runtime map loading!

Cargo.toml

@@ -18,7 +18,7 @@ rbx_binary = "0.7.1"
 rbx_dom_weak = "2.5.0"
 rbx_reflection_database = "0.2.7"
 rbx_xml = "0.13.1"
-wgpu = "0.18.0"
+wgpu = "0.17.0"
 winit = { version = "0.29.2", features = ["rwh_05"] }
 
 #[profile.release]

src/aabb.rs

@@ -1,5 +1,14 @@
 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,
@@ -13,6 +22,17 @@ 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);
@@ -28,6 +48,32 @@ 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 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)
 	}

src/bvh.rs

@@ -9,34 +9,22 @@ use crate::aabb::Aabb;
 //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
-enum BvhNodeContent{
-	Branch(Vec<BvhNode>),
-	Leaf(usize),
-}
-impl Default for BvhNodeContent{
-	fn default()->Self{
-		Self::Branch(Vec::new())
-	}
-}
 #[derive(Default)]
 pub struct BvhNode{
-	content:BvhNodeContent,
+	children:Vec<Self>,
+	models:Vec<usize>,
 	aabb:Aabb,
 }
 
 impl BvhNode{
 	pub fn the_tester<F:FnMut(usize)>(&self,aabb:&Aabb,f:&mut F){
-		match &self.content{
-			&BvhNodeContent::Leaf(model)=>f(model),
-			BvhNodeContent::Branch(children)=>for child in children{
-				//this test could be moved outside the match statement
-				//but that would test the root node aabb
-				//you're probably not going to spend a lot of time outside the map,
-				//so the test is extra work for nothing
-				if aabb.intersects(&child.aabb){
-					child.the_tester(aabb,f);
-				}
-			},
+		for &model in &self.models{
+			f(model);
+		}
+		for child in &self.children{
+			if aabb.intersects(&child.aabb){
+				child.the_tester(aabb,f);
+			}
 		}
 	}
 }
@@ -49,15 +37,10 @@ fn generate_bvh_node(boxen:Vec<(usize,Aabb)>)->BvhNode{
 	let n=boxen.len();
 	if n<20{
 		let mut aabb=Aabb::default();
-		let nodes=boxen.into_iter().map(|b|{
-			aabb.join(&b.1);
-			BvhNode{
-				content:BvhNodeContent::Leaf(b.0),
-				aabb:b.1,
-			}
-		}).collect();
+		let models=boxen.into_iter().map(|b|{aabb.join(&b.1);b.0}).collect();
 		BvhNode{
-			content:BvhNodeContent::Branch(nodes),
+			children:Vec::new(),
+			models,
 			aabb,
 		}
 	}else{
@@ -116,7 +99,8 @@ fn generate_bvh_node(boxen:Vec<(usize,Aabb)>)->BvhNode{
 			node
 		}).collect();
 		BvhNode{
-			content:BvhNodeContent::Branch(children),
+			children,
+			models:Vec::new(),
 			aabb,
 		}
 	}

src/compat_worker.rs

@@ -3,11 +3,11 @@ 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>,
+	f:Box<dyn FnMut(Task)+'a>,
 }
 
 impl<'a,Task> CompatNWorker<'a,Task>{
-	pub fn new(f:impl FnMut(Task)+Send+'a)->CompatNWorker<'a,Task>{
+	pub fn new(f:impl FnMut(Task)+'a)->CompatNWorker<'a,Task>{
 		Self{
 			data:std::marker::PhantomData,
 			f:Box::new(f),

src/face_crawler.rs

@@ -1,126 +0,0 @@
-use crate::physics::Body;
-use crate::model_physics::{FEV,MeshQuery};
-use crate::integer::{Time,Planar64,Planar64Vec3};
-use crate::zeroes::zeroes2;
-
-struct State<FEV>{
-	fev:FEV,
-	time:Time,
-}
-
-enum Transition<F,E,V>{
-	Miss,
-	Next(FEV<F,E,V>,Time),
-	Hit(F,Time),
-}
-
-impl<F:Copy,E:Copy,V:Copy> State<FEV<F,E,V>>{
-	fn next_transition(&self,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 &self.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 self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
-						best_time=t;
-						best_transtition=Transition::Hit(face_id,t);
-					}
-				}
-				//test each edge collision time, ignoring roots with zero or conflicting derivative
-				for &(edge_id,test_face_id) in mesh.face_edges(face_id).iter(){
-					let edge_n=mesh.edge_n(edge_id);
-					let n=n.cross(edge_n);
-					//picking a vert randomly is terrible
-					let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0]));
-					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 self.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(edge_id),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);
-				for &test_face_id in mesh.edge_faces(edge_id).iter(){
-					let face_n=mesh.face_nd(test_face_id).0;
-					let n=edge_n.cross(face_n);
-					let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0]));
-					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 self.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(test_face_id),t);
-							break;
-						}
-					}
-				}
-				//test each vertex collision time, ignoring roots with zero or conflicting derivative
-				let n=mesh.edge_n(edge_id);
-				for &vert_id in mesh.edge_verts(edge_id).iter(){
-					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 self.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 &edge_id in mesh.vert_edges(vert_id).iter(){
-					let n=mesh.edge_n(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 self.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(edge_id),t);
-							break;
-						}
-					}
-				}
-				//if none:
-			},
-		}
-		best_transtition
-	}
-}
-
-pub fn predict_collision<F:Copy,E:Copy,V:Copy>(mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,time_limit:Time)->Option<(F,Time)>{
-	let mut state=State{
-		fev:mesh.closest_fev(relative_body.position),
-		time:relative_body.time,
-	};
-	//it would be possible to write down the point of closest approach...
-	loop{
-		match state.next_transition(mesh,relative_body,time_limit){
-			Transition::Miss=>return None,
-			Transition::Next(fev,time)=>(state.fev,state.time)=(fev,time),
-			Transition::Hit(face,time)=>return Some((face,time)),
-		}
-	}
-}
-
-pub fn predict_collision_end<F:Copy,E:Copy,V:Copy>(mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,time_limit:Time,ignore_face_id:F)->Option<(F,Time)>{
-	//imagine the mesh without the collision face
-	//no algorithm needed, there is only one state and three cases (Face,Edge,None)
-	//determine when it passes an edge ("sliding off" case) or if it leaves the surface directly
-	//the state can be constructed from the ContactCollision directly
-	None
-}

src/graphics.rs

@@ -1,38 +1,24 @@
 use std::borrow::Cow;
 use wgpu::{util::DeviceExt,AstcBlock,AstcChannel};
-use crate::model_graphics::{GraphicsVertex,GraphicsModelColor4,GraphicsModelInstance,GraphicsModelSingleTexture,IndexedGraphicsModelSingleTexture,IndexedGroupFixedTexture};
+use crate::model_graphics::{GraphicsVertex,ModelGraphicsColor4,ModelGraphicsInstance,ModelGraphicsSingleTexture,IndexedModelGraphicsSingleTexture,IndexedGroupFixedTexture};
 
 #[derive(Clone)]
-pub struct GraphicsModelUpdate{
+pub struct ModelUpdate{
 	transform:Option<glam::Mat4>,
 	color:Option<glam::Vec4>,
 }
 
-struct Entity{
-	index_count:u32,
-	index_buf:wgpu::Buffer,
-}
-fn create_entities<T:bytemuck::Pod>(device:&wgpu::Device,entities:&Vec<Vec<T>>)->Vec<Entity>{
-	entities.iter().map(|indices|{
-		let index_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
-			label:Some("Index"),
-			contents:bytemuck::cast_slice(indices),
-			usage:wgpu::BufferUsages::INDEX,
-		});
-		Entity{
-			index_buf,
-			index_count:indices.len() as u32,
-		}
-	}).collect()
+struct Entity {
+	index_count: u32,
+	index_buf: wgpu::Buffer,
 }
 
