unnecessary Arc Mutex just send it bud

Cargo.lock

@@ -1692,6 +1692,7 @@ dependencies = [
  "lazy-regex",
  "log",
  "obj",
+ "parking_lot",
  "pollster",
  "rbx_binary",
  "rbx_dom_weak",

Cargo.toml

@@ -14,6 +14,7 @@ glam = "0.24.1"
 lazy-regex = "3.0.2"
 log = "0.4.20"
 obj = "0.10.2"
+parking_lot = "0.12.1"
 pollster = "0.3.0"
 rbx_binary = "0.7.1"
 rbx_dom_weak = "2.5.0"

src/body.rs

@@ -34,7 +34,7 @@ pub enum InputInstruction {
 		//for interpolation / networking / playback reasons, most playback heads will always want
 		//to be 1 instruction ahead to generate the next state for interpolation.
 }
-
+#[derive(Clone,Debug)]
 pub struct Body {
 	position: glam::Vec3,//I64 where 2^32 = 1 u
 	velocity: glam::Vec3,//I64 where 2^32 = 1 u/s
@@ -195,7 +195,7 @@ impl Camera {
 			offset,
 			angles: glam::DVec2::ZERO,
 			fov: glam::vec2(aspect,1.0),
-		    sensitivity: glam::dvec2(1.0/6144.0,1.0/6144.0),
+			sensitivity: glam::dvec2(1.0/16384.0,1.0/16384.0),
 			time: 0,
 		}
 	}
@@ -221,13 +221,13 @@ impl Camera {
 }
 
 pub struct GameMechanicsState{
-	pub spawn_id:u32,
+	pub stage_id:u32,
 	//jump_counts:HashMap<u32,u32>,
 }
 impl std::default::Default for GameMechanicsState{
 	fn default() -> Self {
 		Self{
-			spawn_id:0,
+			stage_id:0,
 		}
 	}
 }
@@ -317,7 +317,8 @@ pub struct PhysicsState{
 	pub world:WorldState,//currently there is only one state the world can be in
 	pub game:GameMechanicsState,
 	pub style:StyleModifiers,
-	pub contacts:std::collections::HashSet::<RelativeCollision>,
+	pub contacts:std::collections::HashMap::<u32,RelativeCollision>,
+	pub intersects:std::collections::HashMap::<u32,RelativeCollision>,
 	//pub intersections: Vec<ModelId>,
 	//camera must exist in state because wormholes modify the camera, also camera punch
 	pub camera:Camera,
@@ -329,6 +330,7 @@ pub struct PhysicsState{
 	pub models:Vec<ModelPhysics>,
 	
 	pub modes:Vec<crate::model::ModeDescription>,
+	pub mode_from_mode_id:std::collections::HashMap::<u32,usize>,
 	//the spawn point is where you spawn when you load into the map.
 	//This is not the same as Reset which teleports you to Spawn0
 	pub spawn_point:glam::Vec3,
@@ -458,6 +460,7 @@ pub struct ModelPhysics {
 	//A model is a thing that has a hitbox. can be represented by a list of TreyMesh-es
 	//in this iteration, all it needs is extents.
 	mesh: TreyMesh,
+	transform:glam::Affine3A,
 	attributes:PhysicsCollisionAttributes,
 }
 
@@ -470,13 +473,14 @@ impl ModelPhysics {
 		Self{
 			mesh:aabb,
 			attributes,
+			transform:transform.clone(),
 		}
 	}
 	pub fn from_model(model:&crate::model::IndexedModel,instance:&crate::model::ModelInstance) -> Option<Self> {
 		match &instance.attributes{
-			crate::model::CollisionAttributes::Decoration=>None,
 			crate::model::CollisionAttributes::Contact{contacting,general}=>Some(ModelPhysics::from_model_transform_attributes(model,&instance.transform,PhysicsCollisionAttributes::Contact{contacting:contacting.clone(),general:general.clone()})),
-			crate::model::CollisionAttributes::Intersect{intersecting,general}=>None,//Some(ModelPhysics::from_model_transform_attributes(model,&instance.transform,PhysicsCollisionAttributes::Intersecting{intersecting,general})),
+			crate::model::CollisionAttributes::Intersect{intersecting,general}=>Some(ModelPhysics::from_model_transform_attributes(model,&instance.transform,PhysicsCollisionAttributes::Intersect{intersecting:intersecting.clone(),general:general.clone()})),
+			crate::model::CollisionAttributes::Decoration=>None,
 		}
 	}
 	pub fn unit_vertices(&self) -> [glam::Vec3;8] {
@@ -556,6 +560,15 @@ impl PhysicsState {
 	pub fn clear(&mut self){
 		self.models.clear();
 		self.modes.clear();
+		self.contacts.clear();
+		self.intersects.clear();
+	}
+	pub fn get_mode(&self,mode_id:u32)->Option<&crate::model::ModeDescription>{
+		if let Some(&mode)=self.mode_from_mode_id.get(&mode_id){
+			self.modes.get(mode)
+		}else{
+			None
+		}
 	}
 	//tickless gaming
 	pub fn run(&mut self, time_limit:TIME){
@@ -583,7 +596,7 @@ impl PhysicsState {
 	}
 
