more wip

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "strafe-client"
-version = "0.10.5"
+version = "0.10.3"
 edition = "2021"
 repository = "https://git.itzana.me/StrafesNET/strafe-client"
 license = "Custom"
@@ -15,20 +15,21 @@ source = ["dep:strafesnet_deferred_loader", "dep:strafesnet_bsp_loader"]
 roblox = ["dep:strafesnet_deferred_loader", "dep:strafesnet_rbx_loader"]
 
 [dependencies]
+arrayvec = "0.7.6"
 bytemuck = { version = "1.13.1", features = ["derive"] }
 configparser = "3.0.2"
 ddsfile = "0.5.1"
-glam = "0.29.0"
+glam = "0.28.0"
 id = { version = "0.1.0", registry = "strafesnet" }
 parking_lot = "0.12.1"
 pollster = "0.3.0"
-strafesnet_bsp_loader = { version = "0.2.1", registry = "strafesnet", optional = true }
-strafesnet_common = { version = "0.5.2", registry = "strafesnet" }
-strafesnet_deferred_loader = { version = "0.4.0", features = ["legacy"], registry = "strafesnet", optional = true }
-strafesnet_rbx_loader = { version = "0.5.1", registry = "strafesnet", optional = true }
-strafesnet_snf = { version = "0.2.0", registry = "strafesnet", optional = true }
-wgpu = "22.1.0"
-winit = "0.30.5"
+strafesnet_bsp_loader = { version = "0.1.3", registry = "strafesnet", optional = true }
+strafesnet_common = { version = "0.4.0", registry = "strafesnet" }
+strafesnet_deferred_loader = { version = "0.3.1", features = ["legacy"], registry = "strafesnet", optional = true }
+strafesnet_rbx_loader = { version = "0.3.2", registry = "strafesnet", optional = true }
+strafesnet_snf = { version = "0.1.2", registry = "strafesnet", optional = true }
+wgpu = "22.0.0"
+winit = "0.30.4"
 
 [profile.release]
 #lto = true

src/face_crawler.rs

@@ -1,33 +1,32 @@
 use crate::physics::Body;
-use crate::model_physics::{GigaTime,FEV,MeshQuery,DirectedEdge,MinkowskiMesh,MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert};
-use strafesnet_common::integer::{Time,Fixed,Ratio};
+use crate::model_physics::{FEV,MeshQuery,DirectedEdge};
+use strafesnet_common::integer::{Time,Planar64};
+use strafesnet_common::zeroes::zeroes2;
 
-#[derive(Debug)]
 enum Transition<F,E:DirectedEdge,V>{
 	Miss,
-	Next(FEV<F,E,V>,GigaTime),
-	Hit(F,GigaTime),
+	Next(FEV<F,E,V>,Time),
+	Hit(F,Time),
 }
 
-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{
+	fn next_transition<F:Copy,E:Copy+DirectedEdge,V:Copy>(fev:&FEV<F,E,V>,time:Time,mesh:&impl MeshQuery<F,E,V>,body:&Body,time_limit:Time)->Transition<F,E,V>{
 		//conflicting derivative means it crosses in the wrong direction.
 		//if the transition time is equal to an already tested transition, do not replace the current best.
-		let mut best_transition=MinkowskiTransition::Miss;
+		let mut best_time=time_limit;
+		let mut best_transtition=Transition::Miss;
 		match fev{
-			&MinkowskiFEV::Face(face_id)=>{
+			&FEV::<F,E,V>::Face(face_id)=>{
 				//test own face collision time, ignoring roots with zero or conflicting derivative
 				//n=face.normal d=face.dot
 				//n.a t^2+n.v t+n.p-d==0
 				let (n,d)=mesh.face_nd(face_id);
 				//TODO: use higher precision d value?
 				//use the mesh transform translation instead of baking it into the d value.
-				for dt in Fixed::<4,128>::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-					if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-						best_time=dt;
-						best_transition=MinkowskiTransition::Hit(face_id,dt);
+				for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					let t=body.time+Time::from(t);
+					if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+						best_time=t;
+						best_transtition=Transition::Hit(face_id,t);
 						break;
 					}
 				}
@@ -37,18 +36,18 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
 					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!
-					//WARNING: precision is swept under the rug!
-					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 body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							best_time=dt;
-							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
+					for t in zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))),n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
 							break;
 						}
 					}
 				}
 				//if none:
 			},
-			&MinkowskiFEV::Edge(edge_id)=>{
+			&FEV::<F,E,V>::Edge(edge_id)=>{
 				//test each face collision time, ignoring roots with zero or conflicting derivative
 				let edge_n=mesh.edge_n(edge_id);
 				let edge_verts=mesh.edge_verts(edge_id);
@@ -58,10 +57,11 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
 					//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 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()){
-						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							best_time=dt;
-							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Face(edge_face_id),dt);
+					for t in zeroes2(n.dot(delta_pos),n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Face(edge_face_id),t);
 							break;
 						}
 					}
@@ -70,27 +70,27 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
 				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 dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
-							best_time=dt;
-							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Vert(vert_id),dt);
+					for t in zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t);
 							break;
 						}
 					}
 				}
 				//if none:
 			},
-			&MinkowskiFEV::Vert(vert_id)=>{
+			&FEV::<F,E,V>::Vert(vert_id)=>{
 				//test each edge collision time, ignoring roots with zero or conflicting derivative
 				for &directed_edge_id in mesh.vert_edges(vert_id).iter(){
 					//edge is directed away from vertex, but we want the dot product to turn out negative
 					let n=-mesh.directed_edge_n(directed_edge_id);
-					for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
-							best_time=dt;
-							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
+					for t in zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
 							break;
 						}
 					}
@@ -98,26 +98,18 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
 				//if none:
 			},
 		}
-		best_transition
+		best_transtition
 	}
 pub enum CrawlResult<F,E:DirectedEdge,V>{
 	Miss(FEV<F,E,V>),
-	Hit(F,GigaTime),
+	Hit(F,Time),
 }
-type MinkowskiCrawlResult=CrawlResult<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>;
-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())
-	};
+pub fn crawl_fev<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,start_time:Time,time_limit:Time)->CrawlResult<F,E,V>{	
+	let mut time=start_time;
 	for _ in 0..20{
-		match next_transition(&fev,body_time,mesh,relative_body,time_limit){
+		match next_transition(&fev,time,mesh,relative_body,time_limit){
 			Transition::Miss=>return CrawlResult::Miss(fev),
-			Transition::Next(next_fev,next_time)=>(fev,body_time)=(next_fev,next_time),
+			Transition::Next(next_fev,next_time)=>(fev,time)=(next_fev,next_time),
 			Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),
 		}
 	}

