Cargo.lock

@@ -105,9 +105,9 @@ checksum = "9d151e35f61089500b617991b791fc8bfd237ae50cd5950803758a179b41e67a"
 
 [[package]]
 name = "arrayvec"
-version = "0.7.4"
+version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "96d30a06541fbafbc7f82ed10c06164cfbd2c401138f6addd8404629c4b16711"
+checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
 
 [[package]]
 name = "as-raw-xcb-connection"
@@ -245,6 +245,12 @@ dependencies = [
  "objc2",
 ]
 
+[[package]]
+name = "bnum"
+version = "0.12.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "50202def95bf36cb7d1d7a7962cea1c36a3f8ad42425e5d2b71d7acb8041b5b8"
+
 [[package]]
 name = "bstr"
 version = "1.10.0"
@@ -624,6 +630,18 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "835a3dc7d1ec9e75e2b5fb4ba75396837112d2060b03f7d43bc1897c7f7211da"
 
+[[package]]
+name = "fixed_wide"
+version = "0.1.0"
+source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
+checksum = "7a8d6e10c51c9df39ead915c62288afbc41d13e00368e526037e530ee5c58e13"
+dependencies = [
+ "arrayvec",
+ "bnum",
+ "paste",
+ "ratio_ops",
+]
+
 [[package]]
 name = "foreign-types"
 version = "0.5.0"
@@ -942,6 +960,17 @@ dependencies = [
  "redox_syscall 0.4.1",
 ]
 
+[[package]]
+name = "linear_ops"
+version = "0.1.0"
+source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
+checksum = "b2e6977ac24f47086d8a7a2d4ae1c720e86dfdc8407cf5e34c18bfa01053c456"
+dependencies = [
+ "fixed_wide",
+ "paste",
+ "ratio_ops",
+]
+
 [[package]]
 name = "linux-raw-sys"
 version = "0.4.14"
@@ -1609,6 +1638,12 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9c8a99fddc9f0ba0a85884b8d14e3592853e787d581ca1816c91349b10e4eeab"
 
+[[package]]
+name = "ratio_ops"
+version = "0.1.0"
+source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
+checksum = "01239195d6afe0509e7e3511b716c0540251dfe7ece0a9a5a27116afb766c42c"
+
 [[package]]
 name = "raw-window-handle"
 version = "0.6.2"
@@ -1955,7 +1990,7 @@ dependencies = [
  "parking_lot",
  "pollster",
  "strafesnet_bsp_loader",
- "strafesnet_common",
+ "strafesnet_common 0.5.0",
  "strafesnet_deferred_loader",
  "strafesnet_rbx_loader",
  "strafesnet_snf",
@@ -1970,7 +2005,7 @@ source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
 checksum = "35ee2c534efa039ad17ca41893ba1d75fafff014076353ac676c73fc808b9e44"
 dependencies = [
  "glam",
- "strafesnet_common",
+ "strafesnet_common 0.4.1",
  "vbsp",
  "vmdl",
 ]
@@ -1987,6 +2022,21 @@ dependencies = [
  "id",
 ]
 
+[[package]]
+name = "strafesnet_common"
+version = "0.5.0"
+source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
+checksum = "d8fcc44793ae84a1d80882f367980913292241c94eb87584de4010bdad4a918d"
+dependencies = [
+ "arrayvec",
+ "bitflags 2.6.0",
+ "fixed_wide",
+ "glam",
+ "id",
+ "linear_ops",
+ "ratio_ops",
+]
+
 [[package]]
 name = "strafesnet_deferred_loader"
 version = "0.3.3"
@@ -1994,7 +2044,7 @@ source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
 checksum = "596aba6d2747818781336ad95a1ee496e37f70052fd625a299fc7a555a6938d4"
 dependencies = [
  "lazy-regex",
- "strafesnet_common",
+ "strafesnet_common 0.4.1",
  "vbsp",
 ]
 
@@ -2013,18 +2063,18 @@ dependencies = [
  "rbx_reflection_database",
  "rbx_xml",
  "roblox_emulator",
- "strafesnet_common",
+ "strafesnet_common 0.4.1",
 ]
 
 [[package]]
 name = "strafesnet_snf"
-version = "0.1.3"
+version = "0.2.0"
 source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
-checksum = "a9ae481152d0389be29967e1d5f0377498df8ff9638175d56cd8e2c2e6982bfa"
+checksum = "c6e8856d79c29bd5687b08bc1653370f7e242c84d5c06afa8629bd3e00c433bf"
 dependencies = [
  "binrw 0.14.0",
  "id",
- "strafesnet_common",
+ "strafesnet_common 0.5.0",
 ]
 
 [[package]]

Cargo.toml

@@ -23,10 +23,10 @@ id = { version = "0.1.0", registry = "strafesnet" }
 parking_lot = "0.12.1"
 pollster = "0.3.0"
 strafesnet_bsp_loader = { version = "0.1.3", registry = "strafesnet", optional = true }
-strafesnet_common = { version = "0.4.0", registry = "strafesnet" }
+strafesnet_common = { version = "0.5.0", registry = "strafesnet" }
 strafesnet_deferred_loader = { version = "0.3.1", features = ["legacy"], registry = "strafesnet", optional = true }
 strafesnet_rbx_loader = { version = "0.3.7", registry = "strafesnet", optional = true }
-strafesnet_snf = { version = "0.1.2", registry = "strafesnet", optional = true }
+strafesnet_snf = { version = "0.2.0", registry = "strafesnet", optional = true }
 wgpu = "22.0.0"
 winit = "0.30.4"
 

src/face_crawler.rs

@@ -1,32 +1,33 @@
 use crate::physics::Body;
-use crate::model_physics::{FEV,MeshQuery,DirectedEdge};
+use crate::model_physics::{GigaTime,FEV,MeshQuery,DirectedEdge,MinkowskiMesh,MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert};
-use strafesnet_common::integer::{Time,Planar64};
+use strafesnet_common::integer::{Time,Fixed,Ratio};
-use strafesnet_common::zeroes::zeroes2;
 
+#[derive(Debug)]
 enum Transition<F,E:DirectedEdge,V>{
 	Miss,
-	Next(FEV<F,E,V>,Time),
+	Next(FEV<F,E,V>,GigaTime),
-	Hit(F,Time),
+	Hit(F,GigaTime),
 }
 
-	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>{
+type MinkowskiFEV=FEV<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>;
+type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>;
+
+	fn next_transition(fev:&MinkowskiFEV,body_time:GigaTime,mesh:&MinkowskiMesh,body:&Body,mut best_time:GigaTime)->MinkowskiTransition{
 		//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_transition=MinkowskiTransition::Miss;
-		let mut best_transtition=Transition::Miss;
 		match fev{
-			&FEV::<F,E,V>::Face(face_id)=>{
+			&MinkowskiFEV::Face(face_id)=>{
 				//test own face collision time, ignoring roots with zero or conflicting derivative
 				//n=face.normal d=face.dot
 				//n.a t^2+n.v t+n.p-d==0
 				let (n,d)=mesh.face_nd(face_id);
 				//TODO: use higher precision d value?
 				//use the mesh transform translation instead of baking it into the d value.
-				for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+				for dt in Fixed::<4,128>::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-					let t=body.time+Time::from(t);
+					if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-					if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+						best_time=dt;
-						best_time=t;
+						best_transition=MinkowskiTransition::Hit(face_id,dt);
-						best_transtition=Transition::Hit(face_id,t);
 						break;
 					}
 				}
@@ -36,18 +37,18 @@ enum Transition<F,E:DirectedEdge,V>{
 					let n=n.cross(edge_n);
 					let verts=mesh.edge_verts(directed_edge_id.as_undirected());
 					//WARNING: d is moved out of the *2 block because of adding two vertices!
-					for t in zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))),n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					//WARNING: precision is swept under the rug!
-						let t=body.time+Time::from(t);
+					for dt in Fixed::<4,128>::zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
-						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							best_time=t;
+							best_time=dt;
-							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
+							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
 							break;
 						}
 					}
 				}
 				//if none:
 			},
-			&FEV::<F,E,V>::Edge(edge_id)=>{
+			&MinkowskiFEV::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);
@@ -57,11 +58,10 @@ enum Transition<F,E:DirectedEdge,V>{
 					//edge_n gets parity from the order of edge_faces
 					let n=face_n.cross(edge_n)*((i as i64)*2-1);
 					//WARNING yada yada d *2
-					for t in zeroes2(n.dot(delta_pos),n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
-						let t=body.time+Time::from(t);
+						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=dt;
-							best_time=t;
+							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Face(edge_face_id),dt);
-							best_transtition=Transition::Next(FEV::<F,E,V>::Face(edge_face_id),t);
 							break;
 						}
 					}
@@ -70,27 +70,27 @@ enum Transition<F,E:DirectedEdge,V>{
 				for (i,&vert_id) in edge_verts.iter().enumerate(){
 					//vertex normal gets parity from vert index
 					let n=edge_n*(1-2*(i as i64));
-					for t in zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						let t=body.time+Time::from(t);
+						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
-							best_time=t;
+							best_time=dt;
-							best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t);
+							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Vert(vert_id),dt);
 							break;
 						}
 					}
 				}
 				//if none:
 			},
-			&FEV::<F,E,V>::Vert(vert_id)=>{
+			&MinkowskiFEV::Vert(vert_id)=>{
 				//test each edge collision time, ignoring roots with zero or conflicting derivative
 				for &directed_edge_id in mesh.vert_edges(vert_id).iter(){
 					//edge is directed away from vertex, but we want the dot product to turn out negative
 					let n=-mesh.directed_edge_n(directed_edge_id);
-					for t in zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						let t=body.time+Time::from(t);
+						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
-							best_time=t;
+							best_time=dt;
-							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
+							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
 							break;
 						}
 					}
@@ -98,18 +98,26 @@ enum Transition<F,E:DirectedEdge,V>{
 				//if none:
 			},
 		}
-		best_transtition
+		best_transition
 	}
 pub enum CrawlResult<F,E:DirectedEdge,V>{
 	Miss(FEV<F,E,V>),
-	Hit(F,Time),
+	Hit(F,GigaTime),
 }
-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>{	
+type MinkowskiCrawlResult=CrawlResult<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>;
-	let mut time=start_time;
+pub fn crawl_fev(mut fev:MinkowskiFEV,mesh:&MinkowskiMesh,relative_body:&Body,start_time:Time,time_limit:Time)->MinkowskiCrawlResult{
+	let mut body_time={
+		let r=(start_time-relative_body.time).to_ratio();
+		Ratio::new(r.num.fix_4(),r.den.fix_4())
+	};
+	let time_limit={
+		let r=(time_limit-relative_body.time).to_ratio();
+		Ratio::new(r.num.fix_4(),r.den.fix_4())
+	};
 	for _ in 0..20{
-		match next_transition(&fev,time,mesh,relative_body,time_limit){
+		match next_transition(&fev,body_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::Next(next_fev,next_time)=>(fev,body_time)=(next_fev,next_time),
 			Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),
 		}
 	}