 	fn contact_constrain_velocity(&self,velocity:&mut glam::Vec3){
-		for contact in self.contacts.iter() {
+		for (_,contact) in &self.contacts {
 			let n=contact.normal(&self.models);
 			let d=velocity.dot(n);
 			if d<0f32{
@@ -592,7 +605,7 @@ impl PhysicsState {
 		}
 	}
 	fn contact_constrain_acceleration(&self,acceleration:&mut glam::Vec3){
-		for contact in self.contacts.iter() {
+		for (_,contact) in &self.contacts {
 			let n=contact.normal(&self.models);
 			let d=acceleration.dot(n);
 			if d<0f32{
@@ -965,12 +978,19 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 		//JUST POLLING!!! NO MUTATION
 		let mut collector = crate::instruction::InstructionCollector::new(time_limit);
 		//check for collision stop instructions with curent contacts
-		for collision_data in self.contacts.iter() {
+		for (_,collision_data) in &self.contacts {
 			collector.collect(self.predict_collision_end(self.time,time_limit,collision_data));
 		}
+		// for collision_data in &self.intersects{
+		// 	collector.collect(self.predict_collision_end2(self.time,time_limit,collision_data));
+		// }
 		//check for collision start instructions (against every part in the game with no optimization!!)
 		for i in 0..self.models.len() {
-			collector.collect(self.predict_collision_start(self.time,time_limit,i as u32));
+			let i=i as u32;
+			if self.contacts.contains_key(&i)||self.intersects.contains_key(&i){
+				continue;
+			}
+			collector.collect(self.predict_collision_start(self.time,time_limit,i));
 		}
 		if self.grounded {
 			//walk maintenance
@@ -1005,15 +1025,54 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 				self.spawn_point=position;
 			}
 			PhysicsInstruction::CollisionStart(c) => {
-				//check ground
+				let model=c.model(&self.models).unwrap();
-				match &c.face {
+				match &model.attributes{
+					PhysicsCollisionAttributes::Contact{contacting,general}=>{
+						match &contacting.surf{
+							Some(surf)=>println!("I'm surfing!"),
+							None=>match &c.face {
 								AabbFace::Top => {
 									//ground
 									self.grounded=true;
 								},
 								_ => (),
+							},
 						}
-			    self.contacts.insert(c);
+						match &general.booster{
+							Some(booster)=>self.body.velocity+=booster.velocity,
+							None=>(),
+						}
+						match &general.stage_element{
+							Some(stage_element)=>{
+								if stage_element.force||self.game.stage_id<stage_element.stage_id{
+									self.game.stage_id=stage_element.stage_id;
+								}
+								match stage_element.behaviour{
+									crate::model::StageElementBehaviour::SpawnAt=>(),
+									crate::model::StageElementBehaviour::Trigger
+									|crate::model::StageElementBehaviour::Teleport=>{
+										//TODO make good
+										if let Some(mode)=self.get_mode(stage_element.mode_id){
+											if let Some(&spawn)=mode.get_spawn_model_id(self.game.stage_id){
+												if let Some(model)=self.models.get(spawn as usize){
+													self.body.position=model.transform.transform_point3(glam::Vec3::Y)+glam::Vec3::Y*(self.style.hitbox_halfsize.y+0.1);
+													//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
+													self.contacts.clear();
+													self.intersects.clear();
+													self.body.acceleration=self.style.gravity;
+													self.walk.state=WalkEnum::Reached;
+													self.grounded=false;
+												}else{println!("bad1");}
+											}else{println!("bad2");}
+										}else{println!("bad3");}
+									},
+									crate::model::StageElementBehaviour::Platform=>(),
+								}
+							},
+							None=>(),
+						}
+						//check ground
+						self.contacts.insert(c.model,c);
 						//flatten v
 						let mut v=self.body.velocity;
 						self.contact_constrain_velocity(&mut v);
@@ -1023,8 +1082,17 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						}
 						self.refresh_walk_target();
 					},
+					PhysicsCollisionAttributes::Intersect{intersecting,general}=>{
+						//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
+						self.intersects.insert(c.model,c);
+					},
+				}
+			},
 			PhysicsInstruction::CollisionEnd(c) => {
-			    self.contacts.remove(&c);//remove contact before calling contact_constrain_acceleration
+				let model=c.model(&self.models).unwrap();
+				match &model.attributes{
+					PhysicsCollisionAttributes::Contact{contacting,general}=>{
+						self.contacts.remove(&c.model);//remove contact before calling contact_constrain_acceleration
 						let mut a=self.style.gravity;
 						self.contact_constrain_acceleration(&mut a);
 						self.body.acceleration=a;
@@ -1037,6 +1105,11 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						}
 						self.refresh_walk_target();
 					},
+					PhysicsCollisionAttributes::Intersect{intersecting,general}=>{
+						self.intersects.remove(&c.model);
+					},
+				}
+			},
 			PhysicsInstruction::StrafeTick => {
 				let camera_mat=self.camera.simulate_move_rotation_y(self.mouse_interpolation.interpolated_position(self.time).x-self.mouse_interpolation.mouse0.x);
 				let control_dir=camera_mat*self.style.get_control_dir(self.controls);