-struct GraphicsModel{
-	entities:Vec<Entity>,
-	model_buf:wgpu::Buffer,
-	vertex_buf:wgpu::Buffer,
-	bind_group:wgpu::BindGroup,
-	index_format:wgpu::IndexFormat,
-	instances:Vec<GraphicsModelInstance>,
+struct ModelGraphics {
+	instances: Vec<ModelGraphicsInstance>,
+	vertex_buf: wgpu::Buffer,
+	entities: Vec<Entity>,
+	bind_group: wgpu::BindGroup,
+	model_buf: wgpu::Buffer,
 }
 
 pub struct GraphicsSamplers{
@@ -71,6 +57,12 @@ fn perspective_rh(fov_x_slope: f32, fov_y_slope: f32, z_near: f32, z_far: f32) -
 	)
 }
 impl GraphicsCamera{
+	pub fn new(screen_size:glam::UVec2,fov:glam::Vec2)->Self{
+		Self{
+			screen_size,
+			fov,
+		}
+	}
 	pub fn proj(&self)->glam::Mat4{
 		perspective_rh(self.fov.x, self.fov.y, 0.5, 2000.0)
 	}
@@ -110,7 +102,7 @@ pub struct GraphicsState{
 	camera:GraphicsCamera,
 	camera_buf: wgpu::Buffer,
 	temp_squid_texture_view: wgpu::TextureView,
-	models: Vec<GraphicsModel>,
+	models: Vec<ModelGraphics>,
 	depth_view: wgpu::TextureView,
 	staging_belt: wgpu::util::StagingBelt,
 }
@@ -214,15 +206,15 @@ impl GraphicsState{
 		let indexed_models_len=indexed_models.models.len();
 		let mut unique_texture_models=Vec::with_capacity(indexed_models_len);
 		for model in indexed_models.models.into_iter(){
-			//convert ModelInstance into GraphicsModelInstance
-			let instances:Vec<GraphicsModelInstance>=model.instances.into_iter().filter_map(|instance|{
+			//convert ModelInstance into ModelGraphicsInstance
+			let instances:Vec<ModelGraphicsInstance>=model.instances.into_iter().filter_map(|instance|{
 				if instance.color.w==0.0{
 					None
 				}else{
-					Some(GraphicsModelInstance{
+					Some(ModelGraphicsInstance{
 						transform: instance.transform.into(),
 						normal_transform: Into::<glam::Mat3>::into(instance.transform.matrix3).inverse().transpose(),
-						color:GraphicsModelColor4::from(instance.color),
+						color:ModelGraphicsColor4::from(instance.color),
 					})
 				}
 			}).collect();
@@ -241,7 +233,7 @@ impl GraphicsState{
 					//create new texture_index
 					let texture_index=unique_textures.len();
 					unique_textures.push(group.texture);
-					unique_texture_models.push(IndexedGraphicsModelSingleTexture{
+					unique_texture_models.push(IndexedModelGraphicsSingleTexture{
 						unique_pos:model.unique_pos.iter().map(|&v|*Into::<glam::Vec3>::into(v).as_ref()).collect(),
 						unique_tex:model.unique_tex.iter().map(|v|*v.as_ref()).collect(),
 						unique_normal:model.unique_normal.iter().map(|&v|*Into::<glam::Vec3>::into(v).as_ref()).collect(),
@@ -375,10 +367,10 @@ impl GraphicsState{
 						//creating the vertex map is slightly different because the vertices are directly hashable
 						let map_vertex_id:Vec<u32>=model.unique_vertices.iter().map(|unmapped_vertex|{
 							let vertex=crate::model::IndexedVertex{
-								pos:map_pos_id[unmapped_vertex.pos as usize],
-								tex:map_tex_id[unmapped_vertex.tex as usize],
-								normal:map_normal_id[unmapped_vertex.normal as usize],
-								color:map_color_id[unmapped_vertex.color as usize],
+								pos:map_pos_id[unmapped_vertex.pos as usize] as u32,
+								tex:map_tex_id[unmapped_vertex.tex as usize] as u32,
+								normal:map_normal_id[unmapped_vertex.normal as usize] as u32,
+								color:map_color_id[unmapped_vertex.color as usize] as u32,
 							};
 							(if let Some(&vertex_id)=vertex_id_from.get(&vertex){
 								vertex_id
@@ -396,7 +388,7 @@ impl GraphicsState{
 						}
 					}
 					//push model into dedup
-					deduplicated_models.push(IndexedGraphicsModelSingleTexture{
+					deduplicated_models.push(IndexedModelGraphicsSingleTexture{
 						unique_pos,
 						unique_tex,
 						unique_normal,
@@ -406,7 +398,7 @@ impl GraphicsState{
 						groups:vec![IndexedGroupFixedTexture{
 							polys
 						}],
-						instances:vec![GraphicsModelInstance{
+						instances:vec![ModelGraphicsInstance{
 							transform:glam::Mat4::IDENTITY,
 							normal_transform:glam::Mat3::IDENTITY,
 							color
@@ -424,9 +416,10 @@ impl GraphicsState{
 
 		//de-index models
 		let deduplicated_models_len=deduplicated_models.len();
-		let models:Vec<GraphicsModelSingleTexture>=deduplicated_models.into_iter().map(|model|{
+		let models:Vec<ModelGraphicsSingleTexture>=deduplicated_models.into_iter().map(|model|{
 			let mut vertices = Vec::new();
 			let mut index_from_vertex = std::collections::HashMap::new();//::<IndexedVertex,usize>
+			let mut entities = Vec::new();
 			//this mut be combined in a more complex way if the models use different render patterns per group
 				let mut indices = Vec::new();
 			for group in model.groups {
@@ -437,7 +430,7 @@ impl GraphicsState{
 							if let Some(&i)=index_from_vertex.get(&vertex_index){
 								indices.push(i);
 							}else{
-								let i=vertices.len();
+								let i=vertices.len() as u16;
 								let vertex=&model.unique_vertices[vertex_index as usize];
 								vertices.push(GraphicsVertex{
 									pos: model.unique_pos[vertex.pos as usize],
@@ -452,16 +445,11 @@ impl GraphicsState{
 					}
 				}
 			}
-			GraphicsModelSingleTexture{
+				entities.push(indices);
+			ModelGraphicsSingleTexture{
 				instances:model.instances,
-				entities:if (u32::MAX as usize)<vertices.len(){
-					panic!("Model has too many vertices!")
-				}else if (u16::MAX as usize)<vertices.len(){
-					crate::model_graphics::Entities::U32(vec![indices.into_iter().map(|vertex_id|vertex_id as u32).collect()])
-				}else{
-					crate::model_graphics::Entities::U16(vec![indices.into_iter().map(|vertex_id|vertex_id as u16).collect()])
-				},
 				vertices,
+				entities,
 				texture:model.texture,
 			}
 		}).collect();
@@ -514,17 +502,20 @@ impl GraphicsState{
 					usage: wgpu::BufferUsages::VERTEX,
 				});
 				//all of these are being moved here
-				self.models.push(GraphicsModel{
+				self.models.push(ModelGraphics{
 					instances:instances_chunk.to_vec(),
 					vertex_buf,
-					index_format:match &model.entities{
-						crate::model_graphics::Entities::U32(_)=>wgpu::IndexFormat::Uint32,
-						crate::model_graphics::Entities::U16(_)=>wgpu::IndexFormat::Uint16,
-					},
-					entities:match &model.entities{
-						crate::model_graphics::Entities::U32(entities)=>create_entities(device,entities),
-						crate::model_graphics::Entities::U16(entities)=>create_entities(device,entities),
-					},
+					entities: model.entities.iter().map(|indices|{
+						let index_buf = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
+							label: Some("Index"),
+							contents: bytemuck::cast_slice(&indices),
+							usage: wgpu::BufferUsages::INDEX,
+						});
+						Entity {
+							index_buf,
+							index_count: indices.len() as u32,
+						}
+					}).collect(),
 					bind_group: model_bind_group,
 					model_buf,
 				});
@@ -629,7 +620,6 @@ impl GraphicsState{
 			mag_filter: wgpu::FilterMode::Linear,
 			min_filter: wgpu::FilterMode::Linear,
 			mipmap_filter: wgpu::FilterMode::Linear,
-			anisotropy_clamp:16,
 			..Default::default()
 		});
 
@@ -812,7 +802,6 @@ impl GraphicsState{
 			}),
 			primitive: wgpu::PrimitiveState {
 				front_face: wgpu::FrontFace::Cw,
-				cull_mode:Some(wgpu::Face::Front),
 				..Default::default()
 			},
 			depth_stencil: Some(wgpu::DepthStencilState {
@@ -886,8 +875,8 @@ impl GraphicsState{
 		config:&wgpu::SurfaceConfiguration,
 		user_settings:&crate::settings::UserSettings,
 	) {
-		self.depth_view=Self::create_depth_texture(config,device);
-		self.camera.screen_size=glam::uvec2(config.width,config.height);
+		self.depth_view = Self::create_depth_texture(config,device);
+		self.camera.screen_size=glam::uvec2(config.width, config.height);
 		self.load_user_settings(user_settings);
 	}
 	pub fn render(
@@ -945,19 +934,17 @@ impl GraphicsState{
 							b: 0.3,
 							a: 1.0,
 						}),
-						store:wgpu::StoreOp::Store,
+						store: true,
 					},
 				})],
 				depth_stencil_attachment: Some(wgpu::RenderPassDepthStencilAttachment {
 					view: &self.depth_view,
 					depth_ops: Some(wgpu::Operations {
 						load: wgpu::LoadOp::Clear(1.0),
-						store:wgpu::StoreOp::Discard,
+						store: false,
 					}),
 					stencil_ops: None,
 				}),
-				timestamp_writes:Default::default(),
-				occlusion_query_set:Default::default(),
 			});
 
 			rpass.set_bind_group(0, &self.bind_groups.camera, &[]);
@@ -968,9 +955,9 @@ impl GraphicsState{
 				rpass.set_bind_group(2, &model.bind_group, &[]);
 				rpass.set_vertex_buffer(0, model.vertex_buf.slice(..));
 
