Print Only Horizontal Velocity

The Speed function is unnecessary I forgot to remove it

Cargo.toml

@@ -1,19 +1,16 @@
 [package]
 name = "strafe-client"
-version = "0.8.0"
+version = "0.9.0"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-async-executor = "1.5.1"
 bytemuck = { version = "1.13.1", features = ["derive"] }
 configparser = "3.0.2"
 ddsfile = "0.5.1"
-env_logger = "0.10.0"
-glam = "0.24.1"
+glam = "0.25.0"
 lazy-regex = "3.0.2"
-log = "0.4.20"
 obj = "0.10.2"
 parking_lot = "0.12.1"
 pollster = "0.3.0"
@@ -21,8 +18,11 @@ rbx_binary = "0.7.1"
 rbx_dom_weak = "2.5.0"
 rbx_reflection_database = "0.2.7"
 rbx_xml = "0.13.1"
-wgpu = "0.17.0"
-winit = "0.28.6"
+strafesnet_common = { git = "https://git.itzana.me/StrafesNET/common", rev = "434ca29aef7e3015c9ca1ed45de8fef42e33fdfb" }
+vbsp = "0.5.0"
+vmdl = "0.1.1"
+wgpu = "0.19.0"
+winit = "0.29.2"
 
 #[profile.release]
 #lto = true

LICENSE

@@ -1,5 +1,5 @@
 /*******************************************************
-* Copyright (C) 2023 Rhys Lloyd <krakow20@gmail.com>
+* Copyright (C) 2023-2024 Rhys Lloyd <krakow20@gmail.com>
 *
 * This file is part of the StrafesNET bhop/surf client.
 *

src/aabb.rs

@@ -1,89 +0,0 @@
-use crate::integer::Planar64Vec3;
-
-#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
-pub enum AabbFace{
-	Right,//+X
-	Top,
-	Back,
-	Left,
-	Bottom,
-	Front,
-}
-#[derive(Clone)]
-pub struct Aabb{
-	pub min:Planar64Vec3,
-	pub max:Planar64Vec3,
-}
-
-impl Default for Aabb {
-	fn default()->Self {
-		Self{min:Planar64Vec3::MAX,max:Planar64Vec3::MIN}
-	}
-}
-
-impl Aabb{
-	const VERTEX_DATA:[Planar64Vec3;8]=[
-		Planar64Vec3::int( 1,-1,-1),
-		Planar64Vec3::int( 1, 1,-1),
-		Planar64Vec3::int( 1, 1, 1),
-		Planar64Vec3::int( 1,-1, 1),
-		Planar64Vec3::int(-1,-1, 1),
-		Planar64Vec3::int(-1, 1, 1),
-		Planar64Vec3::int(-1, 1,-1),
-		Planar64Vec3::int(-1,-1,-1),
-	];
-
-	pub fn grow(&mut self,point:Planar64Vec3){
-		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:Planar64Vec3){
-		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)->Planar64Vec3{
-		match face {
-			AabbFace::Right=>Planar64Vec3::int(1,0,0),
-			AabbFace::Top=>Planar64Vec3::int(0,1,0),
-			AabbFace::Back=>Planar64Vec3::int(0,0,1),
-			AabbFace::Left=>Planar64Vec3::int(-1,0,0),
-			AabbFace::Bottom=>Planar64Vec3::int(0,-1,0),
-			AabbFace::Front=>Planar64Vec3::int(0,0,-1),
-		}
-	}
-	pub fn unit_vertices()->[Planar64Vec3;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)->Planar64Vec3{
-		return self.min.midpoint(self.max)
-	}
-	//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/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::default();
-		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::default();
-		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/compat_worker.rs

@@ -0,0 +1,21 @@
+pub type QNWorker<'a,Task>=CompatNWorker<'a,Task>;
+pub type INWorker<'a,Task>=CompatNWorker<'a,Task>;
+
+pub struct CompatNWorker<'a,Task>{
+	data:std::marker::PhantomData<Task>,
+	f:Box<dyn FnMut(Task)+Send+'a>,
+}
+
+impl<'a,Task> CompatNWorker<'a,Task>{
+	pub fn new(f:impl FnMut(Task)+Send+'a)->CompatNWorker<'a,Task>{
+		Self{
+			data:std::marker::PhantomData,
+			f:Box::new(f),
+		}
+	}
+
+	pub fn send(&mut self,task:Task)->Result<(),()>{
+		(self.f)(task);
+		Ok(())
+	}
+}

src/face_crawler.rs

@@ -0,0 +1,119 @@
+use crate::physics::Body;
+use crate::model_physics::{FEV,MeshQuery,DirectedEdge};
+use strafesnet_common::integer::{Time,Planar64};
+use strafesnet_common::zeroes::zeroes2;
+
+enum Transition<F,E:DirectedEdge,V>{
+	Miss,
+	Next(FEV<F,E,V>,Time),
+	Hit(F,Time),
+}
+
+	fn next_transition<F:Copy,E:Copy+DirectedEdge,V:Copy>(fev:&FEV<F,E,V>,time:Time,mesh:&impl MeshQuery<F,E,V>,body:&Body,time_limit:Time)->Transition<F,E,V>{
+		//conflicting derivative means it crosses in the wrong direction.
+		//if the transition time is equal to an already tested transition, do not replace the current best.
+		let mut best_time=time_limit;
+		let mut best_transtition=Transition::Miss;
+		match fev{
+			&FEV::<F,E,V>::Face(face_id)=>{
+				//test own face collision time, ignoring roots with zero or conflicting derivative
+				//n=face.normal d=face.dot
+				//n.a t^2+n.v t+n.p-d==0
+				let (n,d)=mesh.face_nd(face_id);
+				//TODO: use higher precision d value?
+				//use the mesh transform translation instead of baking it into the d value.
+				for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					let t=body.time+Time::from(t);
+					if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+						best_time=t;
+						best_transtition=Transition::Hit(face_id,t);
+						break;
+					}
+				}
+				//test each edge collision time, ignoring roots with zero or conflicting derivative
+				for &directed_edge_id in mesh.face_edges(face_id).iter(){
+					let edge_n=mesh.directed_edge_n(directed_edge_id);
+					let n=n.cross(edge_n);
+					let verts=mesh.edge_verts(directed_edge_id.as_undirected());
+					//WARNING: d is moved out of the *2 block because of adding two vertices!
+					for t in zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))),n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
+							break;
+						}
+					}
+				}
+				//if none:
+			},
+			&FEV::<F,E,V>::Edge(edge_id)=>{
+				//test each face collision time, ignoring roots with zero or conflicting derivative
+				let edge_n=mesh.edge_n(edge_id);
+				let edge_verts=mesh.edge_verts(edge_id);
+				let delta_pos=body.position*2-(mesh.vert(edge_verts[0])+mesh.vert(edge_verts[1]));
+				for (i,&edge_face_id) in mesh.edge_faces(edge_id).iter().enumerate(){
+					let face_n=mesh.face_nd(edge_face_id).0;
+					//edge_n gets parity from the order of edge_faces
+					let n=face_n.cross(edge_n)*((i as i64)*2-1);
+					//WARNING yada yada d *2
+					for t in zeroes2(n.dot(delta_pos),n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Face(edge_face_id),t);
+							break;
+						}
+					}
+				}
+				//test each vertex collision time, ignoring roots with zero or conflicting derivative
+				for (i,&vert_id) in edge_verts.iter().enumerate(){
+					//vertex normal gets parity from vert index
+					let n=edge_n*(1-2*(i as i64));
+					for t in zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t);
+							break;
+						}
+					}
+				}
+				//if none:
+			},
+			&FEV::<F,E,V>::Vert(vert_id)=>{
+				//test each edge collision time, ignoring roots with zero or conflicting derivative
+				for &directed_edge_id in mesh.vert_edges(vert_id).iter(){
+					//edge is directed away from vertex, but we want the dot product to turn out negative
+					let n=-mesh.directed_edge_n(directed_edge_id);
+					for t in zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
+							break;
+						}
+					}
+				}
+				//if none:
+			},
+		}
+		best_transtition
+	}
+pub enum CrawlResult<F,E:DirectedEdge,V>{
+	Miss(FEV<F,E,V>),
+	Hit(F,Time),
+}
+pub fn crawl_fev<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,start_time:Time,time_limit:Time)->CrawlResult<F,E,V>{	
+	let mut time=start_time;
+	for _ in 0..20{
+		match next_transition(&fev,time,mesh,relative_body,time_limit){
+			Transition::Miss=>return CrawlResult::Miss(fev),
+			Transition::Next(next_fev,next_time)=>(fev,time)=(next_fev,next_time),
+			Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),
+		}
+	}
+	//TODO: fix all bugs
+	println!("Too many iterations!  Using default behaviour instead of crashing...");
+	CrawlResult::Miss(fev)
+}

src/framework.rs

@@ -1,516 +0,0 @@
-use std::future::Future;
-#[cfg(target_arch = "wasm32")]
-use std::str::FromStr;
-#[cfg(target_arch = "wasm32")]
-use web_sys::{ImageBitmapRenderingContext, OffscreenCanvas};
-use winit::{
-	event::{self, WindowEvent, DeviceEvent},
-	event_loop::{ControlFlow, EventLoop},
-};
-
-#[allow(dead_code)]
-pub fn cast_slice<T>(data: &[T]) -> &[u8] {
-	use std::{mem::size_of, slice::from_raw_parts};
-
-	unsafe { from_raw_parts(data.as_ptr() as *const u8, data.len() * size_of::<T>()) }
-}
-
-#[allow(dead_code)]
-pub enum ShaderStage {
-	Vertex,
-	Fragment,
-	Compute,
-}
-
-pub trait Example: 'static + Sized {
-	fn optional_features() -> wgpu::Features {
-		wgpu::Features::empty()
-	}
-	fn required_features() -> wgpu::Features {
-		wgpu::Features::empty()
-	}
-	fn required_downlevel_capabilities() -> wgpu::DownlevelCapabilities {
-		wgpu::DownlevelCapabilities {
-			flags: wgpu::DownlevelFlags::empty(),
-			shader_model: wgpu::ShaderModel::Sm5,
-			..wgpu::DownlevelCapabilities::default()
-		}
-	}
-	fn required_limits() -> wgpu::Limits {
-		wgpu::Limits::downlevel_webgl2_defaults() // These downlevel limits will allow the code to run on all possible hardware
-	}
-	fn init(
-		config: &wgpu::SurfaceConfiguration,
-		adapter: &wgpu::Adapter,
-		device: &wgpu::Device,
-		queue: &wgpu::Queue,
-	) -> Self;
-	fn resize(
-		&mut self,
-		config: &wgpu::SurfaceConfiguration,
-		device: &wgpu::Device,
-		queue: &wgpu::Queue,
-	);
-	fn update(&mut self, window: &winit::window::Window, device: &wgpu::Device, queue: &wgpu::Queue, event: WindowEvent);
-	fn device_event(&mut self, window: &winit::window::Window, event: DeviceEvent);
-	fn load_file(&mut self, path:std::path::PathBuf, device: &wgpu::Device, queue: &wgpu::Queue);
-	fn render(
-		&mut self,
-		view: &wgpu::TextureView,
-		device: &wgpu::Device,
-		queue: &wgpu::Queue,
-		spawner: &Spawner,
-	);
-}
-
-struct Setup {
-	window: winit::window::Window,
-	event_loop: EventLoop<()>,
-	instance: wgpu::Instance,
-	size: winit::dpi::PhysicalSize<u32>,
-	surface: wgpu::Surface,
-	adapter: wgpu::Adapter,
-	device: wgpu::Device,
-	queue: wgpu::Queue,
-	#[cfg(target_arch = "wasm32")]
-	offscreen_canvas_setup: Option<OffscreenCanvasSetup>,
-}
-
-#[cfg(target_arch = "wasm32")]
-struct OffscreenCanvasSetup {
-	offscreen_canvas: OffscreenCanvas,
-	bitmap_renderer: ImageBitmapRenderingContext,
-}
-
-async fn setup<E: Example>(title: &str) -> Setup {
-	#[cfg(not(target_arch = "wasm32"))]
-	{
-		env_logger::init();
-	};
-
-	let event_loop = EventLoop::new();
-	let mut builder = winit::window::WindowBuilder::new();
-	builder = builder.with_title(title);
-	#[cfg(windows_OFF)] // TODO
-	{
-		use winit::platform::windows::WindowBuilderExtWindows;
-		builder = builder.with_no_redirection_bitmap(true);
-	}
-	let window = builder.build(&event_loop).unwrap();
-
-	#[cfg(target_arch = "wasm32")]
-	{
-		use winit::platform::web::WindowExtWebSys;
-		let query_string = web_sys::window().unwrap().location().search().unwrap();
-		let level: log::Level = parse_url_query_string(&query_string, "RUST_LOG")
-			.and_then(|x| x.parse().ok())
-			.unwrap_or(log::Level::Error);
-		console_log::init_with_level(level).expect("could not initialize logger");
-		std::panic::set_hook(Box::new(console_error_panic_hook::hook));
-		// On wasm, append the canvas to the document body
-		web_sys::window()
-			.and_then(|win| win.document())
-			.and_then(|doc| doc.body())
-			.and_then(|body| {
-				body.append_child(&web_sys::Element::from(window.canvas()))
-					.ok()
-			})
-			.expect("couldn't append canvas to document body");
-	}
-
-	#[cfg(target_arch = "wasm32")]
-	let mut offscreen_canvas_setup: Option<OffscreenCanvasSetup> = None;
-	#[cfg(target_arch = "wasm32")]
-	{
-		use wasm_bindgen::JsCast;
-		use winit::platform::web::WindowExtWebSys;
-
-		let query_string = web_sys::window().unwrap().location().search().unwrap();
-		if let Some(offscreen_canvas_param) =
-			parse_url_query_string(&query_string, "offscreen_canvas")
-		{
-			if FromStr::from_str(offscreen_canvas_param) == Ok(true) {
-				log::info!("Creating OffscreenCanvasSetup");
-
-				let offscreen_canvas =
-					OffscreenCanvas::new(1024, 768).expect("couldn't create OffscreenCanvas");
-
-				let bitmap_renderer = window
-					.canvas()
-					.get_context("bitmaprenderer")
-					.expect("couldn't create ImageBitmapRenderingContext (Result)")
-					.expect("couldn't create ImageBitmapRenderingContext (Option)")
-					.dyn_into::<ImageBitmapRenderingContext>()
-					.expect("couldn't convert into ImageBitmapRenderingContext");
-
-				offscreen_canvas_setup = Some(OffscreenCanvasSetup {
-					offscreen_canvas,
-					bitmap_renderer,
-				})
-			}
-		}
-	};
-
-	log::info!("Initializing the surface...");
-
-	let backends = wgpu::util::backend_bits_from_env().unwrap_or_else(wgpu::Backends::all);
-	let dx12_shader_compiler = wgpu::util::dx12_shader_compiler_from_env().unwrap_or_default();
-
-	let instance = wgpu::Instance::new(wgpu::InstanceDescriptor {
-		backends,
-		dx12_shader_compiler,
-	});
-	let (size, surface) = unsafe {
-		let size = window.inner_size();
-
-		#[cfg(any(not(target_arch = "wasm32"), target_os = "emscripten"))]
-		let surface = instance.create_surface(&window).unwrap();
-		#[cfg(all(target_arch = "wasm32", not(target_os = "emscripten")))]
-		let surface = {
-			if let Some(offscreen_canvas_setup) = &offscreen_canvas_setup {
-				log::info!("Creating surface from OffscreenCanvas");
-				instance.create_surface_from_offscreen_canvas(
-					offscreen_canvas_setup.offscreen_canvas.clone(),
-				)
-			} else {
-				instance.create_surface(&window)
-			}
-		}
-		.unwrap();
-
-		(size, surface)
-	};
-
-	let adapter;
-
-	let optional_features = E::optional_features();
-	let required_features = E::required_features();
-
-	//no helper function smh gotta write it myself
-	let adapters = instance.enumerate_adapters(backends);
-
-	let mut chosen_adapter = None;
-	let mut chosen_adapter_score=0;
-	for adapter in adapters {
-		if !adapter.is_surface_supported(&surface) {
-			continue;
-		}
-
-		let score=match adapter.get_info().device_type{
-			wgpu::DeviceType::IntegratedGpu=>3,
-			wgpu::DeviceType::DiscreteGpu=>4,
-			wgpu::DeviceType::VirtualGpu=>2,
-			wgpu::DeviceType::Other|wgpu::DeviceType::Cpu=>1,
-		};
-
-		let adapter_features = adapter.features();
-		if chosen_adapter_score<score&&adapter_features.contains(required_features) {
-			chosen_adapter_score=score;
-			chosen_adapter=Some(adapter);
-		}
-	}
-
-	if let Some(maybe_chosen_adapter) = chosen_adapter{
-		adapter=maybe_chosen_adapter;
-	}else{
-		panic!("No suitable GPU adapters found on the system!");
-	}
-
-	#[cfg(not(target_arch = "wasm32"))]
-	{
-		let adapter_info = adapter.get_info();
-		println!("Using {} ({:?})", adapter_info.name, adapter_info.backend);
-	}
-
-	let required_downlevel_capabilities = E::required_downlevel_capabilities();
-	let downlevel_capabilities = adapter.get_downlevel_capabilities();
-	assert!(
-		downlevel_capabilities.shader_model >= required_downlevel_capabilities.shader_model,
-		"Adapter does not support the minimum shader model required to run this example: {:?}",
-		required_downlevel_capabilities.shader_model
-	);
-	assert!(
-		downlevel_capabilities
-			.flags
-			.contains(required_downlevel_capabilities.flags),
-		"Adapter does not support the downlevel capabilities required to run this example: {:?}",
-		required_downlevel_capabilities.flags - downlevel_capabilities.flags
-	);
-
-	// Make sure we use the texture resolution limits from the adapter, so we can support images the size of the surface.
-	let needed_limits = E::required_limits().using_resolution(adapter.limits());
-
-	let trace_dir = std::env::var("WGPU_TRACE");
-	let (device, queue) = adapter
-		.request_device(
-			&wgpu::DeviceDescriptor {
-				label: None,
-				features: (optional_features & adapter.features()) | required_features,
-				limits: needed_limits,
-			},
-			trace_dir.ok().as_ref().map(std::path::Path::new),
-		)
-		.await
-		.expect("Unable to find a suitable GPU adapter!");
-
-	Setup {
-		window,
-		event_loop,
-		instance,
-		size,
-		surface,
-		adapter,
-		device,
-		queue,
-		#[cfg(target_arch = "wasm32")]
-		offscreen_canvas_setup,
-	}
-}
-
-fn start<E: Example>(
-	#[cfg(not(target_arch = "wasm32"))] Setup {
-		window,
-		event_loop,
-		instance,
-		size,
-		surface,
-		adapter,
-		device,
-		queue,
-	}: Setup,
-	#[cfg(target_arch = "wasm32")] Setup {
-		window,
-		event_loop,
-		instance,
-		size,
-		surface,
-		adapter,
-		device,
-		queue,
-		offscreen_canvas_setup,
-	}: Setup,
-) {
-	let spawner = Spawner::new();
-	let mut config = surface
-		.get_default_config(&adapter, size.width, size.height)
-		.expect("Surface isn't supported by the adapter.");
-	let surface_view_format = config.format.add_srgb_suffix();
-	config.view_formats.push(surface_view_format);
-	surface.configure(&device, &config);
-
-	log::info!("Initializing the example...");
-	let mut example = E::init(&config, &adapter, &device, &queue);
-
-	log::info!("Entering render loop...");
-	event_loop.run(move |event, _, control_flow| {
-		let _ = (&instance, &adapter); // force ownership by the closure
-		*control_flow = if cfg!(feature = "metal-auto-capture") {
-			ControlFlow::Exit
-		} else {
-			ControlFlow::Poll
-		};
-		match event {
-			event::Event::RedrawEventsCleared => {
-				#[cfg(not(target_arch = "wasm32"))]
-				spawner.run_until_stalled();
-
-				window.request_redraw();
-			}
-			event::Event::WindowEvent {
-				event:
-					WindowEvent::Resized(size)
-					| WindowEvent::ScaleFactorChanged {
-						new_inner_size: &mut size,
-						..
-					},
-				..
-			} => {
-				// Once winit is fixed, the detection conditions here can be removed.
-				// https://github.com/rust-windowing/winit/issues/2876
-				let max_dimension = adapter.limits().max_texture_dimension_2d;
-				if size.width > max_dimension || size.height > max_dimension {
-					log::warn!(
-						"The resizing size {:?} exceeds the limit of {}.",
-						size,
-						max_dimension
-					);
-				} else {
-					log::info!("Resizing to {:?}", size);
-					config.width = size.width.max(1);
-					config.height = size.height.max(1);
-					example.resize(&config, &device, &queue);
-					surface.configure(&device, &config);
-				}
-			}
-			event::Event::WindowEvent { event, .. } => match event {
-				WindowEvent::KeyboardInput {
-					input:
-						event::KeyboardInput {
-							virtual_keycode: Some(event::VirtualKeyCode::Escape),
-							state: event::ElementState::Pressed,
-							..
-						},
-					..
-				}
-				| WindowEvent::CloseRequested => {
-					*control_flow = ControlFlow::Exit;
-				}
-				#[cfg(not(target_arch = "wasm32"))]
-				WindowEvent::KeyboardInput {
-					input:
-						event::KeyboardInput {
-							virtual_keycode: Some(event::VirtualKeyCode::Scroll),
-							state: event::ElementState::Pressed,
-							..
-						},
-					..
-				} => {
-					println!("{:#?}", instance.generate_report());
-				}
-				_ => {
-					example.update(&window,&device,&queue,event);
-				}
-			},
-			event::Event::DeviceEvent {
-				event,
-				..
-			} => {
-				example.device_event(&window,event);
-			},
-			event::Event::RedrawRequested(_) => {
-
-				let frame = match surface.get_current_texture() {
-					Ok(frame) => frame,
-					Err(_) => {
-						surface.configure(&device, &config);
-						surface
-							.get_current_texture()
-							.expect("Failed to acquire next surface texture!")
-					}
-				};
-				let view = frame.texture.create_view(&wgpu::TextureViewDescriptor {
-					format: Some(surface_view_format),
-					..wgpu::TextureViewDescriptor::default()
-				});
-
-				example.render(&view, &device, &queue, &spawner);
-
-				frame.present();
-
-				#[cfg(target_arch = "wasm32")]
-				{
-					if let Some(offscreen_canvas_setup) = &offscreen_canvas_setup {
-						let image_bitmap = offscreen_canvas_setup
-							.offscreen_canvas
-							.transfer_to_image_bitmap()
-							.expect("couldn't transfer offscreen canvas to image bitmap.");
-						offscreen_canvas_setup
-							.bitmap_renderer
-							.transfer_from_image_bitmap(&image_bitmap);
-
-						log::info!("Transferring OffscreenCanvas to ImageBitmapRenderer");
-					}
-				}
-			}
-			_ => {}
-		}
-	});
-}
-
-#[cfg(not(target_arch = "wasm32"))]
-pub struct Spawner<'a> {
-	executor: async_executor::LocalExecutor<'a>,
-}
-
-#[cfg(not(target_arch = "wasm32"))]
-impl<'a> Spawner<'a> {
-	fn new() -> Self {
-		Self {
-			executor: async_executor::LocalExecutor::new(),
-		}
-	}
-
-	#[allow(dead_code)]
-	pub fn spawn_local(&self, future: impl Future<Output = ()> + 'a) {
-		self.executor.spawn(future).detach();
-	}
-
-	fn run_until_stalled(&self) {
-		while self.executor.try_tick() {}
-	}
-}
-
-#[cfg(target_arch = "wasm32")]
-pub struct Spawner {}
-
-#[cfg(target_arch = "wasm32")]
-impl Spawner {
-	fn new() -> Self {
-		Self {}
-	}
-
-	#[allow(dead_code)]
-	pub fn spawn_local(&self, future: impl Future<Output = ()> + 'static) {
-		wasm_bindgen_futures::spawn_local(future);
-	}
-}
-
-#[cfg(not(target_arch = "wasm32"))]
-pub fn run<E: Example>(title: &str) {
-	let setup = pollster::block_on(setup::<E>(title));
-	start::<E>(setup);
-}
-
-#[cfg(target_arch = "wasm32")]
-pub fn run<E: Example>(title: &str) {
-	use wasm_bindgen::prelude::*;
-
-	let title = title.to_owned();
-	wasm_bindgen_futures::spawn_local(async move {
-		let setup = setup::<E>(&title).await;
-		let start_closure = Closure::once_into_js(move || start::<E>(setup));
-
-		// make sure to handle JS exceptions thrown inside start.
-		// Otherwise wasm_bindgen_futures Queue would break and never handle any tasks again.
-		// This is required, because winit uses JS exception for control flow to escape from `run`.
-		if let Err(error) = call_catch(&start_closure) {
-			let is_control_flow_exception = error.dyn_ref::<js_sys::Error>().map_or(false, |e| {
-				e.message().includes("Using exceptions for control flow", 0)
-			});
-
-			if !is_control_flow_exception {
-				web_sys::console::error_1(&error);
-			}
-		}
-
-		#[wasm_bindgen]
-		extern "C" {
-			#[wasm_bindgen(catch, js_namespace = Function, js_name = "prototype.call.call")]
-			fn call_catch(this: &JsValue) -> Result<(), JsValue>;
-		}
-	});
-}
-
-#[cfg(target_arch = "wasm32")]
-/// Parse the query string as returned by `web_sys::window()?.location().search()?` and get a
-/// specific key out of it.
-pub fn parse_url_query_string<'a>(query: &'a str, search_key: &str) -> Option<&'a str> {
-	let query_string = query.strip_prefix('?')?;
-
-	for pair in query_string.split('&') {
-		let mut pair = pair.split('=');
-		let key = pair.next()?;
-		let value = pair.next()?;
-
-		if key == search_key {
-			return Some(value);
-		}
-	}
-
-	None
-}
-
-// This allows treating the framework as a standalone example,
-// thus avoiding listing the example names in `Cargo.toml`.
-#[allow(dead_code)]
-fn main() {}