src/load_roblox.rs

@@ -30,7 +30,7 @@ fn get_texture_refs(dom:&rbx_dom_weak::WeakDom) -> Vec<rbx_dom_weak::types::Ref>
 	//next class
 	objects
 }
-fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3)->crate::model::CollisionAttributes{
+fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3,force_intersecting:bool)->crate::model::CollisionAttributes{
 	let mut general=crate::model::GameMechanicAttributes::default();
 	let mut intersecting=crate::model::IntersectingAttributes::default();
 	let mut contacting=crate::model::ContactingAttributes::default();
@@ -46,7 +46,7 @@ fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3)->crate::model:
 			behaviour:crate::model::StageElementBehaviour::Platform,
 		}),
 		other=>{
-			if let Some(captures)=lazy_regex::regex!(r"^(Force)?(SpawnAt|Trigger|Teleport|Platform)(\d+)$")
+			if let Some(captures)=lazy_regex::regex!(r"^(Force)?(Spawn|SpawnAt|Trigger|Teleport|Platform)(\d+)$")
 			.captures(other){
 				general.stage_element=Some(crate::model::GameMechanicStageElement{
 					mode_id:0,
@@ -56,7 +56,7 @@ fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3)->crate::model:
 						None=>false,
 					},
 					behaviour:match &captures[2]{
-						"SpawnAt"=>crate::model::StageElementBehaviour::SpawnAt,
+						"Spawn"|"SpawnAt"=>crate::model::StageElementBehaviour::SpawnAt,
 						"Trigger"=>crate::model::StageElementBehaviour::Trigger,
 						"Teleport"=>crate::model::StageElementBehaviour::Teleport,
 						"Platform"=>crate::model::StageElementBehaviour::Platform,
@@ -89,9 +89,21 @@ fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3)->crate::model:
 					//WormholeIn#
 				}
 			}
-			return crate::model::CollisionAttributes::Contact{contacting,general};
+			crate::model::CollisionAttributes::Contact{contacting,general}
+		},
+		false=>if force_intersecting
+		||general.jump_limit.is_some()
+		||general.booster.is_some()
+		||general.zone.is_some()
+		||general.stage_element.is_some()
+		||general.wormhole.is_some()
+		||intersecting.water.is_some()
+		||intersecting.accelerator.is_some()
+		{
+			crate::model::CollisionAttributes::Intersect{intersecting,general}
+		}else{
+			crate::model::CollisionAttributes::Decoration
 		},
-		false=>return crate::model::CollisionAttributes::Decoration,
 	}
 }
 
