swap parity (again)

for predict_collision_out use an extrapolated body that will exist outside of the mesh in the hit case we care about

Cargo.lock

@@ -4,9 +4,9 @@ version = 3
 
 [[package]]
 name = "ab_glyph"
-version = "0.2.22"
+version = "0.2.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1061f3ff92c2f65800df1f12fc7b4ff44ee14783104187dd04dfee6f11b0fd2"
+checksum = "80179d7dd5d7e8c285d67c4a1e652972a92de7475beddfb92028c76463b13225"
 dependencies = [
  "ab_glyph_rasterizer",
  "owned_ttf_parser",
@@ -245,7 +245,7 @@ checksum = "965ab7eb5f8f97d2a083c799f3a1b994fc397b2fe2da5d1da1626ce15a39f2b1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -351,9 +351,9 @@ dependencies = [
 
 [[package]]
 name = "configparser"
-version = "3.0.2"
+version = "3.0.3"
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+checksum = "e0e56e414a2a52ab2a104f85cd40933c2fbc278b83637facf646ecf451b49237"
 
 [[package]]
 name = "constant_time_eq"
@@ -412,9 +412,9 @@ dependencies = [
 
 [[package]]
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-version = "1.0.0"
+version = "1.1.0"
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+checksum = "96a6ac251f4a2aca6b3f91340350eab87ae57c3f127ffeb585e92bd336717991"
 
 [[package]]
 name = "d3d12"
@@ -479,9 +479,9 @@ checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
 
 [[package]]
 name = "errno"
-version = "0.3.5"
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-checksum = "ac3e13f66a2f95e32a39eaa81f6b95d42878ca0e1db0c7543723dfe12557e860"
+checksum = "f258a7194e7f7c2a7837a8913aeab7fd8c383457034fa20ce4dd3dcb813e8eb8"
 dependencies = [
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  "windows-sys 0.48.0",
@@ -517,7 +517,7 @@ checksum = "1a5c6c585bc94aaf2c7b51dd4c2ba22680844aba4c687be581871a6f518c5742"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -550,9 +550,9 @@ dependencies = [
 
 [[package]]
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-version = "0.2.10"
+version = "0.2.11"
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+checksum = "fe9006bed769170c11f845cf00c7c1e9092aeb3f268e007c3e760ac68008070f"
 dependencies = [
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@@ -563,9 +563,9 @@ dependencies = [
 
 [[package]]
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-version = "0.28.0"
+version = "0.28.1"
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-checksum = "6fb8d784f27acf97159b40fc4db5ecd8aa23b9ad5ef69cdd136d3bc80665f0c0"
+checksum = "4271d37baee1b8c7e4b708028c57d816cf9d2434acb33a549475f78c181f6253"
 
 [[package]]
 name = "gl_generator"
@@ -660,9 +660,9 @@ dependencies = [
 
 [[package]]
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-version = "0.14.2"
+version = "0.14.3"
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-checksum = "f93e7192158dbcda357bdec5fb5788eebf8bbac027f3f33e719d29135ae84156"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 dependencies = [
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  "allocator-api2",
@@ -702,9 +702,9 @@ dependencies = [
 
 [[package]]
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-version = "2.0.2"
+version = "2.1.0"
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+checksum = "d530e1a18b1cb4c484e6e34556a0d948706958449fca0cab753d649f2bce3d1f"
 dependencies = [
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  "hashbrown",
@@ -743,9 +743,9 @@ dependencies = [
 
 [[package]]
 name = "js-sys"
-version = "0.3.64"
+version = "0.3.65"
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+checksum = "54c0c35952f67de54bb584e9fd912b3023117cbafc0a77d8f3dee1fb5f572fe8"
 dependencies = [
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 ]
@@ -769,9 +769,9 @@ checksum = "e2db585e1d738fc771bf08a151420d3ed193d9d895a36df7f6f8a9456b911ddc"
 
 [[package]]
 name = "lazy-regex"
-version = "3.0.2"
+version = "3.1.0"
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-checksum = "e723bd417b2df60a0f6a2b6825f297ea04b245d4ba52b5a22cb679bdf58b05fa"
+checksum = "5d12be4595afdf58bd19e4a9f4e24187da2a66700786ff660a418e9059937a4c"
 dependencies = [
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@@ -780,14 +780,14 @@ dependencies = [
 
 [[package]]
 name = "lazy-regex-proc_macros"
-version = "3.0.1"
+version = "3.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f0a1d9139f0ee2e862e08a9c5d0ba0470f2aa21cd1e1aa1b1562f83116c725f"
+checksum = "44bcd58e6c97a7fcbaffcdc95728b393b8d98933bfadad49ed4097845b57ef0b"
 dependencies = [
  "proc-macro2",
  "quote",
  "regex",
- "syn 2.0.38",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -798,9 +798,9 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
 