src/graphics.rs

@@ -219,7 +219,7 @@ impl GraphicsState{
 			//wow
 			let instance=GraphicsModelOwned{
 				transform:model.transform.into(),
-				normal_transform:Into::<glam::Mat3>::into(model.transform.matrix3).inverse().transpose(),
+				normal_transform:glam::Mat3::from_cols_array_2d(&model.transform.matrix3.to_array().map(|row|row.map(Into::into))).inverse().transpose(),
 				color:GraphicsModelColor4::new(model.color),
 			};
 			//get or create owned mesh map
@@ -238,9 +238,9 @@ impl GraphicsState{
 							//create
 							let owned_mesh_id=IndexedGraphicsMeshOwnedRenderConfigId::new(unique_render_config_models.len() as u32);
 							unique_render_config_models.push(IndexedGraphicsMeshOwnedRenderConfig{
-								unique_pos:mesh.unique_pos.iter().map(|&v|*Into::<glam::Vec3>::into(v).as_ref()).collect(),
+								unique_pos:mesh.unique_pos.iter().map(|v|v.to_array().map(Into::into)).collect(),
 								unique_tex:mesh.unique_tex.iter().map(|v|*v.as_ref()).collect(),
-								unique_normal:mesh.unique_normal.iter().map(|&v|*Into::<glam::Vec3>::into(v).as_ref()).collect(),
+								unique_normal:mesh.unique_normal.iter().map(|v|v.to_array().map(Into::into)).collect(),
 								unique_color:mesh.unique_color.iter().map(|v|*v.as_ref()).collect(),
 								unique_vertices:mesh.unique_vertices.clone(),
 								render_config:graphics_group.render,
@@ -890,7 +890,7 @@ impl GraphicsState{
 
 		// update rotation
 		let camera_uniforms=self.camera.to_uniform_data(
-			frame_state.body.extrapolated_position(frame_state.time).into(),
+			frame_state.body.extrapolated_position(frame_state.time).map(Into::<f32>::into).to_array().into(),
 			frame_state.camera.simulate_move_angles(glam::IVec2::ZERO)
 		);
 		self.staging_belt

src/model_physics.rs

@@ -1,15 +1,15 @@
 use std::borrow::{Borrow,Cow};
 use std::collections::{HashSet,HashMap};
+use strafesnet_common::integer::vec3::Vector3;
 use strafesnet_common::model::{self,MeshId,PolygonIter};
-use strafesnet_common::zeroes;
+use strafesnet_common::integer::{self,vec3,Fixed,Planar64,Planar64Vec3,Ratio};
-use strafesnet_common::integer::{self,Planar64,Planar64Vec3};
 
 pub trait UndirectedEdge{
 	type DirectedEdge:Copy+DirectedEdge;
 	fn as_directed(&self,parity:bool)->Self::DirectedEdge;
 }
 pub trait DirectedEdge{
-	type UndirectedEdge:Copy+UndirectedEdge;
+	type UndirectedEdge:Copy+std::fmt::Debug+UndirectedEdge;
 	fn as_undirected(&self)->Self::UndirectedEdge;
 	fn parity(&self)->bool;
 	//this is stupid but may work fine
@@ -50,6 +50,7 @@ impl DirectedEdge for SubmeshDirectedEdgeId{
 }
 
