break to outer

engine/physics/src/body.rs

@@ -33,7 +33,7 @@ impl<T:Copy> std::ops::Neg for &Body<T>{
 impl<T> Body<T>
 	where Time<T>:Copy,
 {
-	pub const ZERO:Self=Self::new(vec3::zero(),vec3::zero(),vec3::zero(),Time::ZERO);
+	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<T>)->Self{
 		Self{
 			position,
@@ -107,8 +107,8 @@ impl<T> Body<T>
 		self.time+=dt.into();
 	}
 	pub fn infinity_dir(&self)->Option<Planar64Vec3>{
-		if self.velocity==vec3::zero(){
-			if self.acceleration==vec3::zero(){
+		if self.velocity==vec3::ZERO{
+			if self.acceleration==vec3::ZERO{
 				None
 			}else{
 				Some(self.acceleration)

engine/physics/src/face_crawler.rs

@@ -74,13 +74,13 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 	where
 		// This is hardcoded for MinkowskiMesh lol
 		M::Face:Copy,
-		M::Edge:Copy+core::fmt::Debug,
-		M::Vert:Copy+core::fmt::Debug,
+		M::Edge:Copy,
+		M::Vert:Copy,
 		F:core::ops::Mul<Fixed<1,32>,Output=Fixed<4,128>>,
 		<F as core::ops::Mul<Fixed<1,32>>>::Output:core::iter::Sum,
 		M::Offset:core::ops::Sub<<F as std::ops::Mul<Fixed<1,32>>>::Output>,
 {
-	fn next_transition<const ENABLE_DEBUG:bool>(&self,mesh:&M,body:&Body,lower_bound:Bound<GigaTime>,mut upper_bound:Bound<GigaTime>)->Transition<M>{
+	fn next_transition(&self,mesh:&M,body:&Body,lower_bound:Bound<GigaTime>,mut upper_bound:Bound<GigaTime>)->Transition<M>{
 		//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=Transition::Miss;
@@ -132,9 +132,6 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 					//wrap for speed
 					for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).wrap_4(),n.dot(body.velocity).wrap_4()*2,n.dot(body.acceleration).wrap_4()){
 						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							if ENABLE_DEBUG{
-								println!("Face Crawler FEV::Edge({edge_id:?}) -> FEV::Face");
-							}
 							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Face(edge_face_id),dt);
 							break;
@@ -163,9 +160,6 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 					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 low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							if ENABLE_DEBUG{
-								println!("Face Crawler FEV::Vert({vert_id:?}) -> FEV::Edge");
-							}
 							let dt=Ratio::new(dt.num.widen_4(),dt.den.widen_4());
 							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Edge(directed_edge_id.as_undirected()),dt);
@@ -178,11 +172,11 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 		}
 		best_transition
 	}
-	pub fn crawl<const ENABLE_DEBUG:bool>(mut self,mesh:&M,relative_body:&Body,lower_bound:Bound<&Time>,upper_bound:Bound<&Time>)->CrawlResult<M>{
+	pub fn crawl(mut self,mesh:&M,relative_body:&Body,lower_bound:Bound<&Time>,upper_bound:Bound<&Time>)->CrawlResult<M>{
 		let mut lower_bound=lower_bound.map(|&t|into_giga_time(t,relative_body.time));
 		let upper_bound=upper_bound.map(|&t|into_giga_time(t,relative_body.time));
 		for _ in 0..20{
-			match self.next_transition::<ENABLE_DEBUG>(mesh,relative_body,lower_bound,upper_bound){
+			match self.next_transition(mesh,relative_body,lower_bound,upper_bound){
 				Transition::Miss=>return CrawlResult::Miss(self),
 				Transition::Next(next_fev,next_time)=>(self,lower_bound)=(next_fev,Bound::Included(next_time)),
 				Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),

engine/physics/src/model.rs

@@ -90,9 +90,16 @@ pub trait MeshQuery{
 		let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
 		(self.vert(v1)-self.vert(v0))*((directed_edge_id.parity() as i64)*2-1)
 	}
-	/// This must return a point inside the mesh.
-	#[expect(dead_code)]
-	fn hint_point(&self)->Planar64Vec3;
+	/// Returns an iterator over the vertices in the direction of the directed edges.
+	/// Intended to be used to find adjacent vertices:
+	/// `self.directed_verts(self.vert_edges(vert_id).as_ref())`
+	/// TODO: rewrite this function as `adjacent_vertices`
+	fn directed_verts(&self,edges:&[Self::Edge])->impl Iterator<Item=Self::Vert>{
+		edges.iter().map(|e|{
+			let edge_verts=self.edge_verts(e.as_undirected());
+			edge_verts.as_ref()[e.parity() as usize]
+		})
+	}
 	fn vert(&self,vert_id:Self::Vert)->Planar64Vec3;
 	fn face_nd(&self,face_id:Self::Face)->(Self::Normal,Self::Offset);
 	fn face_edges(&self,face_id:Self::Face)->impl AsRef<[Self::Edge]>;
@@ -103,21 +110,17 @@ pub trait MeshQuery{
 }
 #[derive(Debug)]
 struct FaceRefs{
-	// I didn't write it down, but I assume the edges are directed
-	// clockwise when looking towards the face normal, i.e. right hand rule.
 	edges:Vec<SubmeshDirectedEdgeId>,
-	//verts are redundant, use edge[i].verts[0]
 	//verts:Vec<VertId>,
 }
 #[derive(Debug)]
 struct EdgeRefs{
 	faces:[SubmeshFaceId;2],//left, right
-	verts:[SubmeshVertId;2],//start, end
+	verts:[SubmeshVertId;2],//bottom, top
 }
 #[derive(Debug)]
 struct VertRefs{
 	faces:Vec<SubmeshFaceId>,
-	// edges are always directed away from the vert
 	edges:Vec<SubmeshDirectedEdgeId>,
 }
 #[derive(Debug)]
@@ -454,15 +457,13 @@ impl MeshQuery for PhysicsMeshView<'_>{
 		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)
 	}
-	fn hint_point(&self)->Planar64Vec3{
-		// invariant: meshes always encompass the origin
-		vec3::zero()
-	}
 	//ideally I never calculate the vertex position, but I have to for the graphical meshes...
 	fn vert(&self,vert_id:SubmeshVertId)->Planar64Vec3{
 		let vert_idx=self.topology.verts[vert_id.get() as usize].get() as usize;
 		self.data.verts[vert_idx].0
 	}
+	/// Directed edges going clockwise when looking in the direction of the face normal.
