
+	time: crate::body::TIME,
 	instruction: Option<I>,
 }
 impl<I> InstructionCollector<I> {
-	pub fn new(time:crate::physics::TIME) -> Self {
+	pub fn new(time:crate::body::TIME) -> Self {
 		Self{
 			time,
 			instruction:None

src/main.rs

@@ -1,19 +1,17 @@
 use std::{borrow::Cow, time::Instant};
 use wgpu::{util::DeviceExt, AstcBlock, AstcChannel};
 use model::{Vertex,ModelInstance,ModelGraphicsInstance};
-use physics::{InputInstruction, PhysicsInstruction};
+use body::{InputInstruction, PhysicsInstruction};
 use instruction::{TimedInstruction, InstructionConsumer};
 
-mod bvh;
-mod aabb;
+mod body;
 mod model;
 mod zeroes;
-mod worker;
-mod physics;
 mod framework;
 mod primitives;
 mod instruction;
 mod load_roblox;
+mod worker;
 
 struct Entity {
 	index_count: u32,
@@ -46,65 +44,14 @@ pub struct GraphicsPipelines{
 	model: wgpu::RenderPipeline,
 }
 
-pub struct GraphicsCamera{
-	screen_size: glam::UVec2,
-	fov: glam::Vec2,//slope
-	//camera angles and such are extrapolated and passed in every time
-}
-
-#[inline]
-fn perspective_rh(fov_x_slope: f32, fov_y_slope: f32, z_near: f32, z_far: f32) -> glam::Mat4 {
-	//glam_assert!(z_near > 0.0 && z_far > 0.0);
-	let r = z_far / (z_near - z_far);
-	glam::Mat4::from_cols(
-		glam::Vec4::new(1.0/fov_x_slope, 0.0, 0.0, 0.0),
-		glam::Vec4::new(0.0, 1.0/fov_y_slope, 0.0, 0.0),
-		glam::Vec4::new(0.0, 0.0, r, -1.0),
-		glam::Vec4::new(0.0, 0.0, r * z_near, 0.0),
-	)
-}
-impl GraphicsCamera{
-	pub fn new(screen_size:glam::UVec2,fov_y:f32)->Self{
-		Self{
-			screen_size,
-			fov: glam::vec2(fov_y*(screen_size.x as f32)/(screen_size.y as f32),fov_y),
-		}
-	}
-	pub fn proj(&self)->glam::Mat4{
-		perspective_rh(self.fov.x, self.fov.y, 0.5, 2000.0)
-	}
-	pub fn view(&self,pos:glam::Vec3,angles:glam::Vec2)->glam::Mat4{
-		//f32 good enough for view matrix
-		glam::Mat4::from_translation(pos) * glam::Mat4::from_euler(glam::EulerRot::YXZ, angles.x, angles.y, 0f32)
-	}
-	pub fn set_screen_size(&mut self,screen_size:glam::UVec2){
-		self.screen_size=screen_size;
-		self.fov.x=self.fov.y*(screen_size.x as f32)/(screen_size.y as f32);
-	}
-
-	pub fn to_uniform_data(&self,(pos,angles): (glam::Vec3,glam::Vec2)) -> [f32; 16 * 3 + 4] {
-		let proj=self.proj();
-		let proj_inv = proj.inverse();
-		let view=self.view(pos,angles);
-		let view_inv = view.inverse();
-
-		let mut raw = [0f32; 16 * 3 + 4];
-		raw[..16].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj)[..]);
-		raw[16..32].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj_inv)[..]);
-		raw[32..48].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&view_inv)[..]);
-		raw[48..52].copy_from_slice(AsRef::<[f32; 4]>::as_ref(&view.col(3)));
-		raw
-	}
-}
-
 pub struct GraphicsState{
+	screen_size: (u32, u32),
 	pipelines: GraphicsPipelines,
 	bind_groups: GraphicsBindGroups,
 	bind_group_layouts: GraphicsBindGroupLayouts,
 	samplers: GraphicsSamplers,
-	camera:GraphicsCamera,
-	camera_buf: wgpu::Buffer,
 	temp_squid_texture_view: wgpu::TextureView,
+	camera_buf: wgpu::Buffer,
 	models: Vec<ModelGraphics>,
 	depth_view: wgpu::TextureView,
 	staging_belt: wgpu::util::StagingBelt,
@@ -119,9 +66,8 @@ impl GraphicsState{
 pub struct GlobalState{
 	start_time: std::time::Instant,
 	manual_mouse_lock:bool,
-	mouse:physics::MouseState,
 	graphics:GraphicsState,
-	physics_thread:worker::CompatWorker<TimedInstruction<InputInstruction>,physics::PhysicsOutputState,Box<dyn FnMut(TimedInstruction<InputInstruction>)->physics::PhysicsOutputState>>,
+	physics:body::PhysicsState,
 }
 
 impl GlobalState{
@@ -149,6 +95,77 @@ impl GlobalState{
 		depth_texture.create_view(&wgpu::TextureViewDescriptor::default())
 	}
 