 //Vertex <-> Edge <-> Face -> Collide
+#[derive(Debug)]
 pub enum FEV<F,E:DirectedEdge,V>{
 	Face(F),
 	Edge(E::UndirectedEdge),
@@ -64,6 +65,9 @@ struct Face{
 }
 struct Vert(Planar64Vec3);
 pub trait MeshQuery<FACE:Clone,EDGE:Clone+DirectedEdge,VERT:Clone>{
+	// Vertex must be Planar64Vec3 because it represents an actual position
+	type Normal;
+	type Offset;
 	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())
@@ -73,7 +77,7 @@ pub trait MeshQuery<FACE:Clone,EDGE:Clone+DirectedEdge,VERT:Clone>{
 		(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_nd(&self,face_id:FACE)->(Self::Normal,Self::Offset);
 	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]>;
@@ -137,22 +141,22 @@ impl PhysicsMesh{
 		//go go gadget debug print mesh
 		let data=PhysicsMeshData{
 			faces:vec![
-				Face{normal:Planar64Vec3::raw_xyz( 4294967296, 0, 0),dot:Planar64::raw(4294967296)},
+				Face{normal:vec3::raw_xyz( 4294967296, 0, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw_xyz( 0, 4294967296, 0),dot:Planar64::raw(4294967296)},
+				Face{normal:vec3::raw_xyz( 0, 4294967296, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw_xyz( 0, 0, 4294967296),dot:Planar64::raw(4294967296)},
+				Face{normal:vec3::raw_xyz( 0, 0, 4294967296),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw_xyz(-4294967296, 0, 0),dot:Planar64::raw(4294967296)},
+				Face{normal:vec3::raw_xyz(-4294967296, 0, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw_xyz( 0,-4294967296, 0),dot:Planar64::raw(4294967296)},
+				Face{normal:vec3::raw_xyz( 0,-4294967296, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw_xyz( 0, 0,-4294967296),dot:Planar64::raw(4294967296)}
+				Face{normal:vec3::raw_xyz( 0, 0,-4294967296),dot:Planar64::raw(4294967296)}
 			],
 			verts:vec![
-				Vert(Planar64Vec3::raw_xyz( 4294967296,-4294967296,-4294967296)),
+				Vert(vec3::raw_xyz( 4294967296,-4294967296,-4294967296)),
-				Vert(Planar64Vec3::raw_xyz( 4294967296, 4294967296,-4294967296)),
+				Vert(vec3::raw_xyz( 4294967296, 4294967296,-4294967296)),
-				Vert(Planar64Vec3::raw_xyz( 4294967296, 4294967296, 4294967296)),
+				Vert(vec3::raw_xyz( 4294967296, 4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw_xyz( 4294967296,-4294967296, 4294967296)),
+				Vert(vec3::raw_xyz( 4294967296,-4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw_xyz(-4294967296, 4294967296,-4294967296)),
+				Vert(vec3::raw_xyz(-4294967296, 4294967296,-4294967296)),
-				Vert(Planar64Vec3::raw_xyz(-4294967296, 4294967296, 4294967296)),
+				Vert(vec3::raw_xyz(-4294967296, 4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw_xyz(-4294967296,-4294967296, 4294967296)),
+				Vert(vec3::raw_xyz(-4294967296,-4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw_xyz(-4294967296,-4294967296,-4294967296))
+				Vert(vec3::raw_xyz(-4294967296,-4294967296,-4294967296))
 			]
 		};
 		let mesh_topology=PhysicsMeshTopology{
@@ -330,7 +334,7 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 				for poly_vertices in polygon_group.polys(){
 					let submesh_face_id=SubmeshFaceId::new(submesh_faces.len() as u32);
 					//one face per poly
-					let mut normal=Planar64Vec3::ZERO;
+					let mut normal=Vector3::new([Fixed::ZERO,Fixed::ZERO,Fixed::ZERO]);
 					let len=poly_vertices.len();
 					let face_edges=poly_vertices.into_iter().enumerate().map(|(i,vert_id)|{
 						let vert0_id=MeshVertId::new(mesh.unique_vertices[vert_id.get() as usize].pos.get() as u32);
@@ -341,11 +345,11 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 						//https://www.khronos.org/opengl/wiki/Calculating_a_Surface_Normal (Newell's Method)
 						let v0=mesh.unique_pos[vert0_id.get() as usize];
 						let v1=mesh.unique_pos[vert1_id.get() as usize];
-						normal+=Planar64Vec3::new(
+						normal+=Vector3::new([
-							(v0.y()-v1.y())*(v0.z()+v1.z()),
+							(v0.y-v1.y)*(v0.z+v1.z),
-							(v0.z()-v1.z())*(v0.x()+v1.x()),
+							(v0.z-v1.z)*(v0.x+v1.x),
-							(v0.x()-v1.x())*(v0.y()+v1.y()),
+							(v0.x-v1.x)*(v0.y+v1.y),
-						);
+						]);
 						//get/create edge and push face into it
 						let (edge_ref_verts,is_sorted)=EdgeRefVerts::new(submesh_vert0_id,submesh_vert1_id);
 						let (edge_ref_faces,edge_id)=edge_pool.push(edge_ref_verts);
@@ -362,14 +366,16 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 						//return directed_edge_id
 						edge_id.as_directed(is_sorted)
 					}).collect();
-					//choose precision loss randomly idk
+					let mut dot=Fixed::ZERO;
-					normal=normal/len as i64;
+					// find the average dot
-					let mut dot=Planar64::ZERO;
 					for &v in poly_vertices{
 						dot+=normal.dot(mesh.unique_pos[mesh.unique_vertices[v.get() as usize].pos.get() as usize]);
 					}
 					//assume face hash is stable, and there are no flush faces...
-					let face=Face{normal,dot:dot/len as i64};
+					let face=Face{
+						normal:(normal/len as i64).divide().fix_1(),
+						dot:(dot/(len*len) as i64).fix_1(),
+					};
 					let face_id=match face_id_from_face.get(&face){
 						Some(&face_id)=>face_id,
 						None=>{
@@ -416,6 +422,8 @@ pub struct PhysicsMeshView<'a>{
 	topology:&'a PhysicsMeshTopology,
 }
 impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for PhysicsMeshView<'_>{
+	type Normal=Planar64Vec3;
+	type Offset=Planar64;
 	fn face_nd(&self,face_id:SubmeshFaceId)->(Planar64Vec3,Planar64){
 		let face_idx=self.topology.faces[face_id.get() as usize].get() as usize;
 		(self.data.faces[face_idx].normal,self.data.faces[face_idx].dot)
@@ -444,14 +452,14 @@ impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for PhysicsMes
 
 pub struct PhysicsMeshTransform{
 	pub vertex:integer::Planar64Affine3,
-	pub normal:integer::Planar64Mat3,
+	pub normal:integer::mat3::Matrix3<Fixed<2,64>>,
-	pub det:Planar64,
+	pub det:Fixed<3,96>,
 }
 impl PhysicsMeshTransform{
-	pub const fn new(transform:integer::Planar64Affine3)->Self{
+	pub fn new(transform:integer::Planar64Affine3)->Self{
 		Self{
-			normal:transform.matrix3.inverse_times_det().transpose(),
+			normal:transform.matrix3.adjugate().transpose(),
-			det:transform.matrix3.determinant(),
+			det:transform.matrix3.det(),
 			vertex:transform,
 		}
 	}
@@ -471,33 +479,33 @@ impl TransformedMesh<'_>{
 			transform,
 		}
 	}
-	pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
+	pub fn verts<'a>(&'a self)->impl Iterator<Item=vec3::Vector3<Fixed<2,64>>>+'a{
 		self.view.data.verts.iter().map(|&Vert(pos)|self.transform.vertex.transform_point3(pos))
 	}
 	fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
-		let mut best_dot=Planar64::MIN;
-		let mut best_vert=SubmeshVertId(0);
 		//this happens to be well-defined.  there are no virtual virtices
-		for (i,vert_id) in self.view.topology.verts.iter().enumerate(){
+		SubmeshVertId::new(
-			let p=self.transform.vertex.transform_point3(self.view.data.verts[vert_id.get() as usize].0);
+			self.view.topology.verts.iter()
-			let d=dir.dot(p);
+			.enumerate()
-			if best_dot<d{
+			.max_by_key(|(_,&vert_id)|
-				best_dot=d;
+				dir.dot(self.transform.vertex.transform_point3(self.view.data.verts[vert_id.get() as usize].0))
-				best_vert=SubmeshVertId::new(i as u32);
+			)
-			}
+			//assume there is more than zero vertices.
-		}
+			.unwrap().0 as u32
-		best_vert
+		)
 	}
 }
 impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for TransformedMesh<'_>{
-	fn face_nd(&self,face_id:SubmeshFaceId)->(Planar64Vec3,Planar64){
+	type Normal=Vector3<Fixed<3,96>>;
+	type Offset=Fixed<4,128>;
+	fn face_nd(&self,face_id:SubmeshFaceId)->(Self::Normal,Self::Offset){
 		let (n,d)=self.view.face_nd(face_id);
 		let transformed_n=self.transform.normal*n;
-		let transformed_d=d+transformed_n.dot(self.transform.vertex.translation)/self.transform.det;
+		let transformed_d=d*self.transform.det+transformed_n.dot(self.transform.vertex.translation);
-		(transformed_n/self.transform.det,transformed_d)
+		(transformed_n,transformed_d)
 	}
 	fn vert(&self,vert_id:SubmeshVertId)->Planar64Vec3{
-		self.transform.vertex.transform_point3(self.view.vert(vert_id))
+		self.transform.vertex.transform_point3(self.view.vert(vert_id)).fix_1()
 	}
 	#[inline]
 	fn face_edges(&self,face_id:SubmeshFaceId)->Cow<Vec<SubmeshDirectedEdgeId>>{
@@ -525,11 +533,11 @@ impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for Transforme
 //(face,vertex)
 //(edge,edge)
 //(vertex,face)
-#[derive(Clone,Copy)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiVert{
 	VertVert(SubmeshVertId,SubmeshVertId),
 }
-#[derive(Clone,Copy)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiEdge{
 	VertEdge(SubmeshVertId,SubmeshEdgeId),
 	EdgeVert(SubmeshEdgeId,SubmeshVertId),
@@ -544,7 +552,7 @@ impl UndirectedEdge for MinkowskiEdge{
 		}
 	}
 }
-#[derive(Clone,Copy)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiDirectedEdge{
 	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
 	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
@@ -565,7 +573,7 @@ impl DirectedEdge for MinkowskiDirectedEdge{
 		}
 	}
 }
-#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+#[derive(Clone,Copy,Debug,Hash,Eq,PartialEq)]
 pub enum MinkowskiFace{
 	VertFace(SubmeshVertId,SubmeshFaceId),
 	EdgeEdge(SubmeshEdgeId,SubmeshEdgeId,bool),
@@ -581,6 +589,7 @@ pub struct MinkowskiMesh<'a>{
 }
 
 //infinity fev algorithm state transition
+#[derive(Debug)]
 enum Transition{
 	Done,//found closest vert, no edges are better
 	Vert(MinkowskiVert),//transition to vert
@@ -590,6 +599,8 @@ enum EV{
 	Edge(MinkowskiEdge),
 }
 
+pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
+
 impl MinkowskiMesh<'_>{
 	pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
 		MinkowskiMesh{
@@ -600,7 +611,7 @@ impl MinkowskiMesh<'_>{
 	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{
+	fn next_transition_vert(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Fixed<2,64>,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);
@@ -610,7 +621,7 @@ impl MinkowskiMesh<'_>{
 			let test_vert_id=edge_verts[directed_edge_id.parity() as usize];
 			//test if it's closer
 			let diff=point-self.vert(test_vert_id);
-			if zeroes::zeroes1(edge_n.dot(diff),edge_n.dot(infinity_dir)).len()==0{
+			if edge_n.dot(infinity_dir).is_zero(){
 				let distance_squared=diff.dot(diff);
 				if distance_squared<*best_distance_squared{
 					best_transition=Transition::Vert(test_vert_id);
@@ -620,21 +631,21 @@ impl MinkowskiMesh<'_>{
 		}
 		best_transition
 	}
-	fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
+	fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Fixed<2,64>,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
 		let mut best_transition=EV::Vert(vert_id);
 		let diff=point-self.vert(vert_id);
 		for &directed_edge_id in self.vert_edges(vert_id).iter(){
 			let edge_n=self.directed_edge_n(directed_edge_id);
 			//is boundary uncrossable by a crawl from infinity
 			//check if time of collision is outside Time::MIN..Time::MAX
+			if edge_n.dot(infinity_dir).is_zero(){
 				let d=edge_n.dot(diff);
-			if zeroes::zeroes1(d,edge_n.dot(infinity_dir)).len()==0{
 				//test the edge
 				let edge_nn=edge_n.dot(edge_n);
-				if Planar64::ZERO<=d&&d<=edge_nn{
+				if !d.is_negative()&&d<=edge_nn{
 					let distance_squared={
 						let c=diff.cross(edge_n);
-						c.dot(c)/edge_nn
+						(c.dot(c)/edge_nn).divide().fix_2()
 					};
 					if distance_squared<=*best_distance_squared{
 						best_transition=EV::Edge(directed_edge_id.as_undirected());
@@ -680,7 +691,7 @@ impl MinkowskiMesh<'_>{
 					let boundary_d=boundary_n.dot(delta_pos);
 					//check if time of collision is outside Time::MIN..Time::MAX
 					//infinity_dir can always be treated as a velocity
-					if (boundary_d)<=Planar64::ZERO&&zeroes::zeroes1(boundary_d,boundary_n.dot(infinity_dir)*2).len()==0{
+					if !boundary_d.is_positive()&&boundary_n.dot(infinity_dir).is_zero(){
 						//both faces cannot pass this condition, return early if one does.
 						return FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id);
 					}
@@ -694,15 +705,16 @@ impl MinkowskiMesh<'_>{
 			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;
+			infinity_body.acceleration=vec3::ZERO;
 			//crawl in from negative infinity along a tangent line to get the closest fev
-			match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
+			// TODO: change crawl_fev args to delta time? Optional values?
+			match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN/4,infinity_body.time){
 				crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
 				crate::face_crawler::CrawlResult::Hit(_,_)=>None,
 			}
 		})
 	}
-	pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,integer::Time)>{
+	pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,GigaTime)>{
 		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){
@@ -711,7 +723,7 @@ impl MinkowskiMesh<'_>{
 			}
 		})
 	}
-	pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,integer::Time)>{
+	pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,GigaTime)>{
 		//create an extrapolated body at time_limit
 		let infinity_body=crate::physics::Body::new(
 			relative_body.extrapolated_position(time_limit),
@@ -727,10 +739,13 @@ impl MinkowskiMesh<'_>{
 			}
 		})
 	}
-	pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,integer::Time)>{
+	pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,GigaTime)>{
 		//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_time={
+			let r=(time_limit-relative_body.time).to_ratio();
+			Ratio::new(r.num.fix_4(),r.den.fix_4())
+		};
 		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(){
@@ -740,10 +755,10 @@ impl MinkowskiMesh<'_>{
 			let verts=self.edge_verts(directed_edge_id.as_undirected());
 			let d=n.dot(self.vert(verts[0])+self.vert(verts[1]));
 			//WARNING! d outside of *2
-			for t in zeroes::zeroes2((n.dot(relative_body.position))*2-d,n.dot(relative_body.velocity)*2,n.dot(relative_body.acceleration)){
+			//WARNING: truncated precision
-				let t=relative_body.time+integer::Time::from(t);
+			for dt in Fixed::<4,128>::zeroes2(((n.dot(relative_body.position))*2-d).fix_4(),n.dot(relative_body.velocity).fix_4()*2,n.dot(relative_body.acceleration).fix_4()){
-				if relative_body.time<t&&t<best_time&&n.dot(relative_body.extrapolated_velocity(t))<Planar64::ZERO{
+				if Ratio::new(Planar64::ZERO,Planar64::ONE).le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(relative_body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-					best_time=t;
+					best_time=dt;
 					best_edge=Some(directed_edge_id);
 					break;
 				}
@@ -751,15 +766,15 @@ impl MinkowskiMesh<'_>{
 		}
 		best_edge.map(|e|(e.as_undirected(),best_time))
 	}
-	fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,integer::Time)>{
+	fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,GigaTime)>{
 		let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
-		match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
+		match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN/4,infinity_body.time){
 			crate::face_crawler::CrawlResult::Miss(_)=>None,
 			crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
 		}
 	}
 	pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
-		let infinity_body=crate::physics::Body::new(point,Planar64Vec3::Y,Planar64Vec3::ZERO,integer::Time::ZERO);
+		let infinity_body=crate::physics::Body::new(point,vec3::Y,vec3::ZERO,integer::Time::ZERO);
 		//movement must escape the mesh forwards and backwards in time,
 		//otherwise the point is not inside the mesh
 		self.infinity_in(infinity_body)
@@ -770,7 +785,9 @@ impl MinkowskiMesh<'_>{
 	}
 }
 impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiMesh<'_>{
-	fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){
+	type Normal=Vector3<Fixed<3,96>>;
+	type Offset=Fixed<4,128>;
+	fn face_nd(&self,face_id:MinkowskiFace)->(Self::Normal,Self::Offset){
 		match face_id{
 			MinkowskiFace::VertFace(v0,f1)=>{
 				let (n,d)=self.mesh1.face_nd(f1);
@@ -784,7 +801,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 				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))
+				((n*(parity as i64*4-2)).fix_3(),((e0d-e1d)*(parity as i64*2-1)).fix_4())
 			},
 			MinkowskiFace::FaceVert(f0,v1)=>{
 				let (n,d)=self.mesh0.face_nd(f0);
@@ -833,17 +850,18 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 				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 mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
 					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{
+						if d.is_negative(){
 							let edge0_nn=edge0_n.dot(edge0_n);
-							//divide by zero???
+							// Assume not every number is huge
-							let dd=d*d/(edge_face1_nn*edge0_nn);
+							// TODO: revisit this
+							let dd=(d*d)/(edge_face1_nn*edge0_nn);
 							if best_d<dd{
 								best_d=dd;
 								best_edge=Some(directed_edge_id0);
@@ -862,15 +880,15 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 				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 mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
 					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{
+						if d.is_negative(){
 							let edge1_nn=edge1_n.dot(edge1_n);
-							let dd=d*d/(edge_face0_nn*edge1_nn);
+							let dd=(d*d)/(edge_face0_nn*edge1_nn);
 							if best_d<dd{
 								best_d=dd;
 								best_edge=Some(directed_edge_id1);
@@ -906,19 +924,20 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 				//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 v0f_n:Vec<_>=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 v1f_n:Vec<_>=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);
+					// TODO: there's gotta be a better way to do this
 					//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));
+						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().fix_3());
 					}
 					if is_empty_volume(face_normals){
 						edges.push(MinkowskiDirectedEdge::EdgeVert(directed_edge_id,v1));
@@ -930,7 +949,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 					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));
+						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().fix_3());
 					}
 					if is_empty_volume(face_normals){
 						edges.push(MinkowskiDirectedEdge::VertEdge(v0,directed_edge_id));
@@ -945,7 +964,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 	}
 }
 
-fn is_empty_volume(normals:Vec<Planar64Vec3>)->bool{
+fn is_empty_volume(normals:Vec<Vector3<Fixed<3,96>>>)->bool{
 	let len=normals.len();
 	for i in 0..len-1{
 		for j in i+1..len{
@@ -953,9 +972,10 @@ fn is_empty_volume(normals:Vec<Planar64Vec3>)->bool{
 			let mut d_comp=None;
 			for k in 0..len{
 				if k!=i&&k!=j{
-					let d=n.dot(normals[k]);
+					let d=n.dot(normals[k]).is_negative();
 					if let Some(comp)=&d_comp{
-						if *comp*d<Planar64::ZERO{
+						// This is testing if d_comp*d < 0
+						if comp^d{
 							return true;
 						}
 					}else{
@@ -970,8 +990,8 @@ fn is_empty_volume(normals:Vec<Planar64Vec3>)->bool{
 