-				for entity in model.entities.iter(){
-					rpass.set_index_buffer(entity.index_buf.slice(..),model.index_format);
-					rpass.draw_indexed(0..entity.index_count,0,0..model.instances.len() as u32);
+				for entity in model.entities.iter() {
+					rpass.set_index_buffer(entity.index_buf.slice(..), wgpu::IndexFormat::Uint16);
+					rpass.draw_indexed(0..entity.index_count, 0, 0..model.instances.len() as u32);
 				}
 			}
 
@@ -985,22 +972,22 @@ impl GraphicsState{
 }
 const MODEL_BUFFER_SIZE:usize=4*4 + 12 + 4;//let size=std::mem::size_of::<ModelInstance>();
 const MODEL_BUFFER_SIZE_BYTES:usize=MODEL_BUFFER_SIZE*4;
-fn get_instances_buffer_data(instances:&[GraphicsModelInstance]) -> Vec<f32> {
+fn get_instances_buffer_data(instances:&[ModelGraphicsInstance]) -> Vec<f32> {
 	let mut raw = Vec::with_capacity(MODEL_BUFFER_SIZE*instances.len());
 	for (i,mi) in instances.iter().enumerate(){
-		let mut v = raw.split_off(MODEL_BUFFER_SIZE*i);
-		//model transform
-		raw.extend_from_slice(&AsRef::<[f32; 4*4]>::as_ref(&mi.transform)[..]);
-		//normal transform
-		raw.extend_from_slice(AsRef::<[f32; 3]>::as_ref(&mi.normal_transform.x_axis));
-		raw.extend_from_slice(&[0.0]);
-		raw.extend_from_slice(AsRef::<[f32; 3]>::as_ref(&mi.normal_transform.y_axis));
-		raw.extend_from_slice(&[0.0]);
-		raw.extend_from_slice(AsRef::<[f32; 3]>::as_ref(&mi.normal_transform.z_axis));
-		raw.extend_from_slice(&[0.0]);
-		//color
-		raw.extend_from_slice(AsRef::<[f32; 4]>::as_ref(&mi.color.get()));
-		raw.append(&mut v);
+    	let mut v = raw.split_off(MODEL_BUFFER_SIZE*i);
+    	//model transform
+    	raw.extend_from_slice(&AsRef::<[f32; 4*4]>::as_ref(&mi.transform)[..]);
+    	//normal transform
+    	raw.extend_from_slice(AsRef::<[f32; 3]>::as_ref(&mi.normal_transform.x_axis));
+    	raw.extend_from_slice(&[0.0]);
+    	raw.extend_from_slice(AsRef::<[f32; 3]>::as_ref(&mi.normal_transform.y_axis));
+    	raw.extend_from_slice(&[0.0]);
+    	raw.extend_from_slice(AsRef::<[f32; 3]>::as_ref(&mi.normal_transform.z_axis));
+    	raw.extend_from_slice(&[0.0]);
+    	//color
+    	raw.extend_from_slice(AsRef::<[f32; 4]>::as_ref(&mi.color.get()));
+    	raw.append(&mut v);
 	}
 	raw
-}
+}

src/graphics_worker.rs

@@ -1,6 +1,6 @@
 pub enum Instruction{
 	Render(crate::physics::PhysicsOutputState,crate::integer::Time,glam::IVec2),
-	//UpdateModel(crate::graphics::GraphicsModelUpdate),
+	//UpdateModel(crate::graphics::ModelUpdate),
 	Resize(winit::dpi::PhysicalSize<u32>,crate::settings::UserSettings),
 	GenerateModels(crate::model::IndexedModelInstances),
 	ClearModels,
@@ -22,7 +22,6 @@ pub fn new<'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)=>{
@@ -32,20 +31,13 @@ pub fn new<'a>(
 				graphics.clear();
 			},
 			Instruction::Resize(size,user_settings)=>{
-				resize=Some((size,user_settings));
+				println!("Resizing to {:?}",size);
+				config.width=size.width.max(1);
+				config.height=size.height.max(1);
+				surface.configure(&device,&config);
+				graphics.resize(&device,&config,&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,

src/instruction.rs

@@ -25,10 +25,7 @@ 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

@@ -1,5 +1,5 @@
 //integer units
-#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
+#[derive(Clone,Copy,Hash,PartialEq,PartialOrd,Debug)]
 pub struct Time(i64);
 impl Time{
 	pub const ZERO:Self=Self(0);
@@ -315,8 +315,8 @@ impl Angle32{
 	pub fn clamp(&self,theta_min:Self,theta_max:Self)->Self{
 		//((max-min as u32)/2 as i32)+min
 		let midpoint=((
-			(theta_max.0 as u32)
-			.wrapping_sub(theta_min.0 as u32)
+			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);
@@ -414,7 +414,6 @@ 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);
 	#[inline]
 	pub const fn int(num:i32)->Self{
 		Self(Self::ONE.0*num as i64)
@@ -427,14 +426,9 @@ 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;
@@ -524,12 +518,6 @@ 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]
@@ -594,10 +582,6 @@ 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))
 	}
@@ -650,26 +634,6 @@ 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()})
@@ -817,7 +781,7 @@ impl std::ops::Div<i64> for Planar64Vec3{
 }
 
 ///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy,Hash,Eq,PartialEq)]
+#[derive(Clone,Copy)]
 pub struct Planar64Mat3{
 	x_axis:Planar64Vec3,
 	y_axis:Planar64Vec3,
@@ -889,41 +853,6 @@ 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]
@@ -968,7 +897,7 @@ impl std::ops::Div<i64> for Planar64Mat3{
 }
 
 ///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
+#[derive(Clone,Copy,Default)]
 pub struct Planar64Affine3{
 	pub matrix3:Planar64Mat3,//includes scale above 1
 	pub translation:Planar64Vec3,