 [[package]]
 name = "libc"
-version = "0.2.149"
+version = "0.2.150"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a08173bc88b7955d1b3145aa561539096c421ac8debde8cbc3612ec635fee29b"
+checksum = "89d92a4743f9a61002fae18374ed11e7973f530cb3a3255fb354818118b2203c"
 
 [[package]]
 name = "libloading"
@@ -823,10 +823,21 @@ dependencies = [
 ]
 
 [[package]]
-name = "linux-raw-sys"
-version = "0.4.10"
+name = "libredox"
+version = "0.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da2479e8c062e40bf0066ffa0bc823de0a9368974af99c9f6df941d2c231e03f"
+checksum = "3af92c55d7d839293953fcd0fda5ecfe93297cfde6ffbdec13b41d99c0ba6607"
+dependencies = [
+ "bitflags 2.4.1",
+ "libc",
+ "redox_syscall 0.4.1",
+]
+
+[[package]]
+name = "linux-raw-sys"
+version = "0.4.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "969488b55f8ac402214f3f5fd243ebb7206cf82de60d3172994707a4bcc2b829"
 
 [[package]]
 name = "lock_api"
@@ -929,9 +940,9 @@ dependencies = [
 
 [[package]]
 name = "naga"
-version = "0.14.0"
+version = "0.14.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61d829abac9f5230a85d8cc83ec0879b4c09790208ae25b5ea031ef84562e071"
+checksum = "6cd05939c491da968a42986204b7431678be21fdcd4b10cc84997ba130ada5a4"
 dependencies = [
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  "bitflags 2.4.1",
@@ -1036,7 +1047,7 @@ dependencies = [
  "proc-macro-crate",
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -1103,18 +1114,18 @@ checksum = "dd8b5dd2ae5ed71462c540258bedcb51965123ad7e7ccf4b9a8cafaa4a63576d"
 
 [[package]]
 name = "orbclient"
-version = "0.3.46"
+version = "0.3.47"
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-checksum = "8378ac0dfbd4e7895f2d2c1f1345cab3836910baf3a300b000d04250f0c8428f"
+checksum = "52f0d54bde9774d3a51dcf281a5def240c71996bc6ca05d2c847ec8b2b216166"
 dependencies = [
- "redox_syscall 0.3.5",
+ "libredox",
 ]
 
 [[package]]
 name = "owned_ttf_parser"
-version = "0.19.0"
+version = "0.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "706de7e2214113d63a8238d1910463cfce781129a6f263d13fdb09ff64355ba4"
+checksum = "d4586edfe4c648c71797a74c84bacb32b52b212eff5dfe2bb9f2c599844023e7"
 dependencies = [
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 ]
@@ -1150,9 +1161,9 @@ checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
 
 [[package]]
 name = "percent-encoding"
-version = "2.3.0"
+version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b2a4787296e9989611394c33f193f676704af1686e70b8f8033ab5ba9a35a94"
+checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
 
 [[package]]
 name = "pin-project-lite"
@@ -1168,16 +1179,16 @@ checksum = "26072860ba924cbfa98ea39c8c19b4dd6a4a25423dbdf219c1eca91aa0cf6964"
 
 [[package]]
 name = "polling"
-version = "3.3.0"
+version = "3.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e53b6af1f60f36f8c2ac2aad5459d75a5a9b4be1e8cdd40264f315d78193e531"
+checksum = "cf63fa624ab313c11656b4cda960bfc46c410187ad493c41f6ba2d8c1e991c9e"
 dependencies = [
  "cfg-if",
  "concurrent-queue",
  "pin-project-lite",
  "rustix",
  "tracing",
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -1209,9 +1220,9 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.69"
+version = "1.0.70"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "134c189feb4956b20f6f547d2cf727d4c0fe06722b20a0eec87ed445a97f92da"
+checksum = "39278fbbf5fb4f646ce651690877f89d1c5811a3d4acb27700c1cb3cdb78fd3b"
 dependencies = [
  "unicode-ident",
 ]
@@ -1232,7 +1243,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "eb156a45b6b9fe8027497422179fb65afc84d36707a7ca98297bf06bccb8d43f"
 dependencies = [
  "quote",
- "syn 2.0.38",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -1467,9 +1478,9 @@ checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
 
 [[package]]
 name = "rustix"
-version = "0.38.21"
+version = "0.38.25"
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-checksum = "2b426b0506e5d50a7d8dafcf2e81471400deb602392c7dd110815afb4eaf02a3"
+checksum = "dc99bc2d4f1fed22595588a013687477aedf3cdcfb26558c559edb67b4d9b22e"
 dependencies = [
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  "errno",
@@ -1514,22 +1525,22 @@ dependencies = [
 