+	/// (Edit this documentation if this is wrong!)
 	fn face_edges(&self,face_id:SubmeshFaceId)->impl AsRef<[SubmeshDirectedEdgeId]>{
 		self.topology.face_topology[face_id.get() as usize].edges.as_slice()
 	}
@@ -543,9 +544,6 @@ impl MeshQuery for TransformedMesh<'_>{
 		// wrap for speed
 		self.transform.vertex.transform_point3(self.view.vert(vert_id)).wrap_1()
 	}
-	fn hint_point(&self)->Planar64Vec3{
-		self.transform.vertex.translation
-	}
 	#[inline]
 	fn face_edges(&self,face_id:SubmeshFaceId)->impl AsRef<[SubmeshDirectedEdgeId]>{
 		self.view.face_edges(face_id)
@@ -628,17 +626,6 @@ pub struct MinkowskiMesh<'a>{
 	mesh1:TransformedMesh<'a>,
 }
 
-//infinity fev algorithm state transition
-#[derive(Debug)]
-enum Transition{
-	Done,//found closest vert, no edges are better
-	Vert(MinkowskiVert),//transition to vert
-}
-enum EV{
-	Vert(MinkowskiVert),
-	Edge(MinkowskiEdge),
-}
-
 pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
 pub fn into_giga_time(time:Time,relative_to:Time)->GigaTime{
 	let r=(time-relative_to).to_ratio();
@@ -655,134 +642,206 @@ 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{
-		let mut best_transition=Transition::Done;
-		for &directed_edge_id in self.vert_edges(vert_id).as_ref(){
-			let edge_n=self.directed_edge_n(directed_edge_id);
-			//is boundary uncrossable by a crawl from infinity
-			let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
-			//select opposite vertex
-			let test_vert_id=edge_verts.as_ref()[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(){
-				let distance_squared=diff.dot(diff);
-				if distance_squared<*best_distance_squared{
-					best_transition=Transition::Vert(test_vert_id);
-					*best_distance_squared=distance_squared;
-				}
-			}
-		}
-		best_transition
-	}
-	fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut 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).as_ref(){
-			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);
-				//test the edge
-				let edge_nn=edge_n.dot(edge_n);
-				if !d.is_negative()&&d<=edge_nn{
-					let distance_squared={
-						let c=diff.cross(edge_n);
-						//wrap for speed
-						(c.dot(c)/edge_nn).divide().wrap_2()
-					};
-					if distance_squared<=*best_distance_squared{
-						best_transition=EV::Edge(directed_edge_id.as_undirected());
-						*best_distance_squared=distance_squared;
-					}
-				}
-			}
-		}
-		best_transition
-	}
-	fn crawl_boundaries(&self,mut vert_id:MinkowskiVert,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
+	fn closest_fev_not_inside(&self,relative_position:Planar64Vec3)->Option<FEV<MinkowskiMesh<'_>>>{
+		// Make a fast guess as to what the closest point will be.
+		let MinkowskiVert::VertVert(mut v0,mut v1)=self.farthest_vert(relative_position);
+		// TODO: alternate naive vertex searches to improve the robustness
+		// in the "tall bipyramid" failure case
+		let mut m0v=self.mesh0.vert(v0);
+		let mut m1v=self.mesh1.vert(v1);
 		let mut best_distance_squared={
-			let diff=point-self.vert(vert_id);
+			let diff=relative_position+m1v-m0v;
 			diff.dot(diff)
 		};
+		let mut v0e=self.mesh0.vert_edges(v0);
+		let mut v1e=self.mesh1.vert_edges(v1);
+		let mut v0e_ref=v0e.as_ref();
+		let mut v1e_ref=v1e.as_ref();
+		// repeatedly check adjacent vertex permutations to see if they are closer
 		loop{
-			match self.next_transition_vert(vert_id,&mut best_distance_squared,infinity_dir,point){
-				Transition::Done=>return self.final_ev(vert_id,&mut best_distance_squared,infinity_dir,point),
-				Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
+			let mut best_v0=None;
+			let mut best_v1=None;
+
+			// check vertices adjacent to v1 against v0
+			for m1_test_vert in self.mesh1.directed_verts(v1e_ref){
+				let m1v_test=self.mesh1.vert(m1_test_vert);
+				let diff=relative_position+m1v_test-m0v;
+				let d=diff.dot(diff);
+				if d<best_distance_squared{
+					best_distance_squared=d;
+					best_v0=None;
+					best_v1=Some(m1_test_vert);
+				}
 			}
-		}
-	}
-	/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
-	fn infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiMesh<'_>>{
-		//start on any vertex
-		//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
-		//cross edge-face boundary if it's uncrossable
-		match self.crawl_boundaries(self.farthest_vert(infinity_dir),infinity_dir,point){
-			//if a vert is returned, it is the closest point to the infinity point
-			EV::Vert(vert_id)=>FEV::Vert(vert_id),
-			EV::Edge(edge_id)=>{
-				//cross to face if the boundary is not crossable and we are on the wrong side
-				let edge_n=self.edge_n(edge_id);
-				// point is multiplied by two because vert_sum sums two vertices.
-				let delta_pos=point*2-{
-					let &[v0,v1]=self.edge_verts(edge_id).as_ref();
-					self.vert(v0)+self.vert(v1)
-				};
-				for (i,&face_id) in self.edge_faces(edge_id).as_ref().iter().enumerate(){
-					let face_n=self.face_nd(face_id).0;
-					//edge-face boundary nd, n facing out of the face towards the edge
-					let boundary_n=face_n.cross(edge_n)*(i as i64*2-1);
-					let boundary_d=boundary_n.dot(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(){
-						//both faces cannot pass this condition, return early if one does.
-						return FEV::Face(face_id);
+
+			// check vertices adjacent to v0 against v1
+			for m0_test_vert in self.mesh0.directed_verts(v0e_ref){
+				let m0v_test=self.mesh0.vert(m0_test_vert);
+				let diff=relative_position+m1v-m0v_test;
+				let d=diff.dot(diff);
+				if d<best_distance_squared{
+					best_distance_squared=d;
+					best_v0=Some(m0_test_vert);
+					best_v1=None;
+				}
+			}
+
+			// check permutations of adjacent vertices
+			for m0_test_vert in self.mesh0.directed_verts(v0e_ref){
+				let m0v_test=self.mesh0.vert(m0_test_vert);
+				for m1_test_vert in self.mesh1.directed_verts(v1e_ref){
+					let m1v_test=self.mesh1.vert(m1_test_vert);
+					let diff=relative_position+m1v_test-m0v_test;
+					let d=diff.dot(diff);
+					if d<best_distance_squared{
+						best_distance_squared=d;
+						best_v0=Some(m0_test_vert);
+						best_v1=Some(m1_test_vert);
 					}
 				}
-				FEV::Edge(edge_id)
-			},
+			}
+
+			// end condition
+			let v0_changed=match best_v0{
+				Some(new_v0)=>{
+					v0=new_v0;
+					m0v=self.mesh0.vert(v0);
+					v0e=self.mesh0.vert_edges(v0);
+					v0e_ref=v0e.as_ref();
+					true
+				},
+				None=>false,
+			};
+			let v1_changed=match best_v1{
+				Some(new_v1)=>{
+					v1=new_v1;
+					m1v=self.mesh1.vert(v1);
+					v1e=self.mesh1.vert_edges(v1);
+					v1e_ref=v1e.as_ref();
+					true
+				},
+				None=>false,
+			};
+			// if neither vertex changes, we found the closest two vertices.