+	fn generate_model_physics(&mut self,indexed_models:&model::IndexedModelInstances){
+		let mut starts=Vec::new();
+		let mut spawns=Vec::new();
+		let mut ordered_checkpoints=Vec::new();
+		let mut unordered_checkpoints=Vec::new();
+		for model in &indexed_models.models{
+			//make aabb and run vertices to get realistic bounds
+			for model_instance in &model.instances{
+				if let Some(model_physics)=body::ModelPhysics::from_model(model,model_instance){
+					let model_id=self.physics.models.len() as u32;
+					self.physics.models.push(model_physics);
+					for attr in &model_instance.temp_indexing{
+						match attr{
+							model::TempIndexedAttributes::Start{mode_id}=>starts.push((*mode_id,model_id)),
+							model::TempIndexedAttributes::Spawn{mode_id,stage_id}=>spawns.push((*mode_id,model_id,*stage_id)),
+							model::TempIndexedAttributes::OrderedCheckpoint{mode_id,checkpoint_id}=>ordered_checkpoints.push((*mode_id,model_id,*checkpoint_id)),
+							model::TempIndexedAttributes::UnorderedCheckpoint{mode_id}=>unordered_checkpoints.push((*mode_id,model_id)),
+						}
+					}
+				}
+			}
+		}
+		//I don't wanna write structs for temporary structures
+		//this code builds ModeDescriptions from the unsorted lists at the top of the function
+		starts.sort_by_key(|tup|tup.0);
+		let mut eshmep=std::collections::HashMap::new();
+		let mut modedatas:Vec<(u32,Vec<(u32,u32)>,Vec<(u32,u32)>,Vec<u32>)>=starts.into_iter().enumerate().map(|(i,tup)|{
+			eshmep.insert(tup.0,i);
+			(tup.1,Vec::new(),Vec::new(),Vec::new())
+		}).collect();
+		for tup in spawns{
+			if let Some(mode_id)=eshmep.get(&tup.0){
+				if let Some(modedata)=modedatas.get_mut(*mode_id){
+					modedata.1.push((tup.2,tup.1));
+				}
+			}
+		}
+		for tup in ordered_checkpoints{
+			if let Some(mode_id)=eshmep.get(&tup.0){
+				if let Some(modedata)=modedatas.get_mut(*mode_id){
+					modedata.2.push((tup.2,tup.1));
+				}
+			}
+		}
+		for tup in unordered_checkpoints{
+			if let Some(mode_id)=eshmep.get(&tup.0){
+				if let Some(modedata)=modedatas.get_mut(*mode_id){
+					modedata.3.push(tup.1);
+				}
+			}
+		}
+		let num_modes=self.physics.modes.len();
+		for (mode_id,mode) in eshmep{
+			self.physics.mode_from_mode_id.insert(mode_id,num_modes+mode);
+		}
+		self.physics.modes.append(&mut modedatas.into_iter().map(|mut tup|{
+			tup.1.sort_by_key(|tup|tup.0);
+			tup.2.sort_by_key(|tup|tup.0);
+			let mut eshmep1=std::collections::HashMap::new();
+			let mut eshmep2=std::collections::HashMap::new();
+			model::ModeDescription{
+				start:tup.0,
+				spawns:tup.1.into_iter().enumerate().map(|(i,tup)|{eshmep1.insert(tup.0,i);tup.1}).collect(),
+				ordered_checkpoints:tup.2.into_iter().enumerate().map(|(i,tup)|{eshmep2.insert(tup.0,i);tup.1}).collect(),
+				unordered_checkpoints:tup.3,
+				spawn_from_stage_id:eshmep1,
+				ordered_checkpoint_from_checkpoint_id:eshmep2,
+			}
+		}).collect());
+		println!("Physics Objects: {}",self.physics.models.len());
+	}
 	fn generate_model_graphics(&mut self,device:&wgpu::Device,queue:&wgpu::Queue,indexed_models:model::IndexedModelInstances){
 		//generate texture view per texture
 