 [[package]]
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-version = "1.0.190"
+version = "1.0.193"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "91d3c334ca1ee894a2c6f6ad698fe8c435b76d504b13d436f0685d648d6d96f7"
+checksum = "25dd9975e68d0cb5aa1120c288333fc98731bd1dd12f561e468ea4728c042b89"
 dependencies = [
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 ]
 
 [[package]]
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-version = "1.0.190"
+version = "1.0.193"
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 dependencies = [
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  "quote",
- "syn 2.0.38",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -1552,9 +1563,9 @@ dependencies = [
 
 [[package]]
 name = "smallvec"
-version = "1.11.1"
+version = "1.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "942b4a808e05215192e39f4ab80813e599068285906cc91aa64f923db842bd5a"
+checksum = "4dccd0940a2dcdf68d092b8cbab7dc0ad8fa938bf95787e1b916b0e3d0e8e970"
 
 [[package]]
 name = "smithay-client-toolkit"
@@ -1617,7 +1628,7 @@ checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
 
 [[package]]
 name = "strafe-client"
-version = "0.8.0"
+version = "0.9.0"
 dependencies = [
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  "configparser",
@@ -1654,9 +1665,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.38"
+version = "2.0.39"
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-checksum = "e96b79aaa137db8f61e26363a0c9b47d8b4ec75da28b7d1d614c2303e232408b"
+checksum = "23e78b90f2fcf45d3e842032ce32e3f2d1545ba6636271dcbf24fa306d87be7a"
 dependencies = [
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  "quote",
@@ -1665,9 +1676,9 @@ dependencies = [
 
 [[package]]
 name = "termcolor"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6093bad37da69aab9d123a8091e4be0aa4a03e4d601ec641c327398315f62b64"
+checksum = "ff1bc3d3f05aff0403e8ac0d92ced918ec05b666a43f83297ccef5bea8a3d449"
 dependencies = [
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 ]
@@ -1689,7 +1700,7 @@ checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.39",
 ]
 
 [[package]]
@@ -1752,9 +1763,9 @@ checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
 
 [[package]]
 name = "ttf-parser"
-version = "0.19.2"
+version = "0.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49d64318d8311fc2668e48b63969f4343e0a85c4a109aa8460d6672e364b8bd1"
+checksum = "17f77d76d837a7830fe1d4f12b7b4ba4192c1888001c7164257e4bc6d21d96b4"
 
 [[package]]
 name = "unicode-ident"
@@ -1804,9 +1815,9 @@ checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.87"
+version = "0.2.88"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7706a72ab36d8cb1f80ffbf0e071533974a60d0a308d01a5d0375bf60499a342"
+checksum = "7daec296f25a1bae309c0cd5c29c4b260e510e6d813c286b19eaadf409d40fce"
 dependencies = [
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  "wasm-bindgen-macro",
@@ -1814,24 +1825,24 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.87"
+version = "0.2.88"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ef2b6d3c510e9625e5fe6f509ab07d66a760f0885d858736483c32ed7809abd"
+checksum = "e397f4664c0e4e428e8313a469aaa58310d302159845980fd23b0f22a847f217"
 dependencies = [
  "bumpalo",
  "log",
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.39",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-futures"
-version = "0.4.37"
+version = "0.4.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c02dbc21516f9f1f04f187958890d7e6026df8d16540b7ad9492bc34a67cea03"
+checksum = "9afec9963e3d0994cac82455b2b3502b81a7f40f9a0d32181f7528d9f4b43e02"
 dependencies = [
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  "js-sys",
@@ -1841,9 +1852,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.87"
+version = "0.2.88"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dee495e55982a3bd48105a7b947fd2a9b4a8ae3010041b9e0faab3f9cd028f1d"
+checksum = "5961017b3b08ad5f3fe39f1e79877f8ee7c23c5e5fd5eb80de95abc41f1f16b2"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -1851,22 +1862,22 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.87"
+version = "0.2.88"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54681b18a46765f095758388f2d0cf16eb8d4169b639ab575a8f5693af210c7b"
+checksum = "c5353b8dab669f5e10f5bd76df26a9360c748f054f862ff5f3f8aae0c7fb3907"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.39",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.87"
+version = "0.2.88"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca6ad05a4870b2bf5fe995117d3728437bd27d7cd5f06f13c17443ef369775a1"
+checksum = "0d046c5d029ba91a1ed14da14dca44b68bf2f124cfbaf741c54151fdb3e0750b"
 