@@ -219,6 +231,7 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 				);
 
 				//push TempIndexedAttributes
+				let mut force_intersecting=false;
 				let mut temp_indexing_attributes=Vec::new();
 				if let Some(attr)=match &object.name[..]{
 					"MapStart"=>{
@@ -227,11 +240,11 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 					},
 					"UnorderedCheckpoint"=>Some(crate::model::TempIndexedAttributes::UnorderedCheckpoint{mode_id:0}),
 					other=>{
-						let regman=lazy_regex::regex!(r"^(BonusStart|Spawn|OrderedCheckpoint)(\d+)$");
+						let regman=lazy_regex::regex!(r"^(BonusStart|Spawn|ForceSpawn|OrderedCheckpoint)(\d+)$");
 						if let Some(captures) = regman.captures(other) {
 							match &captures[1]{
 								"BonusStart"=>Some(crate::model::TempIndexedAttributes::Start{mode_id:captures[2].parse::<u32>().unwrap()}),
-								"Spawn"=>Some(crate::model::TempIndexedAttributes::Spawn{mode_id:0,stage_id:captures[2].parse::<u32>().unwrap()}),
+								"Spawn"|"ForceSpawn"=>Some(crate::model::TempIndexedAttributes::Spawn{mode_id:0,stage_id:captures[2].parse::<u32>().unwrap()}),
 								"OrderedCheckpoint"=>Some(crate::model::TempIndexedAttributes::OrderedCheckpoint{mode_id:0,checkpoint_id:captures[2].parse::<u32>().unwrap()}),
 								_=>None,
 							}
@@ -240,6 +253,7 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 						}
 					}
 				}{
+					force_intersecting=true;
 					temp_indexing_attributes.push(attr);
 				}
 
@@ -354,17 +368,17 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 					primitives::Primitives::Cylinder=>RobloxBasePartDescription::Cylinder,
 					//use front face texture first and use top face texture as a fallback
 					primitives::Primitives::Wedge=>RobloxBasePartDescription::Wedge([
-						f0,//Wedge::Right
+						f0,//Cube::Right->Wedge::Right
-						if f5.is_some(){f5}else{f1},//Wedge::TopFront
+						if f5.is_some(){f5}else{f1},//Cube::Front|Cube::Top->Wedge::TopFront
-						f2,//Wedge::Back
+						f2,//Cube::Back->Wedge::Back
-						f3,//Wedge::Left
+						f3,//Cube::Left->Wedge::Left
-						f4,//Wedge::Bottom
+						f4,//Cube::Bottom->Wedge::Bottom
 					]),
 					primitives::Primitives::CornerWedge=>RobloxBasePartDescription::CornerWedge([
-						f0,//CornerWedge::Right
+						f0,//Cube::Right->CornerWedge::Right
-						f1,//CornerWedge::Top
+						f1,//Cube::Top->CornerWedge::Top
-						f4,//CornerWedge::Bottom
+						f4,//Cube::Bottom->CornerWedge::Bottom
-						f5,//CornerWedge::Front
+						f5,//Cube::Front->CornerWedge::Front
 					]),
 				};
 				//make new model if unit cube has not been created before
@@ -440,7 +454,7 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 				indexed_models[model_id].instances.push(crate::model::ModelInstance {
 					transform:model_transform,
 					color:glam::vec4(color3.r as f32/255f32, color3.g as f32/255f32, color3.b as f32/255f32, 1.0-*transparency),
-					attributes:get_attributes(&object.name,*can_collide,glam::vec3(velocity.x,velocity.y,velocity.z)),
+					attributes:get_attributes(&object.name,*can_collide,glam::vec3(velocity.x,velocity.y,velocity.z),force_intersecting),
 					temp_indexing:temp_indexing_attributes,
 				});
 			}

src/main.rs

@@ -11,6 +11,7 @@ mod framework;
 mod primitives;
 mod instruction;
 mod load_roblox;
+mod worker;
 