@@ -391,6 +408,20 @@ fn get_instances_buffer_data(instances:&[ModelGraphicsInstance]) -> Vec<f32> {
 	raw
 }
 
+fn to_uniform_data(camera: &body::Camera, pos: glam::Vec3) -> [f32; 16 * 3 + 4] {
+	let proj=camera.proj();
+	let proj_inv = proj.inverse();
+	let view=camera.view(pos);
+	let view_inv = view.inverse();
+
+	let mut raw = [0f32; 16 * 3 + 4];
+	raw[..16].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj)[..]);
+	raw[16..32].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj_inv)[..]);
+	raw[32..48].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&view_inv)[..]);
+	raw[48..52].copy_from_slice(AsRef::<[f32; 4]>::as_ref(&view.col(3)));
+	raw
+}
+
 impl framework::Example for GlobalState {
 	fn optional_features() -> wgpu::Features {
 		wgpu::Features::TEXTURE_COMPRESSION_ASTC
@@ -551,6 +582,25 @@ impl framework::Example for GlobalState {
 			source: wgpu::ShaderSource::Wgsl(Cow::Borrowed(include_str!("shader.wgsl"))),
 		});
 
+		let physics = body::PhysicsState {
+			spawn_point:glam::vec3(0.0,50.0,0.0),
+			body: body::Body::with_pva(glam::vec3(0.0,50.0,0.0),glam::vec3(0.0,0.0,0.0),glam::vec3(0.0,-100.0,0.0)),
+			time: 0,
+			style:body::StyleModifiers::default(),
+			grounded: false,
+			contacts: std::collections::HashMap::new(),
+			intersects: std::collections::HashMap::new(),
+			models: Vec::new(),
+			walk: body::WalkState::new(),
+			camera: body::Camera::from_offset(glam::vec3(0.0,4.5-2.5,0.0),(config.width as f32)/(config.height as f32)),
+			mouse_interpolation: body::MouseInterpolationState::new(),
+			controls: 0,
+			world:body::WorldState{},
+			game:body::GameMechanicsState::default(),
+			modes:Vec::new(),
+			mode_from_mode_id:std::collections::HashMap::new(),
+		};
+
 		//load textures
 		let device_features = device.features();
 
@@ -745,10 +795,7 @@ impl framework::Example for GlobalState {
 			multiview: None,
 		});
 
-		let mut physics = physics::PhysicsState::default();
-
-		let camera=GraphicsCamera::new(glam::uvec2(config.width,config.height), 1.0);
-		let camera_uniforms = camera.to_uniform_data(physics.output().adjust_mouse(&physics.next_mouse));
+		let camera_uniforms = to_uniform_data(&physics.camera,physics.body.extrapolated_position(0));
 		let camera_buf = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
 			label: Some("Camera"),
 			contents: bytemuck::cast_slice(&camera_uniforms),
@@ -764,7 +811,6 @@ impl framework::Example for GlobalState {
 			],
 			label: Some("Camera"),
 		});
-
 		let skybox_texture_bind_group = device.create_bind_group(&wgpu::BindGroupDescriptor {
 			layout: &skybox_texture_bind_group_layout,
 			entries: &[
@@ -783,6 +829,7 @@ impl framework::Example for GlobalState {
 		let depth_view = Self::create_depth_texture(config, device);
 
 		let graphics=GraphicsState {
+			screen_size: (config.width,config.height),
 			pipelines:GraphicsPipelines{
 				skybox:sky_pipeline,
 				model:model_pipeline
@@ -791,7 +838,6 @@ impl framework::Example for GlobalState {
 				camera:camera_bind_group,
 				skybox_texture:skybox_texture_bind_group,
 			},
-			camera,
 			camera_buf,
 			models: Vec::new(),
 			depth_view,
@@ -801,30 +847,20 @@ impl framework::Example for GlobalState {
 			temp_squid_texture_view: squid_texture_view,
 		};
 