src/graphics_worker.rs

@@ -0,0 +1,72 @@
+use strafesnet_common::integer;
+
+pub enum Instruction{
+	Render(crate::physics::PhysicsOutputState,integer::Time,glam::IVec2),
+	//UpdateModel(crate::graphics::GraphicsModelUpdate),
+	Resize(winit::dpi::PhysicalSize<u32>,crate::settings::UserSettings),
+	GenerateModels(crate::model::IndexedModelInstances),
+	ClearModels,
+}
+
+//Ideally the graphics thread worker description is:
+/*
+WorkerDescription{
+	input:Immediate,
+	output:Realtime(PoolOrdering::Ordered(3)),
+}
+*/
+//up to three frames in flight, dropping new frame requests when all three are busy, and dropping output frames when one renders out of order
+
+pub fn new<'a>(
+		mut graphics:crate::graphics::GraphicsState,
+		mut config:wgpu::SurfaceConfiguration,
+		surface:wgpu::Surface<'a>,
+		device:wgpu::Device,
+		queue:wgpu::Queue,
+	)->crate::compat_worker::INWorker<'a,Instruction>{
+	let mut resize=None;
+	crate::compat_worker::INWorker::new(move |ins:Instruction|{
+		match ins{
+			Instruction::GenerateModels(indexed_model_instances)=>{
+				graphics.generate_models(&device,&queue,indexed_model_instances);
+			},
+			Instruction::ClearModels=>{
+				graphics.clear();
+			},
+			Instruction::Resize(size,user_settings)=>{
+				resize=Some((size,user_settings));
+			}
+			Instruction::Render(physics_output,predicted_time,mouse_pos)=>{
+				if let Some((size,user_settings))=&resize{
+					println!("Resizing to {:?}",size);
+					let t0=std::time::Instant::now();
+					config.width=size.width.max(1);
+					config.height=size.height.max(1);
+					surface.configure(&device,&config);
+					graphics.resize(&device,&config,user_settings);
+					println!("Resize took {:?}",t0.elapsed());
+				}
+				//clear every time w/e
+				resize=None;
+				//this has to go deeper somehow
+				let frame=match surface.get_current_texture(){
+					Ok(frame)=>frame,
+					Err(_)=>{
+						surface.configure(&device,&config);
+						surface
+							.get_current_texture()
+							.expect("Failed to acquire next surface texture!")
+					}
+				};
+				let view=frame.texture.create_view(&wgpu::TextureViewDescriptor{
+					format:Some(config.view_formats[0]),
+					..wgpu::TextureViewDescriptor::default()
+				});
+
+				graphics.render(&view,&device,&queue,physics_output,predicted_time,mouse_pos);
+
+				frame.present();
+			}
+		}
+	})
+}

src/instruction.rs

@@ -1,50 +0,0 @@
-use crate::integer::Time;
-
-#[derive(Debug)]
-pub struct TimedInstruction<I>{
-	pub time:Time,
-	pub instruction:I,
-}
-
-pub trait InstructionEmitter<I>{
-	fn next_instruction(&self,time_limit:Time)->Option<TimedInstruction<I>>;
-}
-pub trait InstructionConsumer<I>{
-	fn process_instruction(&mut self, instruction:TimedInstruction<I>);
-}
-
-//PROPER PRIVATE FIELDS!!!
-pub struct InstructionCollector<I>{
-	time:Time,
-	instruction:Option<I>,
-}
-impl<I> InstructionCollector<I>{
-	pub fn new(time:Time)->Self{
-		Self{
-			time,
-			instruction:None
-		}
-	}
-
-	pub fn collect(&mut self,instruction:Option<TimedInstruction<I>>){
-		match instruction{
-			Some(unwrap_instruction)=>{
-				if unwrap_instruction.time<self.time {
-					self.time=unwrap_instruction.time;
-					self.instruction=Some(unwrap_instruction.instruction);
-				}
-			},
-			None=>(),
-		}
-	}
-	pub fn instruction(self)->Option<TimedInstruction<I>>{
-		//STEAL INSTRUCTION AND DESTROY INSTRUCTIONCOLLECTOR
-		match self.instruction{
-			Some(instruction)=>Some(TimedInstruction{
-				time:self.time,
-				instruction
-			}),
-			None=>None,
-		}
-	}
-}