src/file.rs

@@ -22,7 +22,7 @@ impl std::error::Error for ReadError{}
 
 pub enum DataStructure{
 	#[cfg(feature="roblox")]
-	Roblox(strafesnet_rbx_loader::Model),
+	Roblox(strafesnet_rbx_loader::Dom),
 	#[cfg(feature="source")]
 	Source(strafesnet_bsp_loader::Bsp),
 	#[cfg(feature="snf")]
@@ -66,16 +66,13 @@ pub fn load<P:AsRef<std::path::Path>>(path:P)->Result<strafesnet_common::map::Co
 		#[cfg(feature="snf")]
 		DataStructure::StrafesNET(map)=>Ok(map),
 		#[cfg(feature="roblox")]
-		DataStructure::Roblox(model)=>{
-			let mut place=model.into_place();
-			place.run_scripts();
-
+		DataStructure::Roblox(dom)=>{
 			let mut loader=strafesnet_deferred_loader::roblox_legacy();
 
 			let (texture_loader,mesh_loader)=loader.get_inner_mut();
 
 			let map_step1=strafesnet_rbx_loader::convert(
-				&place,
+				&dom,
 				|name|texture_loader.acquire_render_config_id(name),
 				|name|mesh_loader.acquire_mesh_id(name),
 			);
@@ -113,7 +110,7 @@ pub fn load<P:AsRef<std::path::Path>>(path:P)->Result<strafesnet_common::map::Co
 				|name|mesh_loader.acquire_mesh_id(name),
 			);
 
-			let prop_meshes=mesh_loader.load_meshes(bsp.as_ref());
+			let prop_meshes=mesh_loader.load_meshes(&bsp.as_ref());
 
 			let map_step2=map_step1.add_prop_meshes(
 				//the type conflagulator 9000

src/graphics.rs

@@ -219,7 +219,7 @@ impl GraphicsState{
 			//wow
 			let instance=GraphicsModelOwned{
 				transform:model.transform.into(),
-				normal_transform:glam::Mat3::from_cols_array_2d(&model.transform.matrix3.to_array().map(|row|row.map(Into::into))).inverse().transpose(),
+				normal_transform:Into::<glam::Mat3>::into(model.transform.matrix3).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|v.to_array().map(Into::into)).collect(),
+								unique_pos:mesh.unique_pos.iter().map(|&v|*Into::<glam::Vec3>::into(v).as_ref()).collect(),
 								unique_tex:mesh.unique_tex.iter().map(|v|*v.as_ref()).collect(),
-								unique_normal:mesh.unique_normal.iter().map(|v|v.to_array().map(Into::into)).collect(),
+								unique_normal:mesh.unique_normal.iter().map(|&v|*Into::<glam::Vec3>::into(v).as_ref()).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).map(Into::<f32>::into).to_array().into(),
+			frame_state.body.extrapolated_position(frame_state.time).into(),
 			frame_state.camera.simulate_move_angles(glam::IVec2::ZERO)
 		);
 		self.staging_belt

src/main.rs

@@ -5,6 +5,7 @@ mod worker;
 mod physics;
 mod graphics;
 mod settings;
+mod push_solve;
 mod face_crawler;
 mod compat_worker;
 mod model_physics;

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::integer::{self,vec3,Fixed,Planar64,Planar64Vec3,Ratio};
+use strafesnet_common::zeroes;
+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+std::fmt::Debug+UndirectedEdge;
+	type UndirectedEdge:Copy+UndirectedEdge;
 	fn as_undirected(&self)->Self::UndirectedEdge;
 	fn parity(&self)->bool;
 	//this is stupid but may work fine
@@ -50,7 +50,6 @@ impl DirectedEdge for SubmeshDirectedEdgeId{
 }
 
 //Vertex <-> Edge <-> Face -> Collide
-#[derive(Debug)]
 pub enum FEV<F,E:DirectedEdge,V>{
 	Face(F),
 	Edge(E::UndirectedEdge),
@@ -65,9 +64,6 @@ 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())
@@ -77,7 +73,7 @@ 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)->(Self::Normal,Self::Offset);
+	fn face_nd(&self,face_id:FACE)->(Planar64Vec3,Planar64);
 	fn face_edges(&self,face_id:FACE)->Cow<Vec<EDGE>>;
 	fn edge_faces(&self,edge_id:EDGE::UndirectedEdge)->Cow<[FACE;2]>;
 	fn edge_verts(&self,edge_id:EDGE::UndirectedEdge)->Cow<[VERT;2]>;
@@ -141,22 +137,22 @@ impl PhysicsMesh{
 		//go go gadget debug print mesh
 		let data=PhysicsMeshData{
 			faces:vec![
-				Face{normal:vec3::raw_xyz( 4294967296, 0, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:vec3::raw_xyz( 0, 4294967296, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:vec3::raw_xyz( 0, 0, 4294967296),dot:Planar64::raw(4294967296)},
-				Face{normal:vec3::raw_xyz(-4294967296, 0, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:vec3::raw_xyz( 0,-4294967296, 0),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:Planar64Vec3::raw_xyz( 0, 4294967296, 0),dot:Planar64::raw(4294967296)},
+				Face{normal:Planar64Vec3::raw_xyz( 0, 0, 4294967296),dot:Planar64::raw(4294967296)},
+				Face{normal:Planar64Vec3::raw_xyz(-4294967296, 0, 0),dot:Planar64::raw(4294967296)},
+				Face{normal:Planar64Vec3::raw_xyz( 0,-4294967296, 0),dot:Planar64::raw(4294967296)},
+				Face{normal:Planar64Vec3::raw_xyz( 0, 0,-4294967296),dot:Planar64::raw(4294967296)}
 			],
 			verts:vec![
-				Vert(vec3::raw_xyz( 4294967296,-4294967296,-4294967296)),
-				Vert(vec3::raw_xyz( 4294967296, 4294967296,-4294967296)),
-				Vert(vec3::raw_xyz( 4294967296, 4294967296, 4294967296)),
-				Vert(vec3::raw_xyz( 4294967296,-4294967296, 4294967296)),
-				Vert(vec3::raw_xyz(-4294967296, 4294967296,-4294967296)),
-				Vert(vec3::raw_xyz(-4294967296, 4294967296, 4294967296)),
-				Vert(vec3::raw_xyz(-4294967296,-4294967296, 4294967296)),
-				Vert(vec3::raw_xyz(-4294967296,-4294967296,-4294967296))
+				Vert(Planar64Vec3::raw_xyz( 4294967296,-4294967296,-4294967296)),
+				Vert(Planar64Vec3::raw_xyz( 4294967296, 4294967296,-4294967296)),
+				Vert(Planar64Vec3::raw_xyz( 4294967296, 4294967296, 4294967296)),
+				Vert(Planar64Vec3::raw_xyz( 4294967296,-4294967296, 4294967296)),
+				Vert(Planar64Vec3::raw_xyz(-4294967296, 4294967296,-4294967296)),
+				Vert(Planar64Vec3::raw_xyz(-4294967296, 4294967296, 4294967296)),
+				Vert(Planar64Vec3::raw_xyz(-4294967296,-4294967296, 4294967296)),
+				Vert(Planar64Vec3::raw_xyz(-4294967296,-4294967296,-4294967296))
 			]
 		};
 		let mesh_topology=PhysicsMeshTopology{
@@ -334,7 +330,7 @@ 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=Vector3::new([Fixed::ZERO,Fixed::ZERO,Fixed::ZERO]);
+					let mut normal=Planar64Vec3::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);
@@ -345,11 +341,11 @@ 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+=Vector3::new([
+						normal+=Planar64Vec3::new(
 							(v0.y-v1.y)*(v0.z+v1.z),
 							(v0.z-v1.z)*(v0.x+v1.x),
 							(v0.x-v1.x)*(v0.y+v1.y),
-						]);
+						);
 						//get/create edge and push face into it
 						let (edge_ref_verts,is_sorted)=EdgeRefVerts::new(submesh_vert0_id,submesh_vert1_id);
 						let (edge_ref_faces,edge_id)=edge_pool.push(edge_ref_verts);
@@ -366,16 +362,14 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 						//return directed_edge_id
 						edge_id.as_directed(is_sorted)
 					}).collect();
-					let mut dot=Fixed::ZERO;
-					// find the average dot
+					//choose precision loss randomly idk
+					normal=normal/len as i64;
+					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:(normal/len as i64).divide().fix_1(),
-						dot:(dot/(len*len) as i64).fix_1(),
-					};
+					let face=Face{normal,dot:dot/len as i64};
 					let face_id=match face_id_from_face.get(&face){
 						Some(&face_id)=>face_id,
 						None=>{
@@ -422,8 +416,6 @@ 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)
@@ -452,14 +444,14 @@ impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for PhysicsMes
 