src/load_roblox.rs

@@ -23,6 +23,14 @@ fn recursive_collect_superclass(objects: &mut std::vec::Vec<rbx_dom_weak::types:
 		}
 	}
 }
+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(
@@ -45,19 +53,13 @@ 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,velocity});
+			intersecting.water=Some(crate::model::IntersectingWater{density:Planar64::ONE,viscosity:Planar64::ONE/10,current: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})},
@@ -117,13 +119,6 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
 					_=>panic!("regex3[1] messed up bad"),
 				}
 			}
-			// else if let Some(captures)=lazy_regex::regex!(r"^(OrderedCheckpoint)(\d+)$")
-			// .captures(other){
-			// 	match &captures[1]{
-			// 		"OrderedCheckpoint"=>general.checkpoint=Some(crate::model::GameMechanicCheckpoint::Ordered{mode_id:0,checkpoint_id:captures[2].parse::<u32>().unwrap()}),
-			// 		_=>panic!("regex3[1] messed up bad"),
-			// 	}
-			// }
 		}
 	}
 	//need some way to skip this
@@ -223,9 +218,9 @@ type RobloxWedgeDescription=[Option<RobloxFaceTextureDescription>;5];
 type RobloxCornerWedgeDescription=[Option<RobloxFaceTextureDescription>;5];
 #[derive(Clone,Eq,Hash,PartialEq)]
 enum RobloxBasePartDescription{
-	Sphere(RobloxPartDescription),
+	Sphere,
 	Part(RobloxPartDescription),
-	Cylinder(RobloxPartDescription),
+	Cylinder,
 	Wedge(RobloxWedgeDescription),
 	CornerWedge(RobloxCornerWedgeDescription),
 }
@@ -270,12 +265,14 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 						spawn_point=model_transform.transform_point3(Planar64Vec3::ZERO)+Planar64Vec3::Y*5/2;
 						Some(crate::model::TempIndexedAttributes::Start(crate::model::TempAttrStart{mode_id:0}))
 					},
+					"UnorderedCheckpoint"=>Some(crate::model::TempIndexedAttributes::UnorderedCheckpoint(crate::model::TempAttrUnorderedCheckpoint{mode_id:0})),
 					other=>{
-						let regman=lazy_regex::regex!(r"^(BonusStart|Spawn|ForceSpawn|WormholeOut)(\d+)$");
+						let regman=lazy_regex::regex!(r"^(BonusStart|Spawn|ForceSpawn|OrderedCheckpoint|WormholeOut)(\d+)$");
 						if let Some(captures) = regman.captures(other) {
 							match &captures[1]{
 								"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()})),
+								"OrderedCheckpoint"=>Some(crate::model::TempIndexedAttributes::OrderedCheckpoint(crate::model::TempAttrOrderedCheckpoint{mode_id:0,checkpoint_id:captures[2].parse::<u32>().unwrap()})),
 								"WormholeOut"=>Some(crate::model::TempIndexedAttributes::Wormhole(crate::model::TempAttrWormhole{wormhole_id:captures[2].parse::<u32>().unwrap()})),
 								_=>None,
 							}
@@ -304,7 +301,6 @@ 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,
 					_=>{
@@ -399,9 +395,9 @@ 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([f0,f1,f2,f3,f4,f5]),
+					primitives::Primitives::Sphere=>RobloxBasePartDescription::Sphere,
 					primitives::Primitives::Cube=>RobloxBasePartDescription::Part([f0,f1,f2,f3,f4,f5]),
-					primitives::Primitives::Cylinder=>RobloxBasePartDescription::Cylinder([f0,f1,f2,f3,f4,f5]),
+					primitives::Primitives::Cylinder=>RobloxBasePartDescription::Cylinder,
 					//use front face texture first and use top face texture as a fallback
 					primitives::Primitives::Wedge=>RobloxBasePartDescription::Wedge([
 						f0,//Cube::Right->Wedge::Right
@@ -427,10 +423,9 @@ 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(part_texture_description)
-						|RobloxBasePartDescription::Cylinder(part_texture_description)
-						|RobloxBasePartDescription::Part(part_texture_description)=>{
-							let mut cube_face_description=primitives::CubeFaceDescription::default();
+						RobloxBasePartDescription::Sphere=>primitives::unit_sphere(),
+						RobloxBasePartDescription::Part(part_texture_description)=>{
+							let mut cube_face_description=primitives::CubeFaceDescription::new();
 							for (face_id,roblox_face_description) in part_texture_description.iter().enumerate(){
 								cube_face_description.insert(
 								match face_id{
@@ -449,8 +444,9 @@ 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::default();
+							let mut wedge_face_description=primitives::WedgeFaceDescription::new();
 							for (face_id,roblox_face_description) in wedge_texture_description.iter().enumerate(){
 								wedge_face_description.insert(
 								match face_id{
@@ -469,7 +465,7 @@ 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::default();
+							let mut cornerwedge_face_description=primitives::CornerWedgeFaceDescription::new();
 							for (face_id,roblox_face_description) in cornerwedge_texture_description.iter().enumerate(){
 								cornerwedge_face_description.insert(
 								match face_id{

src/main.rs

@@ -12,9 +12,7 @@ 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;
@@ -66,44 +64,49 @@ fn load_file(path: std::path::PathBuf)->Option<model::IndexedModelInstances>{
 
 pub fn default_models()->model::IndexedModelInstances{
 	let mut indexed_models = Vec::new();
+	indexed_models.append(&mut model::generate_indexed_model_list_from_obj(obj::ObjData::load_buf(&include_bytes!("../models/teslacyberv3.0.obj")[..]).unwrap(),glam::Vec4::ONE));
 	indexed_models.push(primitives::unit_sphere());
 	indexed_models.push(primitives::unit_cylinder());
 	indexed_models.push(primitives::unit_cube());
 	println!("models.len = {:?}", indexed_models.len());
-	//quad monkeys
 	indexed_models[0].instances.push(model::ModelInstance{
+		transform:integer::Planar64Affine3::try_from(glam::Affine3A::from_translation(glam::vec3(10.,0.,-10.))).unwrap(),
+		..Default::default()
+	});
+	//quad monkeys
+	indexed_models[1].instances.push(model::ModelInstance{
 		transform:integer::Planar64Affine3::try_from(glam::Affine3A::from_translation(glam::vec3(10.,5.,10.))).unwrap(),
 		..Default::default()
 	});
-	indexed_models[0].instances.push(model::ModelInstance{
+	indexed_models[1].instances.push(model::ModelInstance{
 		transform:integer::Planar64Affine3::try_from(glam::Affine3A::from_translation(glam::vec3(20.,5.,10.))).unwrap(),
 		color:glam::vec4(1.0,0.0,0.0,1.0),
 		..Default::default()
 	});
-	indexed_models[0].instances.push(model::ModelInstance{
+	indexed_models[1].instances.push(model::ModelInstance{
 		transform:integer::Planar64Affine3::try_from(glam::Affine3A::from_translation(glam::vec3(10.,5.,20.))).unwrap(),
 		color:glam::vec4(0.0,1.0,0.0,1.0),
 		..Default::default()
 	});
-	indexed_models[0].instances.push(model::ModelInstance{
+	indexed_models[1].instances.push(model::ModelInstance{
 		transform:integer::Planar64Affine3::try_from(glam::Affine3A::from_translation(glam::vec3(20.,5.,20.))).unwrap(),
 		color:glam::vec4(0.0,0.0,1.0,1.0),
 		..Default::default()
 	});
 	//decorative monkey
-	indexed_models[0].instances.push(model::ModelInstance{
+	indexed_models[1].instances.push(model::ModelInstance{
 		transform:integer::Planar64Affine3::try_from(glam::Affine3A::from_translation(glam::vec3(15.,10.,15.))).unwrap(),
 		color:glam::vec4(0.5,0.5,0.5,0.5),
 		attributes:model::CollisionAttributes::Decoration,
 		..Default::default()
 	});
 	//teapot
-	indexed_models[1].instances.push(model::ModelInstance{
+	indexed_models[2].instances.push(model::ModelInstance{
 		transform:integer::Planar64Affine3::try_from(glam::Affine3A::from_scale_rotation_translation(glam::vec3(0.5, 1.0, 0.2),glam::quat(-0.22248298016985793,-0.839457167990537,-0.05603504040830783,-0.49261857546227916),glam::vec3(-10.,7.,10.))).unwrap(),
 		..Default::default()
 	});
 	//ground
-	indexed_models[2].instances.push(model::ModelInstance{
+	indexed_models[3].instances.push(model::ModelInstance{
 		transform:integer::Planar64Affine3::try_from(glam::Affine3A::from_translation(glam::vec3(0.,0.,0.))*glam::Affine3A::from_scale(glam::vec3(160.0, 1.0, 160.0))).unwrap(),
 		..Default::default()
 	});

src/model.rs

@@ -50,10 +50,10 @@ pub struct IndexedModelInstances{
 }
 //stage description referencing flattened ids is spooky, but the map loading is meant to be deterministic.
 pub struct ModeDescription{
-	//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 ordered_checkpoints:Vec<usize>,//ordered_checkpoints[checkpoint_id]=model_id
+	pub unordered_checkpoints:Vec<usize>,//unordered_checkpoints[checkpoint_id]=model_id
 	pub spawn_from_stage_id:std::collections::HashMap::<u32,usize>,
 	pub ordered_checkpoint_from_checkpoint_id:std::collections::HashMap::<u32,usize>,
 }
@@ -61,6 +61,9 @@ impl ModeDescription{
 	pub fn get_spawn_model_id(&self,stage_id:u32)->Option<&usize>{
 		self.spawns.get(*self.spawn_from_stage_id.get(&stage_id)?)
 	}
+	pub fn get_ordered_checkpoint_model_id(&self,checkpoint_id:u32)->Option<&usize>{
+		self.ordered_checkpoints.get(*self.ordered_checkpoint_from_checkpoint_id.get(&checkpoint_id)?)
+	}
 }
 //I don't want this code to exist!
 #[derive(Clone)]
@@ -73,88 +76,84 @@ pub struct TempAttrSpawn{
 	pub stage_id:u32,
 }
 #[derive(Clone)]
+pub struct TempAttrOrderedCheckpoint{
+	pub mode_id:u32,
+	pub checkpoint_id:u32,
+}
+#[derive(Clone)]
+pub struct TempAttrUnorderedCheckpoint{
+	pub mode_id:u32,
+}
+#[derive(Clone)]
 pub struct TempAttrWormhole{
 	pub wormhole_id:u32,
 }
 pub enum TempIndexedAttributes{
 	Start(TempAttrStart),
 	Spawn(TempAttrSpawn),
+	OrderedCheckpoint(TempAttrOrderedCheckpoint),
+	UnorderedCheckpoint(TempAttrUnorderedCheckpoint),
 	Wormhole(TempAttrWormhole),
 }
 