src/integer.rs

@@ -1,925 +0,0 @@
-//integer units
-#[derive(Clone,Copy,Hash,PartialEq,PartialOrd,Debug)]
-pub struct Time(i64);
-impl Time{
-	pub const ZERO:Self=Self(0);
-	pub const ONE_SECOND:Self=Self(1_000_000_000);
-	pub const ONE_MILLISECOND:Self=Self(1_000_000);
-	pub const ONE_MICROSECOND:Self=Self(1_000);
-	pub const ONE_NANOSECOND:Self=Self(1);
-	#[inline]
-	pub fn from_secs(num:i64)->Self{
-		Self(Self::ONE_SECOND.0*num)
-	}
-	#[inline]
-	pub fn from_millis(num:i64)->Self{
-		Self(Self::ONE_MILLISECOND.0*num)
-	}
-	#[inline]
-	pub fn from_micros(num:i64)->Self{
-		Self(Self::ONE_MICROSECOND.0*num)
-	}
-	#[inline]
-	pub fn from_nanos(num:i64)->Self{
-		Self(Self::ONE_NANOSECOND.0*num)
-	}
-	//should I have checked subtraction? force all time variables to be positive?
-	#[inline]
-	pub fn nanos(&self)->i64{
-		self.0
-	}
-}
-impl From<Planar64> for Time{
-	#[inline]
-	fn from(value:Planar64)->Self{
-		Time((((value.0 as i128)*1_000_000_000)>>32) as i64)
-	}
-}
-impl std::fmt::Display for Time{
-	#[inline]
-	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
-		write!(f,"{}s+{:09}ns",self.0/Self::ONE_SECOND.0,self.0%Self::ONE_SECOND.0)
-	}
-}
-impl std::ops::Neg for Time{
-	type Output=Time;
-	#[inline]
-	fn neg(self)->Self::Output {
-		Time(-self.0)
-	}
-}
-impl std::ops::Add<Time> for Time{
-	type Output=Time;
-	#[inline]
-	fn add(self,rhs:Self)->Self::Output {
-		Time(self.0+rhs.0)
-	}
-}
-impl std::ops::Sub<Time> for Time{
-	type Output=Time;
-	#[inline]
-	fn sub(self,rhs:Self)->Self::Output {
-		Time(self.0-rhs.0)
-	}
-}
-impl std::ops::Mul<Time> for Time{
-	type Output=Time;
-	#[inline]
-	fn mul(self,rhs:Time)->Self::Output{
-		Self((((self.0 as i128)*(rhs.0 as i128))/1_000_000_000) as i64)
-	}
-}
-impl std::ops::Div<i64> for Time{
-	type Output=Time;
-	#[inline]
-	fn div(self,rhs:i64)->Self::Output {
-		Time(self.0/rhs)
-	}
-}
-
-#[inline]
-const fn gcd(mut a:u64,mut b:u64)->u64{
-	while b!=0{
-		(a,b)=(b,a.rem_euclid(b));
-	};
-	a
-}
-#[derive(Clone,Hash)]
-pub struct Ratio64{
-	num:i64,
-	den:u64,
-}
-impl Ratio64{
-	pub const ZERO:Self=Ratio64{num:0,den:1};
-	pub const ONE:Self=Ratio64{num:1,den:1};
-	#[inline]
-	pub const fn new(num:i64,den:u64)->Option<Ratio64>{
-		if den==0{
-			None
-		}else{
-			let d=gcd(num.unsigned_abs(),den);
-			Some(Self{num:num/d as i64,den:den/d})
-		}
-	}
-	#[inline]
-	pub fn mul_int(&self,rhs:i64)->i64{
-		rhs*self.num/self.den as i64
-	}
-	#[inline]
-	pub fn rhs_div_int(&self,rhs:i64)->i64{
-		rhs*self.den as i64/self.num
-	}
-	#[inline]
-	pub fn mul_ref(&self,rhs:&Ratio64)->Ratio64{
-		let (num,den)=(self.num*rhs.num,self.den*rhs.den);
-		let d=gcd(num.unsigned_abs(),den);
-		Self{
-			num:num/d as i64,
-			den:den/d,
-		}
-	}
-}
-//from num_traits crate
-#[inline]
-fn integer_decode_f32(f: f32) -> (u64, i16, i8) {
-	let bits: u32 = f.to_bits();
-	let sign: i8 = if bits >> 31 == 0 { 1 } else { -1 };
-	let mut exponent: i16 = ((bits >> 23) & 0xff) as i16;
-	let mantissa = if exponent == 0 {
-		(bits & 0x7fffff) << 1
-	} else {
-		(bits & 0x7fffff) | 0x800000
-	};
-	// Exponent bias + mantissa shift
-	exponent -= 127 + 23;
-	(mantissa as u64, exponent, sign)
-}
-#[inline]
-fn integer_decode_f64(f: f64) -> (u64, i16, i8) {
-	let bits: u64 = f.to_bits();
-	let sign: i8 = if bits >> 63 == 0 { 1 } else { -1 };
-	let mut exponent: i16 = ((bits >> 52) & 0x7ff) as i16;
-	let mantissa = if exponent == 0 {
-		(bits & 0xfffffffffffff) << 1
-	} else {
-		(bits & 0xfffffffffffff) | 0x10000000000000
-	};
-	// Exponent bias + mantissa shift
-	exponent -= 1023 + 52;
-	(mantissa, exponent, sign)
-}
-#[derive(Debug)]
-pub enum Ratio64TryFromFloatError{
-	Nan,
-	Infinite,
-	Subnormal,
-	HighlyNegativeExponent(i16),
-	HighlyPositiveExponent(i16),
-}
-const MAX_DENOMINATOR:u128=u64::MAX as u128;
-#[inline]
-fn ratio64_from_mes((m,e,s):(u64,i16,i8))->Result<Ratio64,Ratio64TryFromFloatError>{
-	if e< -127{
-		//this can also just be zero
-		Err(Ratio64TryFromFloatError::HighlyNegativeExponent(e))
-	}else if e< -63{
-		//approximate input ratio within denominator limit
-		let mut target_num=m as u128;
-		let mut target_den=1u128<<-e;
-
-		let mut num=1;
-		let mut den=0;
-		let mut prev_num=0;
-		let mut prev_den=1;
-
-		while target_den!=0{
-			let whole=target_num/target_den;
-			(target_num,target_den)=(target_den,target_num-whole*target_den);
-			let new_num=whole*num+prev_num;
-			let new_den=whole*den+prev_den;
-			if MAX_DENOMINATOR<new_den{
-				break;
-			}else{
-				(prev_num,prev_den)=(num,den);
-				(num,den)=(new_num,new_den);
-			}
-		}
-
-		Ok(Ratio64::new(num as i64,den as u64).unwrap())
-	}else if e<0{
-		Ok(Ratio64::new((m as i64)*(s as i64),1<<-e).unwrap())
-	}else if (64-m.leading_zeros() as i16)+e<64{
-		Ok(Ratio64::new((m as i64)*(s as i64)*(1<<e),1).unwrap())
-	}else{
-		Err(Ratio64TryFromFloatError::HighlyPositiveExponent(e))
-	}
-}
-impl TryFrom<f32> for Ratio64{
-	type Error=Ratio64TryFromFloatError;
-	#[inline]
-	fn try_from(value:f32)->Result<Self,Self::Error>{
-		match value.classify(){
-			std::num::FpCategory::Nan=>Err(Self::Error::Nan),
-			std::num::FpCategory::Infinite=>Err(Self::Error::Infinite),
-			std::num::FpCategory::Zero=>Ok(Self::ZERO),
-			std::num::FpCategory::Subnormal=>Err(Self::Error::Subnormal),
-			std::num::FpCategory::Normal=>ratio64_from_mes(integer_decode_f32(value)),
-		}
-	}
-}
-impl TryFrom<f64> for Ratio64{
-	type Error=Ratio64TryFromFloatError;
-	#[inline]
-	fn try_from(value:f64)->Result<Self,Self::Error>{
-		match value.classify(){
-			std::num::FpCategory::Nan=>Err(Self::Error::Nan),
-			std::num::FpCategory::Infinite=>Err(Self::Error::Infinite),
-			std::num::FpCategory::Zero=>Ok(Self::ZERO),
-			std::num::FpCategory::Subnormal=>Err(Self::Error::Subnormal),
-			std::num::FpCategory::Normal=>ratio64_from_mes(integer_decode_f64(value)),
-		}
-	}
-}
-impl std::ops::Mul<Ratio64> for Ratio64{
-	type Output=Ratio64;
-	#[inline]
-	fn mul(self,rhs:Ratio64)->Self::Output{
-		let (num,den)=(self.num*rhs.num,self.den*rhs.den);
-		let d=gcd(num.unsigned_abs(),den);
-		Self{
-			num:num/d as i64,
-			den:den/d,
-		}
-	}
-}
-impl std::ops::Mul<i64> for Ratio64{
-	type Output=Ratio64;
-	#[inline]
-	fn mul(self,rhs:i64)->Self::Output {
-		Self{
-			num:self.num*rhs,
-			den:self.den,
-		}
-	}
-}
-impl std::ops::Div<u64> for Ratio64{
-	type Output=Ratio64;
-	#[inline]
-	fn div(self,rhs:u64)->Self::Output {
-		Self{
-			num:self.num,
-			den:self.den*rhs,
-		}
-	}
-}
-#[derive(Clone,Hash)]
-pub struct Ratio64Vec2{
-	pub x:Ratio64,
-	pub y:Ratio64,
-}
-impl Ratio64Vec2{
-	pub const ONE:Self=Self{x:Ratio64::ONE,y:Ratio64::ONE};
-	#[inline]
-	pub fn new(x:Ratio64,y:Ratio64)->Self{
-		Self{x,y}
-	}
-	#[inline]
-	pub fn mul_int(&self,rhs:glam::I64Vec2)->glam::I64Vec2{
-		glam::i64vec2(
-			self.x.mul_int(rhs.x),
-			self.y.mul_int(rhs.y),
-		)
-	}
-}
-impl std::ops::Mul<i64> for Ratio64Vec2{
-	type Output=Ratio64Vec2;
-	#[inline]
-	fn mul(self,rhs:i64)->Self::Output {
-		Self{
-			x:self.x*rhs,
-			y:self.y*rhs,
-		}
-	}
-}
-
-///[-pi,pi) = [-2^31,2^31-1]
-#[derive(Clone,Copy,Hash)]
-pub struct Angle32(i32);
-impl Angle32{
-	pub const FRAC_PI_2:Self=Self(1<<30);
-	pub const PI:Self=Self(-1<<31);
-	#[inline]
-	pub fn wrap_from_i64(theta:i64)->Self{
-		//take lower bits
-		//note: this was checked on compiler explorer and compiles to 1 instruction!
-		Self(i32::from_ne_bytes(((theta&((1<<32)-1)) as u32).to_ne_bytes()))
-	}
-	#[inline]
-	pub fn clamp_from_i64(theta:i64)->Self{
-		//the assembly is a bit confusing for this, I thought it was checking the same thing twice
-		//but it's just checking and then overwriting the value for both upper and lower bounds.
-		Self(theta.clamp(i32::MIN as i64,i32::MAX as i64) as i32)
-	}
-	#[inline]
-	pub fn get(&self)->i32{
-		self.0
-	}
-	/// Clamps the value towards the midpoint of the range.
-	/// Note that theta_min can be larger than theta_max and it will wrap clamp the other way around
-	#[inline]
-	pub fn clamp(&self,theta_min:Self,theta_max:Self)->Self{
-		//((max-min as u32)/2 as i32)+min
-		let midpoint=((
-			u32::from_ne_bytes(theta_max.0.to_ne_bytes())
-			.wrapping_sub(u32::from_ne_bytes(theta_min.0.to_ne_bytes()))
-			/2
-		) as i32)//(u32::MAX/2) as i32 ALWAYS works
-		.wrapping_add(theta_min.0);
-		//(theta-mid).clamp(max-mid,min-mid)+mid
-		Self(
-			self.0.wrapping_sub(midpoint)
-			.max(theta_min.0.wrapping_sub(midpoint))
-			.min(theta_max.0.wrapping_sub(midpoint))
-			.wrapping_add(midpoint)
-		)
-	}
-	/*
-	#[inline]
-	pub fn cos(&self)->Unit32{
-		//TODO: fix this rounding towards 0
-		Unit32(unsafe{((self.0 as f64*ANGLE32_TO_FLOAT64_RADIANS).cos()*UNIT32_ONE_FLOAT64).to_int_unchecked()})
-	}
-	#[inline]
-	pub fn sin(&self)->Unit32{
-		//TODO: fix this rounding towards 0
-		Unit32(unsafe{((self.0 as f64*ANGLE32_TO_FLOAT64_RADIANS).sin()*UNIT32_ONE_FLOAT64).to_int_unchecked()})
-	}
-	*/
-}
-const ANGLE32_TO_FLOAT64_RADIANS:f64=std::f64::consts::PI/((1i64<<31) as f64);
-impl Into<f32> for Angle32{
-	#[inline]
-	fn into(self)->f32{
-		(self.0 as f64*ANGLE32_TO_FLOAT64_RADIANS) as f32
-	}
-}
-impl std::ops::Neg for Angle32{
-	type Output=Angle32;
-	#[inline]
-	fn neg(self)->Self::Output{
-		Angle32(self.0.wrapping_neg())
-	}
-}
-impl std::ops::Add<Angle32> for Angle32{
-	type Output=Angle32;
-	#[inline]
-	fn add(self,rhs:Self)->Self::Output {
-		Angle32(self.0.wrapping_add(rhs.0))
-	}
-}
-impl std::ops::Sub<Angle32> for Angle32{
-	type Output=Angle32;
-	#[inline]
-	fn sub(self,rhs:Self)->Self::Output {
-		Angle32(self.0.wrapping_sub(rhs.0))
-	}
-}
-impl std::ops::Mul<i32> for Angle32{
-	type Output=Angle32;
-	#[inline]
-	fn mul(self,rhs:i32)->Self::Output {
-		Angle32(self.0.wrapping_mul(rhs))
-	}
-}
-impl std::ops::Mul<Angle32> for Angle32{
-	type Output=Angle32;
-	#[inline]
-	fn mul(self,rhs:Self)->Self::Output {
-		Angle32(self.0.wrapping_mul(rhs.0))
-	}
-}
-
-/* Unit type unused for now, may revive it for map files
-///[-1.0,1.0] = [-2^30,2^30]
-pub struct Unit32(i32);
-impl Unit32{
-	#[inline]
-	pub fn as_planar64(&self) -> Planar64{
-		Planar64(4*(self.0 as i64))
-	}
-}
-const UNIT32_ONE_FLOAT64=((1<<30) as f64);
-///[-1.0,1.0] = [-2^30,2^30]
-pub struct Unit32Vec3(glam::IVec3);
-impl TryFrom<[f32;3]> for Unit32Vec3{
-	type Error=Unit32TryFromFloatError;
-	fn try_from(value:[f32;3])->Result<Self,Self::Error>{
-		Ok(Self(glam::ivec3(
-			Unit32::try_from(Planar64::try_from(value[0])?)?.0,
-			Unit32::try_from(Planar64::try_from(value[1])?)?.0,
-			Unit32::try_from(Planar64::try_from(value[2])?)?.0,
-		)))
-	}
-}
-*/
-
-///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy,Hash,Eq,Ord,PartialEq,PartialOrd)]
-pub struct Planar64(i64);
-impl Planar64{
-	pub const ZERO:Self=Self(0);
-	pub const ONE:Self=Self(1<<32);
-	#[inline]
-	pub const fn int(num:i32)->Self{
-		Self(Self::ONE.0*num as i64)
-	}
-	#[inline]
-	pub const fn raw(num:i64)->Self{
-		Self(num)
-	}
-	#[inline]
-	pub const fn get(&self)->i64{
-		self.0
-	}
-	pub fn sqrt(&self)->Self{
-		Planar64(unsafe{(((self.0 as i128)<<32) as f64).sqrt().to_int_unchecked()})
-	}
-}
-const PLANAR64_ONE_FLOAT32:f32=(1u64<<32) as f32;
-const PLANAR64_CONVERT_TO_FLOAT32:f32=1.0/PLANAR64_ONE_FLOAT32;
-const PLANAR64_ONE_FLOAT64:f64=(1u64<<32) as f64;
-impl Into<f32> for Planar64{
-	#[inline]
-	fn into(self)->f32{
-		self.0 as f32*PLANAR64_CONVERT_TO_FLOAT32
-	}
-}
-impl From<Ratio64> for Planar64{
-	#[inline]
-	fn from(ratio:Ratio64)->Self{
-		Self((((ratio.num as i128)<<32)/ratio.den as i128) as i64)
-	}
-}
-#[derive(Debug)]
-pub enum Planar64TryFromFloatError{
-	Nan,
-	Infinite,
-	Subnormal,
-	HighlyNegativeExponent(i16),
-	HighlyPositiveExponent(i16),
-}
-#[inline]
-fn planar64_from_mes((m,e,s):(u64,i16,i8))->Result<Planar64,Planar64TryFromFloatError>{
-	let e32=e+32;
-	if e32<0&&(m>>-e32)==0{//shifting m will underflow to 0
-		Ok(Planar64::ZERO)
-		// println!("m{} e{} s{}",m,e,s);
-		// println!("f={}",(m as f64)*(2.0f64.powf(e as f64))*(s as f64));
-		// Err(Planar64TryFromFloatError::HighlyNegativeExponent(e))
-	}else if (64-m.leading_zeros() as i16)+e32<64{//shifting m will not overflow
-		if e32<0{
-			Ok(Planar64((m as i64)*(s as i64)>>-e32))
-		}else{
-			Ok(Planar64((m as i64)*(s as i64)<<e32))
-		}
-	}else{//if shifting m will overflow (prev check failed)
-		Err(Planar64TryFromFloatError::HighlyPositiveExponent(e))
-	}
-}
-impl TryFrom<f32> for Planar64{
-	type Error=Planar64TryFromFloatError;
-	#[inline]
-	fn try_from(value:f32)->Result<Self,Self::Error>{
-		match value.classify(){
-			std::num::FpCategory::Nan=>Err(Self::Error::Nan),
-			std::num::FpCategory::Infinite=>Err(Self::Error::Infinite),
-			std::num::FpCategory::Zero=>Ok(Self::ZERO),
-			std::num::FpCategory::Subnormal=>Err(Self::Error::Subnormal),
-			std::num::FpCategory::Normal=>planar64_from_mes(integer_decode_f32(value)),
-		}
-	}
-}
-impl TryFrom<f64> for Planar64{
-	type Error=Planar64TryFromFloatError;
-	#[inline]
-	fn try_from(value:f64)->Result<Self,Self::Error>{
-		match value.classify(){
-			std::num::FpCategory::Nan=>Err(Self::Error::Nan),
-			std::num::FpCategory::Infinite=>Err(Self::Error::Infinite),
-			std::num::FpCategory::Zero=>Ok(Self::ZERO),
-			std::num::FpCategory::Subnormal=>Err(Self::Error::Subnormal),
-			std::num::FpCategory::Normal=>planar64_from_mes(integer_decode_f64(value)),
-		}
-	}
-}
-impl std::fmt::Display for Planar64{
-	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
-		write!(f,"{:.3}",
-			Into::<f32>::into(*self),
-		)
-	}
-}
-impl std::ops::Neg for Planar64{
-	type Output=Planar64;
-	#[inline]
-	fn neg(self)->Self::Output{
-		Planar64(-self.0)
-	}
-}
-impl std::ops::Add<Planar64> for Planar64{
-	type Output=Planar64;
-	#[inline]
-	fn add(self, rhs: Self) -> Self::Output {
-		Planar64(self.0+rhs.0)
-	}
-}
-impl std::ops::Sub<Planar64> for Planar64{
-	type Output=Planar64;
-	#[inline]
-	fn sub(self, rhs: Self) -> Self::Output {
-		Planar64(self.0-rhs.0)
-	}
-}
-impl std::ops::Mul<i64> for Planar64{
-	type Output=Planar64;
-	#[inline]
-	fn mul(self, rhs: i64) -> Self::Output {
-		Planar64(self.0*rhs)
-	}
-}
-impl std::ops::Mul<Planar64> for Planar64{
-	type Output=Planar64;
-	#[inline]
-	fn mul(self, rhs: Self) -> Self::Output {
-		Planar64((((self.0 as i128)*(rhs.0 as i128))>>32) as i64)
-	}
-}
-impl std::ops::Div<i64> for Planar64{
-	type Output=Planar64;
-	#[inline]
-	fn div(self, rhs: i64) -> Self::Output {
-		Planar64(self.0/rhs)
-	}
-}
-impl std::ops::Div<Planar64> for Planar64{
-	type Output=Planar64;
-	#[inline]
-	fn div(self, rhs: Planar64) -> Self::Output {
-		Planar64((((self.0 as i128)<<32)/rhs.0 as i128) as i64)
-	}
-}
-// impl PartialOrd<i64> for Planar64{
-// 	fn partial_cmp(&self, other: &i64) -> Option<std::cmp::Ordering> {
-// 		self.0.partial_cmp(other)
-// 	}
-// }
-
-
-///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
-pub struct Planar64Vec3(glam::I64Vec3);
-impl Planar64Vec3{
-	pub const ZERO:Self=Planar64Vec3(glam::I64Vec3::ZERO);
-	pub const ONE:Self=Self::int(1,1,1);
-	pub const X:Self=Self::int(1,0,0);
-	pub const Y:Self=Self::int(0,1,0);
-	pub const Z:Self=Self::int(0,0,1);
-	pub const NEG_X:Self=Self::int(-1,0,0);
-	pub const NEG_Y:Self=Self::int(0,-1,0);
-	pub const NEG_Z:Self=Self::int(0,0,-1);
-	pub const MIN:Self=Planar64Vec3(glam::I64Vec3::MIN);
-	pub const MAX:Self=Planar64Vec3(glam::I64Vec3::MAX);
-	#[inline]
-	pub const fn int(x:i32,y:i32,z:i32)->Self{
-		Self(glam::i64vec3((x as i64)<<32,(y as i64)<<32,(z as i64)<<32))
-	}
-	#[inline]
-	pub fn x(&self)->Planar64{
-		Planar64(self.0.x)
-	}
-	#[inline]
-	pub fn y(&self)->Planar64{
-		Planar64(self.0.y)
-	}
-	#[inline]
-	pub fn z(&self)->Planar64{
-		Planar64(self.0.z)
-	}
-	#[inline]
-	pub fn min(&self,rhs:Self)->Self{
-		Self(glam::i64vec3(
-			self.0.x.min(rhs.0.x),
-			self.0.y.min(rhs.0.y),
-			self.0.z.min(rhs.0.z),
-		))
-	}
-	#[inline]
-	pub fn max(&self,rhs:Self)->Self{
-		Self(glam::i64vec3(
-			self.0.x.max(rhs.0.x),
-			self.0.y.max(rhs.0.y),
-			self.0.z.max(rhs.0.z),
-		))
-	}
-	#[inline]
-	pub fn midpoint(&self,rhs:Self)->Self{
-		Self((self.0+rhs.0)/2)
-	}
-	#[inline]
-	pub fn cmplt(&self,rhs:Self)->glam::BVec3{
-		self.0.cmplt(rhs.0)
-	}
-	#[inline]
-	pub fn dot(&self,rhs:Self)->Planar64{
-		Planar64(((
-			(self.0.x as i128)*(rhs.0.x as i128)+
-			(self.0.y as i128)*(rhs.0.y as i128)+
-			(self.0.z as i128)*(rhs.0.z as i128)
-		)>>32) as i64)
-	}
-	#[inline]
-	pub fn length(&self)->Planar64{
-		let radicand=(self.0.x as i128)*(self.0.x as i128)+(self.0.y as i128)*(self.0.y as i128)+(self.0.z as i128)*(self.0.z as i128);
-		Planar64(unsafe{(radicand as f64).sqrt().to_int_unchecked()})
-	}
-	#[inline]
-	pub fn with_length(&self,length:Planar64)->Self{
-		let radicand=(self.0.x as i128)*(self.0.x as i128)+(self.0.y as i128)*(self.0.y as i128)+(self.0.z as i128)*(self.0.z as i128);
-		let self_length:i128=unsafe{(radicand as f64).sqrt().to_int_unchecked()};
-		//self.0*length/self_length
-		Planar64Vec3(
-			glam::i64vec3(
-				((self.0.x as i128)*(length.0 as i128)/self_length) as i64,
-				((self.0.y as i128)*(length.0 as i128)/self_length) as i64,
-				((self.0.z as i128)*(length.0 as i128)/self_length) as i64,
-			)
-		)
-	}
-}
-impl Into<glam::Vec3> for Planar64Vec3{
-	#[inline]
-	fn into(self)->glam::Vec3{
-		glam::vec3(
-			self.0.x as f32,
-			self.0.y as f32,
-			self.0.z as f32,
-		)*PLANAR64_CONVERT_TO_FLOAT32
-	}
-}
-impl TryFrom<[f32;3]> for Planar64Vec3{
-	type Error=Planar64TryFromFloatError;
-	#[inline]
-	fn try_from(value:[f32;3])->Result<Self,Self::Error>{
-		Ok(Self(glam::i64vec3(
-			Planar64::try_from(value[0])?.0,
-			Planar64::try_from(value[1])?.0,
-			Planar64::try_from(value[2])?.0,
-		)))
-	}
-}
-impl TryFrom<glam::Vec3A> for Planar64Vec3{
-	type Error=Planar64TryFromFloatError;
-	#[inline]
-	fn try_from(value:glam::Vec3A)->Result<Self,Self::Error>{
-		Ok(Self(glam::i64vec3(
-			Planar64::try_from(value.x)?.0,
-			Planar64::try_from(value.y)?.0,
-			Planar64::try_from(value.z)?.0,
-		)))
-	}
-}
-impl std::fmt::Display for Planar64Vec3{
-	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
-		write!(f,"{:.3},{:.3},{:.3}",
-			Into::<f32>::into(self.x()),Into::<f32>::into(self.y()),Into::<f32>::into(self.z()),
-		)
-	}
-}
-impl std::ops::Neg for Planar64Vec3{
-	type Output=Planar64Vec3;
-	#[inline]
-	fn neg(self)->Self::Output{
-		Planar64Vec3(-self.0)
-	}
-}
-impl std::ops::Add<Planar64Vec3> for Planar64Vec3{
-	type Output=Planar64Vec3;
-	#[inline]
-	fn add(self,rhs:Planar64Vec3) -> Self::Output {
-		Planar64Vec3(self.0+rhs.0)
-	}
-}
-impl std::ops::AddAssign<Planar64Vec3> for Planar64Vec3{
-	#[inline]
-	fn add_assign(&mut self,rhs:Planar64Vec3){
-		*self=*self+rhs
-	}
-}
-impl std::ops::Sub<Planar64Vec3> for Planar64Vec3{
-	type Output=Planar64Vec3;
-	#[inline]
-	fn sub(self,rhs:Planar64Vec3) -> Self::Output {
-		Planar64Vec3(self.0-rhs.0)
-	}
-}
-impl std::ops::SubAssign<Planar64Vec3> for Planar64Vec3{
-	#[inline]
-	fn sub_assign(&mut self,rhs:Planar64Vec3){
-		*self=*self-rhs
-	}
-}
-impl std::ops::Mul<Planar64Vec3> for Planar64Vec3{
-	type Output=Planar64Vec3;
-	#[inline]
-	fn mul(self, rhs: Planar64Vec3) -> Self::Output {
-		Planar64Vec3(glam::i64vec3(
-			(((self.0.x as i128)*(rhs.0.x as i128))>>32) as i64,
-			(((self.0.y as i128)*(rhs.0.y as i128))>>32) as i64,
-			(((self.0.z as i128)*(rhs.0.z as i128))>>32) as i64
-		))
-	}
-}
-impl std::ops::Mul<Planar64> for Planar64Vec3{
-	type Output=Planar64Vec3;
-	#[inline]
-	fn mul(self, rhs: Planar64) -> Self::Output {
-		Planar64Vec3(glam::i64vec3(
-			(((self.0.x as i128)*(rhs.0 as i128))>>32) as i64,
-			(((self.0.y as i128)*(rhs.0 as i128))>>32) as i64,
-			(((self.0.z as i128)*(rhs.0 as i128))>>32) as i64
-		))
-	}
-}
-impl std::ops::Mul<i64> for Planar64Vec3{
-	type Output=Planar64Vec3;
-	#[inline]
-	fn mul(self,rhs:i64)->Self::Output {
-		Planar64Vec3(glam::i64vec3(
-			self.0.x*rhs,
-			self.0.y*rhs,
-			self.0.z*rhs
-		))
-	}
-}
-impl std::ops::Mul<Time> for Planar64Vec3{
-	type Output=Planar64Vec3;
-	#[inline]
-	fn mul(self,rhs:Time)->Self::Output{
-		Planar64Vec3(glam::i64vec3(
-			(((self.0.x as i128)*(rhs.0 as i128))/1_000_000_000) as i64,
-			(((self.0.y as i128)*(rhs.0 as i128))/1_000_000_000) as i64,
-			(((self.0.z as i128)*(rhs.0 as i128))/1_000_000_000) as i64
-		))
-	}
-}
-impl std::ops::Div<i64> for Planar64Vec3{
-	type Output=Planar64Vec3;
-	#[inline]
-	fn div(self,rhs:i64)->Self::Output{
-		Planar64Vec3(glam::i64vec3(
-			self.0.x/rhs,
-			self.0.y/rhs,
-			self.0.z/rhs,
-		))
-	}
-}
-
-///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy)]
-pub struct Planar64Mat3{
-	x_axis:Planar64Vec3,
-	y_axis:Planar64Vec3,
-	z_axis:Planar64Vec3,
-}
-impl Default for Planar64Mat3{
-	#[inline]
-	fn default() -> Self {
-		Self{
-			x_axis:Planar64Vec3::X,
-			y_axis:Planar64Vec3::Y,
-			z_axis:Planar64Vec3::Z,
-		}
-	}
-}
-impl std::ops::Mul<Planar64Vec3> for Planar64Mat3{
-	type Output=Planar64Vec3;
-	#[inline]
-	fn mul(self,rhs:Planar64Vec3) -> Self::Output {
-		self.x_axis*rhs.x()
-		+self.y_axis*rhs.y()
-		+self.z_axis*rhs.z()
-	}
-}
-
-impl Planar64Mat3{
-	#[inline]
-	pub fn from_cols(x_axis:Planar64Vec3,y_axis:Planar64Vec3,z_axis:Planar64Vec3)->Self{
-		Self{
-			x_axis,
-			y_axis,
-			z_axis,
-		}
-	}
-	pub const fn int_from_cols_array(array:[i32;9])->Self{
-		Self{
-			x_axis:Planar64Vec3::int(array[0],array[1],array[2]),
-			y_axis:Planar64Vec3::int(array[3],array[4],array[5]),
-			z_axis:Planar64Vec3::int(array[6],array[7],array[8]),
-		}
-	}
-	#[inline]
-	pub fn from_rotation_y(angle:Angle32)->Self{
-		let theta=angle.0 as f64*ANGLE32_TO_FLOAT64_RADIANS;
-		let (s,c)=theta.sin_cos();
-		let (c,s)=(c*PLANAR64_ONE_FLOAT64,s*PLANAR64_ONE_FLOAT64);
-		//TODO: fix this rounding towards 0
-		let (c,s):(i64,i64)=(unsafe{c.to_int_unchecked()},unsafe{s.to_int_unchecked()});
-		Self::from_cols(
-			Planar64Vec3(glam::i64vec3(c,0,-s)),
-			Planar64Vec3::Y,
-			Planar64Vec3(glam::i64vec3(s,0,c)),
-		)
-	}
-}
-impl Into<glam::Mat3> for Planar64Mat3{
-	#[inline]
-	fn into(self)->glam::Mat3{
-		glam::Mat3::from_cols(
-			self.x_axis.into(),
-			self.y_axis.into(),
-			self.z_axis.into(),
-		)
-	}
-}
-impl TryFrom<glam::Mat3A> for Planar64Mat3{
-	type Error=Planar64TryFromFloatError;
-	#[inline]
-	fn try_from(value:glam::Mat3A)->Result<Self,Self::Error>{
-		Ok(Self{
-			x_axis:Planar64Vec3::try_from(value.x_axis)?,
-			y_axis:Planar64Vec3::try_from(value.y_axis)?,
-			z_axis:Planar64Vec3::try_from(value.z_axis)?,
-		})
-	}
-}
-impl std::fmt::Display for Planar64Mat3{
-	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
-		write!(f,"\n{:.3},{:.3},{:.3}\n{:.3},{:.3},{:.3}\n{:.3},{:.3},{:.3}",
-			Into::<f32>::into(self.x_axis.x()),Into::<f32>::into(self.x_axis.y()),Into::<f32>::into(self.x_axis.z()),
-			Into::<f32>::into(self.y_axis.x()),Into::<f32>::into(self.y_axis.y()),Into::<f32>::into(self.y_axis.z()),
-			Into::<f32>::into(self.z_axis.x()),Into::<f32>::into(self.z_axis.y()),Into::<f32>::into(self.z_axis.z()),
-		)
-	}
-}
-impl std::ops::Div<i64> for Planar64Mat3{
-	type Output=Planar64Mat3;
-	#[inline]
-	fn div(self,rhs:i64)->Self::Output{
-		Planar64Mat3{
-			x_axis:self.x_axis/rhs,
-			y_axis:self.y_axis/rhs,
-			z_axis:self.z_axis/rhs,
-		}
-	}
-}
-
-///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy,Default)]
-pub struct Planar64Affine3{
-	pub matrix3:Planar64Mat3,//includes scale above 1
-	pub translation:Planar64Vec3,
-}
-
-impl Planar64Affine3{
-	#[inline]
-	pub fn new(matrix3:Planar64Mat3,translation:Planar64Vec3)->Self{
-		Self{matrix3,translation}
-	}
-	#[inline]
-	pub fn transform_point3(&self,point:Planar64Vec3) -> Planar64Vec3{
-		Planar64Vec3(
-			self.translation.0
-			+(self.matrix3.x_axis*point.x()).0
-			+(self.matrix3.y_axis*point.y()).0
-			+(self.matrix3.z_axis*point.z()).0
-		)
-	}
-}
-impl Into<glam::Mat4> for Planar64Affine3{
-	#[inline]
-	fn into(self)->glam::Mat4{
-		glam::Mat4::from_cols_array(&[
-			self.matrix3.x_axis.0.x as f32,self.matrix3.x_axis.0.y as f32,self.matrix3.x_axis.0.z as f32,0.0,
-			self.matrix3.y_axis.0.x as f32,self.matrix3.y_axis.0.y as f32,self.matrix3.y_axis.0.z as f32,0.0,
-			self.matrix3.z_axis.0.x as f32,self.matrix3.z_axis.0.y as f32,self.matrix3.z_axis.0.z as f32,0.0,
-			self.translation.0.x as f32,self.translation.0.y as f32,self.translation.0.z as f32,PLANAR64_ONE_FLOAT32
-		])*PLANAR64_CONVERT_TO_FLOAT32
-	}
-}
-impl TryFrom<glam::Affine3A> for Planar64Affine3{
-	type Error=Planar64TryFromFloatError;
-	fn try_from(value: glam::Affine3A)->Result<Self, Self::Error> {
-		Ok(Self{
-			matrix3:Planar64Mat3::try_from(value.matrix3)?,
-			translation:Planar64Vec3::try_from(value.translation)?
-		})
-	}
-}
-impl std::fmt::Display for Planar64Affine3{
-	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
-		write!(f,"translation: {:.3},{:.3},{:.3}\nmatrix3:\n{:.3},{:.3},{:.3}\n{:.3},{:.3},{:.3}\n{:.3},{:.3},{:.3}",
-			Into::<f32>::into(self.translation.x()),Into::<f32>::into(self.translation.y()),Into::<f32>::into(self.translation.z()),
-			Into::<f32>::into(self.matrix3.x_axis.x()),Into::<f32>::into(self.matrix3.x_axis.y()),Into::<f32>::into(self.matrix3.x_axis.z()),
-			Into::<f32>::into(self.matrix3.y_axis.x()),Into::<f32>::into(self.matrix3.y_axis.y()),Into::<f32>::into(self.matrix3.y_axis.z()),
-			Into::<f32>::into(self.matrix3.z_axis.x()),Into::<f32>::into(self.matrix3.z_axis.y()),Into::<f32>::into(self.matrix3.z_axis.z()),
-		)
-	}
-}
-
-#[test]
-fn test_sqrt(){
-	let r=Planar64::int(400);
-	println!("r{}",r.get());
-	let s=r.sqrt();
-	println!("s{}",s.get());
-}