 pub struct PhysicsMeshTransform{
 	pub vertex:integer::Planar64Affine3,
-	pub normal:integer::mat3::Matrix3<Fixed<2,64>>,
-	pub det:Fixed<3,96>,
+	pub normal:integer::Planar64Mat3,
+	pub det:Planar64,
 }
 impl PhysicsMeshTransform{
-	pub fn new(transform:integer::Planar64Affine3)->Self{
+	pub const fn new(transform:integer::Planar64Affine3)->Self{
 		Self{
-			normal:transform.matrix3.adjugate().transpose(),
-			det:transform.matrix3.det(),
+			normal:transform.matrix3.inverse_times_det().transpose(),
+			det:transform.matrix3.determinant(),
 			vertex:transform,
 		}
 	}
@@ -479,33 +471,33 @@ impl TransformedMesh<'_>{
 			transform,
 		}
 	}
-	pub fn verts<'a>(&'a self)->impl Iterator<Item=vec3::Vector3<Fixed<2,64>>>+'a{
+	pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'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
-		SubmeshVertId::new(
-			self.view.topology.verts.iter()
-			.enumerate()
-			.max_by_key(|(_,&vert_id)|
-				dir.dot(self.transform.vertex.transform_point3(self.view.data.verts[vert_id.get() as usize].0))
-			)
-			//assume there is more than zero vertices.
-			.unwrap().0 as u32
-		)
+		for (i,vert_id) in self.view.topology.verts.iter().enumerate(){
+			let p=self.transform.vertex.transform_point3(self.view.data.verts[vert_id.get() as usize].0);
+			let d=dir.dot(p);
+			if best_dot<d{
+				best_dot=d;
+				best_vert=SubmeshVertId::new(i as u32);
+			}
+		}
+		best_vert
 	}
 }
 impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for TransformedMesh<'_>{
-	type Normal=Vector3<Fixed<3,96>>;
-	type Offset=Fixed<4,128>;
-	fn face_nd(&self,face_id:SubmeshFaceId)->(Self::Normal,Self::Offset){
+	fn face_nd(&self,face_id:SubmeshFaceId)->(Planar64Vec3,Planar64){
 		let (n,d)=self.view.face_nd(face_id);
 		let transformed_n=self.transform.normal*n;
-		let transformed_d=d*self.transform.det+transformed_n.dot(self.transform.vertex.translation);
-		(transformed_n,transformed_d)
+		let transformed_d=d+transformed_n.dot(self.transform.vertex.translation)/self.transform.det;
+		(transformed_n/self.transform.det,transformed_d)
 	}
 	fn vert(&self,vert_id:SubmeshVertId)->Planar64Vec3{
-		self.transform.vertex.transform_point3(self.view.vert(vert_id)).fix_1()
+		self.transform.vertex.transform_point3(self.view.vert(vert_id))
 	}
 	#[inline]
 	fn face_edges(&self,face_id:SubmeshFaceId)->Cow<Vec<SubmeshDirectedEdgeId>>{
@@ -533,11 +525,11 @@ impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for Transforme
 //(face,vertex)
 //(edge,edge)
 //(vertex,face)
-#[derive(Clone,Copy,Debug)]
+#[derive(Clone,Copy)]
 pub enum MinkowskiVert{
 	VertVert(SubmeshVertId,SubmeshVertId),
 }
-#[derive(Clone,Copy,Debug)]
+#[derive(Clone,Copy)]
 pub enum MinkowskiEdge{
 	VertEdge(SubmeshVertId,SubmeshEdgeId),
 	EdgeVert(SubmeshEdgeId,SubmeshVertId),
@@ -552,7 +544,7 @@ impl UndirectedEdge for MinkowskiEdge{
 		}
 	}
 }
-#[derive(Clone,Copy,Debug)]
+#[derive(Clone,Copy)]
 pub enum MinkowskiDirectedEdge{
 	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
 	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
@@ -573,7 +565,7 @@ impl DirectedEdge for MinkowskiDirectedEdge{
 		}
 	}
 }
-#[derive(Clone,Copy,Debug,Hash,Eq,PartialEq)]
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
 pub enum MinkowskiFace{
 	VertFace(SubmeshVertId,SubmeshFaceId),
 	EdgeEdge(SubmeshEdgeId,SubmeshEdgeId,bool),
@@ -589,7 +581,6 @@ 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
@@ -599,8 +590,6 @@ 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{
@@ -611,7 +600,7 @@ 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 Fixed<2,64>,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
+	fn next_transition_vert(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
 		let mut best_transition=Transition::Done;
 		for &directed_edge_id in self.vert_edges(vert_id).iter(){
 			let edge_n=self.directed_edge_n(directed_edge_id);
@@ -621,7 +610,7 @@ 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 edge_n.dot(infinity_dir).is_zero(){
+			if zeroes::zeroes1(edge_n.dot(diff),edge_n.dot(infinity_dir)).len()==0{
 				let distance_squared=diff.dot(diff);
 				if distance_squared<*best_distance_squared{
 					best_transition=Transition::Vert(test_vert_id);
@@ -631,21 +620,21 @@ impl MinkowskiMesh<'_>{
 		}
 		best_transition
 	}
-	fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Fixed<2,64>,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
+	fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
 		let mut best_transition=EV::Vert(vert_id);
 		let diff=point-self.vert(vert_id);
 		for &directed_edge_id in self.vert_edges(vert_id).iter(){
 			let edge_n=self.directed_edge_n(directed_edge_id);
 			//is boundary uncrossable by a crawl from infinity
 			//check if time of collision is outside Time::MIN..Time::MAX
-			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 !d.is_negative()&&d<=edge_nn{
+				if Planar64::ZERO<=d&&d<=edge_nn{
 					let distance_squared={
 						let c=diff.cross(edge_n);
-						(c.dot(c)/edge_nn).divide().fix_2()
+						c.dot(c)/edge_nn
 					};
 					if distance_squared<=*best_distance_squared{
 						best_transition=EV::Edge(directed_edge_id.as_undirected());
@@ -691,7 +680,7 @@ 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.is_positive()&&boundary_n.dot(infinity_dir).is_zero(){
+					if (boundary_d)<=Planar64::ZERO&&zeroes::zeroes1(boundary_d,boundary_n.dot(infinity_dir)*2).len()==0{
 						//both faces cannot pass this condition, return early if one does.
 						return FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id);
 					}
@@ -705,16 +694,15 @@ 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=vec3::ZERO;
+			infinity_body.acceleration=Planar64Vec3::ZERO;
 			//crawl in from negative infinity along a tangent line to get the closest fev
-			// 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){
+			match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
 				crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
 				crate::face_crawler::CrawlResult::Hit(_,_)=>None,