 struct Entity {
 	index_count: u32,
@@ -104,8 +105,8 @@ impl GlobalState{
 			for model_instance in &model.instances{
 				if let Some(model_physics)=body::ModelPhysics::from_model(model,model_instance){
 					let model_id=self.physics.models.len() as u32;
-					//snoop it before it gets stolen
+					self.physics.models.push(model_physics);
-					for attr in model_instance.temp_indexing.iter(){
+					for attr in &model_instance.temp_indexing{
 						match attr{
 							model::TempIndexedAttributes::Start{mode_id}=>starts.push((*mode_id,model_id)),
 							model::TempIndexedAttributes::Spawn{mode_id,stage_id}=>spawns.push((*mode_id,model_id,*stage_id)),
@@ -113,8 +114,6 @@ impl GlobalState{
 							model::TempIndexedAttributes::UnorderedCheckpoint{mode_id}=>unordered_checkpoints.push((*mode_id,model_id)),
 						}
 					}
-					//steal it
-					self.physics.models.push(model_physics);
 				}
 			}
 		}
@@ -147,14 +146,22 @@ impl GlobalState{
 				}
 			}
 		}
+		let num_modes=self.physics.modes.len();
+		for (mode_id,mode) in eshmep{
+			self.physics.mode_from_mode_id.insert(mode_id,num_modes+mode);
+		}
 		self.physics.modes.append(&mut modedatas.into_iter().map(|mut tup|{
 			tup.1.sort_by_key(|tup|tup.0);
 			tup.2.sort_by_key(|tup|tup.0);
+			let mut eshmep1=std::collections::HashMap::new();
+			let mut eshmep2=std::collections::HashMap::new();
 			model::ModeDescription{
 				start:tup.0,
-				spawns:tup.1.into_iter().map(|tup|tup.1).collect(),
+				spawns:tup.1.into_iter().enumerate().map(|(i,tup)|{eshmep1.insert(tup.0,i);tup.1}).collect(),
-				ordered_checkpoints:tup.2.into_iter().map(|tup|tup.1).collect(),
+				ordered_checkpoints:tup.2.into_iter().enumerate().map(|(i,tup)|{eshmep2.insert(tup.0,i);tup.1}).collect(),
 				unordered_checkpoints:tup.3,
+				spawn_from_stage_id:eshmep1,
+				ordered_checkpoint_from_checkpoint_id:eshmep2,
 			}
 		}).collect());
 		println!("Physics Objects: {}",self.physics.models.len());
@@ -228,7 +235,7 @@ impl GlobalState{
 		//the models received here are supposed to be tightly packed, i.e. no code needs to check if two models are using the same groups.
 		let indexed_models_len=indexed_models.models.len();
 		let mut unique_texture_models=Vec::with_capacity(indexed_models_len);
-		for mut model in indexed_models.models.into_iter(){
+		for model in indexed_models.models.into_iter(){
 			//convert ModelInstance into ModelGraphicsInstance
 			let instances:Vec<ModelGraphicsInstance>=model.instances.into_iter().filter_map(|instance|{
 				if instance.color.w==0.0{
@@ -581,7 +588,8 @@ impl framework::Example for GlobalState {
 			time: 0,
 			style:body::StyleModifiers::default(),
 			grounded: false,
-			contacts: std::collections::HashSet::new(),
+			contacts: std::collections::HashMap::new(),
+			intersects: std::collections::HashMap::new(),
 			models: Vec::new(),
 			walk: body::WalkState::new(),
 			camera: body::Camera::from_offset(glam::vec3(0.0,4.5-2.5,0.0),(config.width as f32)/(config.height as f32)),
@@ -590,6 +598,7 @@ impl framework::Example for GlobalState {
 			world:body::WorldState{},
 			game:body::GameMechanicsState::default(),
 			modes:Vec::new(),
+			mode_from_mode_id:std::collections::HashMap::new(),
 		};
 