src/load_bsp.rs

@@ -0,0 +1,232 @@
+use strafesnet_common::integer;
+
+const VALVE_SCALE:f32=1.0/16.0;
+fn valve_transform(v:[f32;3])->integer::Planar64Vec3{
+	integer::Planar64Vec3::try_from([v[0]*VALVE_SCALE,v[2]*VALVE_SCALE,-v[1]*VALVE_SCALE]).unwrap()
+}
+pub fn generate_indexed_models<R:std::io::Read+std::io::Seek>(input:&mut R)->Result<crate::model::IndexedModelInstances,vbsp::BspError>{
+	let mut s=Vec::new();
+
+	match input.read_to_end(&mut s){
+		Ok(_)=>(),
+		Err(e)=>println!("load_bsp::generate_indexed_models read_to_end failed: {:?}",e),
+	}
+
+	match vbsp::Bsp::read(s.as_slice()){
+		Ok(bsp)=>{
+			let mut spawn_point=integer::Planar64Vec3::ZERO;
+
+			let mut name_from_texture_id=Vec::new();
+			let mut texture_id_from_name=std::collections::HashMap::new();
+
+			let mut models=bsp.models().map(|world_model|{
+				//non-deduplicated
+				let mut spam_pos=Vec::new();
+				let mut spam_tex=Vec::new();
+				let mut spam_normal=Vec::new();
+				let mut spam_vertices=Vec::new();
+				let groups=world_model.faces()
+				.filter(|face| face.is_visible())//TODO: look at this
+				.map(|face|{
+					let face_texture=face.texture();
+					let face_texture_data=face_texture.texture_data();
+					let (texture_u,texture_v)=(glam::Vec3A::from_slice(&face_texture.texture_transforms_u[0..3]),glam::Vec3A::from_slice(&face_texture.texture_transforms_v[0..3]));
+					let texture_offset=glam::vec2(face_texture.texture_transforms_u[3],face_texture.texture_transforms_v[3]);
+					let texture_size=glam::vec2(face_texture_data.width as f32,face_texture_data.height as f32);
+
+					//texture
+					let texture_id=if let Some(&texture_id)=texture_id_from_name.get(face_texture_data.name()){
+						texture_id
+					}else{
+						let texture_id=name_from_texture_id.len() as u32;
+						texture_id_from_name.insert(face_texture_data.name().to_string(),texture_id);
+						name_from_texture_id.push(face_texture_data.name().to_string());
+						texture_id
+					};
+
+					//normal
+					let normal=face.normal();
+					let normal_idx=spam_normal.len() as u32;
+					spam_normal.push(valve_transform(<[f32;3]>::from(normal)));
+					let mut vertices:Vec<u32>=face.vertex_positions().map(|vertex_pos|{
+						let vertex_xyz=<[f32;3]>::from(vertex_pos);
+						let pos=glam::Vec3A::from_array(vertex_xyz);
+						let pos_idx=spam_pos.len();
+						spam_pos.push(valve_transform(vertex_xyz));
+
+						//calculate texture coordinates
+						let tex=(glam::vec2(pos.dot(texture_u),pos.dot(texture_v))+texture_offset)/texture_size;
+						let tex_idx=spam_tex.len() as u32;
+						spam_tex.push(tex);
+
+						let i=spam_vertices.len() as u32;
+						spam_vertices.push(crate::model::IndexedVertex{
+							pos: pos_idx as u32,
+							tex: tex_idx as u32,
+							normal: normal_idx,
+							color: 0,
+						});
+						i
+					}).collect();
+					vertices.reverse();
+					crate::model::IndexedGroup{
+						texture:Some(texture_id),
+						polys:vec![crate::model::IndexedPolygon{vertices}],
+					}
+				}).collect();
+				crate::model::IndexedModel{
+					unique_pos:spam_pos,
+					unique_tex:spam_tex,
+					unique_normal:spam_normal,
+					unique_color:vec![glam::Vec4::ONE],
+					unique_vertices:spam_vertices,
+					groups,
+					instances:vec![crate::model::ModelInstance{
+						attributes:crate::model::CollisionAttributes::Decoration,
+						transform:integer::Planar64Affine3::new(
+							integer::Planar64Mat3::default(),
+							valve_transform(<[f32;3]>::from(world_model.origin))
+						),
+						..Default::default()
+					}],
+				}
+			}).collect();
+
+			//dedupe prop models
+			let mut model_dedupe=std::collections::HashSet::new();
+			for prop in bsp.static_props(){
+				model_dedupe.insert(prop.model());
+			}
+
+			//generate unique meshes
+			let mut model_map=std::collections::HashMap::with_capacity(model_dedupe.len());
+			let mut prop_models=Vec::new();
+			for model_name in model_dedupe{
+				let model_name_lower=model_name.to_lowercase();
+				//.mdl, .vvd, .dx90.vtx
+				let mut path=std::path::PathBuf::from(model_name_lower.as_str());
+				let file_name=std::path::PathBuf::from(path.file_stem().unwrap());
+				path.pop();
+				path.push(file_name);
+				let mut vvd_path=path.clone();
+				let mut vtx_path=path.clone();
+				vvd_path.set_extension("vvd");
+				vtx_path.set_extension("dx90.vtx");
+				match (bsp.pack.get(model_name_lower.as_str()),bsp.pack.get(vvd_path.as_os_str().to_str().unwrap()),bsp.pack.get(vtx_path.as_os_str().to_str().unwrap())){
+					(Ok(Some(mdl_file)),Ok(Some(vvd_file)),Ok(Some(vtx_file)))=>{
+						match (vmdl::mdl::Mdl::read(mdl_file.as_ref()),vmdl::vvd::Vvd::read(vvd_file.as_ref()),vmdl::vtx::Vtx::read(vtx_file.as_ref())){
+							(Ok(mdl),Ok(vvd),Ok(vtx))=>{
+								let model=vmdl::Model::from_parts(mdl,vtx,vvd);
+								let texture_paths=model.texture_directories();
+								if texture_paths.len()!=1{
+									println!("WARNING: multiple texture paths");
+								}
+								let skin=model.skin_tables().nth(0).unwrap();
+
+								let mut spam_pos=Vec::with_capacity(model.vertices().len());
+								let mut spam_normal=Vec::with_capacity(model.vertices().len());
+								let mut spam_tex=Vec::with_capacity(model.vertices().len());
+								let mut spam_vertices=Vec::with_capacity(model.vertices().len());
+								for (i,vertex) in model.vertices().iter().enumerate(){
+									spam_pos.push(valve_transform(<[f32;3]>::from(vertex.position)));
+									spam_normal.push(valve_transform(<[f32;3]>::from(vertex.normal)));
+									spam_tex.push(glam::Vec2::from_array(vertex.texture_coordinates));
+									spam_vertices.push(crate::model::IndexedVertex{
+										pos:i as u32,
+										tex:i as u32,
+										normal:i as u32,
+										color:0,
+									});
+								}
+
+								let model_id=prop_models.len();
+								model_map.insert(model_name,model_id);
+								prop_models.push(crate::model::IndexedModel{
+									unique_pos:spam_pos,
+									unique_normal:spam_normal,
+									unique_tex:spam_tex,
+									unique_color:vec![glam::Vec4::ONE],
+									unique_vertices:spam_vertices,
+									groups:model.meshes().map(|mesh|{
+										let texture=if let (Some(texture_path),Some(texture_name))=(texture_paths.get(0),skin.texture(mesh.material_index())){
+											let mut path=std::path::PathBuf::from(texture_path.as_str());
+											path.push(texture_name);
+											let texture_location=path.as_os_str().to_str().unwrap();
+											let texture_id=if let Some(&texture_id)=texture_id_from_name.get(texture_location){
+												texture_id
+											}else{
+												println!("texture! {}",texture_location);
+												let texture_id=name_from_texture_id.len() as u32;
+												texture_id_from_name.insert(texture_location.to_string(),texture_id);
+												name_from_texture_id.push(texture_location.to_string());
+												texture_id
+											};
+											Some(texture_id)
+										}else{
+											None
+										};
+
+										crate::model::IndexedGroup{
+											texture,
+											polys:{
+												//looking at the code, it would seem that the strips are pre-deindexed into triangle lists when calling this function
+												mesh.vertex_strip_indices().map(|strip|{
+													strip.collect::<Vec<usize>>().chunks(3).map(|tri|{
+														crate::model::IndexedPolygon{vertices:vec![tri[0] as u32,tri[1] as u32,tri[2] as u32]}
+													}).collect::<Vec<crate::model::IndexedPolygon>>()
+												}).flatten().collect()
+											},
+										}
+									}).collect(),
+									instances:Vec::new(),
+								});
+							},
+							_=>println!("model_name={} error",model_name),
+						}
+					},
+					_=>println!("no model name={}",model_name),
+				}
+			}
+
+			//generate model instances
+			for prop in bsp.static_props(){
+				let placement=prop.as_prop_placement();
+				if let Some(&model_index)=model_map.get(placement.model){
+					prop_models[model_index].instances.push(crate::model::ModelInstance{
+						transform:integer::Planar64Affine3::new(
+							integer::Planar64Mat3::try_from(
+								glam::Mat3A::from_diagonal(glam::Vec3::splat(placement.scale))
+								//TODO: figure this out
+								*glam::Mat3A::from_quat(glam::Quat::from_xyzw(
+									placement.rotation.v.x,//b
+									placement.rotation.v.y,//c
+									placement.rotation.v.z,//d
+									placement.rotation.s,//a
+								))
+							).unwrap(),
+							valve_transform(<[f32;3]>::from(placement.origin)),
+						),
+						attributes:crate::model::CollisionAttributes::Decoration,
+						..Default::default()
+					});
+				}else{
+					//println!("model not found {}",placement.model);
+				}
+			}
+
+			//actually add the prop models
+			prop_models.append(&mut models);
+
+			Ok(crate::model::IndexedModelInstances{
+				textures:name_from_texture_id,
+				models:prop_models,
+				spawn_point,
+				modes:Vec::new(),
+			})
+		},
+		Err(e)=>{
+			println!("rotten {:?}",e);
+			Err(e)
+		},
+	}
+}

src/load_roblox.rs

@@ -1,5 +1,5 @@
 use crate::primitives;
-use crate::integer::{Planar64,Planar64Vec3,Planar64Mat3,Planar64Affine3};
+use strafesnet_common::integer::{Planar64,Planar64Vec3,Planar64Mat3,Planar64Affine3};
 
 fn class_is_a(class: &str, superclass: &str) -> bool {
 	if class==superclass {
@@ -14,23 +14,18 @@ fn class_is_a(class: &str, superclass: &str) -> bool {
 	return false
 }
 fn recursive_collect_superclass(objects: &mut std::vec::Vec<rbx_dom_weak::types::Ref>,dom: &rbx_dom_weak::WeakDom, instance: &rbx_dom_weak::Instance, superclass: &str){
-	for &referent in instance.children() {
-		if let Some(c) = dom.get_by_ref(referent) {
-			if class_is_a(c.class.as_str(), superclass) {
-				objects.push(c.referent());//copy ref
+	let mut stack=vec![instance];
+	while let Some(item)=stack.pop(){
+		for &referent in item.children(){
+			if let Some(c)=dom.get_by_ref(referent){
+				if class_is_a(c.class.as_str(),superclass){
+					objects.push(c.referent());//copy ref
+				}
+				stack.push(c);
 			}
-			recursive_collect_superclass(objects,dom,c,superclass);
 		}
 	}
 }
-fn get_texture_refs(dom:&rbx_dom_weak::WeakDom) -> Vec<rbx_dom_weak::types::Ref>{
-	let mut objects = std::vec::Vec::new();
-	recursive_collect_superclass(&mut objects, dom, dom.root(),"Decal");
-	//get ids
-	//clear vec
-	//next class
-	objects
-}
 fn planar64_affine3_from_roblox(cf:&rbx_dom_weak::types::CFrame,size:&rbx_dom_weak::types::Vector3)->Planar64Affine3{
 	Planar64Affine3::new(
 		Planar64Mat3::from_cols(
@@ -50,8 +45,23 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
 	let mut contacting=crate::model::ContactingAttributes::default();
 	let mut force_can_collide=can_collide;
 	match name{
-		"Water"=>intersecting.water=Some(crate::model::IntersectingWater{density:Planar64::ONE,viscosity:Planar64::ONE/10,current:velocity}),
-		"Accelerator"=>{force_can_collide=false;intersecting.accelerator=Some(crate::model::IntersectingAccelerator{acceleration:velocity})},
+		"Water"=>{
+			force_can_collide=false;
+			//TODO: read stupid CustomPhysicalProperties
+			intersecting.water=Some(crate::model::IntersectingWater{density:Planar64::ONE,viscosity:Planar64::ONE/10,velocity});
+		},
+		"Accelerator"=>{
+			//although the new game supports collidable accelerators, this is a roblox compatability map loader
+			force_can_collide=false;
+			general.accelerator=Some(crate::model::GameMechanicAccelerator{acceleration:velocity});
+		},
+		// "UnorderedCheckpoint"=>general.teleport_behaviour=Some(crate::model::TeleportBehaviour::StageElement(crate::model::GameMechanicStageElement{
+		// 	mode_id:0,
+		// 	stage_id:0,
+		// 	force:false,
+		// 	behaviour:crate::model::StageElementBehaviour::Unordered
+		// })),
+		"SetVelocity"=>general.trajectory=Some(crate::model::GameMechanicSetTrajectory::Velocity(velocity)),
 		"MapFinish"=>{force_can_collide=false;general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Finish})},
 		"MapAnticheat"=>{force_can_collide=false;general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Anitcheat})},
 		"Platform"=>general.teleport_behaviour=Some(crate::model::TeleportBehaviour::StageElement(crate::model::GameMechanicStageElement{
@@ -72,12 +82,28 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
 					},
 					behaviour:match &captures[2]{
 						"Spawn"|"SpawnAt"=>crate::model::StageElementBehaviour::SpawnAt,
+						//cancollide false so you don't hit the side
+						//NOT a decoration
 						"Trigger"=>{force_can_collide=false;crate::model::StageElementBehaviour::Trigger},
 						"Teleport"=>{force_can_collide=false;crate::model::StageElementBehaviour::Teleport},
 						"Platform"=>crate::model::StageElementBehaviour::Platform,
 						_=>panic!("regex1[2] messed up bad"),
 					}
 				}));
+			}else if let Some(captures)=lazy_regex::regex!(r"^(Force)?(Jump)(\d+)$")
+			.captures(other){
+				general.teleport_behaviour=Some(crate::model::TeleportBehaviour::StageElement(crate::model::GameMechanicStageElement{
+					mode_id:0,
+					stage_id:0,
+					force:match captures.get(1){
+						Some(m)=>m.as_str()=="Force",
+						None=>false,
+					},
+					behaviour:match &captures[2]{
+						"Jump"=>crate::model::StageElementBehaviour::JumpLimit(captures[3].parse::<u32>().unwrap()),
+						_=>panic!("regex4[1] messed up bad"),
+					}
+				}));
 			}else if let Some(captures)=lazy_regex::regex!(r"^Bonus(Finish|Anticheat)(\d+)$")
 			.captures(other){
 				force_can_collide=false;
@@ -86,39 +112,40 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
 					"Anticheat"=>general.zone=Some(crate::model::GameMechanicZone{mode_id:captures[2].parse::<u32>().unwrap(),behaviour:crate::model::ZoneBehaviour::Anitcheat}),
 					_=>panic!("regex2[1] messed up bad"),
 				}
+			}else if let Some(captures)=lazy_regex::regex!(r"^(WormholeIn)(\d+)$")
+			.captures(other){
+				force_can_collide=false;
+				match &captures[1]{
+					"WormholeIn"=>general.teleport_behaviour=Some(crate::model::TeleportBehaviour::Wormhole(crate::model::GameMechanicWormhole{destination_model_id:captures[2].parse::<u32>().unwrap()})),
+					_=>panic!("regex3[1] messed up bad"),
+				}
 			}
+			// else if let Some(captures)=lazy_regex::regex!(r"^(OrderedCheckpoint)(\d+)$")
+			// .captures(other){
+			// 	match &captures[1]{
+			// 		"OrderedCheckpoint"=>general.checkpoint=Some(crate::model::GameMechanicCheckpoint::Ordered{mode_id:0,checkpoint_id:captures[2].parse::<u32>().unwrap()}),
+			// 		_=>panic!("regex3[1] messed up bad"),
+			// 	}
+			// }
 		}
 	}
 	//need some way to skip this
 	if velocity!=Planar64Vec3::ZERO{
-		general.booster=Some(crate::model::GameMechanicBooster{velocity});
+		general.booster=Some(crate::model::GameMechanicBooster::Velocity(velocity));
 	}
 	match force_can_collide{
 		true=>{
 			match name{
-				"Bounce"=>contacting.elasticity=Some(u32::MAX),
-				"Surf"=>contacting.surf=Some(crate::model::ContactingSurf{}),
-				"Ladder"=>contacting.ladder=Some(crate::model::ContactingLadder{sticky:true}),
-				other=>{
-					if let Some(captures)=lazy_regex::regex!(r"^(Jump|WormholeIn)(\d+)$")
-					.captures(other){
-						match &captures[1]{
-							"Jump"=>general.jump_limit=Some(crate::model::GameMechanicJumpLimit{count:captures[2].parse::<u32>().unwrap()}),
-							"WormholeIn"=>general.teleport_behaviour=Some(crate::model::TeleportBehaviour::Wormhole(crate::model::GameMechanicWormhole{destination_model_id:captures[2].parse::<u32>().unwrap()})),
-							_=>panic!("regex3[1] messed up bad"),
-						}
-					}
-				}
+				"Bounce"=>contacting.contact_behaviour=Some(crate::model::ContactingBehaviour::Elastic(u32::MAX)),
+				"Surf"=>contacting.contact_behaviour=Some(crate::model::ContactingBehaviour::Surf),
+				"Ladder"=>contacting.contact_behaviour=Some(crate::model::ContactingBehaviour::Ladder(crate::model::ContactingLadder{sticky:true})),
+				_=>(),
 			}
 			crate::model::CollisionAttributes::Contact{contacting,general}
 		},
 		false=>if force_intersecting
-		||general.jump_limit.is_some()
-		||general.booster.is_some()
-		||general.zone.is_some()
-		||general.teleport_behaviour.is_some()
-		||intersecting.water.is_some()
-		||intersecting.accelerator.is_some()
+		||general.any()
+		||intersecting.any()
 		{
 			crate::model::CollisionAttributes::Intersect{intersecting,general}
 		}else{
@@ -199,9 +226,9 @@ type RobloxWedgeDescription=[Option<RobloxFaceTextureDescription>;5];
 type RobloxCornerWedgeDescription=[Option<RobloxFaceTextureDescription>;5];
 #[derive(Clone,Eq,Hash,PartialEq)]
 enum RobloxBasePartDescription{
-	Sphere,
+	Sphere(RobloxPartDescription),
 	Part(RobloxPartDescription),
-	Cylinder,
+	Cylinder(RobloxPartDescription),
 	Wedge(RobloxWedgeDescription),
 	CornerWedge(RobloxCornerWedgeDescription),
 }
@@ -238,22 +265,33 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 			{
 				let model_transform=planar64_affine3_from_roblox(cf,size);
 
+				if model_transform.matrix3.determinant()==Planar64::ZERO{
+					let mut parent_ref=object.parent();
+					let mut full_path=object.name.clone();
+					while let Some(parent)=dom.get_by_ref(parent_ref){
+						full_path=format!("{}.{}",parent.name,full_path);
+						parent_ref=parent.parent();
+					}
+					println!("Zero determinant CFrame at location {}",full_path);
+					println!("matrix3:{}",model_transform.matrix3);
+					continue;
+				}
+
 				//push TempIndexedAttributes
 				let mut force_intersecting=false;
 				let mut temp_indexing_attributes=Vec::new();
 				if let Some(attr)=match &object.name[..]{
 					"MapStart"=>{
 						spawn_point=model_transform.transform_point3(Planar64Vec3::ZERO)+Planar64Vec3::Y*5/2;
-						Some(crate::model::TempIndexedAttributes::Start{mode_id:0})
+						Some(crate::model::TempIndexedAttributes::Start(crate::model::TempAttrStart{mode_id:0}))
 					},
-					"UnorderedCheckpoint"=>Some(crate::model::TempIndexedAttributes::UnorderedCheckpoint{mode_id:0}),
 					other=>{
-						let regman=lazy_regex::regex!(r"^(BonusStart|Spawn|ForceSpawn|OrderedCheckpoint)(\d+)$");
+						let regman=lazy_regex::regex!(r"^(BonusStart|Spawn|ForceSpawn|WormholeOut)(\d+)$");
 						if let Some(captures) = regman.captures(other) {
 							match &captures[1]{
-								"BonusStart"=>Some(crate::model::TempIndexedAttributes::Start{mode_id:captures[2].parse::<u32>().unwrap()}),
-								"Spawn"|"ForceSpawn"=>Some(crate::model::TempIndexedAttributes::Spawn{mode_id:0,stage_id:captures[2].parse::<u32>().unwrap()}),
-								"OrderedCheckpoint"=>Some(crate::model::TempIndexedAttributes::OrderedCheckpoint{mode_id:0,checkpoint_id:captures[2].parse::<u32>().unwrap()}),
+								"BonusStart"=>Some(crate::model::TempIndexedAttributes::Start(crate::model::TempAttrStart{mode_id:captures[2].parse::<u32>().unwrap()})),
+								"Spawn"|"ForceSpawn"=>Some(crate::model::TempIndexedAttributes::Spawn(crate::model::TempAttrSpawn{mode_id:0,stage_id:captures[2].parse::<u32>().unwrap()})),
+								"WormholeOut"=>Some(crate::model::TempIndexedAttributes::Wormhole(crate::model::TempAttrWormhole{wormhole_id:captures[2].parse::<u32>().unwrap()})),
 								_=>None,
 							}
 						}else{
@@ -281,6 +319,7 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 							panic!("Part has no Shape!");
 						}
 					},
+					"TrussPart"=>primitives::Primitives::Cube,
 					"WedgePart"=>primitives::Primitives::Wedge,
 					"CornerWedgePart"=>primitives::Primitives::CornerWedge,
 					_=>{
@@ -375,9 +414,9 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 					f5,//Cube::Front
 				]=part_texture_description;
 				let basepart_texture_description=match shape{
-					primitives::Primitives::Sphere=>RobloxBasePartDescription::Sphere,
+					primitives::Primitives::Sphere=>RobloxBasePartDescription::Sphere([f0,f1,f2,f3,f4,f5]),
 					primitives::Primitives::Cube=>RobloxBasePartDescription::Part([f0,f1,f2,f3,f4,f5]),
-					primitives::Primitives::Cylinder=>RobloxBasePartDescription::Cylinder,
+					primitives::Primitives::Cylinder=>RobloxBasePartDescription::Cylinder([f0,f1,f2,f3,f4,f5]),
 					//use front face texture first and use top face texture as a fallback
 					primitives::Primitives::Wedge=>RobloxBasePartDescription::Wedge([
 						f0,//Cube::Right->Wedge::Right
@@ -403,9 +442,10 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 					let model_id=indexed_models.len();
 					model_id_from_description.insert(basepart_texture_description.clone(),model_id);//borrow checker going crazy
 					indexed_models.push(match basepart_texture_description{
-						RobloxBasePartDescription::Sphere=>primitives::unit_sphere(),
-						RobloxBasePartDescription::Part(part_texture_description)=>{
-							let mut cube_face_description=primitives::CubeFaceDescription::new();
+						RobloxBasePartDescription::Sphere(part_texture_description)
+						|RobloxBasePartDescription::Cylinder(part_texture_description)
+						|RobloxBasePartDescription::Part(part_texture_description)=>{
+							let mut cube_face_description=primitives::CubeFaceDescription::default();
 							for (face_id,roblox_face_description) in part_texture_description.iter().enumerate(){
 								cube_face_description.insert(
 								match face_id{
@@ -424,9 +464,8 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 							}
 							primitives::generate_partial_unit_cube(cube_face_description)
 						},
-						RobloxBasePartDescription::Cylinder=>primitives::unit_cylinder(),
 						RobloxBasePartDescription::Wedge(wedge_texture_description)=>{
-							let mut wedge_face_description=primitives::WedgeFaceDescription::new();
+							let mut wedge_face_description=primitives::WedgeFaceDescription::default();
 							for (face_id,roblox_face_description) in wedge_texture_description.iter().enumerate(){
 								wedge_face_description.insert(
 								match face_id{
@@ -445,7 +484,7 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 							primitives::generate_partial_unit_wedge(wedge_face_description)
 						},
 						RobloxBasePartDescription::CornerWedge(cornerwedge_texture_description)=>{
-							let mut cornerwedge_face_description=primitives::CornerWedgeFaceDescription::new();
+							let mut cornerwedge_face_description=primitives::CornerWedgeFaceDescription::default();
 							for (face_id,roblox_face_description) in cornerwedge_texture_description.iter().enumerate(){
 								cornerwedge_face_description.insert(
 								match face_id{

src/model.rs

@@ -1,4 +1,4 @@
-use crate::integer::{Planar64,Planar64Vec3,Planar64Affine3};
+use strafesnet_common::integer::{Time,Planar64,Planar64Vec3,Planar64Affine3};
 pub type TextureCoordinate=glam::Vec2;
 pub type Color4=glam::Vec4;
 #[derive(Clone,Hash,PartialEq,Eq)]
@@ -50,108 +50,151 @@ pub struct IndexedModelInstances{
 }
 //stage description referencing flattened ids is spooky, but the map loading is meant to be deterministic.
 pub struct ModeDescription{
-	pub start:u32,//start=model_id
-	pub spawns:Vec<u32>,//spawns[spawn_id]=model_id
-	pub ordered_checkpoints:Vec<u32>,//ordered_checkpoints[checkpoint_id]=model_id
-	pub unordered_checkpoints:Vec<u32>,//unordered_checkpoints[checkpoint_id]=model_id
+	//TODO: put "default" style modifiers in mode
+	//pub style:StyleModifiers,
+	pub start:usize,//start=model_id
+	pub spawns:Vec<usize>,//spawns[spawn_id]=model_id
 	pub spawn_from_stage_id:std::collections::HashMap::<u32,usize>,
 	pub ordered_checkpoint_from_checkpoint_id:std::collections::HashMap::<u32,usize>,
 }
 impl ModeDescription{
-	pub fn get_spawn_model_id(&self,stage_id:u32)->Option<&u32>{
-		if let Some(&spawn)=self.spawn_from_stage_id.get(&stage_id){
-			self.spawns.get(spawn)
-		}else{
-			None
-		}
-	}
-	pub fn get_ordered_checkpoint_model_id(&self,checkpoint_id:u32)->Option<&u32>{
-		if let Some(&checkpoint)=self.ordered_checkpoint_from_checkpoint_id.get(&checkpoint_id){
-			self.ordered_checkpoints.get(checkpoint)
-		}else{
-			None
-		}
+	pub fn get_spawn_model_id(&self,stage_id:u32)->Option<&usize>{
+		self.spawns.get(*self.spawn_from_stage_id.get(&stage_id)?)
 	}
 }
+//I don't want this code to exist!
+#[derive(Clone)]
+pub struct TempAttrStart{
+	pub mode_id:u32,
+}
+#[derive(Clone)]
+pub struct TempAttrSpawn{
+	pub mode_id:u32,
+	pub stage_id:u32,
+}
+#[derive(Clone)]
+pub struct TempAttrWormhole{
+	pub wormhole_id:u32,
+}
 pub enum TempIndexedAttributes{
-	Start{
-		mode_id:u32,
-	},
-	Spawn{
-		mode_id:u32,
-		stage_id:u32,
-	},
-	OrderedCheckpoint{
-		mode_id:u32,
-		checkpoint_id:u32,
-	},
-	UnorderedCheckpoint{
-		mode_id:u32,
-	},
+	Start(TempAttrStart),
+	Spawn(TempAttrSpawn),
+	Wormhole(TempAttrWormhole),
 }
 