 [[package]]
 name = "wayland-backend"
@@ -2024,9 +2035,9 @@ dependencies = [
 
 [[package]]
 name = "wgpu-core"
-version = "0.18.0"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "837e02ddcdc6d4a9b56ba4598f7fd4202a7699ab03f6ef4dcdebfad2c966aea6"
+checksum = "ef91c1d62d1e9e81c79e600131a258edf75c9531cbdbde09c44a011a47312726"
 dependencies = [
  "arrayvec",
  "bit-vec",
@@ -2047,9 +2058,9 @@ dependencies = [
 
 [[package]]
 name = "wgpu-hal"
-version = "0.18.0"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e30b9a8155c83868e82a8c5d3ce899de6c3961d2ef595de8fc168a1677fc2d8"
+checksum = "b84ecc802da3eb67b4cf3dd9ea6fe45bbb47ef13e6c49c5c3240868a9cc6cdd9"
 dependencies = [
  "android_system_properties",
  "arrayvec",
@@ -2182,6 +2193,15 @@ dependencies = [
  "windows-targets 0.48.5",
 ]
 
+[[package]]
+name = "windows-sys"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+dependencies = [
+ "windows-targets 0.52.0",
+]
+
 [[package]]
 name = "windows-targets"
 version = "0.42.2"
@@ -2212,6 +2232,21 @@ dependencies = [
  "windows_x86_64_msvc 0.48.5",
 ]
 
+[[package]]
+name = "windows-targets"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a18201040b24831fbb9e4eb208f8892e1f50a37feb53cc7ff887feb8f50e7cd"
+dependencies = [
+ "windows_aarch64_gnullvm 0.52.0",
+ "windows_aarch64_msvc 0.52.0",
+ "windows_i686_gnu 0.52.0",
+ "windows_i686_msvc 0.52.0",
+ "windows_x86_64_gnu 0.52.0",
+ "windows_x86_64_gnullvm 0.52.0",
+ "windows_x86_64_msvc 0.52.0",
+]
+
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.42.2"
@@ -2224,6 +2259,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
 
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cb7764e35d4db8a7921e09562a0304bf2f93e0a51bfccee0bd0bb0b666b015ea"
+
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.42.2"
@@ -2236,6 +2277,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbaa0368d4f1d2aaefc55b6fcfee13f41544ddf36801e793edbbfd7d7df075ef"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.42.2"
@@ -2248,6 +2295,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a28637cb1fa3560a16915793afb20081aba2c92ee8af57b4d5f28e4b3e7df313"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.42.2"
@@ -2260,6 +2313,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ffe5e8e31046ce6230cc7215707b816e339ff4d4d67c65dffa206fd0f7aa7b9a"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.42.2"
@@ -2272,6 +2331,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6fa32db2bc4a2f5abeacf2b69f7992cd09dca97498da74a151a3132c26befd"
+
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.42.2"
@@ -2284,6 +2349,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
 
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1a657e1e9d3f514745a572a6846d3c7aa7dbe1658c056ed9c3344c4109a6949e"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.42.2"
@@ -2297,10 +2368,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
 
 [[package]]
-name = "winit"
-version = "0.29.3"
+name = "windows_x86_64_msvc"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "161598019a9da35ab6c34dc46cd13546cba9dbf9816475d4dd9a639455016563"
+checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
+
+[[package]]
+name = "winit"
+version = "0.29.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d25d662bb83b511acd839534bb2d88521b0bbc81440969cb077d23c4db9e62c7"
 dependencies = [
  "ahash",
  "android-activity",
@@ -2347,9 +2424,9 @@ dependencies = [
 
 [[package]]
 name = "winnow"
-version = "0.5.17"
+version = "0.5.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a3b801d0e0a6726477cc207f60162da452f3a95adb368399bef20a946e06f65c"
+checksum = "829846f3e3db426d4cee4510841b71a8e58aa2a76b1132579487ae430ccd9c7b"
 dependencies = [
  "memchr",
 ]
@@ -2427,20 +2504,20 @@ checksum = "0fcb9cbac069e033553e8bb871be2fbdffcab578eb25bd0f7c508cedc6dcd75a"
 
 [[package]]
 name = "zerocopy"
-version = "0.7.18"
+version = "0.7.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ede7d7c7970ca2215b8c1ccf4d4f354c4733201dfaaba72d44ae5b37472e4901"
+checksum = "e97e415490559a91254a2979b4829267a57d2fcd741a98eee8b722fb57289aa0"
 dependencies = [
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.7.18"
+version = "0.7.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4b27b1bb92570f989aac0ab7e9cbfbacdd65973f7ee920d9f0e71ebac878fd0b"
+checksum = "dd7e48ccf166952882ca8bd778a43502c64f33bf94c12ebe2a7f08e5a0f6689f"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.38",
+ "syn 2.0.39",
 ]