 			}
 		})
 	}
-	pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,GigaTime)>{
+	pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,integer::Time)>{
 		self.closest_fev_not_inside(relative_body.clone()).map_or(None,|fev|{
 			//continue forwards along the body parabola
 			match crate::face_crawler::crawl_fev(fev,self,relative_body,relative_body.time,time_limit){
@@ -723,7 +711,7 @@ impl MinkowskiMesh<'_>{
 			}
 		})
 	}
-	pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,GigaTime)>{
+	pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,integer::Time)>{
 		//create an extrapolated body at time_limit
 		let infinity_body=crate::physics::Body::new(
 			relative_body.extrapolated_position(time_limit),
@@ -739,13 +727,10 @@ impl MinkowskiMesh<'_>{
 			}
 		})
 	}
-	pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,GigaTime)>{
+	pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,integer::Time)>{
 		//no algorithm needed, there is only one state and two cases (Edge,None)
 		//determine when it passes an edge ("sliding off" case)
-		let mut best_time={
-			let r=(time_limit-relative_body.time).to_ratio();
-			Ratio::new(r.num.fix_4(),r.den.fix_4())
-		};
+		let mut best_time=time_limit;
 		let mut best_edge=None;
 		let face_n=self.face_nd(contact_face_id).0;
 		for &directed_edge_id in self.face_edges(contact_face_id).iter(){
@@ -755,10 +740,10 @@ 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
-			//WARNING: truncated precision
-			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 Ratio::new(Planar64::ZERO,Planar64::EPSILON).le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(relative_body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-					best_time=dt;
+			for t in zeroes::zeroes2((n.dot(relative_body.position))*2-d,n.dot(relative_body.velocity)*2,n.dot(relative_body.acceleration)){
+				let t=relative_body.time+integer::Time::from(t);
+				if relative_body.time<t&&t<best_time&&n.dot(relative_body.extrapolated_velocity(t))<Planar64::ZERO{
+					best_time=t;
 					best_edge=Some(directed_edge_id);
 					break;
 				}
@@ -766,15 +751,15 @@ impl MinkowskiMesh<'_>{
 		}
 		best_edge.map(|e|(e.as_undirected(),best_time))
 	}
-	fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,GigaTime)>{
+	fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,integer::Time)>{
 		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/4,infinity_body.time){
+		match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,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,vec3::Y,vec3::ZERO,integer::Time::ZERO);
+		let infinity_body=crate::physics::Body::new(point,Planar64Vec3::Y,Planar64Vec3::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)
@@ -785,9 +770,7 @@ impl MinkowskiMesh<'_>{
 	}
 }
 impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiMesh<'_>{
-	type Normal=Vector3<Fixed<3,96>>;
-	type Offset=Fixed<4,128>;
-	fn face_nd(&self,face_id:MinkowskiFace)->(Self::Normal,Self::Offset){
+	fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){
 		match face_id{
 			MinkowskiFace::VertFace(v0,f1)=>{
 				let (n,d)=self.mesh1.face_nd(f1);
@@ -801,7 +784,7 @@ 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)).fix_3(),((e0d-e1d)*(parity as i64*2-1)).fix_4())
+				(n*(parity as i64*4-2),(e0d-e1d)*(parity as i64*2-1))
 			},
 			MinkowskiFace::FaceVert(f0,v1)=>{
 				let (n,d)=self.mesh0.face_nd(f0);
@@ -850,18 +833,17 @@ 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:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
+					let mut best_d=Planar64::ZERO;
 					let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
 					let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
 					for &directed_edge_id0 in v0e.iter(){
 						let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
 						//must be behind other face.
 						let d=edge_face1_n.dot(edge0_n);
-						if d.is_negative(){
+						if d<Planar64::ZERO{
 							let edge0_nn=edge0_n.dot(edge0_n);
-							// Assume not every number is huge
-							// TODO: revisit this
-							let dd=(d*d)/(edge_face1_nn*edge0_nn);
+							//divide by zero???
+							let dd=d*d/(edge_face1_nn*edge0_nn);
 							if best_d<dd{
 								best_d=dd;
 								best_edge=Some(directed_edge_id0);
@@ -880,15 +862,15 @@ 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:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
+					let mut best_d=Planar64::ZERO;
 					let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
 					let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
 					for &directed_edge_id1 in v1e.iter(){
 						let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
 						let d=edge_face0_n.dot(edge1_n);
-						if d.is_negative(){
+						if d<Planar64::ZERO{
 							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);
@@ -924,20 +906,19 @@ 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<_>=v0f.iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
-				let v1f_n:Vec<_>=v1f.iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
+				let v0f_n:Vec<Planar64Vec3>=v0f.iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
+				let v1f_n:Vec<Planar64Vec3>=v1f.iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
 				let the_len=v0f.len()+v1f.len();
 				for &directed_edge_id in self.mesh0.vert_edges(v0).iter(){
 					let n=self.mesh0.directed_edge_n(directed_edge_id);
 					let nn=n.dot(n);
-					// 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).divide().fix_3());
+						face_normals.push(*face_n-n*(face_n.dot(n)*2/nn));
 					}
 					if is_empty_volume(face_normals){
 						edges.push(MinkowskiDirectedEdge::EdgeVert(directed_edge_id,v1));
@@ -949,7 +930,7 @@ 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).divide().fix_3());
+						face_normals.push(*face_n-n*(face_n.dot(n)*2/nn));
 					}
 					if is_empty_volume(face_normals){
 						edges.push(MinkowskiDirectedEdge::VertEdge(v0,directed_edge_id));
@@ -964,7 +945,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 	}
 }
 