 //you have this effect while in contact
-#[derive(Clone)]
-pub struct ContactingSurf{}
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct ContactingLadder{
 	pub sticky:bool
 }
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub enum ContactingBehaviour{
+	Surf,
+	Cling,//usable as a zipline, or other weird and wonderful things
+	Ladder(ContactingLadder),
+	Elastic(u32),//[1/2^32,1] 0=None (elasticity+1)/2^32
+}
 //you have this effect while intersecting
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct IntersectingWater{
 	pub viscosity:Planar64,
 	pub density:Planar64,
-	pub current:Planar64Vec3,
-}
-#[derive(Clone)]
-pub struct IntersectingAccelerator{
-	pub acceleration:Planar64Vec3
-}
-//All models can be given these attributes
-#[derive(Clone)]
-pub struct GameMechanicJumpLimit{
-	pub count:u32,
-}
-#[derive(Clone)]
-pub struct GameMechanicBooster{
 	pub velocity:Planar64Vec3,
 }
-#[derive(Clone)]
+//All models can be given these attributes
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub struct GameMechanicAccelerator{
+	pub acceleration:Planar64Vec3
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub enum GameMechanicBooster{
+	Affine(Planar64Affine3),//capable of SetVelocity,DotVelocity,normal booster,bouncy part,redirect velocity, and much more
+	Velocity(Planar64Vec3),//straight up boost velocity adds to your current velocity
+	Energy{direction:Planar64Vec3,energy:Planar64},//increase energy in direction
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub enum TrajectoryChoice{
+	HighArcLongDuration,//underhand lob at target: less horizontal speed and more air time
+	LowArcShortDuration,//overhand throw at target: more horizontal speed and less air time
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub enum GameMechanicSetTrajectory{
+	//Speed-type SetTrajectory
+	AirTime(Time),//air time (relative to gravity direction) is invariant across mass and gravity changes
+	Height(Planar64),//boost height (relative to gravity direction) is invariant across mass and gravity changes
+	DotVelocity{direction:Planar64Vec3,dot:Planar64},//set your velocity in a specific direction without touching other directions
+	//Velocity-type SetTrajectory
+	TargetPointTime{//launch on a trajectory that will land at a target point in a set amount of time
+		target_point:Planar64Vec3,
+		time:Time,//short time = fast and direct, long time = launch high in the air, negative time = wrong way
+	},
+	TargetPointSpeed{//launch at a fixed speed and land at a target point
+		target_point:Planar64Vec3,
+		speed:Planar64,//if speed is too low this will fail to reach the target.  The closest-passing trajectory will be chosen instead
+		trajectory_choice:TrajectoryChoice,
+	},
+	Velocity(Planar64Vec3),//SetVelocity
+}
+impl GameMechanicSetTrajectory{
+	fn is_velocity(&self)->bool{
+		match self{
+			GameMechanicSetTrajectory::AirTime(_)
+			|GameMechanicSetTrajectory::Height(_)
+			|GameMechanicSetTrajectory::DotVelocity{direction:_,dot:_}=>false,
+			GameMechanicSetTrajectory::TargetPointTime{target_point:_,time:_}
+			|GameMechanicSetTrajectory::TargetPointSpeed{target_point:_,speed:_,trajectory_choice:_}
+			|GameMechanicSetTrajectory::Velocity(_)=>true,
+		}
+	}
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub enum ZoneBehaviour{
 	//Start is indexed
 	//Checkpoints are indexed
 	Finish,
 	Anitcheat,
 }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct GameMechanicZone{
 	pub mode_id:u32,
 	pub behaviour:ZoneBehaviour,
 }
 // enum TrapCondition{
-// 	FasterThan(i64),
-// 	SlowerThan(i64),
-// 	InRange(i64,i64),
-// 	OutsideRange(i64,i64),
+// 	FasterThan(Planar64),
+// 	SlowerThan(Planar64),
+// 	InRange(Planar64,Planar64),
+// 	OutsideRange(Planar64,Planar64),
 // }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub enum StageElementBehaviour{
- 	//Spawn,//The behaviour of stepping on a spawn setting the spawnid
- 	SpawnAt,
- 	Trigger,
- 	Teleport,
- 	Platform,
- 	//Speedtrap(TrapCondition),//Acts as a trigger with a speed condition
+	//Spawn,//The behaviour of stepping on a spawn setting the spawnid
+	SpawnAt,//must be standing on top to get effect. except cancollide false
+	Trigger,
+	Teleport,
+	Platform,
+	//Checkpoint acts like a trigger if you haven't hit all the checkpoints yet.
+	//Note that all stage elements act like this for the next stage.
+	Checkpoint,
+	//OrderedCheckpoint. You must pass through all of these in ascending order.
+	//If you hit them out of order it acts like a trigger.
+	//Do not support backtracking at all for now.
+	Ordered{
+		checkpoint_id:u32,
+	},
+	//UnorderedCheckpoint. You must pass through all of these in any order.
+	Unordered,
+	//If you get reset by a jump limit
+	JumpLimit(u32),
+	//Speedtrap(TrapCondition),//Acts as a trigger with a speed condition
 }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct GameMechanicStageElement{
 	pub mode_id:u32,
 	pub stage_id:u32,//which spawn to send to
 	pub force:bool,//allow setting to lower spawn id i.e. 7->3
 	pub behaviour:StageElementBehaviour
 }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct GameMechanicWormhole{
 	//destination does not need to be another wormhole
 	//this defines a one way portal to a destination model transform
@@ -159,29 +202,61 @@ pub struct GameMechanicWormhole{
 	pub destination_model_id:u32,
 	//(position,angles)*=origin.transform.inverse()*destination.transform
 }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub enum TeleportBehaviour{
 	StageElement(GameMechanicStageElement),
 	Wormhole(GameMechanicWormhole),
 }
-#[derive(Default,Clone)]
+//attributes listed in order of handling
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
 pub struct GameMechanicAttributes{
-	pub jump_limit:Option<GameMechanicJumpLimit>,
-	pub booster:Option<GameMechanicBooster>,
 	pub zone:Option<GameMechanicZone>,
+	pub booster:Option<GameMechanicBooster>,
+	pub trajectory:Option<GameMechanicSetTrajectory>,
 	pub teleport_behaviour:Option<TeleportBehaviour>,
+	pub accelerator:Option<GameMechanicAccelerator>,
 }
-#[derive(Default,Clone)]
+impl GameMechanicAttributes{
+	pub fn any(&self)->bool{
+		self.zone.is_some()
+		||self.booster.is_some()
+		||self.trajectory.is_some()
+		||self.teleport_behaviour.is_some()
+		||self.accelerator.is_some()
+	}
+	pub fn is_wrcp(&self,current_mode_id:u32)->bool{
+		self.trajectory.as_ref().map_or(false,|t|t.is_velocity())
+		&&match &self.teleport_behaviour{
+			Some(TeleportBehaviour::StageElement(
+				GameMechanicStageElement{
+					mode_id,
+					stage_id:_,
+					force:true,
+					behaviour:StageElementBehaviour::Trigger|StageElementBehaviour::Teleport
+				}
+			))=>current_mode_id==*mode_id,
+			_=>false,
+		}
+	}
+}
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
 pub struct ContactingAttributes{
-	pub elasticity:Option<u32>,//[1/2^32,1] 0=None (elasticity+1)/2^32
 	//friction?
-	pub surf:Option<ContactingSurf>,
-	pub ladder:Option<ContactingLadder>,
+	pub contact_behaviour:Option<ContactingBehaviour>,
 }
-#[derive(Default,Clone)]
+impl ContactingAttributes{
+	pub fn any(&self)->bool{
+		self.contact_behaviour.is_some()
+	}
+}
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
 pub struct IntersectingAttributes{
 	pub water:Option<IntersectingWater>,
-	pub accelerator:Option<IntersectingAccelerator>,
+}
+impl IntersectingAttributes{
+	pub fn any(&self)->bool{
+		self.water.is_some()
+	}
 }
 //Spawn(u32) NO! spawns are indexed in the map header instead of marked with attibutes
 pub enum CollisionAttributes{

src/model_graphics.rs

@@ -11,7 +11,7 @@ pub struct GraphicsVertex {
 pub struct IndexedGroupFixedTexture{
 	pub polys:Vec<IndexedPolygon>,
 }
-pub struct IndexedModelGraphicsSingleTexture{
+pub struct IndexedGraphicsModelSingleTexture{
 	pub unique_pos:Vec<[f32; 3]>,
 	pub unique_tex:Vec<[f32; 2]>,
 	pub unique_normal:Vec<[f32; 3]>,
@@ -19,17 +19,41 @@ pub struct IndexedModelGraphicsSingleTexture{
 	pub unique_vertices:Vec<IndexedVertex>,
 	pub texture:Option<u32>,//RenderPattern? material/texture/shader/flat color
 	pub groups: Vec<IndexedGroupFixedTexture>,
-	pub instances:Vec<ModelGraphicsInstance>,
+	pub instances:Vec<GraphicsModelInstance>,
 }
-pub struct ModelGraphicsSingleTexture{
-	pub instances: Vec<ModelGraphicsInstance>,
-	pub vertices: Vec<GraphicsVertex>,
-	pub entities: Vec<Vec<u16>>,
-	pub texture: Option<u32>,
+pub enum Entities{
+	U32(Vec<Vec<u32>>),
+	U16(Vec<Vec<u16>>),
 }
+pub struct GraphicsModelSingleTexture{
+	pub instances:Vec<GraphicsModelInstance>,
+	pub vertices:Vec<GraphicsVertex>,
+	pub entities:Entities,
+	pub texture:Option<u32>,
+}
+#[derive(Clone,PartialEq)]
+pub struct GraphicsModelColor4(glam::Vec4);
+impl GraphicsModelColor4{
+	pub const fn get(&self)->glam::Vec4{
+		self.0
+	}
+}
+impl From<glam::Vec4> for GraphicsModelColor4{
+	fn from(value:glam::Vec4)->Self{
+		Self(value)
+	}
+}
+impl std::hash::Hash for GraphicsModelColor4{
+	fn hash<H: std::hash::Hasher>(&self,state:&mut H) {
+		for &f in self.0.as_ref(){
+			bytemuck::cast::<f32,u32>(f).hash(state);
+		}
+	}
+}
+impl Eq for GraphicsModelColor4{}
 #[derive(Clone)]
-pub struct ModelGraphicsInstance{
+pub struct GraphicsModelInstance{
 	pub transform:glam::Mat4,
 	pub normal_transform:glam::Mat3,
-	pub color:glam::Vec4,
-}
+	pub color:GraphicsModelColor4,
+}