Cargo.toml

@@ -1,6 +1,6 @@
 [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

src/aabb.rs

@@ -1,18 +1,9 @@
 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,
+	min:Planar64Vec3,
+	max:Planar64Vec3,
 }
 
 impl Default for Aabb {
@@ -22,17 +13,6 @@ impl Default for Aabb {
 }
 
 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);
@@ -48,34 +28,11 @@ impl Aabb{
 	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 size(&self)->Planar64Vec3{
+		self.max-self.min
 	}
-	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)
+		self.min.midpoint(self.max)
 	}
 	//probably use floats for area & volume because we don't care about precision
 	// pub fn area_weight(&self)->f32{

src/face_crawler.rs

@@ -0,0 +1,121 @@
+use crate::physics::Body;
+use crate::model_physics::{FEV,MeshQuery,DirectedEdge};
+use crate::integer::{Time,Planar64};
+use crate::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);
+				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());
+					let d=n.dot(mesh.vert(verts[0])+mesh.vert(verts[1]));
+					//WARNING: d is moved out of the *2 block because of adding two vertices!
+					for t in zeroes2(n.dot(body.position)*2-d,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 vert_sum=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);
+					let d=n.dot(vert_sum);
+					//WARNING yada yada d *2
+					for t in zeroes2((n.dot(body.position))*2-d,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));
+					let d=n.dot(mesh.vert(vert_id));
+					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::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);
+					let d=n.dot(mesh.vert(vert_id));
+					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::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/instruction.rs

@@ -25,7 +25,10 @@ impl<I> InstructionCollector<I>{
 			instruction:None
 		}
 	}
-
+	#[inline]
+	pub fn time(&self)->Time{
+		self.time
+	}
 	pub fn collect(&mut self,instruction:Option<TimedInstruction<I>>){
 		match instruction{
 			Some(unwrap_instruction)=>{

src/integer.rs

@@ -1,7 +1,9 @@
 //integer units
-#[derive(Clone,Copy,Hash,PartialEq,PartialOrd,Debug)]
+#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
 pub struct Time(i64);
 impl Time{
+	pub const MIN:Self=Self(i64::MIN);
+	pub const MAX:Self=Self(i64::MAX);
 	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);
@@ -414,6 +416,8 @@ pub struct Planar64(i64);
 impl Planar64{
 	pub const ZERO:Self=Self(0);
 	pub const ONE:Self=Self(1<<32);
+	pub const MAX:Self=Self(i64::MAX);
+	pub const MIN:Self=Self(i64::MIN);
 	#[inline]
 	pub const fn int(num:i32)->Self{
 		Self(Self::ONE.0*num as i64)
@@ -426,9 +430,14 @@ impl Planar64{
 	pub const fn get(&self)->i64{
 		self.0
 	}
+	#[inline]
 	pub fn sqrt(&self)->Self{
 		Planar64(unsafe{(((self.0 as i128)<<32) as f64).sqrt().to_int_unchecked()})
 	}
+	#[inline]
+	pub const fn signum_i64(&self)->i64{
+		((self.0&(1<<63)!=0) as i64)*2-1
+	}
 }
 const PLANAR64_ONE_FLOAT32:f32=(1u64<<32) as f32;
 const PLANAR64_CONVERT_TO_FLOAT32:f32=1.0/PLANAR64_ONE_FLOAT32;
@@ -518,6 +527,12 @@ impl std::ops::Add<Planar64> for Planar64{
 		Planar64(self.0+rhs.0)
 	}
 }
+impl std::ops::AddAssign<Planar64> for Planar64{
+	#[inline]
+	fn add_assign(&mut self,rhs:Self){
+		*self=*self+rhs;
+	}
+}
 impl std::ops::Sub<Planar64> for Planar64{
 	type Output=Planar64;
 	#[inline]
@@ -582,6 +597,10 @@ impl Planar64Vec3{
 	pub const MIN:Self=Planar64Vec3(glam::I64Vec3::MIN);
 	pub const MAX:Self=Planar64Vec3(glam::I64Vec3::MAX);
 	#[inline]
+	pub const fn new(x:Planar64,y:Planar64,z:Planar64)->Self{
+		Self(glam::i64vec3(x.0,y.0,z.0))
+	}
+	#[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))
 	}
@@ -634,6 +653,26 @@ impl Planar64Vec3{
 		)>>32) as i64)
 	}
 	#[inline]
+	pub fn dot128(&self,rhs:Self)->i128{
+		(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)
+	}
+	#[inline]
+	pub fn cross(&self,rhs:Self)->Planar64Vec3{
+		Planar64Vec3(glam::i64vec3(
+			(((self.0.y as i128)*(rhs.0.z as i128)-(self.0.z as i128)*(rhs.0.y as i128))>>32) as i64,
+			(((self.0.z as i128)*(rhs.0.x as i128)-(self.0.x as i128)*(rhs.0.z as i128))>>32) as i64,
+			(((self.0.x as i128)*(rhs.0.y as i128)-(self.0.y as i128)*(rhs.0.x as i128))>>32) as i64,
+		))
+	}
+	#[inline]
+	pub fn walkable(&self,slope:Planar64,up:Self)->bool{
+		let y=self.dot(up);
+		let x=self.cross(up).length();
+		x*slope<y
+	}
+	#[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()})
@@ -781,7 +820,7 @@ impl std::ops::Div<i64> for Planar64Vec3{
 }
 