+			if !(v0_changed&&v1_changed){
+				break;
+			}
 		}
-	}
-	// TODO: fundamentally improve this algorithm.
-	// All it needs to do is find the closest point on the mesh
-	// and return the FEV which the point resides on.
-	//
-	// What it actually does is use the above functions to trace a ray in from infinity,
-	// crawling the closest point along the mesh surface until the ray reaches
-	// the starting point to discover the final FEV.
-	//
-	// The actual collision prediction probably does a single test
-	// and then immediately returns with 0 FEV transitions on average,
-	// because of the strict time_limit constraint.
-	//
-	// Most of the calculation time is just calculating the starting point
-	// for the "actual" crawling algorithm below (predict_collision_{in|out}).
-	fn closest_fev_not_inside(&self,mut infinity_body:Body,start_time:Bound<&Time>)->Option<FEV<MinkowskiMesh<'_>>>{
-		infinity_body.infinity_dir().and_then(|dir|{
-			let infinity_fev=self.infinity_fev(-dir,infinity_body.position);
-			//a line is simpler to solve than a parabola
-			infinity_body.velocity=dir;
-			infinity_body.acceleration=vec3::zero();
-			//crawl in from negative infinity along a tangent line to get the closest fev
-			infinity_fev.crawl::<false>(self,&infinity_body,Bound::Unbounded,start_time).miss()
-		})
+		// now you have the two closest vertices
+		let mut best_fev=FEV::Vert(MinkowskiVert::VertVert(v0,v1));
+		// ==== FEV::Edge ====
+		// test VertEdges
+		for &e1 in v1e_ref{
+			let edge_verts=self.mesh1.edge_verts(e1.as_undirected());
+			let &[ev0_id,ev1_id]=edge_verts.as_ref();
+			let (ev0,ev1)=(self.mesh1.vert(ev0_id),self.mesh1.vert(ev1_id));
+			let edge_n=ev1-ev0;
+			// use relative coordinates to make including relative_position easier
+			let diff=relative_position+m0v-ev0;
+			let d=diff.dot(edge_n);
+			// is test point between edge vertices
+			let edge_nn=edge_n.dot(edge_n);
+			if d.is_positive()&&d<edge_nn{
+				let distance_squared={
+					let c=diff.cross(edge_n);
+					//wrap for speed
+					(c.dot(c)/edge_nn).divide().wrap_2()
+				};
+				if distance_squared<best_distance_squared{
+					best_distance_squared=distance_squared;
+					best_fev=FEV::Edge(MinkowskiEdge::VertEdge(v0,e1.as_undirected()))
+				}
+			}
+		}
+		// test EdgeVerts
+		for &e0 in v0e_ref{
+			let edge_verts=self.mesh0.edge_verts(e0.as_undirected());
+			let &[ev0_id,ev1_id]=edge_verts.as_ref();
+			let (ev0,ev1)=(self.mesh0.vert(ev0_id),self.mesh0.vert(ev1_id));
+			let edge_n=ev1-ev0;
+			// use relative coordinates to make including relative_position easier
+			let diff=m1v-relative_position-ev0;
+			let d=diff.dot(edge_n);
+			// is test point between edge vertices
+			let edge_nn=edge_n.dot(edge_n);
+			if d.is_positive()&&d<edge_nn{
+				let distance_squared={
+					let c=diff.cross(edge_n);
+					//wrap for speed
+					(c.dot(c)/edge_nn).divide().wrap_2()
+				};
+				if distance_squared<best_distance_squared{
+					best_distance_squared=distance_squared;
+					best_fev=FEV::Edge(MinkowskiEdge::EdgeVert(e0.as_undirected(),v1))
+				}
+			}
+		}
+
+		// ==== FEV::Face ====
+		// test VertFaces
+		'outer: for &f1 in self.mesh1.vert_faces(v1).as_ref(){
+			let (n,d)=self.mesh1.face_nd(f1);
+			// Test the face's voronoi column
+			for &e1 in self.mesh1.face_edges(f1).as_ref(){
+				let edge_n=self.mesh1.directed_edge_n(e1);
+				let boundary_n=n.cross(edge_n);
+				let &[ev0_id,ev1_id]=self.mesh1.edge_verts(e1.as_undirected()).as_ref();
+				let (ev0,ev1)=(self.mesh1.vert(ev0_id),self.mesh1.vert(ev1_id));
+				let diff=(relative_position+m0v)*2-(ev0+ev1);
+				if boundary_n.dot(diff).is_negative(){
+					// The test point is outside the face's voronoi column.
+					continue 'outer;
+				}
+			}
+			// Calculate distance
+			let d=n.dot(relative_position+m0v)-d;
+			// Wrap for speed
+			let distance_squared=(d*d).wrap_2();
+			if distance_squared<best_distance_squared{
+				best_distance_squared=distance_squared;
+				best_fev=FEV::Face(MinkowskiFace::VertFace(v0,f1));
+			}
+		}
+		// test FaceVerts
+		'outer: for &f0 in self.mesh0.vert_faces(v0).as_ref(){
+			let (n,d)=self.mesh0.face_nd(f0);
+			// Test the face's voronoi column
+			for &e0 in self.mesh0.face_edges(f0).as_ref(){
+				let edge_n=self.mesh0.directed_edge_n(e0);
+				let boundary_n=n.cross(edge_n);
+				let &[ev0_id,ev1_id]=self.mesh0.edge_verts(e0.as_undirected()).as_ref();
+				let (ev0,ev1)=(self.mesh0.vert(ev0_id),self.mesh0.vert(ev1_id));
+				let diff=(m1v-relative_position)*2-(ev0+ev1);
+				if boundary_n.dot(diff).is_negative(){
+					// The test point is outside the face's voronoi column.