 #[test]
 fn test_is_empty_volume(){
-	assert!(!is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z].to_vec()));
+	assert!(!is_empty_volume([vec3::X.fix_3(),vec3::Y.fix_3(),vec3::Z.fix_3()].to_vec()));
-	assert!(is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z,Planar64Vec3::NEG_X].to_vec()));
+	assert!(is_empty_volume([vec3::X.fix_3(),vec3::Y.fix_3(),vec3::Z.fix_3(),vec3::NEG_X.fix_3()].to_vec()));
 }
 
 #[test]

src/physics.rs

@@ -11,7 +11,7 @@ use strafesnet_common::gameplay_modes::{self,StageId};
 use strafesnet_common::gameplay_style::{self,StyleModifiers};
 use strafesnet_common::controls_bitflag::Controls;
 use strafesnet_common::instruction::{self,InstructionEmitter,InstructionConsumer,TimedInstruction};
-use strafesnet_common::integer::{self,Time,Planar64,Planar64Vec3,Planar64Mat3,Angle32,Ratio64Vec2};
+use strafesnet_common::integer::{self,vec3,mat3,Time,Planar64,Planar64Vec3,Planar64Mat3,Angle32,Ratio64Vec2};
 use gameplay::ModeState;
 
 //external influence
@@ -22,8 +22,8 @@ use strafesnet_common::physics::Instruction as PhysicsInputInstruction;
 //when the physics asks itself what happens next, this is how it's represented
 #[derive(Debug)]
 enum PhysicsInternalInstruction{
-	CollisionStart(Collision),
+	CollisionStart(Collision,model_physics::GigaTime),
-	CollisionEnd(Collision),
+	CollisionEnd(Collision,model_physics::GigaTime),
 	StrafeTick,
 	ReachWalkTargetVelocity,
 	// Water,
@@ -36,7 +36,7 @@ enum PhysicsInstruction{
 	Input(PhysicsInputInstruction),
 }
 
-#[derive(Clone,Copy,Debug,Default,Hash)]
+#[derive(Clone,Copy,Debug,Hash)]
 pub struct Body{
 	pub position:Planar64Vec3,//I64 where 2^32 = 1 u
 	pub velocity:Planar64Vec3,//I64 where 2^32 = 1 u/s
@@ -124,13 +124,13 @@ struct ContactMoveState{
 }
 impl TransientAcceleration{
 	fn with_target_diff(target_diff:Planar64Vec3,accel:Planar64,time:Time)->Self{
-		if target_diff==Planar64Vec3::ZERO{
+		if target_diff==vec3::ZERO{
 			TransientAcceleration::Reached
 		}else{
 			//normal friction acceleration is clippedAcceleration.dot(normal)*friction
 			TransientAcceleration::Reachable{
-				acceleration:target_diff.with_length(accel),
+				acceleration:target_diff.with_length(accel).divide().fix_1(),
-				time:time+Time::from(target_diff.length()/accel)
+				time:time+Time::from((target_diff.length()/accel).divide().fix_1())
 			}
 		}
 	}
@@ -147,7 +147,7 @@ impl TransientAcceleration{
 	}
 	fn acceleration(&self)->Planar64Vec3{
 		match self{
-			TransientAcceleration::Reached=>Planar64Vec3::ZERO,
+			TransientAcceleration::Reached=>vec3::ZERO,
 			&TransientAcceleration::Reachable{acceleration,time:_}=>acceleration,
 			&TransientAcceleration::Unreachable{acceleration}=>acceleration,
 		}
@@ -158,7 +158,7 @@ impl ContactMoveState{
 		Self{
 			target:TransientAcceleration::ground(walk_settings,body,gravity,target_velocity),
 			contact,
-			jump_direction:JumpDirection::Exactly(Planar64Vec3::Y),
+			jump_direction:JumpDirection::Exactly(vec3::Y),
 		}
 	}
 	fn ladder(ladder_settings:&gameplay_style::LadderSettings,body:&Body,gravity:Planar64Vec3,target_velocity:Planar64Vec3,contact:ContactCollision)->Self{
@@ -296,7 +296,7 @@ impl PhysicsCamera{
 		let ay=Angle32::clamp_from_i64(a.y)
 		//clamp to actual vertical cam limit
 		.clamp(Self::ANGLE_PITCH_LOWER_LIMIT,Self::ANGLE_PITCH_UPPER_LIMIT);
-		Planar64Mat3::from_rotation_yx(ax,ay)
+		mat3::from_rotation_yx(ax,ay)
 	}
 	fn rotation(&self)->Planar64Mat3{
 		self.get_rotation(self.clamped_mouse_pos)
@@ -306,7 +306,7 @@ impl PhysicsCamera{
 	}
 	fn get_rotation_y(&self,mouse_pos_x:i32)->Planar64Mat3{
 		let ax=-self.sensitivity.x.mul_int(mouse_pos_x as i64);
-		Planar64Mat3::from_rotation_y(Angle32::wrap_from_i64(ax))
+		mat3::from_rotation_y(Angle32::wrap_from_i64(ax))
 	}
 	fn rotation_y(&self)->Planar64Mat3{
 		self.get_rotation_y(self.clamped_mouse_pos.x)
@@ -410,10 +410,10 @@ impl HitboxMesh{
 		let transform=PhysicsMeshTransform::new(transform);
 		let transformed_mesh=TransformedMesh::new(mesh.complete_mesh_view(),&transform);
 		for vert in transformed_mesh.verts(){
-			aabb.grow(vert);
+			aabb.grow(vert.fix_1());
 		}
 		Self{
-			halfsize:aabb.size()/2,
+			halfsize:aabb.size()>>1,
 			mesh,
 			transform,
 		}
@@ -438,7 +438,7 @@ impl StyleHelper for StyleModifiers{
 
 	fn get_control_dir(&self,controls:Controls)->Planar64Vec3{
 		//don't get fancy just do it
-		let mut control_dir:Planar64Vec3 = Planar64Vec3::ZERO;
+		let mut control_dir:Planar64Vec3=vec3::ZERO;
 		//Apply mask after held check so you can require non-allowed keys to be held for some reason
 		let controls=controls.intersection(self.controls_mask);
 		if controls.contains(Controls::MoveForward){
@@ -463,19 +463,22 @@ impl StyleHelper for StyleModifiers{
 	}
 
 	fn get_y_control_dir(&self,camera:&PhysicsCamera,controls:Controls)->Planar64Vec3{
-		camera.rotation_y()*self.get_control_dir(controls)
+		(camera.rotation_y()*self.get_control_dir(controls)).fix_1()
 	}
 
 	fn get_propulsion_control_dir(&self,camera:&PhysicsCamera,controls:Controls)->Planar64Vec3{
 		//don't interpolate this! discrete mouse movement, constant acceleration
-		camera.rotation()*self.get_control_dir(controls)
+		(camera.rotation()*self.get_control_dir(controls)).fix_1()
 	}
 	fn calculate_mesh(&self)->HitboxMesh{
 		let mesh=match self.hitbox.mesh{
 			gameplay_style::HitboxMesh::Box=>PhysicsMesh::unit_cube(),
 			gameplay_style::HitboxMesh::Cylinder=>PhysicsMesh::unit_cylinder(),
 		};
-		let transform=integer::Planar64Affine3::new(Planar64Mat3::from_diagonal(self.hitbox.halfsize),Planar64Vec3::ZERO);
+		let transform=integer::Planar64Affine3::new(
+			mat3::from_diagonal(self.hitbox.halfsize),
+			vec3::ZERO
+		);
 		HitboxMesh::new(mesh,transform)
 	}
 }
@@ -491,7 +494,7 @@ impl MoveState{
 	//call this after state.move_state is changed
 	fn apply_enum(&self,body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
 		match self{
-			MoveState::Fly=>body.acceleration=Planar64Vec3::ZERO,
+			MoveState::Fly=>body.acceleration=vec3::ZERO,
 			MoveState::Air=>{
 				//calculate base acceleration
 				let a=touching.base_acceleration(models,style,camera,input_state);
@@ -766,9 +769,9 @@ impl TouchingState{
 		//TODO: trey push solve
 		for contact in &self.contacts{
 			let n=contact_normal(models,hitbox_mesh,contact);
-			let d=n.dot128(*velocity);
+			let d=n.dot(*velocity);
-			if d<0{
+			if d.is_negative(){
-				*velocity-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64);
+				*velocity-=(n*d/n.length_squared()).divide().fix_1();
 			}
 		}
 	}
@@ -776,23 +779,24 @@ impl TouchingState{
 		//TODO: trey push solve
 		for contact in &self.contacts{
 			let n=contact_normal(models,hitbox_mesh,contact);
-			let d=n.dot128(*acceleration);
+			let d=n.dot(*acceleration);
-			if d<0{
+			if d.is_negative(){
-				*acceleration-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64);
+				*acceleration-=(n*d/n.length_squared()).divide().fix_1();
 			}
 		}
 	}
 	fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<PhysicsInternalInstruction>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&Body,time:Time){
-		let relative_body=VirtualBody::relative(&Body::default(),body).body(time);
+		let relative_body=VirtualBody::relative(&Body::ZERO,body).body(time);
 		for contact in &self.contacts{
 			//detect face slide off
 			let model_mesh=models.contact_mesh(contact);
 			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
 			collector.collect(minkowski.predict_collision_face_out(&relative_body,collector.time(),contact.face_id).map(|(_face,time)|{
 				TimedInstruction{
-					time,
+					time:relative_body.time+time.into(),
 					instruction:PhysicsInternalInstruction::CollisionEnd(
-						Collision::Contact(*contact)
+						Collision::Contact(*contact),
+						time
 					),
 				}
 			}));
@@ -803,9 +807,10 @@ impl TouchingState{
 			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
 			collector.collect(minkowski.predict_collision_out(&relative_body,collector.time()).map(|(_face,time)|{
 				TimedInstruction{
-					time,
+					time:relative_body.time+time.into(),
 					instruction:PhysicsInternalInstruction::CollisionEnd(
-						Collision::Intersect(*intersect)
+						Collision::Intersect(*intersect),
+						time
 					),
 				}
 			}));
@@ -814,6 +819,7 @@ impl TouchingState{
 }
 