-fn is_empty_volume(normals:Vec<Vector3<Fixed<3,96>>>)->bool{
+fn is_empty_volume(normals:Vec<Planar64Vec3>)->bool{
 	let len=normals.len();
 	for i in 0..len-1{
 		for j in i+1..len{
@@ -972,10 +953,9 @@ fn is_empty_volume(normals:Vec<Vector3<Fixed<3,96>>>)->bool{
 			let mut d_comp=None;
 			for k in 0..len{
 				if k!=i&&k!=j{
-					let d=n.dot(normals[k]).is_negative();
+					let d=n.dot(normals[k]);
 					if let Some(comp)=&d_comp{
-						// This is testing if d_comp*d < 0
-						if comp^d{
+						if comp.is_negative()&&d.is_negative()||comp.is_positive()&&d.is_positive(){
 							return true;
 						}
 					}else{
@@ -990,8 +970,8 @@ fn is_empty_volume(normals:Vec<Vector3<Fixed<3,96>>>)->bool{
 
 #[test]
 fn test_is_empty_volume(){
-	assert!(!is_empty_volume([vec3::X.fix_3(),vec3::Y.fix_3(),vec3::Z.fix_3()].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()));
+	assert!(!is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z].to_vec()));
+	assert!(is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z,Planar64Vec3::NEG_X].to_vec()));
 }
 
 #[test]

src/physics.rs

@@ -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,model_physics::GigaTime),
-	CollisionEnd(Collision,model_physics::GigaTime),
+	CollisionStart(Collision),
+	CollisionEnd(Collision),
 	StrafeTick,
 	ReachWalkTargetVelocity,
 	// Water,
@@ -410,7 +410,7 @@ 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.fix_1());
+			aabb.grow(vert);
 		}
 		Self{
 			halfsize:aabb.size()>>1,
@@ -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=vec3::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){
@@ -475,10 +475,7 @@ impl StyleHelper for StyleModifiers{
 			gameplay_style::HitboxMesh::Box=>PhysicsMesh::unit_cube(),
 			gameplay_style::HitboxMesh::Cylinder=>PhysicsMesh::unit_cylinder(),
 		};
-		let transform=integer::Planar64Affine3::new(
-			mat3::from_diagonal(self.hitbox.halfsize),
-			vec3::ZERO
-		);
+		let transform=mat3::from_diagonal(self.hitbox.halfsize).extend_column(vec3::ZERO);
 		HitboxMesh::new(mesh,transform)
 	}
 }
@@ -766,23 +763,31 @@ impl TouchingState{
 		a
 	}
 	fn constrain_velocity(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,velocity:&mut Planar64Vec3){
-		//TODO: trey push solve
-		for contact in &self.contacts{
+		let contacts=self.contacts.iter().map(|contact|{
 			let n=contact_normal(models,hitbox_mesh,contact);
-			let d=n.dot(*velocity);
-			if d.is_negative(){
-				*velocity-=(n*d/n.length_squared()).divide().fix_1();
+			crate::push_solve::Contact{
+				position:vec3::ZERO,
+				velocity:n,
+				normal:n,
 			}
+		}).collect();
+		match crate::push_solve::push_solve(&contacts,*velocity){
+			Some(new_velocity)=>*velocity=new_velocity,
+			None=>println!("Algorithm silently failing :)"),
 		}
 	}
 	fn constrain_acceleration(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,acceleration:&mut Planar64Vec3){
-		//TODO: trey push solve
-		for contact in &self.contacts{
+		let contacts=self.contacts.iter().map(|contact|{
 			let n=contact_normal(models,hitbox_mesh,contact);
-			let d=n.dot(*acceleration);
-			if d.is_negative(){
-				*acceleration-=(n*d/n.length_squared()).divide().fix_1();
+			crate::push_solve::Contact{
+				position:vec3::ZERO,
+				velocity:n,
+				normal:n,
 			}
+		}).collect();
+		match crate::push_solve::push_solve(&contacts,*acceleration){
+			Some(new_acceleration)=>*acceleration=new_acceleration,
+			None=>println!("Algorithm silently failing :)"),
 		}
 	}
 	fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<PhysicsInternalInstruction>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&Body,time:Time){
@@ -793,10 +798,9 @@ impl TouchingState{
 			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:relative_body.time+time.into(),
+					time,
 					instruction:PhysicsInternalInstruction::CollisionEnd(
-						Collision::Contact(*contact),
-						time
+						Collision::Contact(*contact)
 					),
 				}
 			}));
@@ -807,10 +811,9 @@ 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:relative_body.time+time.into(),
+					time,
 					instruction:PhysicsInternalInstruction::CollisionEnd(
-						Collision::Intersect(*intersect),
-						time
+						Collision::Intersect(*intersect)
 					),
 				}
 			}));
@@ -843,47 +846,6 @@ impl Body{
 		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).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==vec3::ZERO{
 			if self.acceleration==vec3::ZERO{
@@ -901,21 +863,21 @@ impl Body{
 		//v+a*t==0
 		//goober code
 		if !self.acceleration.x.is_zero(){
-			let t=-self.velocity.x/self.acceleration.x;
-			if t0.to_ratio().lt_ratio(t)&&t.lt_ratio(t1.to_ratio()){
-				aabb.grow(self.extrapolated_position_ratio_dt(t));
+			let t=Time::from(-self.velocity.x/self.acceleration.x);
+			if t0<t&&t<t1{
+				aabb.grow(self.extrapolated_position(t));
 			}
 		}
 		if !self.acceleration.y.is_zero(){
-			let t=-self.velocity.y/self.acceleration.y;
-			if t0.to_ratio().lt_ratio(t)&&t.lt_ratio(t1.to_ratio()){
-				aabb.grow(self.extrapolated_position_ratio_dt(t));
+			let t=Time::from(-self.velocity.y/self.acceleration.y);
+			if t0<t&&t<t1{
+				aabb.grow(self.extrapolated_position(t));
 			}
 		}
 		if !self.acceleration.z.is_zero(){
-			let t=-self.velocity.z/self.acceleration.z;
-			if t0.to_ratio().lt_ratio(t)&&t.lt_ratio(t1.to_ratio()){
-				aabb.grow(self.extrapolated_position_ratio_dt(t));
+			let t=Time::from(-self.velocity.z/self.acceleration.z);
+			if t0<t&&t<t1{
+				aabb.grow(self.extrapolated_position(t));
 			}
 		}
 	}
@@ -1203,7 +1165,7 @@ impl PhysicsContext{
 				let mut aabb=aabb::Aabb::default();
 				let transformed_mesh=TransformedMesh::new(view,transform);
 				for v in transformed_mesh.verts(){
-					aabb.grow(v.fix_1());
+					aabb.grow(v);
 				}
 				(ConvexMeshId{
 					model_id,
@@ -1278,15 +1240,12 @@ 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,dt)|{
-					let time=relative_body.time+dt.into();
-					if time<=state.time{None}else{Some((time,face,dt))}})
-				.map(|(time,face,dt)|
+				.map_or(None,|(face,time)|if time<=state.time{None}else{Some((face,time))})
+				.map(|(face,time)|
 					TimedInstruction{
 						time,
 						instruction:PhysicsInternalInstruction::CollisionStart(
-							Collision::new(convex_mesh_id,face),
-							dt
+							Collision::new(convex_mesh_id,face)
 						)
 					}
 				)
@@ -1299,8 +1258,7 @@ 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());
-	// TODO: normalize to i64::MAX>>1
-	minkowski.face_nd(contact.face_id).0.fix_1()
+	minkowski.face_nd(contact.face_id).0
 }
 