 //you have this effect while in contact
-#[derive(Clone,Hash,Eq,PartialEq)]
+#[derive(Clone)]
 pub struct ContactingLadder{
 	pub sticky:bool
 }
-#[derive(Clone,Hash,Eq,PartialEq)]
+#[derive(Clone)]
 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
+    Surf,
+    Ladder(ContactingLadder),
+    Elastic(u32),//[1/2^32,1] 0=None (elasticity+1)/2^32
 }
 //you have this effect while intersecting
-#[derive(Clone,Hash,Eq,PartialEq)]
+#[derive(Clone)]
 pub struct IntersectingWater{
 	pub viscosity:Planar64,
 	pub density:Planar64,
-	pub velocity:Planar64Vec3,
+	pub current:Planar64Vec3,
 }
 //All models can be given these attributes
-#[derive(Clone,Hash,Eq,PartialEq)]
+#[derive(Clone)]
 pub struct GameMechanicAccelerator{
 	pub acceleration:Planar64Vec3
 }
-#[derive(Clone,Hash,Eq,PartialEq)]
+#[derive(Clone)]
 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)]
+#[derive(Clone)]
 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)]
+#[derive(Clone)]
 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
+	TrajectoryTargetPoint{//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
 }
-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)]
+#[derive(Clone)]
 pub enum ZoneBehaviour{
 	//Start is indexed
 	//Checkpoints are indexed
 	Finish,
 	Anitcheat,
 }
-#[derive(Clone,Hash,Eq,PartialEq)]
+#[derive(Clone)]
 pub struct GameMechanicZone{
 	pub mode_id:u32,
 	pub behaviour:ZoneBehaviour,
@@ -165,36 +164,24 @@ pub struct GameMechanicZone{
 // 	InRange(Planar64,Planar64),
 // 	OutsideRange(Planar64,Planar64),
 // }
-#[derive(Clone,Hash,Eq,PartialEq)]
+#[derive(Clone)]
 pub enum StageElementBehaviour{
-	//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
+ 	//Spawn,//The behaviour of stepping on a spawn setting the spawnid
+ 	SpawnAt,
+ 	Trigger,
+ 	Teleport,
+ 	Platform,
+ 	JumpLimit(u32),
+ 	//Speedtrap(TrapCondition),//Acts as a trigger with a speed condition
 }
-#[derive(Clone,Hash,Eq,PartialEq)]
+#[derive(Clone)]
 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,Hash,Eq,PartialEq)]
+#[derive(Clone)]
 pub struct GameMechanicWormhole{
 	//destination does not need to be another wormhole
 	//this defines a one way portal to a destination model transform
@@ -202,13 +189,13 @@ pub struct GameMechanicWormhole{
 	pub destination_model_id:u32,
 	//(position,angles)*=origin.transform.inverse()*destination.transform
 }
-#[derive(Clone,Hash,Eq,PartialEq)]
+#[derive(Clone)]
 pub enum TeleportBehaviour{
 	StageElement(GameMechanicStageElement),
 	Wormhole(GameMechanicWormhole),
 }
 //attributes listed in order of handling
-#[derive(Default,Clone,Hash,Eq,PartialEq)]
+#[derive(Default,Clone)]
 pub struct GameMechanicAttributes{
 	pub zone:Option<GameMechanicZone>,
 	pub booster:Option<GameMechanicBooster>,
@@ -218,28 +205,14 @@ pub struct GameMechanicAttributes{
 }
 impl GameMechanicAttributes{
 	pub fn any(&self)->bool{
-		self.zone.is_some()
-		||self.booster.is_some()
+		self.booster.is_some()
 		||self.trajectory.is_some()
+		||self.zone.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)]
+#[derive(Default,Clone)]
 pub struct ContactingAttributes{
 	//friction?
 	pub contact_behaviour:Option<ContactingBehaviour>,
@@ -249,7 +222,7 @@ impl ContactingAttributes{
 		self.contact_behaviour.is_some()
 	}
 }
-#[derive(Default,Clone,Hash,Eq,PartialEq)]
+#[derive(Default,Clone)]
 pub struct IntersectingAttributes{
 	pub water:Option<IntersectingWater>,
 }
@@ -259,7 +232,6 @@ 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_graphics.rs

@@ -11,7 +11,7 @@ pub struct GraphicsVertex {
 pub struct IndexedGroupFixedTexture{
 	pub polys:Vec<IndexedPolygon>,
 }
-pub struct IndexedGraphicsModelSingleTexture{
+pub struct IndexedModelGraphicsSingleTexture{
 	pub unique_pos:Vec<[f32; 3]>,
 	pub unique_tex:Vec<[f32; 2]>,
 	pub unique_normal:Vec<[f32; 3]>,
@@ -19,41 +19,37 @@ pub struct IndexedGraphicsModelSingleTexture{
 	pub unique_vertices:Vec<IndexedVertex>,
 	pub texture:Option<u32>,//RenderPattern? material/texture/shader/flat color
 	pub groups: Vec<IndexedGroupFixedTexture>,
-	pub instances:Vec<GraphicsModelInstance>,
+	pub instances:Vec<ModelGraphicsInstance>,
 }
-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>,
+pub struct ModelGraphicsSingleTexture{
+	pub instances: Vec<ModelGraphicsInstance>,
+	pub vertices: Vec<GraphicsVertex>,
+	pub entities: Vec<Vec<u16>>,
+	pub texture: Option<u32>,
 }
 #[derive(Clone,PartialEq)]
-pub struct GraphicsModelColor4(glam::Vec4);
-impl GraphicsModelColor4{
+pub struct ModelGraphicsColor4(glam::Vec4);
+impl ModelGraphicsColor4{
 	pub const fn get(&self)->glam::Vec4{
 		self.0
 	}
 }
-impl From<glam::Vec4> for GraphicsModelColor4{
+impl From<glam::Vec4> for ModelGraphicsColor4{
 	fn from(value:glam::Vec4)->Self{
 		Self(value)
 	}
 }
-impl std::hash::Hash for GraphicsModelColor4{
+impl std::hash::Hash for ModelGraphicsColor4{
 	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{}
+impl Eq for ModelGraphicsColor4{}
 #[derive(Clone)]
-pub struct GraphicsModelInstance{
+pub struct ModelGraphicsInstance{
 	pub transform:glam::Mat4,
 	pub normal_transform:glam::Mat3,
-	pub color:GraphicsModelColor4,
-}
+	pub color:ModelGraphicsColor4,
+}