 impl Body{
+	pub const ZERO:Self=Self::new(vec3::ZERO,vec3::ZERO,vec3::ZERO,Time::ZERO);
 	pub const fn new(position:Planar64Vec3,velocity:Planar64Vec3,acceleration:Planar64Vec3,time:Time)->Self{
 		Self{
 			position,
@@ -824,20 +830,64 @@ impl Body{
 	}
 	pub fn extrapolated_position(&self,time:Time)->Planar64Vec3{
 		let dt=time-self.time;
-		self.position+self.velocity*dt+self.acceleration*(dt*dt/2)
+		self.position
+		+(self.velocity*dt).map(|elem|elem.divide().fix_1())
+		+self.acceleration.map(|elem|(dt*dt*elem/2).divide().fix_1())
 	}
 	pub fn extrapolated_velocity(&self,time:Time)->Planar64Vec3{
 		let dt=time-self.time;
-		self.velocity+self.acceleration*dt
+		self.velocity+(self.acceleration*dt).map(|elem|elem.divide().fix_1())
 	}
 	pub fn advance_time(&mut self,time:Time){
 		self.position=self.extrapolated_position(time);
 		self.velocity=self.extrapolated_velocity(time);
 		self.time=time;
 	}
+	pub fn extrapolated_position_ratio_dt<Num,Den,N1,D1,N2,N3,D2,N4,T1>(&self,dt:integer::Ratio<Num,Den>)->Planar64Vec3
+		where
+			// Why?
+			// All of this can be removed with const generics because the type can be specified as
+			// Ratio<Fixed<N,NF>,Fixed<D,DF>>
+			// which is known to implement all the necessary traits
+			Num:Copy,
+			Den:Copy+core::ops::Mul<i64,Output=D1>,
+			D1:Copy,
+			Num:core::ops::Mul<Planar64,Output=N1>,
+			Planar64:core::ops::Mul<D1,Output=N2>,
+			N1:core::ops::Add<N2,Output=N3>,
+			Num:core::ops::Mul<N3,Output=N4>,
+			Den:core::ops::Mul<D1,Output=D2>,
+			D2:Copy,
+			Planar64:core::ops::Mul<D2,Output=N4>,
+			N4:integer::Divide<D2,Output=T1>,
+			T1:integer::Fix<Planar64>,
+	{
+		// a*dt^2/2 + v*dt + p
+		// (a*dt/2+v)*dt+p
+		(self.acceleration.map(|elem|dt*elem/2)+self.velocity).map(|elem|dt.mul_ratio(elem))
+		.map(|elem|elem.divide().fix())+self.position
+	}
+	pub fn extrapolated_velocity_ratio_dt<Num,Den,N1,T1>(&self,dt:integer::Ratio<Num,Den>)->Planar64Vec3
+		where
+			Num:Copy,
+			Den:Copy,
+			Num:core::ops::Mul<Planar64,Output=N1>,
+			Planar64:core::ops::Mul<Den,Output=N1>,
+			N1:integer::Divide<Den,Output=T1>,
+			T1:integer::Fix<Planar64>,
+	{
+		// a*dt + v
+		self.acceleration.map(|elem|dt*elem)
+		.map(|elem|elem.divide().fix())+self.velocity
+	}
+	pub fn advance_time_ratio_dt(&mut self,dt:model_physics::GigaTime){
+		self.position=self.extrapolated_position_ratio_dt(dt);
+		self.velocity=self.extrapolated_velocity_ratio_dt(dt);
+		self.time+=dt.into();
+	}
 	pub fn infinity_dir(&self)->Option<Planar64Vec3>{
-		if self.velocity==Planar64Vec3::ZERO{
+		if self.velocity==vec3::ZERO{
-			if self.acceleration==Planar64Vec3::ZERO{
+			if self.acceleration==vec3::ZERO{
 				None
 			}else{
 				Some(self.acceleration)
@@ -851,22 +901,22 @@ impl Body{
 		aabb.grow(self.extrapolated_position(t1));
 		//v+a*t==0
 		//goober code
-		if self.acceleration.x()!=Planar64::ZERO{
+		if !self.acceleration.x.is_zero(){
-			let t=Time::from(-self.velocity.x()/self.acceleration.x());
+			let t=-self.velocity.x/self.acceleration.x;
-			if t0<t&&t<t1{
+			if t0.to_ratio().lt_ratio(t)&&t.lt_ratio(t1.to_ratio()){
-				aabb.grow(self.extrapolated_position(t));
+				aabb.grow(self.extrapolated_position_ratio_dt(t));
 			}
 		}
-		if self.acceleration.y()!=Planar64::ZERO{
+		if !self.acceleration.y.is_zero(){
-			let t=Time::from(-self.velocity.y()/self.acceleration.y());
+			let t=-self.velocity.y/self.acceleration.y;
-			if t0<t&&t<t1{
+			if t0.to_ratio().lt_ratio(t)&&t.lt_ratio(t1.to_ratio()){
-				aabb.grow(self.extrapolated_position(t));
+				aabb.grow(self.extrapolated_position_ratio_dt(t));
 			}
 		}
-		if self.acceleration.z()!=Planar64::ZERO{
+		if !self.acceleration.z.is_zero(){
-			let t=Time::from(-self.velocity.z()/self.acceleration.z());
+			let t=-self.velocity.z/self.acceleration.z;
-			if t0<t&&t<t1{
+			if t0.to_ratio().lt_ratio(t)&&t.lt_ratio(t1.to_ratio()){
-				aabb.grow(self.extrapolated_position(t));
+				aabb.grow(self.extrapolated_position_ratio_dt(t));
 			}
 		}
 	}
@@ -939,7 +989,7 @@ pub struct PhysicsData{
 impl Default for PhysicsState{
 	fn default()->Self{
  		Self{
-			body:Body::new(Planar64Vec3::int(0,50,0),Planar64Vec3::int(0,0,0),Planar64Vec3::int(0,-100,0),Time::ZERO),
+			body:Body::new(vec3::int(0,50,0),vec3::int(0,0,0),vec3::int(0,-100,0),Time::ZERO),
 			time:Time::ZERO,
 			style:StyleModifiers::default(),
 			touching:TouchingState::default(),
@@ -1154,7 +1204,7 @@ impl PhysicsContext{
 				let mut aabb=aabb::Aabb::default();
 				let transformed_mesh=TransformedMesh::new(view,transform);
 				for v in transformed_mesh.verts(){
-					aabb.grow(v);
+					aabb.grow(v.fix_1());
 				}
 				(ConvexMeshId{
 					model_id,
@@ -1229,12 +1279,15 @@ impl PhysicsContext{
 			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,data.hitbox_mesh.transformed_mesh());
 			collector.collect(minkowski.predict_collision_in(relative_body,collector.time())
 				//temp (?) code to avoid collision loops
-				.map_or(None,|(face,time)|if time<=state.time{None}else{Some((face,time))})
+				.map_or(None,|(face,dt)|{
-				.map(|(face,time)|
+					let time=relative_body.time+dt.into();
+					if time<=state.time{None}else{Some((time,face,dt))}})
+				.map(|(time,face,dt)|
 					TimedInstruction{
 						time,
 						instruction:PhysicsInternalInstruction::CollisionStart(
-							Collision::new(convex_mesh_id,face)
+							Collision::new(convex_mesh_id,face),
+							dt
 						)
 					}
 				)
@@ -1247,7 +1300,8 @@ impl PhysicsContext{
 fn contact_normal(models:&PhysicsModels,hitbox_mesh:&HitboxMesh,contact:&ContactCollision)->Planar64Vec3{
 	let model_mesh=models.contact_mesh(contact);
 	let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
-	minkowski.face_nd(contact.face_id).0
+	// TODO: normalize to i64::MAX>>1
+	minkowski.face_nd(contact.face_id).0.fix_1()
 }
 