 ///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy)]
+#[derive(Clone,Copy,Hash,Eq,PartialEq)]
 pub struct Planar64Mat3{
 	x_axis:Planar64Vec3,
 	y_axis:Planar64Vec3,
@@ -797,16 +836,6 @@ impl Default for Planar64Mat3{
 		}
 	}
 }
-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{
@@ -824,6 +853,14 @@ impl Planar64Mat3{
 		}
 	}
 	#[inline]
+	pub const fn from_diagonal(diagonal:Planar64Vec3)->Self{
+		Self{
+			x_axis:Planar64Vec3::raw(diagonal.0.x,0,0),
+			y_axis:Planar64Vec3::raw(0,diagonal.0.y,0),
+			z_axis:Planar64Vec3::raw(0,0,diagonal.0.z),
+		}
+	}
+	#[inline]
 	pub fn from_rotation_yx(yaw:Angle32,pitch:Angle32)->Self{
 		let xtheta=yaw.0 as f64*ANGLE32_TO_FLOAT64_RADIANS;
 		let (xs,xc)=xtheta.sin_cos();
@@ -853,6 +890,41 @@ impl Planar64Mat3{
 			Planar64Vec3(glam::i64vec3(s,0,c)),
 		)
 	}
+	#[inline]
+	pub const fn inverse(&self)->Self{
+		let det=(
+			-self.x_axis.0.z as i128*self.y_axis.0.y as i128*self.z_axis.0.x as i128
+			+self.x_axis.0.y as i128*self.y_axis.0.z as i128*self.z_axis.0.x as i128
+			+self.x_axis.0.z as i128*self.y_axis.0.x as i128*self.z_axis.0.y as i128
+			-self.x_axis.0.x as i128*self.y_axis.0.z as i128*self.z_axis.0.y as i128
+			-self.x_axis.0.y as i128*self.y_axis.0.x as i128*self.z_axis.0.z as i128
+			+self.x_axis.0.x as i128*self.y_axis.0.y as i128*self.z_axis.0.z as i128
+			)>>32;
+		Self{
+			x_axis:Planar64Vec3::raw((((-(self.y_axis.0.z as i128*self.z_axis.0.y as i128)+self.y_axis.0.y as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((self.x_axis.0.z as i128*self.z_axis.0.y as i128-self.x_axis.0.y as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((-(self.x_axis.0.z as i128*self.y_axis.0.y as i128)+self.x_axis.0.y as i128*self.y_axis.0.z as i128)<<32)/det) as i64),
+			y_axis:Planar64Vec3::raw((((self.y_axis.0.z as i128*self.z_axis.0.x as i128-self.y_axis.0.x as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((-(self.x_axis.0.z as i128*self.z_axis.0.x as i128)+self.x_axis.0.x as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((self.x_axis.0.z as i128*self.y_axis.0.x as i128-self.x_axis.0.x as i128*self.y_axis.0.z as i128)<<32)/det) as i64),
+			z_axis:Planar64Vec3::raw((((-(self.y_axis.0.y as i128*self.z_axis.0.x as i128)+self.y_axis.0.x as i128*self.z_axis.0.y as i128)<<32)/det) as i64,(((self.x_axis.0.y as i128*self.z_axis.0.x as i128-self.x_axis.0.x as i128*self.z_axis.0.y as i128)<<32)/det) as i64,(((-(self.x_axis.0.y as i128*self.y_axis.0.x as i128)+self.x_axis.0.x as i128*self.y_axis.0.y as i128)<<32)/det) as i64),
+		}
+	}
+	#[inline]
+	pub const fn transpose(&self)->Self{
+		Self{
+			x_axis:Planar64Vec3::raw(self.x_axis.0.x,self.y_axis.0.x,self.z_axis.0.x),
+			y_axis:Planar64Vec3::raw(self.x_axis.0.y,self.y_axis.0.y,self.z_axis.0.y),
+			z_axis:Planar64Vec3::raw(self.x_axis.0.z,self.y_axis.0.z,self.z_axis.0.z),
+		}
+	}
+	#[inline]
+	pub const fn determinant(&self)->Planar64{
+		Planar64(((
+			-self.x_axis.0.z as i128*self.y_axis.0.y as i128*self.z_axis.0.x as i128
+			+self.x_axis.0.y as i128*self.y_axis.0.z as i128*self.z_axis.0.x as i128
+			+self.x_axis.0.z as i128*self.y_axis.0.x as i128*self.z_axis.0.y as i128
+			-self.x_axis.0.x as i128*self.y_axis.0.z as i128*self.z_axis.0.y as i128
+			-self.x_axis.0.y as i128*self.y_axis.0.x as i128*self.z_axis.0.z as i128
+			+self.x_axis.0.x as i128*self.y_axis.0.y as i128*self.z_axis.0.z as i128
+		)>>64) as i64)
+	}
 }
 impl Into<glam::Mat3> for Planar64Mat3{
 	#[inline]
@@ -884,6 +956,15 @@ impl std::fmt::Display for Planar64Mat3{
 		)
 	}
 }
+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 std::ops::Div<i64> for Planar64Mat3{
 	type Output=Planar64Mat3;
 	#[inline]
@@ -897,7 +978,7 @@ impl std::ops::Div<i64> for Planar64Mat3{
 }
 