src/model_physics.rs

@@ -1 +1,745 @@
-//
+use std::borrow::{Borrow,Cow};
+use strafesnet_common::zeroes;
+use strafesnet_common::integer::{self,Planar64,Planar64Vec3};
+
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub struct VertId(usize);
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub struct EdgeId(usize);
+pub trait UndirectedEdge{
+	type DirectedEdge:Copy+DirectedEdge;
+	fn as_directed(&self,parity:bool)->Self::DirectedEdge;
+}
+impl UndirectedEdge for EdgeId{
+	type DirectedEdge=DirectedEdgeId;
+	fn as_directed(&self,parity:bool)->DirectedEdgeId{
+		DirectedEdgeId(self.0|((parity as usize)<<(usize::BITS-1)))
+	}
+}
+pub trait DirectedEdge{
+	type UndirectedEdge:Copy+UndirectedEdge;
+	fn as_undirected(&self)->Self::UndirectedEdge;
+	fn parity(&self)->bool;
+	//this is stupid but may work fine
+	fn reverse(&self)-><<Self as DirectedEdge>::UndirectedEdge as UndirectedEdge>::DirectedEdge{
+		self.as_undirected().as_directed(!self.parity())
+	}
+}
+/// DirectedEdgeId refers to an EdgeId when undirected.
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub struct DirectedEdgeId(usize);
+impl DirectedEdge for DirectedEdgeId{
+	type UndirectedEdge=EdgeId;
+	fn as_undirected(&self)->EdgeId{
+		EdgeId(self.0&!(1<<(usize::BITS-1)))
+	}
+	fn parity(&self)->bool{
+		self.0&(1<<(usize::BITS-1))!=0
+	}
+}
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub struct FaceId(usize);
+
+//Vertex <-> Edge <-> Face -> Collide
+pub enum FEV<F,E:DirectedEdge,V>{
+	Face(F),
+	Edge(E::UndirectedEdge),
+	Vert(V),
+}
+
+//use Unit32 #[repr(C)] for map files
+struct Face{
+	normal:Planar64Vec3,
+	dot:Planar64,
+}
+struct Vert(Planar64Vec3);
+pub trait MeshQuery<FACE:Clone,EDGE:Clone+DirectedEdge,VERT:Clone>{
+	fn edge_n(&self,edge_id:EDGE::UndirectedEdge)->Planar64Vec3{
+		let verts=self.edge_verts(edge_id);
+		self.vert(verts[1].clone())-self.vert(verts[0].clone())
+	}
+	fn directed_edge_n(&self,directed_edge_id:EDGE)->Planar64Vec3{
+		let verts=self.edge_verts(directed_edge_id.as_undirected());
+		(self.vert(verts[1].clone())-self.vert(verts[0].clone()))*((directed_edge_id.parity() as i64)*2-1)
+	}
+	fn vert(&self,vert_id:VERT)->Planar64Vec3;
+	fn face_nd(&self,face_id:FACE)->(Planar64Vec3,Planar64);
+	fn face_edges(&self,face_id:FACE)->Cow<Vec<EDGE>>;
+	fn edge_faces(&self,edge_id:EDGE::UndirectedEdge)->Cow<[FACE;2]>;
+	fn edge_verts(&self,edge_id:EDGE::UndirectedEdge)->Cow<[VERT;2]>;
+	fn vert_edges(&self,vert_id:VERT)->Cow<Vec<EDGE>>;
+	fn vert_faces(&self,vert_id:VERT)->Cow<Vec<FACE>>;
+}
+struct FaceRefs{
+	edges:Vec<DirectedEdgeId>,
+	//verts:Vec<VertId>,
+}
+struct EdgeRefs{
+	faces:[FaceId;2],//left, right
+	verts:[VertId;2],//bottom, top
+}
+struct VertRefs{
+	faces:Vec<FaceId>,
+	edges:Vec<DirectedEdgeId>,
+}
+pub struct PhysicsMesh{
+	faces:Vec<Face>,
+	verts:Vec<Vert>,
+	face_topology:Vec<FaceRefs>,
+	edge_topology:Vec<EdgeRefs>,
+	vert_topology:Vec<VertRefs>,
+}
+
+#[derive(Default,Clone)]
+struct VertRefGuy{
+	edges:std::collections::HashSet<DirectedEdgeId>,
+	faces:std::collections::HashSet<FaceId>,
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
+struct EdgeRefVerts([VertId;2]);
+impl EdgeRefVerts{
+	fn new(v0:VertId,v1:VertId)->(Self,bool){
+		(if v0.0<v1.0{
+			Self([v0,v1])
+		}else{
+			Self([v1,v0])
+		},v0.0<v1.0)
+	}
+}
+struct EdgeRefFaces([FaceId;2]);
+impl EdgeRefFaces{
+	fn new()->Self{
+		Self([FaceId(0);2])
+	}
+	fn push(&mut self,i:usize,face_id:FaceId){
+		self.0[i]=face_id;
+	}
+}
+struct FaceRefEdges(Vec<DirectedEdgeId>);
+#[derive(Default)]
+struct EdgePool{
+	edge_guys:Vec<(EdgeRefVerts,EdgeRefFaces)>,
+	edge_id_from_guy:std::collections::HashMap<EdgeRefVerts,usize>,
+}
+impl EdgePool{
+	fn push(&mut self,edge_ref_verts:EdgeRefVerts)->(&mut EdgeRefFaces,EdgeId){
+		let edge_id=if let Some(&edge_id)=self.edge_id_from_guy.get(&edge_ref_verts){
+			edge_id
+		}else{
+			let edge_id=self.edge_guys.len();
+			self.edge_guys.push((edge_ref_verts.clone(),EdgeRefFaces::new()));
+			self.edge_id_from_guy.insert(edge_ref_verts,edge_id);
+			edge_id
+		};
+		(&mut unsafe{self.edge_guys.get_unchecked_mut(edge_id)}.1,EdgeId(edge_id))
+	}
+}
+impl From<&crate::model::IndexedModel> for PhysicsMesh{
+	fn from(indexed_model:&crate::model::IndexedModel)->Self{
+		assert!(indexed_model.unique_pos.len()!=0,"Mesh cannot have 0 vertices");
+		let verts=indexed_model.unique_pos.iter().map(|v|Vert(v.clone())).collect();
+		let mut vert_ref_guys=vec![VertRefGuy::default();indexed_model.unique_pos.len()];
+		let mut edge_pool=EdgePool::default();
+		let mut face_i=0;
+		let mut faces=Vec::new();
+		let mut face_ref_guys=Vec::new();
+		for group in indexed_model.groups.iter(){for poly in group.polys.iter(){
+			let face_id=FaceId(face_i);
+			//one face per poly
+			let mut normal=Planar64Vec3::ZERO;
+			let len=poly.vertices.len();
+			let face_edges=poly.vertices.iter().enumerate().map(|(i,&vert_id)|{
+				let vert0_id=indexed_model.unique_vertices[vert_id as usize].pos as usize;
+				let vert1_id=indexed_model.unique_vertices[poly.vertices[(i+1)%len] as usize].pos as usize;
+				//https://www.khronos.org/opengl/wiki/Calculating_a_Surface_Normal (Newell's Method)
+				let v0=indexed_model.unique_pos[vert0_id];
+				let v1=indexed_model.unique_pos[vert1_id];
+				normal+=Planar64Vec3::new(
+					(v0.y()-v1.y())*(v0.z()+v1.z()),
+					(v0.z()-v1.z())*(v0.x()+v1.x()),
+					(v0.x()-v1.x())*(v0.y()+v1.y()),
+				);
+				//get/create edge and push face into it
+				let (edge_ref_verts,is_sorted)=EdgeRefVerts::new(VertId(vert0_id),VertId(vert1_id));
+				let (edge_ref_faces,edge_id)=edge_pool.push(edge_ref_verts);
+				//polygon vertices as assumed to be listed clockwise
+				//populate the edge face on the left or right depending on how the edge vertices got sorted
+				edge_ref_faces.push(!is_sorted as usize,face_id);
+				//index edges & face into vertices
+				{
+					let vert_ref_guy=unsafe{vert_ref_guys.get_unchecked_mut(vert0_id)};
+					vert_ref_guy.edges.insert(edge_id.as_directed(is_sorted));
+					vert_ref_guy.faces.insert(face_id);
+					unsafe{vert_ref_guys.get_unchecked_mut(vert1_id)}.edges.insert(edge_id.as_directed(!is_sorted));
+				}
+				//return directed_edge_id
+				edge_id.as_directed(is_sorted)
+			}).collect();
+			//choose precision loss randomly idk
+			normal=normal/len as i64;
+			let mut dot=Planar64::ZERO;
+			for &v in poly.vertices.iter(){
+				dot+=normal.dot(indexed_model.unique_pos[indexed_model.unique_vertices[v as usize].pos as usize]);
+			}
+			faces.push(Face{normal,dot:dot/len as i64});
+			face_ref_guys.push(FaceRefEdges(face_edges));
+			face_i+=1;
+		}}
+		//conceivably faces, edges, and vertices exist now
+		Self{
+			faces,
+			verts,
+			face_topology:face_ref_guys.into_iter().map(|face_ref_guy|{
+				FaceRefs{edges:face_ref_guy.0}
+			}).collect(),
+			edge_topology:edge_pool.edge_guys.into_iter().map(|(edge_ref_verts,edge_ref_faces)|
+				EdgeRefs{faces:edge_ref_faces.0,verts:edge_ref_verts.0}
+			).collect(),
+			vert_topology:vert_ref_guys.into_iter().map(|vert_ref_guy|
+				VertRefs{
+					edges:vert_ref_guy.edges.into_iter().collect(),
+					faces:vert_ref_guy.faces.into_iter().collect(),
+				}
+			).collect(),
+		}
+	}
+}
+
+impl PhysicsMesh{
+	pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
+		self.verts.iter().map(|Vert(pos)|*pos)
+	}
+}
+impl MeshQuery<FaceId,DirectedEdgeId,VertId> for PhysicsMesh{
+	fn face_nd(&self,face_id:FaceId)->(Planar64Vec3,Planar64){
+		(self.faces[face_id.0].normal,self.faces[face_id.0].dot)
+	}
+	//ideally I never calculate the vertex position, but I have to for the graphical meshes...
+	fn vert(&self,vert_id:VertId)->Planar64Vec3{
+		self.verts[vert_id.0].0
+	}
+	fn face_edges(&self,face_id:FaceId)->Cow<Vec<DirectedEdgeId>>{
+		Cow::Borrowed(&self.face_topology[face_id.0].edges)
+	}
+	fn edge_faces(&self,edge_id:EdgeId)->Cow<[FaceId;2]>{
+		Cow::Borrowed(&self.edge_topology[edge_id.0].faces)
+	}
+	fn edge_verts(&self,edge_id:EdgeId)->Cow<[VertId;2]>{
+		Cow::Borrowed(&self.edge_topology[edge_id.0].verts)
+	}
+	fn vert_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
+		Cow::Borrowed(&self.vert_topology[vert_id.0].edges)
+	}
+	fn vert_faces(&self,vert_id:VertId)->Cow<Vec<FaceId>>{
+		Cow::Borrowed(&self.vert_topology[vert_id.0].faces)
+	}
+}
+
+pub struct TransformedMesh<'a>{
+	mesh:&'a PhysicsMesh,
+	transform:&'a integer::Planar64Affine3,
+	normal_transform:&'a integer::Planar64Mat3,
+	transform_det:Planar64,
+}
+impl TransformedMesh<'_>{
+	pub fn new<'a>(
+		mesh:&'a PhysicsMesh,
+		transform:&'a integer::Planar64Affine3,
+		normal_transform:&'a integer::Planar64Mat3,
+		transform_det:Planar64,
+		)->TransformedMesh<'a>{
+		TransformedMesh{
+			mesh,
+			transform,
+			normal_transform,
+			transform_det,
+		}
+	}
+	fn farthest_vert(&self,dir:Planar64Vec3)->VertId{
+		let mut best_dot=Planar64::MIN;
+		let mut best_vert=VertId(0);
+		for (i,vert) in self.mesh.verts.iter().enumerate(){
+			let p=self.transform.transform_point3(vert.0);
+			let d=dir.dot(p);
+			if best_dot<d{
+				best_dot=d;
+				best_vert=VertId(i);
+			}
+		}
+		best_vert
+	}
+}
+impl MeshQuery<FaceId,DirectedEdgeId,VertId> for TransformedMesh<'_>{
+	fn face_nd(&self,face_id:FaceId)->(Planar64Vec3,Planar64){
+		let (n,d)=self.mesh.face_nd(face_id);
+		let transformed_n=*self.normal_transform*n;
+		let transformed_d=d+transformed_n.dot(self.transform.translation)/self.transform_det;
+		(transformed_n/self.transform_det,transformed_d)
+	}
+	fn vert(&self,vert_id:VertId)->Planar64Vec3{
+		self.transform.transform_point3(self.mesh.vert(vert_id))
+	}
+	#[inline]
+	fn face_edges(&self,face_id:FaceId)->Cow<Vec<DirectedEdgeId>>{
+		self.mesh.face_edges(face_id)
+	}
+	#[inline]
+	fn edge_faces(&self,edge_id:EdgeId)->Cow<[FaceId;2]>{
+		self.mesh.edge_faces(edge_id)
+	}
+	#[inline]
+	fn edge_verts(&self,edge_id:EdgeId)->Cow<[VertId;2]>{
+		self.mesh.edge_verts(edge_id)
+	}
+	#[inline]
+	fn vert_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
+		self.mesh.vert_edges(vert_id)
+	}
+	#[inline]
+	fn vert_faces(&self,vert_id:VertId)->Cow<Vec<FaceId>>{
+		self.mesh.vert_faces(vert_id)
+	}
+}
+
+//Note that a face on a minkowski mesh refers to a pair of fevs on the meshes it's summed from
+//(face,vertex)
+//(edge,edge)
+//(vertex,face)
+#[derive(Clone,Copy)]
+pub enum MinkowskiVert{
+	VertVert(VertId,VertId),
+}
+#[derive(Clone,Copy)]
+pub enum MinkowskiEdge{
+	VertEdge(VertId,EdgeId),
+	EdgeVert(EdgeId,VertId),
+	//EdgeEdge when edges are parallel
+}
+impl UndirectedEdge for MinkowskiEdge{
+	type DirectedEdge=MinkowskiDirectedEdge;
+	fn as_directed(&self,parity:bool)->Self::DirectedEdge{
+		match self{
+			MinkowskiEdge::VertEdge(v0,e1)=>MinkowskiDirectedEdge::VertEdge(*v0,e1.as_directed(parity)),
+			MinkowskiEdge::EdgeVert(e0,v1)=>MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),*v1),
+		}
+	}
+}
+#[derive(Clone,Copy)]
+pub enum MinkowskiDirectedEdge{
+	VertEdge(VertId,DirectedEdgeId),
+	EdgeVert(DirectedEdgeId,VertId),
+	//EdgeEdge when edges are parallel
+}
+impl DirectedEdge for MinkowskiDirectedEdge{
+	type UndirectedEdge=MinkowskiEdge;
+	fn as_undirected(&self)->Self::UndirectedEdge{
+		match self{
+			MinkowskiDirectedEdge::VertEdge(v0,e1)=>MinkowskiEdge::VertEdge(*v0,e1.as_undirected()),
+			MinkowskiDirectedEdge::EdgeVert(e0,v1)=>MinkowskiEdge::EdgeVert(e0.as_undirected(),*v1),
+		}
+	}
+	fn parity(&self)->bool{
+		match self{
+			MinkowskiDirectedEdge::VertEdge(_,e)
+			|MinkowskiDirectedEdge::EdgeVert(e,_)=>e.parity(),
+		}
+	}
+}
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub enum MinkowskiFace{
+	VertFace(VertId,FaceId),
+	EdgeEdge(EdgeId,EdgeId,bool),
+	FaceVert(FaceId,VertId),
+	//EdgeFace
+	//FaceEdge
+	//FaceFace
+}
+
+pub struct MinkowskiMesh<'a>{
+	mesh0:&'a TransformedMesh<'a>,
+	mesh1:&'a TransformedMesh<'a>,
+}
+
+//infinity fev algorithm state transition
+enum Transition{
+	Done,//found closest vert, no edges are better
+	Vert(MinkowskiVert),//transition to vert
+}
+enum EV{
+	Vert(MinkowskiVert),
+	Edge(MinkowskiEdge),
+}
+
+impl MinkowskiMesh<'_>{
+	pub fn minkowski_sum<'a>(mesh0:&'a TransformedMesh,mesh1:&'a TransformedMesh)->MinkowskiMesh<'a>{
+		MinkowskiMesh{
+			mesh0,
+			mesh1,
+		}
+	}
+	fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
+		MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
+	}
+	fn next_transition_vert(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
+		let mut best_transition=Transition::Done;
+		for &directed_edge_id in self.vert_edges(vert_id).iter(){
+			let edge_n=self.directed_edge_n(directed_edge_id);
+			//is boundary uncrossable by a crawl from infinity
+			let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
+			//select opposite vertex
+			let test_vert_id=edge_verts[directed_edge_id.parity() as usize];
+			//test if it's closer
+			let diff=point-self.vert(test_vert_id);
+			if zeroes::zeroes1(edge_n.dot(diff),edge_n.dot(infinity_dir)).len()==0{
+				let distance_squared=diff.dot(diff);
+				if distance_squared<*best_distance_squared{
+					best_transition=Transition::Vert(test_vert_id);
+					*best_distance_squared=distance_squared;
+				}
+			}
+		}
+		best_transition
+	}
+	fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
+		let mut best_transition=EV::Vert(vert_id);
+		let diff=point-self.vert(vert_id);
+		for &directed_edge_id in self.vert_edges(vert_id).iter(){
+			let edge_n=self.directed_edge_n(directed_edge_id);
+			//is boundary uncrossable by a crawl from infinity
+			//check if time of collision is outside Time::MIN..Time::MAX
+			let d=edge_n.dot(diff);
+			if zeroes::zeroes1(d,edge_n.dot(infinity_dir)).len()==0{
+				//test the edge
+				let edge_nn=edge_n.dot(edge_n);
+				if Planar64::ZERO<=d&&d<=edge_nn{
+					let distance_squared={
+						let c=diff.cross(edge_n);
+						c.dot(c)/edge_nn
+					};
+					if distance_squared<=*best_distance_squared{
+						best_transition=EV::Edge(directed_edge_id.as_undirected());
+						*best_distance_squared=distance_squared;
+					}
+				}
+			}
+		}
+		best_transition
+	}
+	fn crawl_boundaries(&self,mut vert_id:MinkowskiVert,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
+		let mut best_distance_squared={
+			let diff=point-self.vert(vert_id);
+			diff.dot(diff)
+		};
+		loop{
+			match self.next_transition_vert(vert_id,&mut best_distance_squared,infinity_dir,point){
+				Transition::Done=>return self.final_ev(vert_id,&mut best_distance_squared,infinity_dir,point),
+				Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
+			}
+		}
+	}
+	/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
+	fn infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{
+		//start on any vertex
+		//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
+		//cross edge-face boundary if it's uncrossable
+		match self.crawl_boundaries(self.farthest_vert(infinity_dir),infinity_dir,point){
+			//if a vert is returned, it is the closest point to the infinity point
+			EV::Vert(vert_id)=>FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(vert_id),
+			EV::Edge(edge_id)=>{
+				//cross to face if the boundary is not crossable and we are on the wrong side
+				let edge_n=self.edge_n(edge_id);
+				// point is multiplied by two because vert_sum sums two vertices.
+				let delta_pos=point*2-{
+					let &[v0,v1]=self.edge_verts(edge_id).borrow();
+					self.vert(v0)+self.vert(v1)
+				};
+				for (i,&face_id) in self.edge_faces(edge_id).iter().enumerate(){
+					let face_n=self.face_nd(face_id).0;
+					//edge-face boundary nd, n facing out of the face towards the edge
+					let boundary_n=face_n.cross(edge_n)*(i as i64*2-1);
+					let boundary_d=boundary_n.dot(delta_pos);
+					//check if time of collision is outside Time::MIN..Time::MAX
+					//infinity_dir can always be treated as a velocity
+					if (boundary_d)<=Planar64::ZERO&&zeroes::zeroes1(boundary_d,boundary_n.dot(infinity_dir)*2).len()==0{
+						//both faces cannot pass this condition, return early if one does.
+						return FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id);
+					}
+				}
+				FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Edge(edge_id)
+			},
+		}
+	}
+	fn closest_fev_not_inside(&self,mut infinity_body:crate::physics::Body)->Option<FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>>{
+		infinity_body.infinity_dir().map_or(None,|dir|{
+			let infinity_fev=self.infinity_fev(-dir,infinity_body.position);
+			//a line is simpler to solve than a parabola
+			infinity_body.velocity=dir;
+			infinity_body.acceleration=Planar64Vec3::ZERO;
+			//crawl in from negative infinity along a tangent line to get the closest fev
+			match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
+				crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
+				crate::face_crawler::CrawlResult::Hit(_,_)=>None,
+			}
+		})
+	}
+	pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,integer::Time)>{
+		self.closest_fev_not_inside(relative_body.clone()).map_or(None,|fev|{
+			//continue forwards along the body parabola
+			match crate::face_crawler::crawl_fev(fev,self,relative_body,relative_body.time,time_limit){
+				crate::face_crawler::CrawlResult::Miss(_)=>None,
+				crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
+			}
+		})
+	}
+	pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,integer::Time)>{
+		//create an extrapolated body at time_limit
+		let infinity_body=crate::physics::Body::new(
+			relative_body.extrapolated_position(time_limit),
+			-relative_body.extrapolated_velocity(time_limit),
+			relative_body.acceleration,
+			-time_limit,
+		);
+		self.closest_fev_not_inside(infinity_body).map_or(None,|fev|{
+			//continue backwards along the body parabola
+			match crate::face_crawler::crawl_fev(fev,self,&-relative_body.clone(),-time_limit,-relative_body.time){
+				crate::face_crawler::CrawlResult::Miss(_)=>None,
+				crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,-time)),//no need to test -time<time_limit because of the first step
+			}
+		})
+	}
+	pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,integer::Time)>{
+		//no algorithm needed, there is only one state and two cases (Edge,None)
+		//determine when it passes an edge ("sliding off" case)
+		let mut best_time=time_limit;
+		let mut best_edge=None;
+		let face_n=self.face_nd(contact_face_id).0;
+		for &directed_edge_id in self.face_edges(contact_face_id).iter(){
+			let edge_n=self.directed_edge_n(directed_edge_id);
+			//f x e points in
+			let n=face_n.cross(edge_n);
+			let verts=self.edge_verts(directed_edge_id.as_undirected());
+			let d=n.dot(self.vert(verts[0])+self.vert(verts[1]));
+			//WARNING! d outside of *2
+			for t in zeroes::zeroes2((n.dot(relative_body.position))*2-d,n.dot(relative_body.velocity)*2,n.dot(relative_body.acceleration)){
+				let t=relative_body.time+integer::Time::from(t);
+				if relative_body.time<t&&t<best_time&&n.dot(relative_body.extrapolated_velocity(t))<Planar64::ZERO{
+					best_time=t;
+					best_edge=Some(directed_edge_id);
+					break;
+				}
+			}
+		}
+		best_edge.map(|e|(e.as_undirected(),best_time))
+	}
+}
+impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiMesh<'_>{
+	fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){
+		match face_id{
+			MinkowskiFace::VertFace(v0,f1)=>{
+				let (n,d)=self.mesh1.face_nd(f1);
+				(-n,d-n.dot(self.mesh0.vert(v0)))
+			},
+			MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
+				let edge0_n=self.mesh0.edge_n(e0);
+				let edge1_n=self.mesh1.edge_n(e1);
+				let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).borrow();
+				let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).borrow();
+				let n=edge0_n.cross(edge1_n);
+				let e0d=n.dot(self.mesh0.vert(e0v0)+self.mesh0.vert(e0v1));
+				let e1d=n.dot(self.mesh1.vert(e1v0)+self.mesh1.vert(e1v1));
+				(n*(parity as i64*4-2),(e0d-e1d)*(parity as i64*2-1))
+			},
+			MinkowskiFace::FaceVert(f0,v1)=>{
+				let (n,d)=self.mesh0.face_nd(f0);
+				(n,d-n.dot(self.mesh1.vert(v1)))
+			},
+		}
+	}
+	fn vert(&self,vert_id:MinkowskiVert)->Planar64Vec3{
+		match vert_id{
+			MinkowskiVert::VertVert(v0,v1)=>{
+				self.mesh0.vert(v0)-self.mesh1.vert(v1)
+			},
+		}
+	}
+	fn face_edges(&self,face_id:MinkowskiFace)->Cow<Vec<MinkowskiDirectedEdge>>{
+		match face_id{
+			MinkowskiFace::VertFace(v0,f1)=>{
+				Cow::Owned(self.mesh1.face_edges(f1).iter().map(|&edge_id1|{
+					MinkowskiDirectedEdge::VertEdge(v0,edge_id1.reverse())
+				}).collect())
+			},
+			MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
+				let e0v=self.mesh0.edge_verts(e0);
+				let e1v=self.mesh1.edge_verts(e1);
+				//could sort this if ordered edges are needed
+				//probably just need to reverse this list according to parity
+				Cow::Owned(vec![
+					MinkowskiDirectedEdge::VertEdge(e0v[0],e1.as_directed(parity)),
+					MinkowskiDirectedEdge::EdgeVert(e0.as_directed(!parity),e1v[0]),
+					MinkowskiDirectedEdge::VertEdge(e0v[1],e1.as_directed(!parity)),
+					MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),e1v[1]),
+				])
+			},
+			MinkowskiFace::FaceVert(f0,v1)=>{
+				Cow::Owned(self.mesh0.face_edges(f0).iter().map(|&edge_id0|{
+					MinkowskiDirectedEdge::EdgeVert(edge_id0,v1)
+				}).collect())
+			},
+		}
+	}
+	fn edge_faces(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiFace;2]>{
+		match edge_id{
+			MinkowskiEdge::VertEdge(v0,e1)=>{
+				//faces are listed backwards from the minkowski mesh
+				let v0e=self.mesh0.vert_edges(v0);
+				let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).borrow();
+				Cow::Owned([(e1f1,false),(e1f0,true)].map(|(edge_face_id1,face_parity)|{
+					let mut best_edge=None;
+					let mut best_d=Planar64::ZERO;
+					let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
+					let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
+					for &directed_edge_id0 in v0e.iter(){
+						let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
+						//must be behind other face.
+						let d=edge_face1_n.dot(edge0_n);
+						if d<Planar64::ZERO{
+							let edge0_nn=edge0_n.dot(edge0_n);
+							//divide by zero???
+							let dd=d*d/(edge_face1_nn*edge0_nn);
+							if best_d<dd{
+								best_d=dd;
+								best_edge=Some(directed_edge_id0);
+							}
+						}
+					}
+					best_edge.map_or(
+						MinkowskiFace::VertFace(v0,edge_face_id1),
+						|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_undirected(),e1,directed_edge_id0.parity()^face_parity)
+					)
+				}))
+			},
+			MinkowskiEdge::EdgeVert(e0,v1)=>{
+				//tracking index with an external variable because .enumerate() is not available
+				let v1e=self.mesh1.vert_edges(v1);
+				let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).borrow();
+				Cow::Owned([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
+					let mut best_edge=None;
+					let mut best_d=Planar64::ZERO;
+					let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
+					let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
+					for &directed_edge_id1 in v1e.iter(){
+						let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
+						let d=edge_face0_n.dot(edge1_n);
+						if d<Planar64::ZERO{
+							let edge1_nn=edge1_n.dot(edge1_n);
+							let dd=d*d/(edge_face0_nn*edge1_nn);
+							if best_d<dd{
+								best_d=dd;
+								best_edge=Some(directed_edge_id1);
+							}
+						}
+					}
+					best_edge.map_or(
+						MinkowskiFace::FaceVert(edge_face_id0,v1),
+						|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_undirected(),directed_edge_id1.parity()^face_parity)
+					)
+				}))
+			},
+		}
+	}
+	fn edge_verts(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiVert;2]>{
+		match edge_id{
+			MinkowskiEdge::VertEdge(v0,e1)=>{
+				Cow::Owned(self.mesh1.edge_verts(e1).map(|vert_id1|{
+					MinkowskiVert::VertVert(v0,vert_id1)
+				}))
+			},
+			MinkowskiEdge::EdgeVert(e0,v1)=>{
+				Cow::Owned(self.mesh0.edge_verts(e0).map(|vert_id0|{
+					MinkowskiVert::VertVert(vert_id0,v1)
+				}))
+			},
+		}
+	}
+	fn vert_edges(&self,vert_id:MinkowskiVert)->Cow<Vec<MinkowskiDirectedEdge>>{
+		match vert_id{
+			MinkowskiVert::VertVert(v0,v1)=>{
+				let mut edges=Vec::new();
+				//detect shared volume when the other mesh is mirrored along a test edge dir
+				let v0f=self.mesh0.vert_faces(v0);
+				let v1f=self.mesh1.vert_faces(v1);
+				let v0f_n:Vec<Planar64Vec3>=v0f.iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
+				let v1f_n:Vec<Planar64Vec3>=v1f.iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
+				let the_len=v0f.len()+v1f.len();
+				for &directed_edge_id in self.mesh0.vert_edges(v0).iter(){
+					let n=self.mesh0.directed_edge_n(directed_edge_id);
+					let nn=n.dot(n);
+					//make a set of faces
+					let mut face_normals=Vec::with_capacity(the_len);
+					//add mesh0 faces as-is
+					face_normals.clone_from(&v0f_n);
+					for face_n in &v1f_n{
+						//add reflected mesh1 faces
+						face_normals.push(*face_n-n*(face_n.dot(n)*2/nn));
+					}
+					if is_empty_volume(face_normals){
+						edges.push(MinkowskiDirectedEdge::EdgeVert(directed_edge_id,v1));
+					}
+				}
+				for &directed_edge_id in self.mesh1.vert_edges(v1).iter(){
+					let n=self.mesh1.directed_edge_n(directed_edge_id);
+					let nn=n.dot(n);
+					let mut face_normals=Vec::with_capacity(the_len);
+					face_normals.clone_from(&v1f_n);
+					for face_n in &v0f_n{
+						face_normals.push(*face_n-n*(face_n.dot(n)*2/nn));
+					}
+					if is_empty_volume(face_normals){
+						edges.push(MinkowskiDirectedEdge::VertEdge(v0,directed_edge_id));
+					}
+				}
+				Cow::Owned(edges)
+			},
+		}
+	}
+	fn vert_faces(&self,_vert_id:MinkowskiVert)->Cow<Vec<MinkowskiFace>>{
+		unimplemented!()
+	}
+}
+
+fn is_empty_volume(normals:Vec<Planar64Vec3>)->bool{
+	let len=normals.len();
+	for i in 0..len-1{
+		for j in i+1..len{
+			let n=normals[i].cross(normals[j]);
+			let mut d_comp=None;
+			for k in 0..len{
+				if k!=i&&k!=j{
+					let d=n.dot(normals[k]);
+					if let Some(comp)=&d_comp{
+						if *comp*d<Planar64::ZERO{
+							return true;
+						}
+					}else{
+						d_comp=Some(d);
+					}
+				}
+			}
+		}
+	}
+	return false;
+}
+
+#[test]
+fn test_is_empty_volume(){
+	assert!(!is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z].to_vec()));
+	assert!(is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z,Planar64Vec3::NEG_X].to_vec()));
+}
+
+#[test]
+fn build_me_a_cube(){
+	let unit_cube=crate::primitives::unit_cube();
+	let mesh=PhysicsMesh::from(&unit_cube);
+	//println!("mesh={:?}",mesh);
+}