 fn recalculate_touching(
@@ -1458,8 +1416,7 @@ fn teleport_to_spawn(
 )->Result<(),TeleportToSpawnError>{
 	const EPSILON:Planar64=Planar64::raw((1<<32)/16);
 	let transform=models.get_model_transform(stage.spawn()).ok_or(TeleportToSpawnError::NoModel)?;
-	//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]);
+	let point=transform.vertex.y_axis+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(())
 }
@@ -1547,7 +1504,7 @@ fn run_teleport_behaviour(
 	}
 	if let Some(&gameplay_attributes::Wormhole{destination_model})=wormhole{
 		if let (Some(origin),Some(destination))=(models.get_model_transform(model_id),models.get_model_transform(destination_model)){
-			let point=body.position-origin.vertex.translation+destination.vertex.translation;
+			let point=body.position-origin.vertex.col(3)+destination.vertex.col(3);
 			//TODO: camera angles
 			teleport(point,move_state,body,touching,run,mode_state,mode,models,hitbox_mesh,bvh,style,camera,input_state,time);
 		}
@@ -1580,7 +1537,7 @@ 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)).fix_1();
+			let reflected_velocity=body.velocity+(body.velocity-incident_velocity)*Planar64::raw(elasticity as i64+1);
 			set_velocity(body,touching,models,hitbox_mesh,reflected_velocity);
 		},
 		Some(gameplay_attributes::ContactingBehaviour::Ladder(contacting_ladder))=>
@@ -1598,7 +1555,7 @@ 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),vec3::Y){
+			if walk_settings.is_slope_walkable(contact_normal(models,hitbox_mesh,&contact),Planar64Vec3::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);
@@ -1726,20 +1683,17 @@ fn collision_end_intersect(
 }
 fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedInstruction<PhysicsInternalInstruction>){
 	state.time=ins.time;
-	let (should_advance_body,goober_time)=match ins.instruction{
-		PhysicsInternalInstruction::CollisionStart(_,dt)
-		|PhysicsInternalInstruction::CollisionEnd(_,dt)=>(true,Some(dt)),
-		PhysicsInternalInstruction::StrafeTick
-		|PhysicsInternalInstruction::ReachWalkTargetVelocity=>(true,None),
+	let should_advance_body=match ins.instruction{
+		PhysicsInternalInstruction::CollisionStart(_)
+		|PhysicsInternalInstruction::CollisionEnd(_)
+		|PhysicsInternalInstruction::StrafeTick
+		|PhysicsInternalInstruction::ReachWalkTargetVelocity=>true,
 	};
 	if should_advance_body{
-		match goober_time{
-			Some(dt)=>state.body.advance_time_ratio_dt(dt),
-			None=>state.body.advance_time(state.time),
-		}
+		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(
@@ -1760,7 +1714,7 @@ 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),
@@ -1901,7 +1855,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 							//TODO: spawn at the bottom of the start zone plus the hitbox size
 							//TODO: set camera andles to face the same way as the start zone
 							data.models.get_model_transform(mode.get_start().into()).map(|transform|
-								transform.vertex.translation
+								transform.vertex.col(3)
 							)
 						).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);
@@ -1956,7 +1910,7 @@ 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! state.time={} ins.time={}\nInstruction={:?}",state.time,ins.time,ins.instruction);
+			println!("@@@@ Time travel warning! {:?}",ins);
 		}
 		//idle is special, it is specifically a no-op to get Internal events to catch up to real time
 		match ins.instruction{
@@ -1971,38 +1925,35 @@ 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(mat3::from_diagonal(int3(5,1,5)>>1),vec3::ZERO));
+		let h0=HitboxMesh::new(PhysicsMesh::unit_cube(),mat3::from_diagonal(int3(5,1,5)>>1).extend_column(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::from_secs(10));
-		assert_eq!(collision.map(|tup|relative_body.time+tup.1.into()),expected_collision_time,"Incorrect time of collision");
+		let collision=minkowski.predict_collision_in(&relative_body,Time::MAX);
+		assert_eq!(collision.map(|tup|tup.1),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_rows([
 				int3(5,0,1)>>1,
 				int3(0,1,0)>>1,
 				int3(-1,0,5)>>1,
-				]),
-				vec3::ZERO
-			),
+			]).extend_column(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::from_secs(10));
-		assert_eq!(collision.map(|tup|relative_body.time+tup.1.into()),expected_collision_time,"Incorrect time of collision");
+		let collision=minkowski.predict_collision_in(&relative_body,Time::MAX);
+		assert_eq!(collision.map(|tup|tup.1),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_straight_down(){
+	fn test_collision_degenerate(){
 		test_collision(Body::new(
 			int3(0,5,0),
 			int3(0,-1,0),