src/model_physics.rs

@@ -1,766 +1 @@
-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);
-impl EdgeId{
-	fn as_directed_edge_id(&self,parity:bool)->DirectedEdgeId{
-		DirectedEdgeId(self.0|((parity as usize)<<(usize::BITS-1)))
-	}
-}
-/// DirectedEdgeId refers to an EdgeId when undirected.
-#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
-pub struct DirectedEdgeId(usize);
-impl DirectedEdgeId{
-	fn as_edge_id(&self)->EdgeId{
-		EdgeId(self.0&!(1<<(usize::BITS-1)))
-	}
-	fn signum(&self)->isize{
-		((self.0&(1<<(usize::BITS-1))!=0) as isize)*2-1
-	}
-}
-#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
-pub struct FaceId(usize);
-
-//Vertex <-> Edge <-> Face -> Collide
-pub enum FEV<F,E,V>{
-	Face(F),
-	Edge(E),
-	Vert(V),
-}
-
-//use Unit32 #[repr(C)] for map files
-struct Face{
-	normal:Planar64Vec3,
-	dot:Planar64,
-}
-impl Face{
-	fn nd(&self)->(Planar64Vec3,Planar64){
-		(self.normal,self.dot)
-	}
-}
-struct Vert(Planar64Vec3);
-struct FaceRefs{
-	edges:Vec<(EdgeId,FaceId)>,
-	//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 EdgeIdGuy([VertId;2]);
-impl EdgeIdGuy{
-	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 EdgeRefGuy([FaceId;2]);
-impl EdgeRefGuy{
-	fn new()->Self{
-		Self([FaceId(0);2])
-	}
-	fn push(&mut self,i:usize,face_id:FaceId){
-		self.0[i]=face_id;
-	}
-}
-struct FaceRefGuy(Vec<EdgeId>);
-#[derive(Default)]
-struct EdgePool{
-	edge_guys:Vec<(EdgeIdGuy,EdgeRefGuy)>,
-	edge_id_from_guy:std::collections::HashMap<EdgeIdGuy,usize>,
-}
-impl EdgePool{
-	fn push(&mut self,edge_id_guy:EdgeIdGuy)->(&mut EdgeRefGuy,EdgeId){
-		let edge_id=if let Some(&edge_id)=self.edge_id_from_guy.get(&edge_id_guy){
-			edge_id
-		}else{
-			let edge_id=self.edge_guys.len();
-			self.edge_guys.push((edge_id_guy.clone(),EdgeRefGuy::new()));
-			self.edge_id_from_guy.insert(edge_id_guy,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{
-		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_id_guy,is_sorted)=EdgeIdGuy::new(VertId(vert0_id),VertId(vert1_id));
-				let (edge_ref_guy,edge_id)=edge_pool.push(edge_id_guy);
-				//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_guy.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_edge_id(!is_sorted));
-					vert_ref_guy.faces.insert(face_id);
-					unsafe{vert_ref_guys.get_unchecked_mut(vert1_id)}.edges.insert(edge_id.as_directed_edge_id(is_sorted));
-				}
-				//return edge_id
-				edge_id
-			}).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(FaceRefGuy(face_edges));
-			face_i+=1;
-		}}
-		//conceivably faces, edges, and vertices exist now
-		Self{
-			faces,
-			verts,
-			face_topology:face_ref_guys.into_iter().enumerate().map(|(i,face_ref_guy)|{
-				let face_id=FaceId(i);
-				FaceRefs{edges:face_ref_guy.0.into_iter().map(|edge_id|{
-					//get the edge face that's not this face
-					let edge_faces=&edge_pool.edge_guys[edge_id.0].1.0;
-					if edge_faces[0]==face_id{
-						(edge_id,edge_faces[1])
-					}else if edge_faces[1]==face_id{
-						(edge_id,edge_faces[0])
-					}else{
-						panic!("edge does not contain face edge_faces={:?} face={:?}",edge_faces,face_id)
-					}
-				}).collect()}
-			}).collect(),
-			edge_topology:edge_pool.edge_guys.into_iter().map(|(edge_id_guy,edge_ref_guy)|
-				EdgeRefs{faces:edge_ref_guy.0,verts:edge_id_guy.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(),
-		}
-	}
-}
-
-pub trait MeshQuery<FACE:Clone,EDGE:Clone,VERT:Clone>{
-	fn closest_fev(&self,point:Planar64Vec3)->FEV<FACE,EDGE,VERT>;
-	fn edge_n(&self,edge_id:EDGE)->Planar64Vec3{
-		let verts=self.edge_verts(edge_id);
-		self.vert(verts[1].clone())-self.vert(verts[0].clone())
-	}
-	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,FACE)>>;
-	fn edge_faces(&self,edge_id:EDGE)->Cow<[FACE;2]>;
-	fn edge_verts(&self,edge_id:EDGE)->Cow<[VERT;2]>;
-	fn vert_edges(&self,vert_id:VERT)->Cow<Vec<EDGE>>;
-	fn vert_faces(&self,vert_id:VERT)->Cow<Vec<FACE>>;
-}
-impl PhysicsMesh{
-	pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
-		self.verts.iter().map(|Vert(pos)|*pos)
-	}
-	pub fn brute(&self,body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(FaceId,crate::integer::Time)>{
-		//check each face
-		let mut best_time=time_limit;
-		let mut best_face=None;
-		for (i,face) in self.faces.iter().enumerate(){
-			let face_id=FaceId(i);
-			let (n,d)=face.nd();
-			for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-				let t=body.time+crate::integer::Time::from(t);
-				if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
-					let p=body.extrapolated_position(t);
-					if self.face_edges(face_id).iter().all(|&(_,face_id)|{
-						let (n,d)=self.face_nd(face_id);
-						n.dot(p)<=d
-					}){
-						best_time=t;
-						best_face=Some(face_id);
-					}
-				}
-			}
-		}
-		best_face.map(|f|(f,best_time))
-	}
-	fn vert_directed_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
-		Cow::Borrowed(&self.vert_topology[vert_id.0].edges)
-	}
-	fn directed_edge_n(&self,directed_edge_id:DirectedEdgeId)->Planar64Vec3{
-		let verts=self.edge_verts(directed_edge_id.as_edge_id());
-		(self.vert(verts[1].clone())-self.vert(verts[0].clone()))*(directed_edge_id.signum() as i64)
-	}
-}
-impl MeshQuery<FaceId,EdgeId,VertId> for PhysicsMesh{
-	fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{
-		//TODO: put some genius code right here
-
-		//brute force for now
-		let mut best_distance_squared=Planar64::MAX;
-		//make something up as default ret
-		//hopefully empty meshes don't make their way through here
-		let mut best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(0));
-		//check each vert
-		for (i,v) in self.verts.iter().enumerate(){
-			let d=(v.0-point).dot(v.0-point);
-			if d<best_distance_squared{
-				best_distance_squared=d;
-				best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(i));
-			}
-		}
-		//check each edge
-		for (i,e) in self.edge_topology.iter().enumerate(){
-			let v0=self.vert(e.verts[0]);
-			let v1=self.vert(e.verts[1]);
-			let n=v1-v0;
-			//n.cross(point-v0)=sin(t)*n*dis
-			let d=n.dot(point-v0);
-			if d<n.dot(v1)&&n.dot(v0)<d{
-				let c=n.cross(point-v0);
-				let edge_distance_squared=c.dot(c)/n.dot(n);
-				if edge_distance_squared<best_distance_squared{
-					best_distance_squared=edge_distance_squared;
-					best_fev=FEV::<FaceId,EdgeId,VertId>::Edge(EdgeId(i));
-				}
-			}
-		}
-		let face_dots:Vec<Planar64>=self.faces.iter().map(|f|f.normal.dot(point)).collect();
-		//check each face
-		for (i,f) in self.face_topology.iter().enumerate(){
-			if face_dots[i]<best_distance_squared&&f.edges.iter().all(|&(_,face_id)|face_dots[face_id.0]<=Planar64::ZERO){
-				best_distance_squared=face_dots[i];
-				best_fev=FEV::<FaceId,EdgeId,VertId>::Face(FaceId(i));
-			}
-		}
-		best_fev
-	}
-	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<(EdgeId,FaceId)>>{
-		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<EdgeId>>{
-		//not poggers
-		Cow::Owned(self.vert_topology[vert_id.0].edges.iter().map(|directed_edge_id|directed_edge_id.as_edge_id()).collect())
-	}
-	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,
-		}
-	}
-	pub fn brute_in(&self,body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(FaceId,crate::integer::Time)>{
-		//check each face
-		let mut best_time=time_limit;
-		let mut best_face=None;
-		for i in 0..self.mesh.faces.len(){
-			let face_id=FaceId(i);
-			let (n,d)=self.face_nd(face_id);
-			for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-				let t=body.time+crate::integer::Time::from(t);
-				if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
-					let p=body.extrapolated_position(t);
-					if self.face_edges(face_id).iter().all(|&(_,face_id)|{
-						let (n,d)=self.face_nd(face_id);
-						n.dot(p)<=d
-					}){
-						best_time=t;
-						best_face=Some(face_id);
-					}
-				}
-			}
-		}
-		best_face.map(|f|(f,best_time))
-	}
-	pub fn brute_out(&self,body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(FaceId,crate::integer::Time)>{
-		//check each face
-		let mut best_time=time_limit;
-		let mut best_face=None;
-		for i in 0..self.mesh.faces.len(){
-			let face_id=FaceId(i);
-			let (n,d)=self.face_nd(face_id);
-			for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-				let t=body.time+crate::integer::Time::from(t);
-				if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))>Planar64::ZERO{
-					let p=body.extrapolated_position(t);
-					if self.face_edges(face_id).iter().all(|&(_,test_face_id)|{
-						let (n,d)=self.face_nd(test_face_id);
-						n.dot(p)<=d
-					}){
-						best_time=t;
-						best_face=Some(face_id);
-					}
-				}
-			}
-		}
-		best_face.map(|f|(f,best_time))
-	}
-	pub fn brute_out_face(&self,body:&crate::physics::Body,time_limit:crate::integer::Time,face_id:FaceId)->Option<(FaceId,crate::integer::Time)>{
-		//check each face
-		let mut best_time=time_limit;
-		let mut best_face=None;
-		for &(_,test_face_id) in self.mesh.face_edges(face_id).iter(){
-			let (n,d)=self.face_nd(test_face_id);
-			for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-				let t=body.time+crate::integer::Time::from(t);
-				if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))>Planar64::ZERO{
-					best_time=t;
-					best_face=Some(test_face_id);
-				}
-			}
-		}
-		best_face.map(|f|(f,best_time))
-	}
-	#[inline]
-	fn vert_directed_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
-		self.mesh.vert_directed_edges(vert_id)
-	}
-	#[inline]
-	fn directed_edge_n(&self,directed_edge_id:DirectedEdgeId)->Planar64Vec3{
-		self.mesh.directed_edge_n(directed_edge_id)
-	}
-}
-impl MeshQuery<FaceId,EdgeId,VertId> for TransformedMesh<'_>{
-	fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{
-		//TODO: put some genius code right here
-
-		//brute force for now
-		let mut best_distance_squared=Planar64::MAX;
-		//make something up as default ret
-		//hopefully empty meshes don't make their way through here
-		let mut best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(0));
-		//check each vert