+					continue 'outer;
+				}
+			}
+			// Calculate distance
+			let d=n.dot(relative_position+m0v)-d;
+			// Wrap for speed
+			let distance_squared=(d*d).wrap_2();
+			if distance_squared<best_distance_squared{
+				best_distance_squared=distance_squared;
+				best_fev=FEV::Face(MinkowskiFace::FaceVert(f0,v1));
+			}
+		}
+		// test EdgeEdges
+		Some(best_fev)
 	}
 	pub fn predict_collision_in(&self,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
-		self.closest_fev_not_inside(*relative_body,range.start_bound()).and_then(|fev|{
+		self.closest_fev_not_inside(relative_body.position).and_then(|fev|{
 			//continue forwards along the body parabola
-			fev.crawl::<true>(self,relative_body,range.start_bound(),range.end_bound()).hit()
+			fev.crawl(self,relative_body,range.start_bound(),range.end_bound()).hit()
 		})
 	}
 	pub fn predict_collision_out(&self,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
 		let (lower_bound,upper_bound)=(range.start_bound(),range.end_bound());
 		// swap and negate bounds to do a time inversion
 		let (lower_bound,upper_bound)=(upper_bound.map(|&t|-t),lower_bound.map(|&t|-t));
-		let infinity_body=-relative_body;
-		self.closest_fev_not_inside(infinity_body,lower_bound.as_ref()).and_then(|fev|{
+		self.closest_fev_not_inside(relative_body.position).and_then(|fev|{
 			//continue backwards along the body parabola
-			fev.crawl::<true>(self,&infinity_body,lower_bound.as_ref(),upper_bound.as_ref()).hit()
+			fev.crawl(self,&-relative_body,lower_bound.as_ref(),upper_bound.as_ref()).hit()
 				//no need to test -time<time_limit because of the first step
 				.map(|(face,time)|(face,-time))
 		})
@@ -815,20 +874,10 @@ impl MinkowskiMesh<'_>{
 		}
 		best_edge
 	}
-	fn infinity_in(&self,infinity_body:Body)->Option<(MinkowskiFace,GigaTime)>{
-		let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
-		// Bound::Included means that the surface of the mesh is included in the mesh
-		infinity_fev.crawl::<false>(self,&infinity_body,Bound::Unbounded,Bound::Included(&infinity_body.time)).hit()
-	}
 	pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
-		let infinity_body=Body::new(point,vec3::Y,vec3::zero(),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)
-    	.is_some_and(|_|
-			self.infinity_in(-infinity_body)
-    		.is_some()
-     	)
+		// TODO
+		println!("Unimplemented is_point_in_mesh called! {point}");
+		false
 	}
 }
 impl MeshQuery for MinkowskiMesh<'_>{
@@ -867,10 +916,6 @@ impl MeshQuery for MinkowskiMesh<'_>{
 			},
 		}
 	}
-	fn hint_point(&self)->Planar64Vec3{
-		self.mesh1.transform.vertex.translation-
-		self.mesh0.transform.vertex.translation
-	}
 	fn face_edges(&self,face_id:MinkowskiFace)->impl AsRef<[MinkowskiDirectedEdge]>{
 		match face_id{
 			MinkowskiFace::VertFace(v0,f1)=>{

engine/physics/src/physics.rs

@@ -87,7 +87,7 @@ enum JumpDirection{
 impl JumpDirection{
 	fn direction(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,contact:&ContactCollision)->Planar64Vec3{
 		match self{
-			JumpDirection::FromContactNormal=>contact_normal(models,hitbox_mesh,&contact.convex_mesh_id,contact.face_id),
+			JumpDirection::FromContactNormal=>contact_normal(models,hitbox_mesh,contact),
 			&JumpDirection::Exactly(dir)=>dir,
 		}
 	}
@@ -100,6 +100,7 @@ enum TransientAcceleration{
 		time:Time,
 	},
 	//walk target will never be reached
+	#[expect(dead_code)]
 	Unreachable{
 		acceleration:Planar64Vec3,
 	}
@@ -113,12 +114,8 @@ struct ContactMoveState{
 }
 impl TransientAcceleration{
 	fn with_target_diff(target_diff:Planar64Vec3,accel:Planar64,time:Time)->Self{
-		if target_diff==vec3::zero(){
+		if target_diff==vec3::ZERO{
 			TransientAcceleration::Reached
-		}else if accel==Planar64::ZERO{
-			TransientAcceleration::Unreachable{
-				acceleration:vec3::zero()
-			}
 		}else{
 			//normal friction acceleration is clippedAcceleration.dot(normal)*friction
 			TransientAcceleration::Reachable{
@@ -140,7 +137,7 @@ impl TransientAcceleration{
 	}
 	fn acceleration(&self)->Planar64Vec3{
 		match self{
-			TransientAcceleration::Reached=>vec3::zero(),
+			TransientAcceleration::Reached=>vec3::ZERO,
 			&TransientAcceleration::Reachable{acceleration,time:_}=>acceleration,
 			&TransientAcceleration::Unreachable{acceleration}=>acceleration,
 		}
@@ -163,7 +160,7 @@ impl ContactMoveState{
 	}
 }
 fn ground_things(walk_settings:&gameplay_style::WalkSettings,contact:&ContactCollision,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->(Planar64Vec3,Planar64Vec3){
-	let normal=contact_normal(models,hitbox_mesh,&contact.convex_mesh_id,contact.face_id);
+	let normal=contact_normal(models,hitbox_mesh,contact);
 	let gravity=touching.base_acceleration(models,style,camera,input_state);
 	let control_dir=style.get_y_control_dir(camera,input_state.controls);
 	let target_velocity=walk_settings.get_walk_target_velocity(control_dir,normal);
@@ -171,7 +168,7 @@ fn ground_things(walk_settings:&gameplay_style::WalkSettings,contact:&ContactCol
 	(gravity,target_velocity_clipped)
 }
 fn ladder_things(ladder_settings:&gameplay_style::LadderSettings,contact:&ContactCollision,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->(Planar64Vec3,Planar64Vec3){
-	let normal=contact_normal(models,hitbox_mesh,&contact.convex_mesh_id,contact.face_id);
+	let normal=contact_normal(models,hitbox_mesh,contact);
 	let gravity=touching.base_acceleration(models,style,camera,input_state);
 	let control_dir=style.get_y_control_dir(camera,input_state.controls);
 	let target_velocity=ladder_settings.get_ladder_target_velocity(control_dir,normal);
@@ -196,7 +193,7 @@ impl PhysicsModels{
 		self.contact_attributes.clear();
 		self.intersect_attributes.clear();
 	}
-	fn mesh(&self,convex_mesh_id:ConvexMeshId<PhysicsModelId>)->TransformedMesh<'_>{
+	fn mesh(&self,convex_mesh_id:ConvexMeshId)->TransformedMesh<'_>{
 		let (mesh_id,transform)=match convex_mesh_id.model_id{
 			PhysicsModelId::Contact(model_id)=>{
 				let model=&self.contact_models[&model_id];
@@ -213,25 +210,25 @@ impl PhysicsModels{
 		)
 	}
 	//it's a bit weird to have three functions, but it's always going to be one of these
-	fn contact_mesh(&self,convex_mesh_id:&ConvexMeshId<ContactModelId>)->TransformedMesh<'_>{
-		let model=&self.contact_models[&convex_mesh_id.model_id];
+	fn contact_mesh(&self,contact:&ContactCollision)->TransformedMesh<'_>{
+		let model=&self.contact_models[&contact.model_id];
 		TransformedMesh::new(
-			self.meshes[&model.mesh_id].submesh_view(convex_mesh_id.submesh_id),
+			self.meshes[&model.mesh_id].submesh_view(contact.submesh_id),