+		let mut state=GlobalState{
+			start_time:Instant::now(),
+			manual_mouse_lock:false,
+			graphics,
+			physics,
+		};
+
 		let indexed_model_instances=model::IndexedModelInstances{
 			textures:Vec::new(),
 			models:indexed_models,
 			spawn_point:glam::Vec3::Y*50.0,
 			modes:Vec::new(),
 		};
-
-		//how to multithread
-
-		//1. build
-		physics.generate_models(&indexed_model_instances);
-
-		//2. move
-		let physics_thread=physics.into_worker();
-
-		//3. forget
-
-		let mut state=GlobalState{
-			start_time:Instant::now(),
-			manual_mouse_lock:false,
-			mouse:physics::MouseState::default(),
-			graphics,
-			physics_thread,
-		};
+		state.generate_model_physics(&indexed_model_instances);
 		state.generate_model_graphics(&device,&queue,indexed_model_instances);
 
 		let args:Vec<String>=std::env::args().collect();
@@ -848,6 +884,7 @@ impl framework::Example for GlobalState {
 			//.snf = "SNMF"
 			//.snf = "SNBF"
 			if let (Ok(()),Ok(()))=(std::io::Read::read_exact(&mut input, &mut first_8),std::io::Seek::rewind(&mut input)){
+				//
 				if let Some(indexed_model_instances)={
 					match &first_8[0..4]{
 						b"<rob"=>{
@@ -874,20 +911,21 @@ impl framework::Example for GlobalState {
 				}{
 					let spawn_point=indexed_model_instances.spawn_point;
 					//if generate_indexed_models succeeds, clear the previous ones
+					self.physics.clear();
 					self.graphics.clear();
-
-					let mut physics=physics::PhysicsState::default();
-					physics.game.stage_id=0;
-					physics.spawn_point=spawn_point;
-					physics.process_instruction(instruction::TimedInstruction{
-						time:physics.time,
-						instruction: PhysicsInstruction::Input(physics::PhysicsInputInstruction::Reset),
-					});
-					physics.generate_models(&indexed_model_instances);
-					self.physics_thread=physics.into_worker();
-
+					self.physics.game.stage_id=0;
+					self.generate_model_physics(&indexed_model_instances);
 					self.generate_model_graphics(device,queue,indexed_model_instances);
 					//manual reset
+					let time=self.physics.time;
+					instruction::InstructionConsumer::process_instruction(&mut self.physics, instruction::TimedInstruction{
+						time,
+						instruction: body::PhysicsInstruction::SetSpawnPosition(spawn_point),
+					});
+					instruction::InstructionConsumer::process_instruction(&mut self.physics, instruction::TimedInstruction{
+						time,
+						instruction: body::PhysicsInstruction::Input(body::InputInstruction::Reset),
+					});
 				}else{
 					println!("No modeldatas were generated");
 				}
@@ -948,7 +986,7 @@ impl framework::Example for GlobalState {
 					15=>{//Tab
 						if s{
 							self.manual_mouse_lock=false;
-							match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.camera.screen_size.x as f32/2.0, self.graphics.camera.screen_size.y as f32/2.0)){
+							match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.screen_size.0 as f32/2.0, self.graphics.screen_size.1 as f32/2.0)){
 								Ok(())=>(),
 								Err(e)=>println!("Could not set cursor position: {:?}",e),
 							}
@@ -977,17 +1015,18 @@ impl framework::Example for GlobalState {
 					},
 					_ => {println!("scancode {}",keycode);None},
 				}{
-					self.physics_thread.send(TimedInstruction{
+					self.physics.run(time);
+					self.physics.process_instruction(TimedInstruction{
 						time,
-						instruction:input_instruction,
-					}).unwrap();
+						instruction:PhysicsInstruction::Input(input_instruction),
+					})
 				}
 			},
 			winit::event::DeviceEvent::MouseMotion {
 			    delta,//these (f64,f64) are integers on my machine
 			} => {
 				if self.manual_mouse_lock{
-					match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.camera.screen_size.x as f32/2.0, self.graphics.camera.screen_size.y as f32/2.0)){
+					match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.screen_size.0 as f32/2.0, self.graphics.screen_size.1 as f32/2.0)){
 						Ok(())=>(),
 						Err(e)=>println!("Could not set cursor position: {:?}",e),
 					}
@@ -995,22 +1034,21 @@ impl framework::Example for GlobalState {
 				//do not step the physics because the mouse polling rate is higher than the physics can run.
 				//essentially the previous input will be overwritten until a true step runs
 				//which is fine because they run all the time.
-				let delta=glam::ivec2(delta.0 as i32,delta.1 as i32);
-				self.mouse.pos+=delta;
-				self.physics_thread.send(TimedInstruction{
+				self.physics.process_instruction(TimedInstruction{
 					time,
-					instruction:InputInstruction::MoveMouse(self.mouse.pos),
-				}).unwrap();
+					instruction:PhysicsInstruction::Input(InputInstruction::MoveMouse(glam::ivec2(delta.0 as i32,delta.1 as i32))),
+				})
 			},
 			winit::event::DeviceEvent::MouseWheel {
 			    delta,
 			} => {
 				println!("mousewheel {:?}",delta);
 				if false{//self.physics.style.use_scroll{
-					self.physics_thread.send(TimedInstruction{
+					self.physics.run(time);
+					self.physics.process_instruction(TimedInstruction{
 						time,
-						instruction:InputInstruction::Jump(true),//activates the immediate jump path, but the style modifier prevents controls&CONTROL_JUMP bit from being set to auto jump
-					}).unwrap();
+						instruction:PhysicsInstruction::Input(InputInstruction::Jump(true)),//activates the immediate jump path, but the style modifier prevents controls&CONTROL_JUMP bit from being set to auto jump
+					})
 				}
 			}
 			_=>(),
@@ -1024,7 +1062,8 @@ impl framework::Example for GlobalState {
 		_queue: &wgpu::Queue,
 	) {
 		self.graphics.depth_view = Self::create_depth_texture(config, device);
-		self.graphics.camera.set_screen_size(glam::uvec2(config.width, config.height));
+		self.graphics.screen_size = (config.width, config.height);
+		self.physics.camera.set_fov_aspect(1.0,(config.width as f32)/(config.height as f32));
 	}
 