src/push_solve.rs

@@ -0,0 +1,339 @@
+use strafesnet_common::integer::{Planar64,Planar64Vec3};
+
+// This algorithm is based on Lua code
+// written by Trey Reynolds in 2021
+
+// 1/2^10
+const EPSILON:Planar64=Planar64::raw(1<<(32-10));
+
+// A stack-allocated variable-size list that holds up to 4 elements
+// Direct references are used instead of indices i0, i1, i2, i3
+type Conts<'a>=arrayvec::ArrayVec<&'a Contact,4>;
+
+struct Ray{
+	origin:Planar64Vec3,
+	direction:Planar64Vec3,
+}
+impl Ray{
+	fn extrapolate(&self,t:Planar64)->Planar64Vec3{
+		self.origin+self.direction*t
+	}
+}
+
+/// Information about a contact restriction
+pub struct Contact{
+	pub position:Planar64Vec3,
+	pub velocity:Planar64Vec3,
+	pub normal:Planar64Vec3,
+}
+impl Contact{
+	fn relative_to(&self,point:Planar64Vec3)->Self{
+		Self{
+			position:self.position-point,
+			velocity:self.velocity,
+			normal:self.normal,
+		}
+	}
+	fn relative_dot(&self,direction:Planar64Vec3)->Planar64{
+		(direction-self.velocity).dot(self.normal)
+	}
+	/// Calculate the time of intersection. (previously get_touch_time)
+	fn solve(&self,ray:&Ray)->Planar64{
+		(self.position-ray.origin).dot(self.normal)/(ray.direction-self.velocity).dot(self.normal)
+	}
+}
+
+//note that this is horrible with fixed point arithmetic
+fn solve1(c0:&Contact)->Option<Planar64Vec3>{
+	let det=c0.normal.dot(c0.velocity);
+	if det.get().abs()<EPSILON.get(){
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	Some(c0.normal*d0/det)
+}
+fn solve2(c0:&Contact,c1:&Contact)->Option<Planar64Vec3>{
+	let u0_u1=c0.velocity.cross(c1.velocity);
+	let n0_n1=c0.normal.cross(c1.normal);
+	let det=u0_u1.dot(n0_n1);
+	if det.get().abs()<EPSILON.get(){
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	let d1=c1.normal.dot(c1.position);
+	Some((c1.normal.cross(u0_u1)*d0+u0_u1.cross(c0.normal)*d1)/det)
+}
+fn solve3(c0:&Contact,c1:&Contact,c2:&Contact)->Option<Planar64Vec3>{
+	let n0_n1=c0.normal.cross(c1.normal);
+	let det=c2.normal.dot(n0_n1);
+	if det.get().abs()<EPSILON.get(){
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	let d1=c1.normal.dot(c1.position);
+	let d2=c2.normal.dot(c2.position);
+	Some((c1.normal.cross(c2.normal)*d0+c2.normal.cross(c0.normal)*d1+c0.normal.cross(c1.normal)*d2)/det)
+}
+
+fn decompose1(point:Planar64Vec3,u0:Planar64Vec3)->Option<Planar64>{
+	let det=u0.dot(u0);
+	if det==Planar64::ZERO{
+		return None;
+	}
+	let s0=u0.dot(point)/det;
+	Some(s0)
+}
+fn decompose2(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3)->Option<(Planar64,Planar64)>{
+	let u0_u1=u0.cross(u1);
+	let det=u0_u1.dot(u0_u1);
+	if det==Planar64::ZERO{
+		return None;
+	}
+	let s0=u0_u1.dot(point.cross(u1))/det;
+	let s1=u0_u1.dot(u0.cross(point))/det;
+	Some((s0,s1))
+}
+fn decompose3(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3,u2:Planar64Vec3)->Option<(Planar64,Planar64,Planar64)>{
+	let det=u0.cross(u1).dot(u2);
+	if det==Planar64::ZERO{
+		return None;
+	}
+	let s0=point.cross(u1).dot(u2)/det;
+	let s1=u0.cross(point).dot(u2)/det;
+	let s2=u0.cross(u1).dot(point)/det;
+	Some((s0,s1,s2))
+}
+
+fn is_space_enclosed_2(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+)->bool{
+	a.cross(b)==Planar64Vec3::ZERO
+	&&a.dot(b)<Planar64::ZERO
+}
+fn is_space_enclosed_3(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+	c:Planar64Vec3
+)->bool{
+	a.cross(b).dot(c)==Planar64::ZERO
+	&&{
+		let det_abac=a.cross(b).dot(a.cross(c));
+		let det_abbc=a.cross(b).dot(b.cross(c));
+		let det_acbc=a.cross(c).dot(b.cross(c));
+		return det_abac*det_abbc<=Planar64::ZERO
+			&& det_abbc*det_acbc<=Planar64::ZERO
+			&&-det_acbc*det_abac<=Planar64::ZERO
+			||is_space_enclosed_2(a,b)
+			||is_space_enclosed_2(a,c)
+			||is_space_enclosed_2(b,c)
+	}
+}
+fn is_space_enclosed_4(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+	c:Planar64Vec3,
+	d:Planar64Vec3,
+)->bool{
+	let det_abc=a.cross(b).dot(c);
+	let det_abd=a.cross(b).dot(d);
+	let det_acd=a.cross(c).dot(d);
+	let det_bcd=b.cross(c).dot(d);
+	return det_abc*det_abd<Planar64::ZERO
+		&&-det_abc*det_acd<Planar64::ZERO
+		&& det_abd*det_acd<Planar64::ZERO
+		&& det_abc*det_bcd<Planar64::ZERO
+		&&-det_abd*det_bcd<Planar64::ZERO
+		&& det_acd*det_bcd<Planar64::ZERO
+		||is_space_enclosed_3(a,b,c)
+		||is_space_enclosed_3(a,b,d)
+		||is_space_enclosed_3(a,c,d)
+		||is_space_enclosed_3(b,c,d)
+}
+
+const fn get_push_ray_0(point:Planar64Vec3)->Option<Ray>{
+	Some(Ray{origin:point,direction:Planar64Vec3::ZERO})
+}
+fn get_push_ray_1(point:Planar64Vec3,c0:&Contact)->Option<Ray>{
+	let direction=solve1(c0)?;
+	let s0=decompose1(direction,c0.velocity)?;
+	if s0<Planar64::ZERO{
+		return None;
+	}
+	let origin=point+solve1(
+		&c0.relative_to(point),
+	)?;
+	Some(Ray{origin,direction})
+}
+fn get_push_ray_2(point:Planar64Vec3,c0:&Contact,c1:&Contact)->Option<Ray>{
+	let direction=solve2(c0,c1)?;
+	let (s0,s1)=decompose2(direction,c0.velocity,c1.velocity)?;
+	if s0<Planar64::ZERO||s1<Planar64::ZERO{
+		return None;
+	}
+	let origin=point+solve2(
+		&c0.relative_to(point),
+		&c1.relative_to(point),
+	)?;
+	Some(Ray{origin,direction})
+}
+fn get_push_ray_3(point:Planar64Vec3,c0:&Contact,c1:&Contact,c2:&Contact)->Option<Ray>{
+	let direction=solve3(c0,c1,c2)?;