 			&model.transform
 		)
 	}
-	fn intersect_mesh(&self,convex_mesh_id:&ConvexMeshId<IntersectModelId>)->TransformedMesh<'_>{
-		let model=&self.intersect_models[&convex_mesh_id.model_id];
+	fn intersect_mesh(&self,intersect:&IntersectCollision)->TransformedMesh<'_>{
+		let model=&self.intersect_models[&intersect.model_id];
 		TransformedMesh::new(
-			self.meshes[&model.mesh_id].submesh_view(convex_mesh_id.submesh_id),
+			self.meshes[&model.mesh_id].submesh_view(intersect.submesh_id),
 			&model.transform
 		)
 	}
 	fn get_model_transform(&self,model_id:ModelId)->Option<&PhysicsMeshTransform>{
 		//ModelId can possibly be a decoration
-		match self.contact_models.get(&model_id.into()){
+		match self.contact_models.get(&ContactModelId::new(model_id.get())){
 			Some(model)=>Some(&model.transform),
-			None=>self.intersect_models.get(&model_id.into())
+			None=>self.intersect_models.get(&IntersectModelId::new(model_id.get()))
 				.map(|model|&model.transform),
 		}
 	}
@@ -443,7 +440,7 @@ 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){
@@ -482,7 +479,7 @@ impl StyleHelper for StyleModifiers{
 		};
 		let transform=integer::Planar64Affine3::new(
 			mat3::from_diagonal(self.hitbox.halfsize),
-			vec3::zero()
+			vec3::ZERO
 		);
 		HitboxMesh::new(mesh,transform)
 	}
@@ -500,7 +497,7 @@ 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=vec3::zero(),
+			MoveState::Fly=>body.acceleration=vec3::ZERO,
 			MoveState::Air=>{
 				//calculate base acceleration
 				let a=touching.base_acceleration(models,style,camera,input_state);
@@ -614,7 +611,7 @@ impl MoveState{
 			// TODO: unduplicate this code
 			match self.get_walk_state(){
 				// did you stop touching the thing you were walking on?
-				Some(walk_state)=>if !touching.contains_contact(&walk_state.contact.convex_mesh_id){
+				Some(walk_state)=>if !touching.contacts.contains(&walk_state.contact){
 					self.set_move_state(MoveState::Air,body,touching,models,hitbox_mesh,style,camera,input_state);
 				}else{
 					// stopped touching something else while walking
@@ -645,9 +642,9 @@ impl TryFrom<&gameplay_attributes::CollisionAttributes> for PhysicsCollisionAttr
 }
 #[derive(Clone,Copy,Hash,id::Id,Eq,PartialEq)]
 struct ContactAttributesId(u32);
-impl From<ContactAttributesId> for CollisionAttributesId{
-	fn from(value:ContactAttributesId)->CollisionAttributesId{
-		CollisionAttributesId::new(value.0)
+impl Into<CollisionAttributesId> for ContactAttributesId{
+	fn into(self)->CollisionAttributesId{
+		CollisionAttributesId::new(self.0)
 	}
 }
 impl From<CollisionAttributesId> for ContactAttributesId{
@@ -657,9 +654,9 @@ impl From<CollisionAttributesId> for ContactAttributesId{
 }
 #[derive(Clone,Copy,Hash,id::Id,Eq,PartialEq)]
 struct IntersectAttributesId(u32);
-impl From<IntersectAttributesId> for CollisionAttributesId{
-	fn from(value:IntersectAttributesId)->CollisionAttributesId{
-		CollisionAttributesId::new(value.0)
+impl Into<CollisionAttributesId> for IntersectAttributesId{
+	fn into(self)->CollisionAttributesId{
+		CollisionAttributesId::new(self.0)
 	}
 }
 impl From<CollisionAttributesId> for IntersectAttributesId{
@@ -669,26 +666,16 @@ impl From<CollisionAttributesId> for IntersectAttributesId{
 }
 #[derive(Debug,Clone,Copy,Hash,id::Id,Eq,PartialEq)]
 struct ContactModelId(u32);
-impl From<ContactModelId> for ModelId{
-	fn from(value:ContactModelId)->ModelId{
-		ModelId::new(value.get())
-	}
-}
-impl From<ModelId> for ContactModelId{
-	fn from(other: ModelId)->Self{
-		Self::new(other.get())
+impl Into<ModelId> for ContactModelId{
+	fn into(self)->ModelId{
+		ModelId::new(self.get())
 	}
 }
 #[derive(Debug,Clone,Copy,Hash,id::Id,Eq,PartialEq)]
 struct IntersectModelId(u32);
-impl From<IntersectModelId> for ModelId{
-	fn from(value:IntersectModelId)->ModelId{
-		ModelId::new(value.get())
-	}
-}
-impl From<ModelId> for IntersectModelId{
-	fn from(other: ModelId)->Self{
-		Self::new(other.get())
+impl Into<ModelId> for IntersectModelId{
+	fn into(self)->ModelId{
+		ModelId::new(self.get())
 	}
 }
 #[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
@@ -696,9 +683,9 @@ enum PhysicsModelId{
 	Contact(ContactModelId),
 	Intersect(IntersectModelId),
 }
-impl From<PhysicsModelId> for ModelId{
-	fn from(value:PhysicsModelId)->ModelId{
-		ModelId::new(match value{
+impl Into<ModelId> for PhysicsModelId{
+	fn into(self)->ModelId{
+		ModelId::new(match self{
 			PhysicsModelId::Contact(model_id)=>model_id.get(),
 			PhysicsModelId::Intersect(model_id)=>model_id.get(),
 		})
@@ -706,18 +693,10 @@ impl From<PhysicsModelId> for ModelId{
 }
 //unique physics meshes indexed by this
 #[derive(Debug,Clone,Copy,Eq,Hash,PartialEq)]
-struct ConvexMeshId<Id>{
-	model_id:Id,
+struct ConvexMeshId{
+	model_id:PhysicsModelId,
 	submesh_id:PhysicsSubmeshId,
 }
-impl<Id> ConvexMeshId<Id>{
-	fn map<NewId>(self,model_id:NewId)->ConvexMeshId<NewId>{
-		ConvexMeshId{
-			model_id,
-			submesh_id:self.submesh_id,
-		}
-	}
-}
 struct ContactModel{
 	mesh_id:PhysicsMeshId,
 	attr_id:ContactAttributesId,
@@ -731,12 +710,14 @@ struct IntersectModel{
 
 #[derive(Debug,Clone,Copy,Eq,Hash,PartialEq)]
 pub struct ContactCollision{
-	convex_mesh_id:ConvexMeshId<ContactModelId>,
 	face_id:model_physics::MinkowskiFace,
+	model_id:ContactModelId,
+	submesh_id:PhysicsSubmeshId,
 }
 #[derive(Debug,Clone,Copy,Eq,Hash,PartialEq)]
 pub struct IntersectCollision{
-	convex_mesh_id:ConvexMeshId<IntersectModelId>,
+	model_id:IntersectModelId,
+	submesh_id:PhysicsSubmeshId,
 }
 #[derive(Debug,Clone,Eq,Hash,PartialEq)]
 pub enum Collision{
@@ -744,47 +725,33 @@ pub enum Collision{
 	Intersect(IntersectCollision),
 }
 impl Collision{
-	fn new(convex_mesh_id:ConvexMeshId<PhysicsModelId>,face_id:model_physics::MinkowskiFace)->Self{
+	const fn new(convex_mesh_id:ConvexMeshId,face_id:model_physics::MinkowskiFace)->Self{
 		match convex_mesh_id.model_id{
-			PhysicsModelId::Contact(model_id)=>Collision::Contact(ContactCollision{convex_mesh_id:convex_mesh_id.map(model_id),face_id}),
-			PhysicsModelId::Intersect(model_id)=>Collision::Intersect(IntersectCollision{convex_mesh_id:convex_mesh_id.map(model_id)}),
+			PhysicsModelId::Contact(model_id)=>Collision::Contact(ContactCollision{model_id,submesh_id:convex_mesh_id.submesh_id,face_id}),
+			PhysicsModelId::Intersect(model_id)=>Collision::Intersect(IntersectCollision{model_id,submesh_id:convex_mesh_id.submesh_id}),
 		}
 	}
 }
 #[derive(Clone,Debug,Default)]
 struct TouchingState{
-	// This is kind of jank, it's a ContactCollision
-	// but split over the Key and Value of the HashMap.