src/physics_worker.rs

@@ -0,0 +1,165 @@
+use crate::physics::{MouseState,PhysicsInputInstruction};
+use strafesnet_common::integer::Time;
+use strafesnet_common::instruction::{TimedInstruction,InstructionConsumer};
+use strafesnet_common::integer::{self,Planar64,Planar64Vec3,Planar64Mat3,Angle32,Ratio64,Ratio64Vec2};
+
+#[derive(Debug)]
+pub enum InputInstruction {
+	MoveMouse(glam::IVec2),
+	MoveRight(bool),
+	MoveUp(bool),
+	MoveBack(bool),
+	MoveLeft(bool),
+	MoveDown(bool),
+	MoveForward(bool),
+	Jump(bool),
+	Zoom(bool),
+	Reset,
+}
+pub enum Instruction{
+	Input(InputInstruction),
+	Render,
+	Resize(winit::dpi::PhysicalSize<u32>,crate::settings::UserSettings),
+	GenerateModels(crate::model::IndexedModelInstances),
+	ClearModels,
+	//Graphics(crate::graphics_worker::Instruction),
+}
+
+pub struct Speed{
+	pub player_vel:Planar64Vec3,
+	pub time:Time
+}
+
+impl std::ops::Neg for Speed{
+	type Output=Self;
+	fn neg(self)->Self::Output{
+		Self{
+			player_vel:self.player_vel,
+			time:self.time
+		}
+	}
+}
+
+impl  Speed{
+	pub fn new(player_vel:Planar64Vec3,time:Time)->Self{
+		Self{
+			player_vel,
+			time,
+		}
+	}
+}
+	pub fn new(mut physics:crate::physics::PhysicsState,mut graphics_worker:crate::compat_worker::INWorker<crate::graphics_worker::Instruction>)->crate::compat_worker::QNWorker<TimedInstruction<Instruction>>{
+		let mut mouse_blocking=true;
+		let mut last_mouse_time=physics.next_mouse.time;
+		let mut timeline=std::collections::VecDeque::new();
+		let mut next_velocity_print=std::time::Instant::now();
+		let mut player_vel = physics.body.velocity.length();
+		crate::compat_worker::QNWorker::new(move |ins:TimedInstruction<Instruction>|{
+			if if let Some(phys_input)=match &ins.instruction{
+				Instruction::Input(input_instruction)=>match input_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:physics.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),
+				},
+				Instruction::GenerateModels(_)=>Some(PhysicsInputInstruction::Idle),
+				Instruction::ClearModels=>Some(PhysicsInputInstruction::Idle),
+				Instruction::Resize(_,_)=>Some(PhysicsInputInstruction::Idle),
+				Instruction::Render=>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 Time::from_millis(10)<ins.time-physics.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:physics.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(){
+					physics.run(instruction.time);
+					physics.process_instruction(TimedInstruction{
+						time:instruction.time,
+						instruction:crate::physics::PhysicsInstruction::Input(instruction.instruction),
+					});
+				}
+				//some random print stuff
+				if 3.0/5.0<next_velocity_print.elapsed().as_secs_f64(){
+					next_velocity_print=next_velocity_print+std::time::Duration::from_secs_f64(1.0/30.0);
+					println!("velocity: {} u/s", (Planar64Vec3::new(physics.body.velocity.x(), Planar64::int(0), physics.body.velocity.z())).length()*(Planar64::int(130)/9));
+				}
+			}
+			match ins.instruction{
+				Instruction::Render=>{
+					graphics_worker.send(crate::graphics_worker::Instruction::Render(physics.output(),ins.time,physics.next_mouse.pos)).unwrap();
+				},
+				Instruction::Resize(size,user_settings)=>{
+					graphics_worker.send(crate::graphics_worker::Instruction::Resize(size,user_settings)).unwrap();
+				},
+				Instruction::GenerateModels(indexed_model_instances)=>{
+					physics.generate_models(&indexed_model_instances);
+					physics.spawn(indexed_model_instances.spawn_point);
+					graphics_worker.send(crate::graphics_worker::Instruction::GenerateModels(indexed_model_instances)).unwrap();
+				},
+				Instruction::ClearModels=>{
+					physics.clear();
+					graphics_worker.send(crate::graphics_worker::Instruction::ClearModels).unwrap();
+				},
+				_=>(),
+			}
+		})
+	}

src/primitives.rs

@@ -1,5 +1,5 @@
 use crate::model::{Color4,TextureCoordinate,IndexedModel,IndexedPolygon,IndexedGroup,IndexedVertex};
-use crate::integer::Planar64Vec3;
+use strafesnet_common::integer::Planar64Vec3;
 
 #[derive(Debug)]
 pub enum Primitives{
@@ -126,17 +126,21 @@ const CORNERWEDGE_DEFAULT_NORMALS:[Planar64Vec3;5]=[
 	Planar64Vec3::int( 0,-1, 0),//CornerWedge::Bottom
 	Planar64Vec3::int( 0, 0,-1),//CornerWedge::Front
 ];
-//HashMap fits this use case perfectly but feels like using a sledgehammer to drive a nail
 pub fn unit_sphere()->crate::model::IndexedModel{
-	let mut indexed_model=crate::model::generate_indexed_model_list_from_obj(obj::ObjData::load_buf(&include_bytes!("../models/suzanne.obj")[..]).unwrap(),Color4::ONE).remove(0);
-	for pos in indexed_model.unique_pos.iter_mut(){
-		*pos=*pos/2;
-	}
-	indexed_model
+	unit_cube()
+}
+#[derive(Default)]
+pub struct CubeFaceDescription([Option<FaceDescription>;6]);
+impl CubeFaceDescription{
+	pub fn insert(&mut self,index:CubeFace,value:FaceDescription){
+		self.0[index as usize]=Some(value);
+	}
+	pub fn pairs(self)->std::iter::FilterMap<std::iter::Enumerate<std::array::IntoIter<Option<FaceDescription>,6>>,impl FnMut((usize,Option<FaceDescription>))->Option<(usize,FaceDescription)>>{
+		self.0.into_iter().enumerate().filter_map(|v|v.1.map(|u|(v.0,u)))
+	}
 }
-pub type CubeFaceDescription=std::collections::HashMap::<CubeFace,FaceDescription>;
 pub fn unit_cube()->crate::model::IndexedModel{
-	let mut t=CubeFaceDescription::new();
+	let mut t=CubeFaceDescription::default();
 	t.insert(CubeFace::Right,FaceDescription::default());
 	t.insert(CubeFace::Top,FaceDescription::default());
 	t.insert(CubeFace::Back,FaceDescription::default());
@@ -145,17 +149,21 @@ pub fn unit_cube()->crate::model::IndexedModel{
 	t.insert(CubeFace::Front,FaceDescription::default());
 	generate_partial_unit_cube(t)
 }
-const TEAPOT_TRANSFORM:crate::integer::Planar64Mat3=crate::integer::Planar64Mat3::int_from_cols_array([0,1,0, -1,0,0, 0,0,1]);
 pub fn unit_cylinder()->crate::model::IndexedModel{
-	let mut indexed_model=crate::model::generate_indexed_model_list_from_obj(obj::ObjData::load_buf(&include_bytes!("../models/teapot.obj")[..]).unwrap(),Color4::ONE).remove(0);
-	for pos in indexed_model.unique_pos.iter_mut(){
-		*pos=TEAPOT_TRANSFORM*(*pos)/10;
-	}
-	indexed_model
+	unit_cube()
+}
+#[derive(Default)]
+pub struct WedgeFaceDescription([Option<FaceDescription>;5]);
+impl WedgeFaceDescription{
+	pub fn insert(&mut self,index:WedgeFace,value:FaceDescription){
+		self.0[index as usize]=Some(value);
+	}
+	pub fn pairs(self)->std::iter::FilterMap<std::iter::Enumerate<std::array::IntoIter<Option<FaceDescription>,5>>,impl FnMut((usize,Option<FaceDescription>))->Option<(usize,FaceDescription)>>{
+		self.0.into_iter().enumerate().filter_map(|v|v.1.map(|u|(v.0,u)))
+	}
 }
-pub type WedgeFaceDescription=std::collections::HashMap::<WedgeFace,FaceDescription>;
 pub fn unit_wedge()->crate::model::IndexedModel{
-	let mut t=WedgeFaceDescription::new();
+	let mut t=WedgeFaceDescription::default();
 	t.insert(WedgeFace::Right,FaceDescription::default());
 	t.insert(WedgeFace::TopFront,FaceDescription::default());
 	t.insert(WedgeFace::Back,FaceDescription::default());
@@ -163,9 +171,18 @@ pub fn unit_wedge()->crate::model::IndexedModel{
 	t.insert(WedgeFace::Bottom,FaceDescription::default());
 	generate_partial_unit_wedge(t)
 }
-pub type CornerWedgeFaceDescription=std::collections::HashMap::<CornerWedgeFace,FaceDescription>;
+#[derive(Default)]
+pub struct CornerWedgeFaceDescription([Option<FaceDescription>;5]);
+impl CornerWedgeFaceDescription{
+	pub fn insert(&mut self,index:CornerWedgeFace,value:FaceDescription){
+		self.0[index as usize]=Some(value);
+	}
+	pub fn pairs(self)->std::iter::FilterMap<std::iter::Enumerate<std::array::IntoIter<Option<FaceDescription>,5>>,impl FnMut((usize,Option<FaceDescription>))->Option<(usize,FaceDescription)>>{
+		self.0.into_iter().enumerate().filter_map(|v|v.1.map(|u|(v.0,u)))
+	}
+}
 pub fn unit_cornerwedge()->crate::model::IndexedModel{
-	let mut t=CornerWedgeFaceDescription::new();
+	let mut t=CornerWedgeFaceDescription::default();
 	t.insert(CornerWedgeFace::Right,FaceDescription::default());
 	t.insert(CornerWedgeFace::TopBack,FaceDescription::default());
 	t.insert(CornerWedgeFace::TopLeft,FaceDescription::default());
@@ -174,7 +191,7 @@ pub fn unit_cornerwedge()->crate::model::IndexedModel{
 	generate_partial_unit_cornerwedge(t)
 }
 
-#[derive(Copy,Clone)]
+#[derive(Clone)]
 pub struct FaceDescription{
 	pub texture:Option<u32>,
 	pub transform:glam::Affine2,
@@ -189,18 +206,6 @@ impl std::default::Default for FaceDescription{
 		}
 	}
 }
-impl FaceDescription{
-	pub fn new(texture:u32,transform:glam::Affine2,color:Color4)->Self{
-		Self{texture:Some(texture),transform,color}
-	}
-	pub fn from_texture(texture:u32)->Self{
-		Self{
-			texture:Some(texture),
-			transform:glam::Affine2::IDENTITY,
-			color:Color4::ONE,
-		}
-	}
-}
 //TODO: it's probably better to use a shared vertex buffer between all primitives and use indexed rendering instead of generating a unique vertex buffer for each primitive.
 //implementation: put all roblox primitives into one model.groups <- this won't work but I forget why
 pub fn generate_partial_unit_cube(face_descriptions:CubeFaceDescription)->crate::model::IndexedModel{
@@ -212,7 +217,7 @@ pub fn generate_partial_unit_cube(face_descriptions:CubeFaceDescription)->crate:
 	let mut groups=Vec::new();
 	let mut transforms=Vec::new();
 	//note that on a cube every vertex is guaranteed to be unique, so there's no need to hash them against existing vertices.
-	for (face,face_description) in face_descriptions.into_iter(){
+	for (face_id,face_description) in face_descriptions.pairs(){
 		//assume that scanning short lists is faster than hashing.
 		let transform_index=if let Some(transform_index)=transforms.iter().position(|&transform|transform==face_description.transform){
 			transform_index
@@ -233,14 +238,6 @@ pub fn generate_partial_unit_cube(face_descriptions:CubeFaceDescription)->crate:
 			generated_color.push(face_description.color);
 			color_index
 		} as u32;
-		let face_id=match face{
-			CubeFace::Right => 0,
-			CubeFace::Top => 1,
-			CubeFace::Back => 2,
-			CubeFace::Left => 3,
-			CubeFace::Bottom => 4,
-			CubeFace::Front => 5,
-		};
 		//always push normal
 		let normal_index=generated_normal.len() as u32;
 		generated_normal.push(CUBE_DEFAULT_NORMALS[face_id]);
@@ -327,7 +324,7 @@ pub fn generate_partial_unit_wedge(face_descriptions:WedgeFaceDescription)->crat
 	let mut groups=Vec::new();
 	let mut transforms=Vec::new();
 	//note that on a cube every vertex is guaranteed to be unique, so there's no need to hash them against existing vertices.
-	for (face,face_description) in face_descriptions.into_iter(){
+	for (face_id,face_description) in face_descriptions.pairs(){
 		//assume that scanning short lists is faster than hashing.
 		let transform_index=if let Some(transform_index)=transforms.iter().position(|&transform|transform==face_description.transform){
 			transform_index
@@ -348,13 +345,6 @@ pub fn generate_partial_unit_wedge(face_descriptions:WedgeFaceDescription)->crat
 			generated_color.push(face_description.color);
 			color_index
 		} as u32;
-		let face_id=match face{
-			WedgeFace::Right => 0,
-			WedgeFace::TopFront => 1,
-			WedgeFace::Back => 2,
-			WedgeFace::Left => 3,
-			WedgeFace::Bottom => 4,
-		};
 		//always push normal
 		let normal_index=generated_normal.len() as u32;
 		generated_normal.push(WEDGE_DEFAULT_NORMALS[face_id]);
@@ -439,7 +429,7 @@ pub fn generate_partial_unit_cornerwedge(face_descriptions:CornerWedgeFaceDescri
 	let mut groups=Vec::new();
 	let mut transforms=Vec::new();
 	//note that on a cube every vertex is guaranteed to be unique, so there's no need to hash them against existing vertices.
-	for (face,face_description) in face_descriptions.into_iter(){
+	for (face_id,face_description) in face_descriptions.pairs(){
 		//assume that scanning short lists is faster than hashing.
 		let transform_index=if let Some(transform_index)=transforms.iter().position(|&transform|transform==face_description.transform){
 			transform_index
@@ -460,13 +450,6 @@ pub fn generate_partial_unit_cornerwedge(face_descriptions:CornerWedgeFaceDescri
 			generated_color.push(face_description.color);
 			color_index
 		} as u32;
-		let face_id=match face{
-			CornerWedgeFace::Right => 0,
-			CornerWedgeFace::TopBack => 1,
-			CornerWedgeFace::TopLeft => 2,
-			CornerWedgeFace::Bottom => 3,
-			CornerWedgeFace::Front => 4,
-		};
 		//always push normal
 		let normal_index=generated_normal.len() as u32;
 		generated_normal.push(CORNERWEDGE_DEFAULT_NORMALS[face_id]);

src/settings.rs

@@ -1,11 +1,14 @@
-use crate::integer::{Ratio64,Ratio64Vec2};
+use strafesnet_common::integer::{Ratio64,Ratio64Vec2};
+#[derive(Clone)]
 struct Ratio{
 	ratio:f64,
 }
+#[derive(Clone)]
 enum DerivedFov{
 	FromScreenAspect,
 	FromAspect(Ratio),
 }
+#[derive(Clone)]
 enum Fov{
 	Exactly{x:f64,y:f64},
 	SpecifyXDeriveY{x:f64,y:DerivedFov},
@@ -16,9 +19,11 @@ impl Default for Fov{
 		Fov::SpecifyYDeriveX{x:DerivedFov::FromScreenAspect,y:1.0}
 	}
 }
+#[derive(Clone)]
 enum DerivedSensitivity{
 	FromRatio(Ratio64),
 }
+#[derive(Clone)]
 enum Sensitivity{
 	Exactly{x:Ratio64,y:Ratio64},
 	SpecifyXDeriveY{x:Ratio64,y:DerivedSensitivity},
@@ -30,7 +35,7 @@ impl Default for Sensitivity{
 	}
 }
 
-#[derive(Default)]
+#[derive(Default,Clone)]
 pub struct UserSettings{
 	fov:Fov,
 	sensitivity:Sensitivity,

src/setup.rs

@@ -0,0 +1,281 @@
+use crate::window::WindowInstruction;
+use strafesnet_common::instruction::TimedInstruction;
+use strafesnet_common::integer;
+
+fn optional_features()->wgpu::Features{
+	wgpu::Features::TEXTURE_COMPRESSION_ASTC
+	|wgpu::Features::TEXTURE_COMPRESSION_ETC2
+}
+fn required_features()->wgpu::Features{
+	wgpu::Features::TEXTURE_COMPRESSION_BC
+}
+fn required_downlevel_capabilities()->wgpu::DownlevelCapabilities{
+	wgpu::DownlevelCapabilities{
+		flags:wgpu::DownlevelFlags::empty(),
+		shader_model:wgpu::ShaderModel::Sm5,
+		..wgpu::DownlevelCapabilities::default()
+	}
+}
+pub fn required_limits()->wgpu::Limits{
+	wgpu::Limits::default()
+}
+
+struct SetupContextPartial1{
+	backends:wgpu::Backends,
+	instance:wgpu::Instance,
+}
+fn create_window(title:&str,event_loop:&winit::event_loop::EventLoop<()>)->Result<winit::window::Window,winit::error::OsError>{
+	let mut builder = winit::window::WindowBuilder::new();
+	builder = builder.with_title(title);
+	#[cfg(windows_OFF)] // TODO
+	{
+		use winit::platform::windows::WindowBuilderExtWindows;
+		builder = builder.with_no_redirection_bitmap(true);
+	}
+	builder.build(event_loop)
+}
+fn create_instance()->SetupContextPartial1{
+	let backends=wgpu::util::backend_bits_from_env().unwrap_or_else(wgpu::Backends::all);
+	let dx12_shader_compiler=wgpu::util::dx12_shader_compiler_from_env().unwrap_or_default();
+	SetupContextPartial1{
+		backends,
+		instance:wgpu::Instance::new(wgpu::InstanceDescriptor{
+			backends,
+			dx12_shader_compiler,
+			..Default::default()
+		}),
+	}
+}
+impl SetupContextPartial1{
+	fn create_surface<'a>(self,window:&'a winit::window::Window)->Result<SetupContextPartial2<'a>,wgpu::CreateSurfaceError>{
+		Ok(SetupContextPartial2{
+			backends:self.backends,
+			surface:self.instance.create_surface(window)?,
+			instance:self.instance,
+		})
+	}
+}
+struct SetupContextPartial2<'a>{
+	backends:wgpu::Backends,
+	instance:wgpu::Instance,
+	surface:wgpu::Surface<'a>,
+}
+impl<'a> SetupContextPartial2<'a>{
+	fn pick_adapter(self)->SetupContextPartial3<'a>{
+		let adapter;
+
+		//TODO: prefer adapter that implements optional features
+		//let optional_features=optional_features();
+		let required_features=required_features();
+
+		//no helper function smh gotta write it myself
+		let adapters=self.instance.enumerate_adapters(self.backends);
+
+		let mut chosen_adapter=None;
+		let mut chosen_adapter_score=0;
+		for adapter in adapters {
+			if !adapter.is_surface_supported(&self.surface) {
+				continue;
+			}
+
+			let score=match adapter.get_info().device_type{
+				wgpu::DeviceType::IntegratedGpu=>3,
+				wgpu::DeviceType::DiscreteGpu=>4,
+				wgpu::DeviceType::VirtualGpu=>2,
+				wgpu::DeviceType::Other|wgpu::DeviceType::Cpu=>1,
+			};
+
+			let adapter_features=adapter.features();
+			if chosen_adapter_score<score&&adapter_features.contains(required_features) {
+				chosen_adapter_score=score;
+				chosen_adapter=Some(adapter);
+			}
+		}
+
+		if let Some(maybe_chosen_adapter)=chosen_adapter{
+			adapter=maybe_chosen_adapter;
+		}else{
+			panic!("No suitable GPU adapters found on the system!");
+		}
+
+
+		let adapter_info=adapter.get_info();
+		println!("Using {} ({:?})", adapter_info.name, adapter_info.backend);
+
+		let required_downlevel_capabilities=required_downlevel_capabilities();
+		let downlevel_capabilities=adapter.get_downlevel_capabilities();
+		assert!(
+			downlevel_capabilities.shader_model >= required_downlevel_capabilities.shader_model,
+			"Adapter does not support the minimum shader model required to run this example: {:?}",
+			required_downlevel_capabilities.shader_model
+		);
+		assert!(
+			downlevel_capabilities
+				.flags
+				.contains(required_downlevel_capabilities.flags),
+			"Adapter does not support the downlevel capabilities required to run this example: {:?}",
+			required_downlevel_capabilities.flags - downlevel_capabilities.flags
+		);
+		SetupContextPartial3{
+			instance:self.instance,
+			surface:self.surface,
+			adapter,
+		}
+	}
+}
+struct SetupContextPartial3<'a>{
+	instance:wgpu::Instance,
+	surface:wgpu::Surface<'a>,
+	adapter:wgpu::Adapter,
+}
+impl<'a> SetupContextPartial3<'a>{
+	fn request_device(self)->SetupContextPartial4<'a>{
+		let optional_features=optional_features();
+		let required_features=required_features();
+
+		// Make sure we use the texture resolution limits from the adapter, so we can support images the size of the surface.
+		let needed_limits=required_limits().using_resolution(self.adapter.limits());
+
+		let trace_dir=std::env::var("WGPU_TRACE");
+		let (device, queue)=pollster::block_on(self.adapter
+			.request_device(
+				&wgpu::DeviceDescriptor {
+					label: None,
+					required_features: (optional_features & self.adapter.features()) | required_features,
+					required_limits: needed_limits,
+				},
+				trace_dir.ok().as_ref().map(std::path::Path::new),
+			))
+			.expect("Unable to find a suitable GPU adapter!");
+
+		SetupContextPartial4{
+			instance:self.instance,
+			surface:self.surface,
+			adapter:self.adapter,
+			device,
+			queue,
+		}
+	}
+}
+struct SetupContextPartial4<'a>{
+	instance:wgpu::Instance,
+	surface:wgpu::Surface<'a>,
+	adapter:wgpu::Adapter,
+	device:wgpu::Device,
+	queue:wgpu::Queue,
+}
+impl<'a> SetupContextPartial4<'a>{
+	fn configure_surface(self,size:&'a winit::dpi::PhysicalSize<u32>)->SetupContext<'a>{
+		let mut config=self.surface
+			.get_default_config(&self.adapter, size.width, size.height)
+			.expect("Surface isn't supported by the adapter.");
+		let surface_view_format=config.format.add_srgb_suffix();
+		config.view_formats.push(surface_view_format);
+		config.present_mode=wgpu::PresentMode::AutoNoVsync;
+		self.surface.configure(&self.device, &config);
+
+		SetupContext{
+			instance:self.instance,
+			surface:self.surface,
+			device:self.device,
+			queue:self.queue,
+			config,
+		}
+	}
+}
+pub struct SetupContext<'a>{
+	pub instance:wgpu::Instance,
+	pub surface:wgpu::Surface<'a>,
+	pub device:wgpu::Device,
+	pub queue:wgpu::Queue,
+	pub config:wgpu::SurfaceConfiguration,
+}
+
+pub fn setup_and_start(title:String){
+	let event_loop=winit::event_loop::EventLoop::new().unwrap();
+
+	println!("Initializing the surface...");
+
+	let partial_1=create_instance();
+
+	let window=create_window(title.as_str(),&event_loop).unwrap();
+
+	let partial_2=partial_1.create_surface(&window).unwrap();
+
+	let partial_3=partial_2.pick_adapter();
+
+	let partial_4=partial_3.request_device();
+
+	let size=window.inner_size();
+
+	let setup_context=partial_4.configure_surface(&size);
+
+	//dedicated thread to ping request redraw back and resize the window doesn't seem logical
+
+	let window=crate::window::WindowContextSetup::new(&setup_context,&window);
+	//the thread that spawns the physics thread
+	let window_thread=window.into_worker(setup_context);
+
+	println!("Entering event loop...");
+	let root_time=std::time::Instant::now();
+	run_event_loop(event_loop,window_thread,root_time).unwrap();
+}
+
+fn run_event_loop(
+	event_loop:winit::event_loop::EventLoop<()>,
+	mut window_thread:crate::compat_worker::QNWorker<TimedInstruction<WindowInstruction>>,
+	root_time:std::time::Instant
+	)->Result<(),winit::error::EventLoopError>{
+		event_loop.run(move |event,elwt|{
+			let time=integer::Time::from_nanos(root_time.elapsed().as_nanos() as i64);
+			// *control_flow=if cfg!(feature="metal-auto-capture"){
+			// 	winit::event_loop::ControlFlow::Exit
+			// }else{
+			// 	winit::event_loop::ControlFlow::Poll
+			// };
+			match event{
+				winit::event::Event::AboutToWait=>{
+					window_thread.send(TimedInstruction{time,instruction:WindowInstruction::RequestRedraw}).unwrap();
+				}
+				winit::event::Event::WindowEvent {
+					event:
+						// WindowEvent::Resized(size)
+						// | WindowEvent::ScaleFactorChanged {
+						// 	new_inner_size: &mut size,
+						// 	..
+						// },
+						winit::event::WindowEvent::Resized(size),//ignoring scale factor changed for now because mutex bruh
+					window_id:_,
+				} => {
+					window_thread.send(TimedInstruction{time,instruction:WindowInstruction::Resize(size)}).unwrap();
+				}
+				winit::event::Event::WindowEvent{event,..}=>match event{
+					winit::event::WindowEvent::KeyboardInput{
+						event:
+							winit::event::KeyEvent {
+							logical_key: winit::keyboard::Key::Named(winit::keyboard::NamedKey::Escape),
+								state: winit::event::ElementState::Pressed,
+								..
+							},
+						..
+					}
+					|winit::event::WindowEvent::CloseRequested=>{
+						elwt.exit();
+					}
+					winit::event::WindowEvent::RedrawRequested=>{
+						window_thread.send(TimedInstruction{time,instruction:WindowInstruction::Render}).unwrap();
+					}
+					_=>{
+						window_thread.send(TimedInstruction{time,instruction:WindowInstruction::WindowEvent(event)}).unwrap();
+					}
+				},
+				winit::event::Event::DeviceEvent{
+					event,
+					..
+				} => {
+					window_thread.send(TimedInstruction{time,instruction:WindowInstruction::DeviceEvent(event)}).unwrap();
+				},
+				_=>{}
+			}
+		})
+}