 		//load textures
@@ -904,6 +913,7 @@ impl framework::Example for GlobalState {
 					//if generate_indexed_models succeeds, clear the previous ones
 					self.physics.clear();
 					self.graphics.clear();
+					self.physics.game.stage_id=0;
 					self.generate_model_physics(&indexed_model_instances);
 					self.generate_model_graphics(device,queue,indexed_model_instances);
 					//manual reset

src/model.rs

@@ -85,7 +85,26 @@ pub struct ModeDescription{
 	pub spawns:Vec<u32>,//spawns[spawn_id]=model_id
 	pub ordered_checkpoints:Vec<u32>,//ordered_checkpoints[checkpoint_id]=model_id
 	pub unordered_checkpoints:Vec<u32>,//unordered_checkpoints[checkpoint_id]=model_id
+	pub spawn_from_stage_id:std::collections::HashMap::<u32,usize>,
+	pub ordered_checkpoint_from_checkpoint_id:std::collections::HashMap::<u32,usize>,
 }
+impl ModeDescription{
+	pub fn get_spawn_model_id(&self,stage_id:u32)->Option<&u32>{
+		if let Some(&spawn)=self.spawn_from_stage_id.get(&stage_id){
+			self.spawns.get(spawn)
+		}else{
+			None
+		}
+	}
+	pub fn get_ordered_checkpoint_model_id(&self,checkpoint_id:u32)->Option<&u32>{
+		if let Some(&checkpoint)=self.ordered_checkpoint_from_checkpoint_id.get(&checkpoint_id){
+			self.ordered_checkpoints.get(checkpoint)
+		}else{
+			None
+		}
+	}
+}
+#[derive(Debug)]
 pub enum TempIndexedAttributes{
 	Start{
 		mode_id:u32,

src/worker.rs

@@ -0,0 +1,83 @@
+use std::thread;
+use std::sync::{mpsc,Arc};
+use parking_lot::Mutex;
+
+//The goal here is to have a worker thread that parks itself when it runs out of work.
+//The worker thread publishes the result of its work back to the worker object for every item in the work queue.
+//The physics (target use case) knows when it has not changed the body, so not updating the value is also an option.
+
+struct Worker<Task:Send,Value:Clone> {
+    sender: mpsc::Sender<Task>,
+    value:Arc<Mutex<Value>>,
+}
+
+impl<Task:Send+'static,Value:Clone+Send+'static> Worker<Task,Value> {
+    fn new<F:Fn(Task)->Value+Send+'static>(value:Value,f:F) -> Self {
+        let (sender, receiver) = mpsc::channel::<Task>();
+        let ret=Self {
+            sender,
+            value:Arc::new(Mutex::new(value)),
+        };
+        let value=ret.value.clone();
+        thread::spawn(move || {
+            loop {
+                match receiver.recv() {
+                    Ok(task) => {
+                        println!("Worker got a task");
+                        // Process the task
+                        *value.lock()=f(task);
+                    }
+                    Err(_) => {
+                        println!("Worker stopping.",);
+                        break;
+                    }
+                }
+            }
+        });
+        ret
+    }
+
+    fn send(&self,task:Task)->Result<(), mpsc::SendError<Task>>{
+        self.sender.send(task)
+    }
+
+    fn grab_clone(&self)->Value{
+        self.value.lock().clone()
+    }
+}
+
+#[test]//How to run this test with printing: cargo test --release -- --nocapture
+fn test_worker() {
+    println!("hiiiii");
+    // Create the worker thread
+    let worker = Worker::new(crate::body::Body::with_pva(glam::Vec3::ZERO,glam::Vec3::ZERO,glam::Vec3::ZERO),
+        |_|crate::body::Body::with_pva(glam::Vec3::ONE,glam::Vec3::ONE,glam::Vec3::ONE)
+    );
+
+    // Send tasks to the worker
+    for i in 0..5 {
+        let task = crate::instruction::TimedInstruction{
+            time:0,
+            instruction:crate::body::PhysicsInstruction::StrafeTick,
+        };
+        worker.send(task).unwrap();
+    }
+
+    // Optional: Signal the worker to stop (in a real-world scenario)
+    // sender.send("STOP".to_string()).unwrap();
+
+    // Sleep to allow the worker thread to finish processing
+    thread::sleep(std::time::Duration::from_secs(2));
+
+    // Send a new task
+    let task = crate::instruction::TimedInstruction{
+        time:0,
+        instruction:crate::body::PhysicsInstruction::StrafeTick,
+    };
+    worker.send(task).unwrap();
+
+    println!("value={:?}",worker.grab_clone());
+
+    // wait long enough to see print from final task
+    thread::sleep(std::time::Duration::from_secs(1));
+}