-	contacts:HashMap<ConvexMeshId<ContactModelId>,model_physics::MinkowskiFace>,
-	intersects:HashSet<ConvexMeshId<IntersectModelId>>,
+	contacts:HashSet<ContactCollision>,
+	intersects:HashSet<IntersectCollision>,
 }
 impl TouchingState{
 	fn clear(&mut self){
 		self.contacts.clear();
 		self.intersects.clear();
 	}
-	fn insert_contact(&mut self,contact:ContactCollision)->Option<model_physics::MinkowskiFace>{
-		self.contacts.insert(contact.convex_mesh_id,contact.face_id)
+	fn insert(&mut self,collision:Collision)->bool{
+		match collision{
+			Collision::Contact(collision)=>self.contacts.insert(collision),
+			Collision::Intersect(collision)=>self.intersects.insert(collision),
+		}
 	}
-	fn insert_intersect(&mut self,intersect:IntersectCollision)->bool{
-		self.intersects.insert(intersect.convex_mesh_id)
-	}
-	fn remove_contact(&mut self,convex_mesh_id:&ConvexMeshId<ContactModelId>)->Option<model_physics::MinkowskiFace>{
-		self.contacts.remove(convex_mesh_id)
-	}
-	fn remove_intersect(&mut self,convex_mesh_id:&ConvexMeshId<IntersectModelId>)->bool{
-		self.intersects.remove(convex_mesh_id)
-	}
-	fn contains_contact(&self,convex_mesh_id:&ConvexMeshId<ContactModelId>)->bool{
-		self.contacts.contains_key(convex_mesh_id)
-	}
-	fn contains_intersect(&self,convex_mesh_id:&ConvexMeshId<IntersectModelId>)->bool{
-		self.intersects.contains(convex_mesh_id)
-	}
-	fn contains(&self,convex_mesh_id:&ConvexMeshId<PhysicsModelId>)->bool{
-		match convex_mesh_id.model_id{
-			PhysicsModelId::Contact(contact_model_id)=>self.contains_contact(&convex_mesh_id.map(contact_model_id)),
-			PhysicsModelId::Intersect(intersect_model_id)=>self.contains_intersect(&convex_mesh_id.map(intersect_model_id)),
+	fn remove(&mut self,collision:&Collision)->bool{
+		match collision{
+			Collision::Contact(collision)=>self.contacts.remove(collision),
+			Collision::Intersect(collision)=>self.intersects.remove(collision),
 		}
 	}
 	fn base_acceleration(&self,models:&PhysicsModels,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->Planar64Vec3{
@@ -793,7 +760,7 @@ impl TouchingState{
 			a+=rocket_settings.acceleration(style.get_propulsion_control_dir(camera,input_state.controls));
 		}
 		//add accelerators
-		for contact in self.contacts.keys(){
+		for contact in &self.contacts{
 			if let Some(accelerator)=&models.contact_attr(contact.model_id).general.accelerator{
 				a+=accelerator.acceleration;
 			}
@@ -807,10 +774,10 @@ impl TouchingState{
 		a
 	}
 	fn constrain_velocity(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,velocity:Planar64Vec3)->Planar64Vec3{
-		let contacts:Vec<_>=self.contacts.iter().map(|(convex_mesh_id,face_id)|{
-			let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
+		let contacts:Vec<_>=self.contacts.iter().map(|contact|{
+			let n=contact_normal(models,hitbox_mesh,contact);
 			crate::push_solve::Contact{
-				position:vec3::zero(),
+				position:vec3::ZERO,
 				velocity:n,
 				normal:n,
 			}
@@ -818,10 +785,10 @@ impl TouchingState{
 		crate::push_solve::push_solve(&contacts,velocity)
 	}
 	fn constrain_acceleration(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,acceleration:Planar64Vec3)->Planar64Vec3{
-		let contacts:Vec<_>=self.contacts.iter().map(|(convex_mesh_id,face_id)|{
-			let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
+		let contacts:Vec<_>=self.contacts.iter().map(|contact|{
+			let n=contact_normal(models,hitbox_mesh,contact);
 			crate::push_solve::Contact{
-				position:vec3::zero(),
+				position:vec3::ZERO,
 				velocity:n,
 				normal:n,
 			}
@@ -831,29 +798,29 @@ impl TouchingState{
 	fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<InternalInstruction,Time>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&Body,start_time:Time){
 		// let relative_body=body.relative_to(&Body::ZERO);
 		let relative_body=body;
-		for (convex_mesh_id,face_id) in &self.contacts{
+		for contact in &self.contacts{
 			//detect face slide off
-			let model_mesh=models.contact_mesh(convex_mesh_id);
+			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,start_time..collector.time(),*face_id).map(|(_face,time)|{
+			collector.collect(minkowski.predict_collision_face_out(&relative_body,start_time..collector.time(),contact.face_id).map(|(_face,time)|{
 				TimedInstruction{
 					time:relative_body.time+time.into(),
 					instruction:InternalInstruction::CollisionEnd(
-						Collision::Contact(ContactCollision{face_id:*face_id,convex_mesh_id:*convex_mesh_id}),
+						Collision::Contact(*contact),
 						time
 					),
 				}
 			}));
 		}
-		for convex_mesh_id in &self.intersects{
+		for intersect in &self.intersects{
 			//detect model collision in reverse
-			let model_mesh=models.intersect_mesh(convex_mesh_id);
+			let model_mesh=models.intersect_mesh(intersect);
 			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
 			collector.collect(minkowski.predict_collision_out(&relative_body,start_time..collector.time()).map(|(_face,time)|{
 				TimedInstruction{
 					time:relative_body.time+time.into(),
 					instruction:InternalInstruction::CollisionEnd(
-						Collision::Intersect(IntersectCollision{convex_mesh_id:*convex_mesh_id}),
+						Collision::Intersect(*intersect),
 						time
 					),
 				}
@@ -980,7 +947,7 @@ impl PhysicsState{
 // shared geometry for simulations
 pub struct PhysicsData{
 	//permanent map data