 	fn render(
@@ -1034,20 +1073,15 @@ impl framework::Example for GlobalState {
 		queue: &wgpu::Queue,
 		_spawner: &framework::Spawner,
 	) {
-		//ideally this would be scheduled to execute and finish right before the render.
 		let time=self.start_time.elapsed().as_nanos() as i64;
-		self.physics_thread.send(TimedInstruction{
-			time,
-			instruction:InputInstruction::Idle,
-		}).unwrap();
-		//update time lol
-		self.mouse.time=time;
+
+		self.physics.run(time);
 
 		let mut encoder =
 			device.create_command_encoder(&wgpu::CommandEncoderDescriptor { label: None });
 
 		// update rotation
-		let camera_uniforms = self.graphics.camera.to_uniform_data(self.physics_thread.grab_clone().adjust_mouse(&self.mouse));
+		let camera_uniforms = to_uniform_data(&self.physics.camera,self.physics.body.extrapolated_position(time));
 		self.graphics.staging_belt
 			.write_buffer(
 				&mut encoder,
@@ -1058,7 +1092,6 @@ impl framework::Example for GlobalState {
 			)
 			.copy_from_slice(bytemuck::cast_slice(&camera_uniforms));
 		//This code only needs to run when the uniforms change
-		/*
 		for model in self.graphics.models.iter() {
 			let model_uniforms = get_instances_buffer_data(&model.instances);
 			self.graphics.staging_belt
@@ -1071,7 +1104,6 @@ impl framework::Example for GlobalState {
 				)
 				.copy_from_slice(bytemuck::cast_slice(&model_uniforms));
 		}
-		*/
 		self.graphics.staging_belt.finish();
 
 		{

src/model.rs

@@ -104,6 +104,7 @@ impl ModeDescription{
 		}
 	}
 }
+#[derive(Debug)]
 pub enum TempIndexedAttributes{
 	Start{
 		mode_id:u32,

src/worker.rs

@@ -6,102 +6,78 @@ use parking_lot::Mutex;
 //The worker thread publishes the result of its work back to the worker object for every item in the work queue.
 //The physics (target use case) knows when it has not changed the body, so not updating the value is also an option.
 
-pub struct Worker<Task:Send,Value:Clone> {
-	sender: mpsc::Sender<Task>,
-	value:Arc<Mutex<Value>>,
+struct Worker<Task:Send,Value:Clone> {
+    sender: mpsc::Sender<Task>,
+    value:Arc<Mutex<Value>>,
 }
 
 impl<Task:Send+'static,Value:Clone+Send+'static> Worker<Task,Value> {
-	pub fn new<F:FnMut(Task)->Value+Send+'static>(value:Value,mut f:F) -> Self {
-		let (sender, receiver) = mpsc::channel::<Task>();
-		let ret=Self {
-			sender,
-			value:Arc::new(Mutex::new(value)),
-		};
-		let value=ret.value.clone();
-		thread::spawn(move || {
-			loop {
-				match receiver.recv() {
-					Ok(task) => {
-						let v=f(task);//make sure function is evaluated before lock is acquired
-						*value.lock()=v;
-					}
-					Err(_) => {
-						println!("Worker stopping.",);
-						break;
-					}
-				}
-			}
-		});
-		ret
-	}
+    fn new<F:Fn(Task)->Value+Send+'static>(value:Value,f:F) -> Self {
+        let (sender, receiver) = mpsc::channel::<Task>();
+        let ret=Self {
+            sender,
+            value:Arc::new(Mutex::new(value)),
+        };
+        let value=ret.value.clone();
+        thread::spawn(move || {
+            loop {
+                match receiver.recv() {
+                    Ok(task) => {
+                        println!("Worker got a task");
+                        // Process the task
+                        *value.lock()=f(task);
+                    }
+                    Err(_) => {
+                        println!("Worker stopping.",);
+                        break;
+                    }
+                }
+            }
+        });
+        ret
+    }
 