 ///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy,Default)]
+#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
 pub struct Planar64Affine3{
 	pub matrix3:Planar64Mat3,//includes scale above 1
 	pub translation:Planar64Vec3,
@@ -952,7 +1033,7 @@ impl std::fmt::Display for Planar64Affine3{
 #[test]
 fn test_sqrt(){
 	let r=Planar64::int(400);
-	println!("r{}",r.get());
+	assert_eq!(1717986918400,r.get());
 	let s=r.sqrt();
-	println!("s{}",s.get());
+	assert_eq!(85899345920,s.get());
 }

src/load_roblox.rs

@@ -45,14 +45,19 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
 		"Water"=>{
 			force_can_collide=false;
 			//TODO: read stupid CustomPhysicalProperties
-			intersecting.water=Some(crate::model::IntersectingWater{density:Planar64::ONE,viscosity:Planar64::ONE/10,current:velocity});
+			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.checkpoint=Some(crate::model::GameMechanicCheckpoint::Unordered{mode_id:0}),
+		// "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})},
@@ -111,13 +116,14 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
 					"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+)$")
-			.captures(other){
-				match &captures[1]{
-					"OrderedCheckpoint"=>general.checkpoint=Some(crate::model::GameMechanicCheckpoint::Ordered{mode_id:0,checkpoint_id:captures[2].parse::<u32>().unwrap()}),
-					_=>panic!("regex3[1] messed up bad"),
-				}
 			}
+			// else if let Some(captures)=lazy_regex::regex!(r"^(OrderedCheckpoint)(\d+)$")
+			// .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

src/main.rs

@@ -12,7 +12,9 @@ mod settings;
 mod primitives;
 mod instruction;
 mod load_roblox;
+mod face_crawler;
 mod compat_worker;
+mod model_physics;
 mod model_graphics;
 mod physics_worker;
 mod graphics_worker;