 fn recalculate_touching(
@@ -1331,12 +1385,12 @@ fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsM
 	let mut culled=false;
 	touching.contacts.retain(|contact|{
 		let n=contact_normal(models,hitbox_mesh,contact);
-		let r=n.dot(v)<=Planar64::ZERO;
+		let r=n.dot(v).is_positive();
-		if !r{
+		if r{
 			culled=true;
 			println!("set_velocity_cull contact={:?}",contact);
 		}
-		r
+		!r
 	});
 	set_velocity(body,touching,models,hitbox_mesh,v);
 	culled
@@ -1350,12 +1404,12 @@ fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&Phys
 	let mut culled=false;
 	touching.contacts.retain(|contact|{
 		let n=contact_normal(models,hitbox_mesh,contact);
-		let r=n.dot(a)<=Planar64::ZERO;
+		let r=n.dot(a).is_positive();
-		if !r{
+		if r{
 			culled=true;
 			println!("set_acceleration_cull contact={:?}",contact);
 		}
-		r
+		!r
 	});
 	set_acceleration(body,touching,models,hitbox_mesh,a);
 	culled
@@ -1403,8 +1457,10 @@ fn teleport_to_spawn(
 	input_state:&InputState,
 	time:Time,
 )->Result<(),TeleportToSpawnError>{
+	const EPSILON:Planar64=Planar64::raw((1<<32)/16);
 	let transform=models.get_model_transform(stage.spawn()).ok_or(TeleportToSpawnError::NoModel)?;
-	let point=transform.vertex.transform_point3(Planar64Vec3::Y)+Planar64Vec3::Y*(style.hitbox.halfsize.y()+Planar64::ONE/16);
+	//TODO: transform.vertex.matrix3.col(1)+transform.vertex.translation
+	let point=transform.vertex.transform_point3(vec3::Y).fix_1()+Planar64Vec3::new([Planar64::ZERO,style.hitbox.halfsize.y+EPSILON,Planar64::ZERO]);
 	teleport(point,move_state,body,touching,run,mode_state,Some(mode),models,hitbox_mesh,bvh,style,camera,input_state,time);
 	Ok(())
 }
@@ -1525,7 +1581,7 @@ fn collision_start_contact(
 		Some(gameplay_attributes::ContactingBehaviour::Surf)=>println!("I'm surfing!"),
 		Some(gameplay_attributes::ContactingBehaviour::Cling)=>println!("Unimplemented!"),
 		&Some(gameplay_attributes::ContactingBehaviour::Elastic(elasticity))=>{
-			let reflected_velocity=body.velocity+(body.velocity-incident_velocity)*Planar64::raw(elasticity as i64+1);
+			let reflected_velocity=body.velocity+((body.velocity-incident_velocity)*Planar64::raw(elasticity as i64+1)).fix_1();
 			set_velocity(body,touching,models,hitbox_mesh,reflected_velocity);
 		},
 		Some(gameplay_attributes::ContactingBehaviour::Ladder(contacting_ladder))=>
@@ -1534,7 +1590,7 @@ fn collision_start_contact(
 				//kill v
 				//actually you could do this with a booster attribute :thinking:
 				//it's a little bit different because maybe you want to chain ladders together
-				set_velocity(body,touching,models,hitbox_mesh,Planar64Vec3::ZERO);//model.velocity
+				set_velocity(body,touching,models,hitbox_mesh,vec3::ZERO);//model.velocity
 			}
 			//ladder walkstate
 			let (gravity,target_velocity)=ladder_things(ladder_settings,&contact,touching,models,hitbox_mesh,style,camera,input_state);
@@ -1543,7 +1599,7 @@ fn collision_start_contact(
 		},
 		Some(gameplay_attributes::ContactingBehaviour::NoJump)=>todo!("nyi"),
 		None=>if let Some(walk_settings)=&style.walk{
-			if walk_settings.is_slope_walkable(contact_normal(models,hitbox_mesh,&contact),Planar64Vec3::Y){
+			if walk_settings.is_slope_walkable(contact_normal(models,hitbox_mesh,&contact),vec3::Y){
 				//ground
 				let (gravity,target_velocity)=ground_things(walk_settings,&contact,touching,models,hitbox_mesh,style,camera,input_state);
 				let walk_state=ContactMoveState::ground(walk_settings,body,gravity,target_velocity,contact);
@@ -1671,17 +1727,20 @@ fn collision_end_intersect(
 }
 fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedInstruction<PhysicsInternalInstruction>){
 	state.time=ins.time;
-	let should_advance_body=match ins.instruction{
+	let (should_advance_body,goober_time)=match ins.instruction{
-		PhysicsInternalInstruction::CollisionStart(_)
+		PhysicsInternalInstruction::CollisionStart(_,dt)
-		|PhysicsInternalInstruction::CollisionEnd(_)
+		|PhysicsInternalInstruction::CollisionEnd(_,dt)=>(true,Some(dt)),
-		|PhysicsInternalInstruction::StrafeTick
+		PhysicsInternalInstruction::StrafeTick
-		|PhysicsInternalInstruction::ReachWalkTargetVelocity=>true,
+		|PhysicsInternalInstruction::ReachWalkTargetVelocity=>(true,None),
 	};
 	if should_advance_body{
-		state.body.advance_time(state.time);
+		match goober_time{
+			Some(dt)=>state.body.advance_time_ratio_dt(dt),
+			None=>state.body.advance_time(state.time),
+		}
 	}
 		match ins.instruction{
-			PhysicsInternalInstruction::CollisionStart(collision)=>{
+			PhysicsInternalInstruction::CollisionStart(collision,_)=>{
 				let mode=data.modes.get_mode(state.mode_state.get_mode_id());
 				match collision{
 					Collision::Contact(contact)=>collision_start_contact(
@@ -1702,7 +1761,7 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 					),
 				}
 			},
-			PhysicsInternalInstruction::CollisionEnd(collision)=>match collision{
+			PhysicsInternalInstruction::CollisionEnd(collision,_)=>match collision{
 				Collision::Contact(contact)=>collision_end_contact(
 					&mut state.move_state,&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state,
 					data.models.contact_attr(contact.model_id),
@@ -1724,9 +1783,9 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 					if strafe_settings.activates(controls){
 						let masked_controls=strafe_settings.mask(controls);
 						let control_dir=state.style.get_control_dir(masked_controls);
-						if control_dir!=Planar64Vec3::ZERO{
+						if control_dir!=vec3::ZERO{
 							let camera_mat=state.camera.simulate_move_rotation_y(state.input_state.lerp_delta(state.time).x);
-							if let Some(ticked_velocity)=strafe_settings.tick_velocity(state.body.velocity,(camera_mat*control_dir).with_length(Planar64::ONE)){
+							if let Some(ticked_velocity)=strafe_settings.tick_velocity(state.body.velocity,(camera_mat*control_dir).with_length(Planar64::ONE).divide().fix_1()){
 								//this is wrong but will work ig
 								//need to note which push planes activate in push solve and keep those
 								state.cull_velocity(data,ticked_velocity);
@@ -1750,7 +1809,7 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 								//we know that the acceleration is precisely zero because the walk target is known to be reachable
 								//which means that gravity can be fully cancelled
 								//ignore moving platforms for now
-								set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,Planar64Vec3::ZERO);
+								set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,vec3::ZERO);
 								walk_state.target=TransientAcceleration::Reached;
 							},
 							//you are not supposed to reach an unreachable walk target!
@@ -1845,9 +1904,9 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 							data.models.get_model_transform(mode.get_start().into()).map(|transform|
 								transform.vertex.translation
 							)
-						).unwrap_or(Planar64Vec3::ZERO);
+						).unwrap_or(vec3::ZERO);
 						set_position(spawn_point,&mut state.move_state,&mut state.body,&mut state.touching,&mut state.run,&mut state.mode_state,mode,&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,state.time);
-						set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,Planar64Vec3::ZERO);
+						set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,vec3::ZERO);
 						state.set_move_state(data,MoveState::Air);
 						b_refresh_walk_target=false;
 					}
@@ -1898,7 +1957,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 			_=>println!("{}|{:?}",ins.time,ins.instruction),
 		}
 		if ins.time<state.time{
-			println!("@@@@ Time travel warning! {:?}",ins);
+			println!("@@@@ Time travel warning! state.time={} ins.time={}\nInstruction={:?}",state.time,ins.time,ins.instruction);
 		}
 		//idle is special, it is specifically a no-op to get Internal events to catch up to real time
 		match ins.instruction{