-	pub fn send(&self,task:Task)->Result<(), mpsc::SendError<Task>>{
-		self.sender.send(task)
-	}
+    fn send(&self,task:Task)->Result<(), mpsc::SendError<Task>>{
+        self.sender.send(task)
+    }
 
-	pub fn grab_clone(&self)->Value{
-		self.value.lock().clone()
-	}
-}
-
-pub struct CompatWorker<Task,Value:Clone,F>{
-	data:std::marker::PhantomData<Task>,
-	f:F,
-	value:Value,
-}
-
-impl<Task,Value:Clone,F:FnMut(Task)->Value> CompatWorker<Task,Value,F> {
-	pub fn new(value:Value,f:F) -> Self {
-		Self {
-			f,
-			value,
-			data:std::marker::PhantomData,
-		}
-	}
-
-	pub fn send(&mut self,task:Task)->Result<(),()>{
-		self.value=(self.f)(task);
-		Ok(())
-	}
-
-	pub fn grab_clone(&self)->Value{
-		self.value.clone()
-	}
+    fn grab_clone(&self)->Value{
+        self.value.lock().clone()
+    }
 }
 
 #[test]//How to run this test with printing: cargo test --release -- --nocapture
 fn test_worker() {
-	println!("hiiiii");
-	// Create the worker thread
-	let worker = Worker::new(crate::physics::Body::with_pva(glam::Vec3::ZERO,glam::Vec3::ZERO,glam::Vec3::ZERO),
-		|_|crate::physics::Body::with_pva(glam::Vec3::ONE,glam::Vec3::ONE,glam::Vec3::ONE)
-	);
+    println!("hiiiii");
+    // Create the worker thread
+    let worker = Worker::new(crate::body::Body::with_pva(glam::Vec3::ZERO,glam::Vec3::ZERO,glam::Vec3::ZERO),
+        |_|crate::body::Body::with_pva(glam::Vec3::ONE,glam::Vec3::ONE,glam::Vec3::ONE)
+    );
 
-	// Send tasks to the worker
-	for i in 0..5 {
-		let task = crate::instruction::TimedInstruction{
-			time:0,
-			instruction:crate::physics::PhysicsInstruction::StrafeTick,
-		};
-		worker.send(task).unwrap();
-	}
+    // Send tasks to the worker
+    for i in 0..5 {
+        let task = crate::instruction::TimedInstruction{
+            time:0,
+            instruction:crate::body::PhysicsInstruction::StrafeTick,
+        };
+        worker.send(task).unwrap();
+    }
 
-	// Optional: Signal the worker to stop (in a real-world scenario)
-	// sender.send("STOP".to_string()).unwrap();
+    // Optional: Signal the worker to stop (in a real-world scenario)
+    // sender.send("STOP".to_string()).unwrap();
 
-	// Sleep to allow the worker thread to finish processing
-	thread::sleep(std::time::Duration::from_secs(2));
+    // Sleep to allow the worker thread to finish processing
+    thread::sleep(std::time::Duration::from_secs(2));
 
-	// Send a new task
-	let task = crate::instruction::TimedInstruction{
-		time:0,
-		instruction:crate::physics::PhysicsInstruction::StrafeTick,
-	};
-	worker.send(task).unwrap();
+    // Send a new task
+    let task = crate::instruction::TimedInstruction{
+        time:0,
+        instruction:crate::body::PhysicsInstruction::StrafeTick,
+    };
+    worker.send(task).unwrap();
 
-	println!("value={:?}",worker.grab_clone());
+    println!("value={:?}",worker.grab_clone());
 
-	// wait long enough to see print from final task
-	thread::sleep(std::time::Duration::from_secs(1));
+    // wait long enough to see print from final task
+    thread::sleep(std::time::Duration::from_secs(1));
 }