+	let (s0,s1,s2)=decompose3(direction,c0.velocity,c1.velocity,c2.velocity)?;
+	if s0<Planar64::ZERO||s1<Planar64::ZERO||s2<Planar64::ZERO{
+		return None;
+	}
+	let origin=point+solve3(
+		&c0.relative_to(point),
+		&c1.relative_to(point),
+		&c2.relative_to(point),
+	)?;
+	Some(Ray{origin,direction})
+}
+
+const fn get_best_push_ray_and_conts_0<'a>(point:Planar64Vec3)->Option<(Ray,Conts<'a>)>{
+	match get_push_ray_0(point){
+		Some(ray)=>Some((ray,Conts::new_const())),
+		None=>None,
+	}
+}
+fn get_best_push_ray_and_conts_1(point:Planar64Vec3,c0:&Contact)->Option<(Ray,Conts)>{
+	get_push_ray_1(point,c0)
+		.map(|ray|(ray,Conts::from_iter([c0])))
+}
+fn get_best_push_ray_and_conts_2<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_2(c0.normal,c1.normal){
+		return None;
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c1){
+		return Some((ray,Conts::from_iter([c0,c1])));
+	}
+	if let Some(ray)=get_push_ray_1(point,c0){
+		if Planar64::ZERO<=c1.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0])));
+		}
+	}
+	return None;
+}
+fn get_best_push_ray_and_conts_3<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact,c2:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_3(c0.normal,c1.normal,c2.normal){
+		return None;
+	}
+	if let Some(ray)=get_push_ray_3(point,c0,c1,c2){
+		return Some((ray,Conts::from_iter([c0,c1,c2])));
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c1){
+		if Planar64::ZERO<=c2.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0,c1])));
+		}
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c2){
+		if Planar64::ZERO<=c1.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0,c2])));
+		}
+	}
+	if let Some(ray)=get_push_ray_1(point,c0){
+		if Planar64::ZERO<=c1.relative_dot(ray.direction)
+		 &&Planar64::ZERO<=c2.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0])));
+		}
+	}
+	return None;
+}
+fn get_best_push_ray_and_conts_4<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact,c2:&'a Contact,c3:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_4(c0.normal,c1.normal,c2.normal,c3.normal){
+		return None;
+	}
+
+	let (ray012,conts012)=get_best_push_ray_and_conts_3(point,c0,c1,c2)?;
+	let (ray013,conts013)=get_best_push_ray_and_conts_3(point,c0,c1,c3)?;
+	let (ray023,conts023)=get_best_push_ray_and_conts_3(point,c0,c2,c3)?;
+
+	let err012=c3.relative_dot(ray012.direction);
+	let err013=c2.relative_dot(ray013.direction);
+	let err023=c1.relative_dot(ray023.direction);
+
+	let best_err=err012.max(err013).max(err023);
+
+	if best_err==err012{
+		return Some((ray012,conts012))
+	}else if best_err==err013{
+		return Some((ray013,conts013))
+	}else if best_err==err023{
+		return Some((ray023,conts023))
+	}
+	unreachable!()
+}
+
+fn get_best_push_ray_and_conts<'a>(
+	point:Planar64Vec3,
+	conts:Conts<'a>,
+)->Option<(Ray,Conts<'a>)>{
+	match conts.as_slice(){
+		&[c0,c1,c2,c3]=>get_best_push_ray_and_conts_4(point,c0,c1,c2,c3),
+		&[c0,c1,c2]=>get_best_push_ray_and_conts_3(point,c0,c1,c2),
+		&[c0,c1]=>get_best_push_ray_and_conts_2(point,c0,c1),
+		&[c0]=>get_best_push_ray_and_conts_1(point,c0),
+		&[]=>get_best_push_ray_and_conts_0(point),
+		_=>unreachable!(),
+	}
+}
+
+fn get_first_touch<'a>(contacts:&'a Vec<Contact>,ray:&Ray,conts:&Conts)->Option<(Planar64,&'a Contact)>{
+	contacts.iter()
+		.filter(|&contact|
+			!conts.iter().any(|&c|std::ptr::eq(c,contact))
+			&&contact.relative_dot(ray.direction)< -EPSILON
+		)
+		.map(|contact|(contact.solve(ray),contact))
+		.min_by_key(|&(t,_)|t)
+}
+
+pub fn push_solve(contacts:&Vec<Contact>,point:Planar64Vec3)->Option<Planar64Vec3>{
+	let (mut ray,mut conts)=get_best_push_ray_and_conts_0(point)?;
+	loop{
+		let (next_t,next_cont)=match get_first_touch(contacts,&ray,&conts){
+			Some((t,conts))=>(t,conts),
+			None=>return Some(ray.origin),
+		};
+
+		if Planar64::ZERO<=next_t{
+			return Some(ray.origin);
+		}
+
+		//push_front
+		if conts.len()==conts.capacity(){
+			//this is a dead case, new_conts never has more than 3 elements
+			conts.rotate_right(1);
+			conts[0]=next_cont;
+		}else{
+			conts.push(next_cont);
+			conts.rotate_right(1);
+		}
+
+		let meet_point=ray.extrapolate(next_t);
+		match get_best_push_ray_and_conts(meet_point,conts){
+			Some((new_ray,new_conts))=>(ray,conts)=(new_ray,new_conts),
+			None=>return Some(meet_point),
+		}
+	}
+}
+
+#[cfg(test)]
+mod tests{
+	use super::*;
+	#[test]
+	fn test_push_solve(){
+		let contacts=vec![
+			Contact{
+				position:Planar64Vec3::ZERO,
+				velocity:Planar64Vec3::Y,
+				normal:Planar64Vec3::Y,
+			}
+		];
+		assert_eq!(
+			Some(Planar64Vec3::ZERO),
+			push_solve(&contacts,Planar64Vec3::NEG_Y)
+		);
+	}
+}

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::vec3::ONE,integer::vec3::ONE,integer::vec3::ONE,integer::Time::ZERO);
-		let worker=QRWorker::new(physics::Body::ZERO,
-			|_|physics::Body::new(integer::vec3::ONE,integer::vec3::ONE,integer::vec3::ONE,integer::Time::ZERO)
+		let test_body=physics::Body::new(integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Time::ZERO);
+		let worker=QRWorker::new(physics::Body::default(),
+			|_|physics::Body::new(integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Time::ZERO)
 		);
 
 		// Send tasks to the worker