-	bvh:bvh::BvhNode<ConvexMeshId<PhysicsModelId>>,
+	bvh:bvh::BvhNode<ConvexMeshId>,
 	//transient map/environment data (open world loads/unloads parts of this data)
 	models:PhysicsModels,
 	//semi-transient data
@@ -1066,16 +1033,14 @@ impl PhysicsData{
 			let transform=PhysicsMeshTransform::new(model.transform);
 			match attr_id{
 				PhysicsAttributesId::Contact(attr_id)=>{
-					let contact_model_id=ContactModelId::new(model_id as u32);
-					contact_models.insert(contact_model_id,ContactModel{
+					contact_models.insert(ContactModelId::new(model_id as u32),ContactModel{
 						mesh_id,
 						attr_id,
 						transform,
 					});
 				},
 				PhysicsAttributesId::Intersect(attr_id)=>{
-					let intersect_model_id=IntersectModelId::new(model_id as u32);
-					intersect_models.insert(intersect_model_id,IntersectModel{
+					intersect_models.insert(IntersectModelId::new(model_id as u32),IntersectModel{
 						mesh_id,
 						attr_id,
 						transform,
@@ -1089,23 +1054,12 @@ impl PhysicsData{
 				(PhysicsMeshId::new(mesh_id as u32),mesh)
 			).collect();
 		let convex_mesh_aabb_list=
-		// use the map models iteration order to ensure that the
-		// order that the models are passed into bvh::generate_bvh is consistent
-		map.models.iter().enumerate().filter_map(|(model_id,model)|{
-			match map.attributes.get(model.attributes.get() as usize){
-				None|Some(gameplay_attributes::CollisionAttributes::Decoration)=>None,
-				Some(gameplay_attributes::CollisionAttributes::Contact(_))=>{
-					let model_id=ContactModelId::new(model_id as u32);
-					let model=contact_models.get(&model_id)?;
-					Some((PhysicsModelId::Contact(model_id),&model.mesh_id,&model.transform))
-				},
-				Some(gameplay_attributes::CollisionAttributes::Intersect(_))=>{
-					let model_id=IntersectModelId::new(model_id as u32);
-					let model=intersect_models.get(&model_id)?;
-					Some((PhysicsModelId::Intersect(model_id),&model.mesh_id,&model.transform))
-				},
-			}
-		})
+		//map the two lists into a single type so they can be processed with one closure
+		contact_models.iter().map(|(&model_id,model)|
+			(PhysicsModelId::Contact(model_id),&model.mesh_id,&model.transform)
+		).chain(intersect_models.iter().map(|(&model_id,model)|
+			(PhysicsModelId::Intersect(model_id),&model.mesh_id,&model.transform)
+		))
 		.flat_map(|(model_id,mesh_id,transform)|{
 			meshes[mesh_id].submesh_views()
 			.enumerate().map(move|(submesh_id,view)|{
@@ -1207,19 +1161,21 @@ impl<'a> PhysicsContext<'a>{
 		//relative to moving platforms
 		//let relative_body=state.body.relative_to(&Body::ZERO);
 		let relative_body=&state.body;
-		data.bvh.sample_aabb(&aabb,&mut |convex_mesh_id|{
-			if state.touching.contains(convex_mesh_id){
-				return;
-			}
+		data.bvh.sample_aabb(&aabb,&mut |&convex_mesh_id|{
 			//no checks are needed because of the time limits.
-			let model_mesh=data.models.mesh(*convex_mesh_id);
+			let model_mesh=data.models.mesh(convex_mesh_id);
 			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,data.hitbox_mesh.transformed_mesh());
 			collector.collect(minkowski.predict_collision_in(relative_body,state.time..collector.time())
-				.map(|(face,dt)|
+				//temp (?) code to avoid collision loops
+				.and_then(|(face,dt)|{
+					// this must be rounded to avoid the infinite loop when hitting the start zone
+					let time=relative_body.time+dt.into();
+					(state.time<time).then_some((time,face,dt))
+				}).map(|(time,face,dt)|
 					TimedInstruction{
-						time:relative_body.time+dt.into(),
+						time,
 						instruction:InternalInstruction::CollisionStart(
-							Collision::new(*convex_mesh_id,face),
+							Collision::new(convex_mesh_id,face),
 							dt
 						)
 					}
@@ -1230,17 +1186,12 @@ impl<'a> PhysicsContext<'a>{
 	}
 
 
-fn contact_normal(
-	models:&PhysicsModels,
-	hitbox_mesh:&HitboxMesh,
-	convex_mesh_id:&ConvexMeshId<ContactModelId>,
-    face_id:model_physics::MinkowskiFace,
-)->Planar64Vec3{
-	let model_mesh=models.contact_mesh(convex_mesh_id);
+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
 	// wrap for speed
-	minkowski.face_nd(face_id).0.wrap_1()
+	minkowski.face_nd(contact.face_id).0.wrap_1()
 }
 
 fn recalculate_touching(
@@ -1252,7 +1203,7 @@ fn recalculate_touching(
 	mode:Option<&gameplay_modes::Mode>,
 	models:&PhysicsModels,
 	hitbox_mesh:&HitboxMesh,
-	bvh:&bvh::BvhNode<ConvexMeshId<PhysicsModelId>>,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
 	style:&StyleModifiers,
 	camera:&PhysicsCamera,
 	input_state:&InputState,
@@ -1261,11 +1212,11 @@ fn recalculate_touching(
 	//collision_end all existing contacts
 	//I would have preferred while let Some(contact)=contacts.pop()
 	//but there is no such method
-	while let Some((&convex_mesh_id,_face_id))=touching.contacts.iter().next(){
-		collision_end_contact(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,models.contact_attr(convex_mesh_id.model_id),&convex_mesh_id)
+	while let Some(&contact)=touching.contacts.iter().next(){
+		collision_end_contact(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,models.contact_attr(contact.model_id),contact)
 	}
-	while let Some(&convex_mesh_id)=touching.intersects.iter().next(){
-		collision_end_intersect(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,mode,run,models.intersect_attr(convex_mesh_id.model_id),&convex_mesh_id,time);