-		for i in 0..self.mesh.verts.len(){
-			let v=self.vert(VertId(i));
-			let d=(v-point).dot(v-point);
-			if d<best_distance_squared{
-				best_distance_squared=d;
-				best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(i));
-			}
-		}
-		//check each edge
-		for (i,e) in self.mesh.edge_topology.iter().enumerate(){
-			let v0=self.vert(e.verts[0]);
-			let v1=self.vert(e.verts[1]);
-			let n=v1-v0;
-			//n.cross(point-v0)=sin(t)*n*dis
-			let d=n.dot(point-v0);
-			if d<n.dot(v1)&&n.dot(v0)<d{
-				let c=n.cross(point-v0);
-				let edge_distance_squared=c.dot(c)/n.dot(n);
-				if edge_distance_squared<best_distance_squared{
-					best_distance_squared=edge_distance_squared;
-					best_fev=FEV::<FaceId,EdgeId,VertId>::Edge(EdgeId(i));
-				}
-			}
-		}
-		let face_dots:Vec<Planar64>=self.mesh.faces.iter().map(|f|(*self.normal_transform*f.normal).dot(point)).collect();
-		//check each face
-		for (i,f) in self.mesh.face_topology.iter().enumerate(){
-			if face_dots[i]<best_distance_squared&&f.edges.iter().all(|&(_,face_id)|face_dots[face_id.0]<=Planar64::ZERO){
-				best_distance_squared=face_dots[i];
-				best_fev=FEV::<FaceId,EdgeId,VertId>::Face(FaceId(i));
-			}
-		}
-		best_fev
-	}
-	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<(EdgeId,FaceId)>>{
-		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<EdgeId>>{
-		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)]
-enum MinkowskiVert{
-	VertVert(VertId,VertId),
-}
-#[derive(Clone,Copy)]
-enum MinkowskiEdge{
-	VertEdge(VertId,EdgeId),
-	EdgeVert(EdgeId,VertId),
-}
-#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
-pub enum MinkowskiFace{
-	VertFace(VertId,FaceId),
-	EdgeEdge(EdgeId,EdgeId),
-	FaceVert(FaceId,VertId),
-}
-
-pub struct MinkowskiMesh<'a>{
-	mesh0:&'a TransformedMesh<'a>,
-	mesh1:&'a TransformedMesh<'a>,
-}
-
-impl MinkowskiMesh<'_>{
-	pub fn minkowski_sum<'a>(mesh0:&'a TransformedMesh,mesh1:&'a TransformedMesh)->MinkowskiMesh<'a>{
-		MinkowskiMesh{
-			mesh0,
-			mesh1,
-		}
-	}
-}
-impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
-	fn closest_fev(&self,point:Planar64Vec3)->FEV<MinkowskiFace,MinkowskiEdge,MinkowskiVert>{
-		//put some genius code right here
-		todo!()
-	}
-	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)=>{
-				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.mesh0.vert(e1v0)+self.mesh0.vert(e1v1));
-				let sign=e0d.signum_i64();
-				(n*(sign*2),(e0d-e1d)*sign)
-			},
-			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<(MinkowskiEdge,MinkowskiFace)>>{
-		match face_id{
-			MinkowskiFace::VertFace(v0,f1)=>{
-				let face1_n=self.mesh1.face_nd(f1).0;
-				Cow::Owned(self.mesh1.face_edges(f1).iter().map(|&(edge_id1,edge_face_id1)|{
-					//same as above
-					(MinkowskiEdge::VertEdge(v0,edge_id1),{
-						let mut best_edge=None;
-						let mut best_d=Planar64::MAX;
-						let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
-						let v0e=self.mesh0.vert_directed_edges(v0);
-						for &directed_edge_id0 in v0e.iter(){
-							let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
-							if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
-								let d=face1_n.dot(edge0_n);
-								if d<best_d{
-									best_d=d;
-									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_edge_id(),edge_id1)
-						)
-					})
-				}).collect())
-			},
-			MinkowskiFace::EdgeEdge(e0,e1)=>{
-				let e0v=self.mesh0.edge_verts(e0);
-				let e0f=self.mesh0.edge_faces(e0);
-				let edge0_n=self.mesh0.edge_n(e0);
-				let e1v=self.mesh1.edge_verts(e1);
-				let e1f=self.mesh1.edge_faces(e1);
-				let edge1_n=self.mesh1.edge_n(e1);
-				//populate algorithm variables based on known parity
-				//I don't like that this arbitrarily picks a face to test against!
-				let (e0v0_face_id1,e0v1_face_id1)=if edge0_n.dot(self.mesh1.face_nd(e1f[0]).0)<=Planar64::ZERO{
-					(e1f[1],e1f[0])
-				}else{
-					(e1f[0],e1f[1])
-				};
-				let [r0,r1]=[(e0v[0],e0v0_face_id1),(e0v[1],e0v1_face_id1)].map(|(vert_id0,edge_face_id1)|{
-					(MinkowskiEdge::VertEdge(vert_id0,e1),{
-						let mut best_edge=None;
-						let mut best_d=Planar64::MAX;
-						let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
-						let v0e=self.mesh0.vert_directed_edges(vert_id0);
-						for &directed_edge_id0 in v0e.iter(){
-							let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
-							if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
-								//I think face_id1 == edge_face_id1 in this case
-								let d=edge_face1_n.dot(edge0_n);
-								if d<best_d{
-									best_d=d;
-									best_edge=Some(directed_edge_id0);
-								}
-							}
-						}
-						best_edge.map_or(
-							MinkowskiFace::VertFace(vert_id0,edge_face_id1),
-							|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_edge_id(),e1)
-						)
-					})
-				});
-				let (e1v0_face_id0,e1v1_face_id0)=if edge1_n.dot(self.mesh0.face_nd(e0f[0]).0)<=Planar64::ZERO{
-					(e0f[1],e0f[0])
-				}else{
-					(e0f[0],e0f[1])
-				};
-				let [r2,r3]=[(e1v0_face_id0,e1v[0]),(e1v1_face_id0,e1v[1])].map(|(edge_face_id0,vert_id1)|{
-					(MinkowskiEdge::EdgeVert(e0,vert_id1),{
-						let mut best_edge=None;
-						let mut best_d=Planar64::MAX;
-						let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
-						let v1e=self.mesh1.vert_directed_edges(vert_id1);
-						for &directed_edge_id1 in v1e.iter(){
-							let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
-							if edge_face0_n.dot(edge1_n)<Planar64::ZERO{
-								let d=edge_face0_n.dot(edge1_n);
-								if d<best_d{
-									best_d=d;
-									best_edge=Some(directed_edge_id1);
-								}
-							}
-						}
-						best_edge.map_or(
-							MinkowskiFace::FaceVert(edge_face_id0,vert_id1),
-							|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_edge_id())
-						)
-					})
-				});
-				//could sort this if ordered edges are needed
-				Cow::Owned(vec![r0,r1,r2,r3])
-			},
-			MinkowskiFace::FaceVert(f0,v1)=>{
-				let face0_n=self.mesh0.face_nd(f0).0;
-				Cow::Owned(self.mesh0.face_edges(f0).iter().map(|&(edge_id0,edge_face_id0)|{
-					//compare v1 edges
-					//candidate edges have negative dot with edge_face_id0 normal
-					//choose the edge with the smallest edgedir dot with f0 normal
-					//MinkowskiFace::EdgeEdge(edge_id0,edge_id1)
-					//if there is no candidate edges
-					//MinkowskiFace::FaceVert(edge_face_id0,v1)
-					(MinkowskiEdge::EdgeVert(edge_id0,v1),{
-						let mut best_edge=None;
-						let mut best_d=Planar64::MAX;
-						let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
-						let v1e=self.mesh1.vert_directed_edges(v1);
-						for &directed_edge_id1 in v1e.iter(){
-							let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
-							if edge_face0_n.dot(edge1_n)<Planar64::ZERO{
-								let d=face0_n.dot(edge1_n);
-								if d<best_d{
-									best_d=d;
-									best_edge=Some(directed_edge_id1);
-								}
-							}
-						}
-						best_edge.map_or(
-							MinkowskiFace::FaceVert(edge_face_id0,v1),
-							|directed_edge_id1|MinkowskiFace::EdgeEdge(edge_id0,directed_edge_id1.as_edge_id())
-						)
-					})
-				}).collect())
-			},
-		}
-	}
-	fn edge_faces(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiFace;2]>{
-		match edge_id{
-			MinkowskiEdge::VertEdge(v0,e1)=>{
-				let e1f=self.mesh1.edge_faces(e1);
-				Cow::Owned([(e1f[0],e1f[1]),(e1f[1],e1f[0])].map(|(edge_face_id1,other_edge_face_id1)|{
-					let mut best_edge=None;
-					let mut best_d=Planar64::MAX;
-					let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
-					let other_edge_face1_n=self.mesh1.face_nd(other_edge_face_id1).0;
-					let v0e=self.mesh0.vert_directed_edges(v0);
-					for &directed_edge_id0 in v0e.iter(){
-						let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
-						if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
-							let d=other_edge_face1_n.dot(edge0_n);
-							if d<best_d{
-								best_d=d;
-								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_edge_id(),e1)
-					)
-				}))
-			},
-			MinkowskiEdge::EdgeVert(e0,v1)=>{
-				let e0f=self.mesh0.edge_faces(e0);
-				Cow::Owned([(e0f[0],e0f[1]),(e0f[1],e0f[0])].map(|(edge_face_id0,other_edge_face_id0)|{
-					let mut best_edge=None;
-					let mut best_d=Planar64::MAX;
-					let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
-					let other_edge_face0_n=self.mesh0.face_nd(other_edge_face_id0).0;
-					let v1e=self.mesh1.vert_directed_edges(v1);
-					for &directed_edge_id1 in v1e.iter(){
-						let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
-						if edge_face0_n.dot(edge1_n)<Planar64::ZERO{
-							let d=other_edge_face0_n.dot(edge1_n);
-							if d<best_d{
-								best_d=d;
-								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_edge_id())
-					)
-				}))
-			},
-		}
-	}
-	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<MinkowskiEdge>>{
-		match vert_id{
-			MinkowskiVert::VertVert(v0,v1)=>{
-				let mut edges=Vec::new();
-				let v0e=self.mesh0.vert_directed_edges(v0);
-				let v1f=self.mesh1.vert_faces(v1);
-				for &directed_edge_id in v0e.iter(){
-					let n=self.mesh0.directed_edge_n(directed_edge_id);
-					if v1f.iter().all(|&face_id|n.dot(self.mesh1.face_nd(face_id).0)<Planar64::ZERO){
-						edges.push(MinkowskiEdge::EdgeVert(directed_edge_id.as_edge_id(),v1));
-					}
-				}
-				let v1e=self.mesh1.vert_directed_edges(v1);
-				let v0f=self.mesh0.vert_faces(v0);
-				for &directed_edge_id in v1e.iter(){
-					let n=self.mesh1.directed_edge_n(directed_edge_id);
-					if v0f.iter().all(|&face_id|n.dot(self.mesh0.face_nd(face_id).0)<Planar64::ZERO){
-						edges.push(MinkowskiEdge::VertEdge(v0,directed_edge_id.as_edge_id()));
-					}
-				}
-				Cow::Owned(edges)
-			},
-		}
-	}
-	fn vert_faces(&self,vert_id:MinkowskiVert)->Cow<Vec<MinkowskiFace>>{
-		todo!()
-	}
-}
-
-#[test]
-fn build_me_a_cube(){
-	let unit_cube=crate::primitives::unit_cube();
-	let mesh=PhysicsMesh::from(&unit_cube);
-	println!("mesh={:?}",mesh);
-}
+//