src/sweep.rs

@@ -1,8 +0,0 @@
-
-//something that implements body + hitbox + transform can predict collision
-impl crate::sweep::PredictCollision for Model {
-	fn predict_collision(&self,other:&Model) -> Option<crate::event::EventStruct> {
-		//math!
-		None
-	}
-}

src/window.rs

@@ -0,0 +1,244 @@
+use crate::physics_worker::InputInstruction;
+use strafesnet_common::integer;
+use strafesnet_common::instruction::TimedInstruction;
+
+pub enum WindowInstruction{
+	Resize(winit::dpi::PhysicalSize<u32>),
+	WindowEvent(winit::event::WindowEvent),
+	DeviceEvent(winit::event::DeviceEvent),
+	RequestRedraw,
+	Render,
+}
+
+//holds thread handles to dispatch to
+struct WindowContext<'a>{
+	manual_mouse_lock:bool,
+	mouse:crate::physics::MouseState,//std::sync::Arc<std::sync::Mutex<>>
+	screen_size:glam::UVec2,
+	user_settings:crate::settings::UserSettings,
+	window:&'a winit::window::Window,
+	physics_thread:crate::compat_worker::QNWorker<'a, TimedInstruction<crate::physics_worker::Instruction>>,
+}
+
+impl WindowContext<'_>{
+	fn get_middle_of_screen(&self)->winit::dpi::PhysicalPosition<f32>{
+		winit::dpi::PhysicalPosition::new(self.screen_size.x as f32/2.0,self.screen_size.y as f32/2.0)
+	}
+	fn window_event(&mut self,time:integer::Time,event: winit::event::WindowEvent) {
+		match event {
+			winit::event::WindowEvent::DroppedFile(path)=>{
+				//blocking because it's simpler...
+				if let Some(indexed_model_instances)=crate::load_file(path){
+					self.physics_thread.send(TimedInstruction{time,instruction:crate::physics_worker::Instruction::ClearModels}).unwrap();
+					self.physics_thread.send(TimedInstruction{time,instruction:crate::physics_worker::Instruction::GenerateModels(indexed_model_instances)}).unwrap();
+				}
+			},
+			winit::event::WindowEvent::Focused(_state)=>{
+				//pause unpause
+				//recalculate pressed keys on focus
+			},
+			winit::event::WindowEvent::KeyboardInput{
+				event:winit::event::KeyEvent{state,logical_key,repeat:false,..},
+				..
+			}=>{
+				let s=match state{
+					winit::event::ElementState::Pressed=>true,
+					winit::event::ElementState::Released=>false,
+				};
+				match logical_key{
+					winit::keyboard::Key::Named(winit::keyboard::NamedKey::Tab)=>{
+						if s{
+							self.manual_mouse_lock=false;
+							match self.window.set_cursor_position(self.get_middle_of_screen()){
+								Ok(())=>(),
+								Err(e)=>println!("Could not set cursor position: {:?}",e),
+							}
+							match self.window.set_cursor_grab(winit::window::CursorGrabMode::None){
+								Ok(())=>(),
+								Err(e)=>println!("Could not release cursor: {:?}",e),
+							}
+						}else{
+							//if cursor is outside window don't lock but apparently there's no get pos function
+							//let pos=window.get_cursor_pos();
+							match self.window.set_cursor_grab(winit::window::CursorGrabMode::Locked){
+								Ok(())=>(),
+								Err(_)=>{
+									match self.window.set_cursor_grab(winit::window::CursorGrabMode::Confined){
+										Ok(())=>(),
+										Err(e)=>{
+											self.manual_mouse_lock=true;
+											println!("Could not confine cursor: {:?}",e)
+										},
+									}
+								}
+							}
+						}
+						self.window.set_cursor_visible(s);
+					},
+					winit::keyboard::Key::Named(winit::keyboard::NamedKey::F11)=>{
+						if s{
+							if self.window.fullscreen().is_some(){
+								self.window.set_fullscreen(None);
+							}else{
+								self.window.set_fullscreen(Some(winit::window::Fullscreen::Borderless(None)));
+							}
+						}
+					},
+					winit::keyboard::Key::Named(winit::keyboard::NamedKey::Escape)=>{
+						if s{
+							self.manual_mouse_lock=false;
+							match self.window.set_cursor_grab(winit::window::CursorGrabMode::None){
+								Ok(())=>(),
+								Err(e)=>println!("Could not release cursor: {:?}",e),
+							}
+							self.window.set_cursor_visible(true);
+						}
+					},
+					keycode=>{
+						if let Some(input_instruction)=match keycode{
+							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Space)=>Some(InputInstruction::Jump(s)),
+							winit::keyboard::Key::Character(key)=>match key.as_str(){
+								"w"=>Some(InputInstruction::MoveForward(s)),
+								"a"=>Some(InputInstruction::MoveLeft(s)),
+								"s"=>Some(InputInstruction::MoveBack(s)),
+								"d"=>Some(InputInstruction::MoveRight(s)),
+								"e"=>Some(InputInstruction::MoveUp(s)),
+								"q"=>Some(InputInstruction::MoveDown(s)),
+								"z"=>Some(InputInstruction::Zoom(s)),
+								"r"=>if s{Some(InputInstruction::Reset)}else{None},
+								_=>None,
+							},
+							_=>None,
+						}{
+							self.physics_thread.send(TimedInstruction{
+								time,
+								instruction:crate::physics_worker::Instruction::Input(input_instruction),
+							}).unwrap();
+						}
+					},
+				}
+			},
+			_=>(),
+		}
+	}
+
+	fn device_event(&mut self,time:integer::Time,event: winit::event::DeviceEvent) {
+		match event {
+			winit::event::DeviceEvent::MouseMotion {
+			    delta,//these (f64,f64) are integers on my machine
+			} => {
+				if self.manual_mouse_lock{
+					match self.window.set_cursor_position(self.get_middle_of_screen()){
+						Ok(())=>(),
+						Err(e)=>println!("Could not set cursor position: {:?}",e),
+					}
+				}
+				//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{
+					time,
+					instruction:crate::physics_worker::Instruction::Input(InputInstruction::MoveMouse(self.mouse.pos)),
+				}).unwrap();
+			},
+			winit::event::DeviceEvent::MouseWheel {
+			    delta,
+			} => {
+				println!("mousewheel {:?}",delta);
+				if false{//self.physics.style.use_scroll{
+					self.physics_thread.send(TimedInstruction{
+						time,
+						instruction:crate::physics_worker::Instruction::Input(InputInstruction::Jump(true)),//activates the immediate jump path, but the style modifier prevents controls&CONTROL_JUMP bit from being set to auto jump
+					}).unwrap();
+				}
+			}
+			_=>(),
+		}
+	}
+}
+
+pub struct WindowContextSetup<'a>{
+	user_settings:crate::settings::UserSettings,
+	window:&'a winit::window::Window,
+	physics:crate::physics::PhysicsState,
+	graphics:crate::graphics::GraphicsState,
+}
+
+impl<'a> WindowContextSetup<'a>{
+	pub fn new(context:&crate::setup::SetupContext,window:&'a winit::window::Window)->Self{
+		//wee
+		let user_settings=crate::settings::read_user_settings();
+
+		let args:Vec<String>=std::env::args().collect();
+		let indexed_model_instances=if args.len()==2{
+			crate::load_file(std::path::PathBuf::from(&args[1]))
+		}else{
+			None
+		}.unwrap_or(crate::default_models());
+
+		let mut physics=crate::physics::PhysicsState::default();
+		physics.load_user_settings(&user_settings);
+		physics.generate_models(&indexed_model_instances);
+		physics.spawn(indexed_model_instances.spawn_point);
+
+		let mut graphics=crate::graphics::GraphicsState::new(&context.device,&context.queue,&context.config);
+		graphics.load_user_settings(&user_settings);
+		graphics.generate_models(&context.device,&context.queue,indexed_model_instances);
+
+		Self{
+			user_settings,
+			window,
+			graphics,
+			physics,
+		}
+	}
+
+	fn into_context(self,setup_context:crate::setup::SetupContext<'a>)->WindowContext<'a>{
+		let screen_size=glam::uvec2(setup_context.config.width,setup_context.config.height);
+		let graphics_thread=crate::graphics_worker::new(self.graphics,setup_context.config,setup_context.surface,setup_context.device,setup_context.queue);
+		WindowContext{
+			manual_mouse_lock:false,
+			mouse:crate::physics::MouseState::default(),
+			//make sure to update this!!!!!
+			screen_size,
+			user_settings:self.user_settings,
+			window:self.window,
+			physics_thread:crate::physics_worker::new(self.physics,graphics_thread),
+		}
+	}
+
+	pub fn into_worker(self,setup_context:crate::setup::SetupContext<'a>)->crate::compat_worker::QNWorker<'a,TimedInstruction<WindowInstruction>>{
+		let mut window_context=self.into_context(setup_context);
+		crate::compat_worker::QNWorker::new(move |ins:TimedInstruction<WindowInstruction>|{
+			match ins.instruction{
+				WindowInstruction::RequestRedraw=>{
+					window_context.window.request_redraw();
+				}
+				WindowInstruction::WindowEvent(window_event)=>{
+					window_context.window_event(ins.time,window_event);
+				},
+				WindowInstruction::DeviceEvent(device_event)=>{
+					window_context.device_event(ins.time,device_event);
+				},
+				WindowInstruction::Resize(size)=>{
+					window_context.physics_thread.send(
+						TimedInstruction{
+							time:ins.time,
+							instruction:crate::physics_worker::Instruction::Resize(size,window_context.user_settings.clone())
+						}
+					).unwrap();
+				}
+				WindowInstruction::Render=>{
+					window_context.physics_thread.send(
+						TimedInstruction{
+							time:ins.time,
+							instruction:crate::physics_worker::Instruction::Render
+						}
+					).unwrap();
+				}
+			}
+		})
+	}
+}

src/worker.rs

@@ -2,16 +2,68 @@ use std::thread;
 use std::sync::{mpsc,Arc};
 use parking_lot::Mutex;
 
+//WorkerPool
+struct Pool(u32);
+enum PoolOrdering{
+	Single,//single thread cannot get out of order
+	Ordered(u32),//order matters and should be buffered/dropped according to ControlFlow
+	Unordered(u32),//order does not matter
+}
+//WorkerInput
+enum Input{
+	//no input, workers have everything needed at creation
+	None,
+	//Immediate input to any available worker, dropped if they are overflowing (all workers are busy)
+	Immediate,
+	//Queued input is ordered, but serial jobs that mutate state (such as running physics) can only be done with a single worker
+	Queued,//"Fifo"
+	//Query a function to get next input when a thread becomes available
+	//worker stops querying when Query function returns None and dies after all threads complete
+	//lifetimes sound crazy on this one
+	Query,
+	//Queue of length one, the input is replaced if it is submitted twice before the current work finishes
+	Mailbox,
+}
+//WorkerOutput
+enum Output{
+	None(Pool),
+	Realtime(PoolOrdering),//outputs are dropped if they are out of order and order is demanded
+	Buffered(PoolOrdering),//outputs are held back internally if they are out of order and order is demanded
+}
+
+//It would be possible to implement all variants
+//with a query input function and callback output function but I'm not sure if that's worth it.
+//Immediate = Condvar
+//Queued = receiver.recv()
+//a callback function would need to use an async runtime!
+
+//realtime output is an arc mutex of the output value that is assigned every time a worker completes a job
+//buffered output produces a receiver object that can be passed to the creation of another worker
+//when ordering is requested, output is ordered by the order each thread is run
+//which is the same as the order that the input data is processed except for Input::None which has no input data
+//WorkerDescription
+struct Description{
+	input:Input,
+	output:Output,
+}
+
 //The goal here is to have a worker thread that parks itself when it runs out of work.
 //The worker thread publishes the result of its work back to the worker object for every item in the work queue.
+//Previous values do not matter as soon as a new value is produced, which is why it's called "Realtime"
 //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> {
+/*
+QR = WorkerDescription{
+	input:Queued,
+	output:Realtime(Single),
+}
+*/
+pub struct QRWorker<Task:Send,Value:Clone>{
 	sender: mpsc::Sender<Task>,
 	value:Arc<Mutex<Value>>,
 }
 
-impl<Task:Send+'static,Value:Clone+Send+'static> Worker<Task,Value> {
+impl<Task:Send+'static,Value:Clone+Send+'static> QRWorker<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 {
@@ -45,43 +97,94 @@ impl<Task:Send+'static,Value:Clone+Send+'static> Worker<Task,Value> {
 	}
 }
 
-pub struct CompatWorker<Task,Value:Clone,F>{
-	data:std::marker::PhantomData<Task>,
-	f:F,
-	value:Value,
+/*
+QN = WorkerDescription{
+	input:Queued,
+	output:None(Single),
+}
+*/
+//None Output Worker does all its work internally from the perspective of the work submitter
+pub struct QNWorker<'a,Task:Send>{
+	sender: mpsc::Sender<Task>,
+	handle:thread::ScopedJoinHandle<'a,()>,
 }
 
-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,
+impl<'a,Task:Send+'a> QNWorker<'a,Task>{
+	pub fn new<F:FnMut(Task)+Send+'a>(scope:&'a thread::Scope<'a,'_>,mut f:F)->QNWorker<'a,Task>{
+		let (sender,receiver)=mpsc::channel::<Task>();
+		let handle=scope.spawn(move ||{
+			loop {
+				match receiver.recv() {
+					Ok(task)=>f(task),
+					Err(_)=>{
+						println!("Worker stopping.",);
+						break;
+					}
+				}
+			}
+		});
+		Self{
+			sender,
+			handle,
 		}
 	}
-
-	pub fn send(&mut self,task:Task)->Result<(),()>{
-		self.value=(self.f)(task);
-		Ok(())
+	pub fn send(&self,task:Task)->Result<(),mpsc::SendError<Task>>{
+		self.sender.send(task)
 	}
+}
 
-	pub fn grab_clone(&self)->Value{
-		self.value.clone()
+/*
+IN = WorkerDescription{
+	input:Immediate,
+	output:None(Single),
+}
+*/
+//Inputs are dropped if the worker is busy
+pub struct INWorker<'a,Task:Send>{
+	sender: mpsc::SyncSender<Task>,
+	handle:thread::ScopedJoinHandle<'a,()>,
+}
+
+impl<'a,Task:Send+'a> INWorker<'a,Task>{
+	pub fn new<F:FnMut(Task)+Send+'a>(scope:&'a thread::Scope<'a,'_>,mut f:F)->INWorker<'a,Task>{
+		let (sender,receiver)=mpsc::sync_channel::<Task>(1);
+		let handle=scope.spawn(move ||{
+			loop {
+				match receiver.recv() {
+					Ok(task)=>f(task),
+					Err(_)=>{
+						println!("Worker stopping.",);
+						break;
+					}
+				}
+			}
+		});
+		Self{
+			sender,
+			handle,
+		}
+	}
+	//blocking!
+	pub fn blocking_send(&self,task:Task)->Result<(), mpsc::SendError<Task>>{
+		self.sender.send(task)
+	}
+	pub fn send(&self,task:Task)->Result<(), mpsc::TrySendError<Task>>{
+		self.sender.try_send(task)
 	}
 }
 
 #[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(crate::integer::Planar64Vec3::ZERO,crate::integer::Planar64Vec3::ZERO,crate::integer::Planar64Vec3::ZERO),
-		|_|crate::physics::Body::with_pva(crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE)
+	let test_body=crate::physics::Body::new(crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Time::ZERO);
+	let worker=QRWorker::new(crate::physics::Body::default(),
+		|_|crate::physics::Body::new(crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Time::ZERO)
 	);
 
 	// Send tasks to the worker
 	for _ in 0..5 {
-		let task = crate::instruction::TimedInstruction{
-			time:crate::integer::Time::ZERO,
+		let task = strafesnet_common::instruction::TimedInstruction{
+			time:strafesnet_common::integer::Time::ZERO,
 			instruction:crate::physics::PhysicsInstruction::StrafeTick,
 		};
 		worker.send(task).unwrap();
@@ -91,17 +194,17 @@ fn test_worker() {
 	// sender.send("STOP".to_string()).unwrap();
 
 	// Sleep to allow the worker thread to finish processing
-	thread::sleep(std::time::Duration::from_secs(2));
+	thread::sleep(std::time::Duration::from_millis(10));
 
 	// Send a new task
-	let task = crate::instruction::TimedInstruction{
-		time:crate::integer::Time::ZERO,
+	let task = strafesnet_common::instruction::TimedInstruction{
+		time:strafesnet_common::integer::Time::ZERO,
 		instruction:crate::physics::PhysicsInstruction::StrafeTick,
 	};
 	worker.send(task).unwrap();
 
-	println!("value={}",worker.grab_clone());
+	//assert_eq!(test_body,worker.grab_clone());
 
 	// wait long enough to see print from final task
-	thread::sleep(std::time::Duration::from_secs(1));
+	thread::sleep(std::time::Duration::from_millis(10));
 }

src/zeroes.rs

@@ -1,32 +0,0 @@
-//find roots of polynomials
-use crate::integer::Planar64;
-
-#[inline]
-pub fn zeroes2(a0:Planar64,a1:Planar64,a2:Planar64) -> Vec<Planar64>{
-	if a2==Planar64::ZERO{
-		return zeroes1(a0, a1);
-	}
-	let mut radicand=a1.get() as i128*a1.get() as i128-a2.get() as i128*a0.get() as i128*4;
-	if 0<radicand {
-		//start with f64 sqrt
-		let planar_radicand=Planar64::raw(unsafe{(radicand as f64).sqrt().to_int_unchecked()});
-		//TODO: one or two newtons
-		if Planar64::ZERO<a2 {
-			return vec![(-a1-planar_radicand)/(a2*2),(-a1+planar_radicand)/(a2*2)];
-		} else {
-			return vec![(-a1+planar_radicand)/(a2*2),(-a1-planar_radicand)/(a2*2)];
-		}
-	} else if radicand==0 {
-		return vec![a1/(a2*-2)];
-	} else {
-		return vec![];
-	}
-}
-#[inline]
-pub fn zeroes1(a0:Planar64,a1:Planar64) -> Vec<Planar64> {
-	if a1==Planar64::ZERO{
-		return vec![];
-	} else {
-		return vec![-a0/a1];
-	}
-}

tools/arcane

@@ -0,0 +1 @@
+mangohud ../target/release/strafe-client bhop_maps/5692113331.rbxm

tools/bhop_maps

@@ -0,0 +1 @@
+/run/media/quat/Files/Documents/map-files/verify-scripts/maps/bhop_all/

tools/cross-compile.sh

@@ -0,0 +1 @@
+cargo build --release --target x86_64-pc-windows-gnu

tools/make-demo.sh

@@ -0,0 +1,4 @@
+mkdir -p ../target/demo
+mv ../target/x86_64-pc-windows-gnu/release/strafe-client.exe ../target/demo/strafe-client.exe
+rm ../target/demo.7z
+7z a -t7z -mx=9 -mfb=273 -ms -md=31 -myx=9 -mtm=- -mmt -mmtf -md=1536m -mmf=bt3 -mmc=10000 -mpb=0 -mlc=0 ../target/demo.7z ../target/demo

tools/run

@@ -0,0 +1 @@
+mangohud ../target/release/strafe-client "$1"

tools/settings.conf

@@ -0,0 +1,4 @@
+[camera]
+sensitivity_x=98384
+fov_y=1.0
+#fov_x_from_y_ratio=1.33333333333333333333333333333333

tools/surf_maps

@@ -0,0 +1 @@
+/run/media/quat/Files/Documents/map-files/verify-scripts/maps/surf_all/

tools/textures

@@ -0,0 +1 @@
+/run/media/quat/Files/Documents/map-files/verify-scripts/textures/dds/

tools/toc

@@ -0,0 +1 @@
+mangohud ../target/release/strafe-client bhop_maps/5692152916.rbxm

tools/utopia

@@ -0,0 +1 @@
+mangohud ../target/release/strafe-client surf_maps/5692145408.rbxm