@@ -1910,215 +1969,216 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 
 #[cfg(test)]
 mod test{
+	use strafesnet_common::integer::{vec3::{self,int as int3},mat3};
 	use super::*;
 	fn test_collision_axis_aligned(relative_body:Body,expected_collision_time:Option<Time>){
-		let h0=HitboxMesh::new(PhysicsMesh::unit_cube(),integer::Planar64Affine3::new(Planar64Mat3::from_diagonal(Planar64Vec3::int(5,1,5)/2),Planar64Vec3::ZERO));
+		let h0=HitboxMesh::new(PhysicsMesh::unit_cube(),integer::Planar64Affine3::new(mat3::from_diagonal(int3(5,1,5)>>1),vec3::ZERO));
 		let h1=StyleModifiers::roblox_bhop().calculate_mesh();
 		let hitbox_mesh=h1.transformed_mesh();
 		let platform_mesh=h0.transformed_mesh();
 		let minkowski=model_physics::MinkowskiMesh::minkowski_sum(platform_mesh,hitbox_mesh);
-		let collision=minkowski.predict_collision_in(&relative_body,Time::MAX);
+		let collision=minkowski.predict_collision_in(&relative_body,Time::from_secs(10));
-		assert_eq!(collision.map(|tup|tup.1),expected_collision_time,"Incorrect time of collision");
+		assert_eq!(collision.map(|tup|relative_body.time+tup.1.into()),expected_collision_time,"Incorrect time of collision");
 	}
 	fn test_collision_rotated(relative_body:Body,expected_collision_time:Option<Time>){
 		let h0=HitboxMesh::new(PhysicsMesh::unit_cube(),
 			integer::Planar64Affine3::new(
-				integer::Planar64Mat3::from_cols(
+				integer::Planar64Mat3::from_cols([
-					Planar64Vec3::int(5,0,1)/2,
+					int3(5,0,1)>>1,
-					Planar64Vec3::int(0,1,0)/2,
+					int3(0,1,0)>>1,
-					Planar64Vec3::int(-1,0,5)/2,
+					int3(-1,0,5)>>1,
+				]),
+				vec3::ZERO
 			),
-				Planar64Vec3::ZERO,
-			)
 		);
 		let h1=StyleModifiers::roblox_bhop().calculate_mesh();
 		let hitbox_mesh=h1.transformed_mesh();
 		let platform_mesh=h0.transformed_mesh();
 		let minkowski=model_physics::MinkowskiMesh::minkowski_sum(platform_mesh,hitbox_mesh);
-		let collision=minkowski.predict_collision_in(&relative_body,Time::MAX);
+		let collision=minkowski.predict_collision_in(&relative_body,Time::from_secs(10));
-		assert_eq!(collision.map(|tup|tup.1),expected_collision_time,"Incorrect time of collision");
+		assert_eq!(collision.map(|tup|relative_body.time+tup.1.into()),expected_collision_time,"Incorrect time of collision");
 	}
 	fn test_collision(relative_body:Body,expected_collision_time:Option<Time>){
 		test_collision_axis_aligned(relative_body.clone(),expected_collision_time);
 		test_collision_rotated(relative_body,expected_collision_time);
 	}
 	#[test]
-	fn test_collision_degenerate(){
+	fn test_collision_degenerate_straight_down(){
 		test_collision(Body::new(
-			Planar64Vec3::int(0,5,0),
+			int3(0,5,0),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
-			Planar64Vec3::ZERO,
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
 	#[test]
 	fn test_collision_degenerate_east(){
 		test_collision(Body::new(
-			Planar64Vec3::int(3,5,0),
+			int3(3,5,0),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
-			Planar64Vec3::ZERO,
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
 	#[test]
 	fn test_collision_degenerate_south(){
 		test_collision(Body::new(
-			Planar64Vec3::int(0,5,3),
+			int3(0,5,3),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
-			Planar64Vec3::ZERO,
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
 	#[test]
 	fn test_collision_degenerate_west(){
 		test_collision(Body::new(
-			Planar64Vec3::int(-3,5,0),
+			int3(-3,5,0),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
-			Planar64Vec3::ZERO,
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
 	#[test]
 	fn test_collision_degenerate_north(){
 		test_collision(Body::new(
-			Planar64Vec3::int(0,5,-3),
+			int3(0,5,-3),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
-			Planar64Vec3::ZERO,
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_east_from_west(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(3,3,0),
+			int3(3,3,0),
-			Planar64Vec3::int(100,-1,0),
+			int3(100,-1,0),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_south_from_north(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(0,3,3),
+			int3(0,3,3),
-			Planar64Vec3::int(0,-1,100),
+			int3(0,-1,100),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_west_from_east(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(-3,3,0),
+			int3(-3,3,0),
-			Planar64Vec3::int(-100,-1,0),
+			int3(-100,-1,0),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_north_from_south(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(0,3,-3),
+			int3(0,3,-3),
-			Planar64Vec3::int(0,-1,-100),
+			int3(0,-1,-100),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_north_from_ne(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(0,6,-7)/2,
+			int3(0,6,-7)>>1,
-			Planar64Vec3::int(-10,-1,1),
+			int3(-10,-1,1),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_north_from_nw(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(0,6,-7)/2,
+			int3(0,6,-7)>>1,
-			Planar64Vec3::int(10,-1,1),
+			int3(10,-1,1),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_east_from_se(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(7,6,0)/2,
+			int3(7,6,0)>>1,
-			Planar64Vec3::int(-1,-1,-10),
+			int3(-1,-1,-10),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_east_from_ne(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(7,6,0)/2,
+			int3(7,6,0)>>1,
-			Planar64Vec3::int(-1,-1,10),
+			int3(-1,-1,10),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_south_from_se(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(0,6,7)/2,
+			int3(0,6,7)>>1,
-			Planar64Vec3::int(-10,-1,-1),
+			int3(-10,-1,-1),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_south_from_sw(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(0,6,7)/2,
+			int3(0,6,7)>>1,
-			Planar64Vec3::int(10,-1,-1),
+			int3(10,-1,-1),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_west_from_se(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(-7,6,0)/2,
+			int3(-7,6,0)>>1,
-			Planar64Vec3::int(1,-1,-10),
+			int3(1,-1,-10),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_west_from_ne(){
-		test_collision(VirtualBody::relative(&Body::default(),&Body::new(
+		test_collision(VirtualBody::relative(&Body::ZERO,&Body::new(
-			Planar64Vec3::int(-7,6,0)/2,
+			int3(-7,6,0)>>1,
-			Planar64Vec3::int(1,-1,10),
+			int3(1,-1,10),
-			Planar64Vec3::int(0,-1,0),
+			int3(0,-1,0),
 			Time::ZERO
 		)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_oblique(){
 		test_collision(Body::new(
-			Planar64Vec3::int(0,5,0),
+			int3(0,5,0),
-			Planar64Vec3::int(1,-64,2)/64,
+			int3(1,-64,2)>>6,// /64
-			Planar64Vec3::ZERO,
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
 	#[test]
 	fn zoom_hit_nothing(){
 		test_collision(Body::new(
-			Planar64Vec3::int(0,10,0),
+			int3(0,10,0),
-			Planar64Vec3::int(1,0,0),
+			int3(1,0,0),
-			Planar64Vec3::int(0,1,0),
+			int3(0,1,0),
 			Time::ZERO
 		),None);
 	}
 	#[test]
 	fn already_inside_hit_nothing(){
 		test_collision(Body::new(
-			Planar64Vec3::ZERO,
+			vec3::ZERO,
-			Planar64Vec3::int(1,0,0),
+			int3(1,0,0),
-			Planar64Vec3::int(0,1,0),
+			int3(0,1,0),
 			Time::ZERO
 		),None);
 	}

src/worker.rs

@@ -181,9 +181,9 @@ mod test{
 	#[test]//How to run this test with printing: cargo test --release -- --nocapture
 	fn test_worker() {
 		// Create the worker thread
-		let test_body=physics::Body::new(integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Time::ZERO);
+		let test_body=physics::Body::new(integer::vec3::ONE,integer::vec3::ONE,integer::vec3::ONE,integer::Time::ZERO);
-		let worker=QRWorker::new(physics::Body::default(),
+		let worker=QRWorker::new(physics::Body::ZERO,
-			|_|physics::Body::new(integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Time::ZERO)
+			|_|physics::Body::new(integer::vec3::ONE,integer::vec3::ONE,integer::vec3::ONE,integer::Time::ZERO)
 		);
 
 		// Send tasks to the worker