src/model.rs

@@ -83,73 +83,78 @@ pub enum TempIndexedAttributes{
 }
 
 //you have this effect while in contact
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct ContactingLadder{
 	pub sticky:bool
 }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub enum ContactingBehaviour{
-    Surf,
-    Ladder(ContactingLadder),
-    Elastic(u32),//[1/2^32,1] 0=None (elasticity+1)/2^32
+	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,
+	pub velocity:Planar64Vec3,
 }
 //All models can be given these attributes
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct GameMechanicAccelerator{
 	pub acceleration:Planar64Vec3
 }
-#[derive(Clone)]
+#[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)]
-pub enum GameMechanicCheckpoint{
-	Ordered{
-		mode_id:u32,
-		checkpoint_id:u32,
-	},
-	Unordered{
-		mode_id:u32,
-	},
-}
-#[derive(Clone)]
+#[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)]
+#[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
 	},
-	TrajectoryTargetPoint{//launch at a fixed speed and land at a target point
+	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
-	DotVelocity{direction:Planar64Vec3,dot:Planar64},//set your velocity in a specific direction without touching other directions
 }
-#[derive(Clone)]
+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,
@@ -160,31 +165,36 @@ pub struct GameMechanicZone{
 // 	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,
- 	//Acts like a trigger if you haven't hit all the checkpoints.
- 	Checkpoint{
- 		//if this is 2 you must have hit OrderedCheckpoint(0) OrderedCheckpoint(1) OrderedCheckpoint(2) to pass
- 		ordered_checkpoint_id:Option<u32>,
- 		//if this is 2 you must have hit at least 2 UnorderedCheckpoints to pass
- 		unordered_checkpoint_count:u32,
- 	},
- 	JumpLimit(u32),
- 	//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
@@ -192,17 +202,16 @@ 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),
 }
 //attributes listed in order of handling
-#[derive(Default,Clone)]
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
 pub struct GameMechanicAttributes{
 	pub zone:Option<GameMechanicZone>,
 	pub booster:Option<GameMechanicBooster>,
-	pub checkpoint:Option<GameMechanicCheckpoint>,
 	pub trajectory:Option<GameMechanicSetTrajectory>,
 	pub teleport_behaviour:Option<TeleportBehaviour>,
 	pub accelerator:Option<GameMechanicAccelerator>,
@@ -211,13 +220,26 @@ impl GameMechanicAttributes{
 	pub fn any(&self)->bool{
 		self.zone.is_some()
 		||self.booster.is_some()
-		||self.checkpoint.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)]
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
 pub struct ContactingAttributes{
 	//friction?
 	pub contact_behaviour:Option<ContactingBehaviour>,
@@ -227,7 +249,7 @@ impl ContactingAttributes{
 		self.contact_behaviour.is_some()
 	}
 }
-#[derive(Default,Clone)]
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
 pub struct IntersectingAttributes{
 	pub water:Option<IntersectingWater>,
 }
@@ -237,6 +259,7 @@ impl IntersectingAttributes{
 	}
 }
 //Spawn(u32) NO! spawns are indexed in the map header instead of marked with attibutes
+//TODO: deduplicate attributes
 pub enum CollisionAttributes{
 	Decoration,//visual only
 	Contact{//track whether you are contacting the object

src/model_physics.rs

@@ -1 +1,737 @@
-//
+use crate::integer::{Planar64,Planar64Vec3};
+use std::borrow::{Borrow,Cow};
+
+#[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 crate::integer::Planar64Affine3,
+	normal_transform:&'a crate::integer::Planar64Mat3,
+}
+impl TransformedMesh<'_>{
+	pub fn new<'a>(
+		mesh:&'a PhysicsMesh,
+		transform:&'a crate::integer::Planar64Affine3,
+		normal_transform:&'a crate::integer::Planar64Mat3,
+		)->TransformedMesh<'a>{
+		TransformedMesh{
+			mesh,
+			transform,
+			normal_transform,
+		}
+	}
+	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=Planar64::raw(((transformed_n.dot128(self.transform.matrix3*(n*d))<<32)/n.dot128(n)) as i64)+transformed_n.dot(self.transform.translation);
+		(transformed_n,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
+			if infinity_dir.dot(edge_n)==Planar64::ZERO{
+				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);
+				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
+			if infinity_dir.dot(edge_n)==Planar64::ZERO{
+				//test the edge
+				let d=diff.dot(edge_n);
+				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);
+				let vert_sum={
+					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(vert_sum);
+					// point.dot(boundary_n) is multiplied by two because vert_sum sums two vertices.
+					if infinity_dir.dot(boundary_n)==Planar64::ZERO&&point.dot(boundary_n)*2<=boundary_d{
+						//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,crate::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:crate::integer::Time)->Option<(MinkowskiFace,crate::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:crate::integer::Time)->Option<(MinkowskiFace,crate::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:crate::integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,crate::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 crate::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+crate::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);
+							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/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/worker.rs

@@ -175,10 +175,10 @@ impl<'a,Task:Send+'a> INWorker<'a,Task>{
 
 #[test]//How to run this test with printing: cargo test --release -- --nocapture
 fn test_worker() {
-	println!("hiiiii");
 	// Create the worker thread
-	let worker=QRWorker::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
@@ -194,7 +194,7 @@ 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{
@@ -203,8 +203,8 @@ fn test_worker() {
 	};
 	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

@@ -11,10 +11,12 @@ pub fn zeroes2(a0:Planar64,a1:Planar64,a2:Planar64) -> Vec<Planar64>{
 		//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)];
+		//sort roots ascending and avoid taking the difference of large numbers
+		match (Planar64::ZERO<a2,Planar64::ZERO<a1){
+			(true, true )=>vec![(-a1-planar_radicand)/(a2*2),(a0*2)/(-a1-planar_radicand)],
+			(true, false)=>vec![(a0*2)/(-a1+planar_radicand),(-a1+planar_radicand)/(a2*2)],
+			(false,true )=>vec![(a0*2)/(-a1-planar_radicand),(-a1-planar_radicand)/(a2*2)],
+			(false,false)=>vec![(-a1+planar_radicand)/(a2*2),(a0*2)/(-a1+planar_radicand)],
 		}
 	} else if radicand==0 {
 		return vec![a1/(a2*-2)];