src/primitives.rs

@@ -126,21 +126,17 @@ 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{
-	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)))
+	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
 }
+pub type CubeFaceDescription=std::collections::HashMap::<CubeFace,FaceDescription>;
 pub fn unit_cube()->crate::model::IndexedModel{
-	let mut t=CubeFaceDescription::default();
+	let mut t=CubeFaceDescription::new();
 	t.insert(CubeFace::Right,FaceDescription::default());
 	t.insert(CubeFace::Top,FaceDescription::default());
 	t.insert(CubeFace::Back,FaceDescription::default());
@@ -149,21 +145,17 @@ 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{
-	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)))
+	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
 }
+pub type WedgeFaceDescription=std::collections::HashMap::<WedgeFace,FaceDescription>;
 pub fn unit_wedge()->crate::model::IndexedModel{
-	let mut t=WedgeFaceDescription::default();
+	let mut t=WedgeFaceDescription::new();
 	t.insert(WedgeFace::Right,FaceDescription::default());
 	t.insert(WedgeFace::TopFront,FaceDescription::default());
 	t.insert(WedgeFace::Back,FaceDescription::default());
@@ -171,18 +163,9 @@ pub fn unit_wedge()->crate::model::IndexedModel{
 	t.insert(WedgeFace::Bottom,FaceDescription::default());
 	generate_partial_unit_wedge(t)
 }
-#[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 type CornerWedgeFaceDescription=std::collections::HashMap::<CornerWedgeFace,FaceDescription>;
 pub fn unit_cornerwedge()->crate::model::IndexedModel{
-	let mut t=CornerWedgeFaceDescription::default();
+	let mut t=CornerWedgeFaceDescription::new();
 	t.insert(CornerWedgeFace::Right,FaceDescription::default());
 	t.insert(CornerWedgeFace::TopBack,FaceDescription::default());
 	t.insert(CornerWedgeFace::TopLeft,FaceDescription::default());
@@ -206,6 +189,18 @@ 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{
@@ -217,7 +212,7 @@ 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_id,face_description) in face_descriptions.pairs(){
+	for (face,face_description) in face_descriptions.into_iter(){
 		//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
@@ -238,6 +233,14 @@ 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]);
@@ -324,7 +327,7 @@ 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_id,face_description) in face_descriptions.pairs(){
+	for (face,face_description) in face_descriptions.into_iter(){
 		//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
@@ -345,6 +348,13 @@ 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]);
@@ -429,7 +439,7 @@ 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_id,face_description) in face_descriptions.pairs(){
+	for (face,face_description) in face_descriptions.into_iter(){
 		//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
@@ -450,6 +460,13 @@ 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/setup.rs

@@ -41,7 +41,6 @@ fn create_instance()->SetupContextPartial1{
 		instance:wgpu::Instance::new(wgpu::InstanceDescriptor{
 			backends,
 			dx12_shader_compiler,
-			..Default::default()
 		}),
 	}
 }
@@ -63,8 +62,7 @@ impl SetupContextPartial2{
 	fn pick_adapter(self)->SetupContextPartial3{
 		let adapter;
 
-		//TODO: prefer adapter that implements optional features
-		//let optional_features=optional_features();
+		let optional_features=optional_features();
 		let required_features=required_features();
 
 		//no helper function smh gotta write it myself
@@ -170,7 +168,6 @@ impl SetupContextPartial4{
 			.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{

src/sweep.rs

@@ -0,0 +1,8 @@
+
+//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

@@ -21,7 +21,7 @@ struct WindowContext<'a>{
 
 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)
+		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:crate::integer::Time,event: winit::event::WindowEvent) {
 		match event {
@@ -32,7 +32,7 @@ impl WindowContext<'_>{
 					self.physics_thread.send(TimedInstruction{time,instruction:crate::physics_worker::Instruction::GenerateModels(indexed_model_instances)}).unwrap();
 				}
 			},
-			winit::event::WindowEvent::Focused(_state)=>{
+			winit::event::WindowEvent::Focused(state)=>{
 				//pause unpause
 				//recalculate pressed keys on focus
 			},

src/worker.rs

@@ -1,6 +1,6 @@
 use std::thread;
 use std::sync::{mpsc,Arc};
-use parking_lot::Mutex;
+use parking_lot::{Mutex,Condvar};
 
 //WorkerPool
 struct Pool(u32);
@@ -177,8 +177,8 @@ impl<'a,Task:Send+'a> INWorker<'a,Task>{
 fn test_worker() {
 	println!("hiiiii");
 	// Create the worker thread
-	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)
+	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)
 	);
 
 	// 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_millis(10));
+	thread::sleep(std::time::Duration::from_secs(2));
 
 	// Send a new task
 	let task = crate::instruction::TimedInstruction{
@@ -206,5 +206,5 @@ fn test_worker() {
 	println!("value={}",worker.grab_clone());
 
 	// wait long enough to see print from final task
-	thread::sleep(std::time::Duration::from_millis(10));
+	thread::sleep(std::time::Duration::from_secs(1));
 }

src/zeroes.rs

@@ -11,12 +11,10 @@ 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
-		//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)],
+		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)];

tools/arcane

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

tools/bhop_maps

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

tools/cross-compile.sh

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

tools/make-demo.sh

@@ -1,4 +0,0 @@
-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

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

tools/settings.conf

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

tools/surf_maps

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

tools/textures

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

tools/toc

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

tools/utopia

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