+	while let Some(&intersect)=touching.intersects.iter().next(){
+		collision_end_intersect(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,mode,run,models.intersect_attr(intersect.model_id),intersect,time);
 	}
 	//find all models in the teleport region
 	let mut aabb=aabb::Aabb::default();
@@ -1287,7 +1238,8 @@ fn recalculate_touching(
 				collision_start_intersect(move_state,body,mode_state,touching,mode,run,models,hitbox_mesh,bvh,style,camera,input_state,
 					models.intersect_attr(model_id),
 					IntersectCollision{
-						convex_mesh_id:convex_mesh_id.map(model_id),
+						model_id,
+						submesh_id:convex_mesh_id.submesh_id,
 					},
 					time,
 				),
@@ -1305,7 +1257,7 @@ fn set_position(
 	mode:Option<&gameplay_modes::Mode>,
 	models:&PhysicsModels,
 	hitbox_mesh:&HitboxMesh,
-	bvh:&bvh::BvhNode<ConvexMeshId<PhysicsModelId>>,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
 	style:&StyleModifiers,
 	camera:&PhysicsCamera,
 	input_state:&InputState,
@@ -1321,8 +1273,8 @@ fn set_position(
 fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,v:Planar64Vec3)->bool{
 	//This is not correct but is better than what I have
 	let mut culled=false;
-	touching.contacts.retain(|convex_mesh_id,face_id|{
-		let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
+	touching.contacts.retain(|contact|{
+		let n=contact_normal(models,hitbox_mesh,contact);
 		let r=n.dot(v).is_positive();
 		if r{
 			culled=true;
@@ -1339,8 +1291,8 @@ fn set_velocity(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hit
 fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,a:Planar64Vec3)->bool{
 	//This is not correct but is better than what I have
 	let mut culled=false;
-	touching.contacts.retain(|convex_mesh_id,face_id|{
-		let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
+	touching.contacts.retain(|contact|{
+		let n=contact_normal(models,hitbox_mesh,contact);
 		let r=n.dot(a).is_positive();
 		if r{
 			culled=true;
@@ -1364,7 +1316,7 @@ fn teleport(
 	mode:Option<&gameplay_modes::Mode>,
 	models:&PhysicsModels,
 	hitbox_mesh:&HitboxMesh,
-	bvh:&bvh::BvhNode<ConvexMeshId<PhysicsModelId>>,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
 	style:&StyleModifiers,
 	camera:&PhysicsCamera,
 	input_state:&InputState,
@@ -1386,7 +1338,7 @@ fn teleport_to_spawn(
 	mode:&gameplay_modes::Mode,
 	models:&PhysicsModels,
 	hitbox_mesh:&HitboxMesh,
-	bvh:&bvh::BvhNode<ConvexMeshId<PhysicsModelId>>,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
 	style:&StyleModifiers,
 	camera:&PhysicsCamera,
 	input_state:&InputState,
@@ -1475,7 +1427,7 @@ fn run_teleport_behaviour(
 	mode_state:&mut ModeState,
 	models:&PhysicsModels,
 	hitbox_mesh:&HitboxMesh,
-	bvh:&bvh::BvhNode<ConvexMeshId<PhysicsModelId>>,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
 	style:&StyleModifiers,
 	camera:&PhysicsCamera,
 	input_state:&InputState,
@@ -1522,7 +1474,7 @@ fn run_teleport_behaviour(
 	}
 }
 
-fn is_not_spawn_at(
+fn not_spawn_at(
 	mode:Option<&gameplay_modes::Mode>,
 	model_id:ModelId,
 )->bool{
@@ -1543,7 +1495,7 @@ fn collision_start_contact(
 	mode:Option<&gameplay_modes::Mode>,
 	models:&PhysicsModels,
 	hitbox_mesh:&HitboxMesh,
-	bvh:&bvh::BvhNode<ConvexMeshId<PhysicsModelId>>,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
 	style:&StyleModifiers,
 	camera:&PhysicsCamera,
 	input_state:&InputState,
@@ -1553,12 +1505,12 @@ fn collision_start_contact(
 ){
 	let incident_velocity=body.velocity;
 	//add to touching
-	touching.insert_contact(contact);
+	touching.insert(Collision::Contact(contact));
 	//clip v
 	set_velocity(body,touching,models,hitbox_mesh,incident_velocity);
 	let mut allow_jump=true;
-	let model_id=contact.convex_mesh_id.model_id.into();
-	let mut allow_run_teleport_behaviour=is_not_spawn_at(mode,model_id);
+	let model_id=contact.model_id.into();
+	let mut allow_run_teleport_behaviour=not_spawn_at(mode,model_id);
 	match &attr.contacting.contact_behaviour{
 		Some(gameplay_attributes::ContactingBehaviour::Surf)=>(),
 		Some(gameplay_attributes::ContactingBehaviour::Cling)=>println!("Unimplemented!"),
@@ -1572,7 +1524,7 @@ 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,vec3::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);
@@ -1581,7 +1533,7 @@ fn collision_start_contact(
 		},
 		Some(gameplay_attributes::ContactingBehaviour::NoJump)=>allow_jump=false,
 		None=>if let Some(walk_settings)=&style.walk{
-			if walk_settings.is_slope_walkable(contact_normal(models,hitbox_mesh,&contact.convex_mesh_id,contact.face_id),vec3::Y){
+			if walk_settings.is_slope_walkable(contact_normal(models,hitbox_mesh,&contact),vec3::Y){
 				allow_run_teleport_behaviour=true;
 				//ground
 				let (gravity,target_velocity)=ground_things(walk_settings,&contact,touching,models,hitbox_mesh,style,camera,input_state);
@@ -1646,7 +1598,7 @@ fn collision_start_intersect(
 	run:&mut run::Run,
 	models:&PhysicsModels,
 	hitbox_mesh:&HitboxMesh,
-	bvh:&bvh::BvhNode<ConvexMeshId<PhysicsModelId>>,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
 	style:&StyleModifiers,
 	camera:&PhysicsCamera,
 	input_state:&InputState,
@@ -1655,13 +1607,13 @@ fn collision_start_intersect(
 	time:Time,
 ){
 	//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
-	touching.insert_intersect(intersect);
+	touching.insert(Collision::Intersect(intersect));
 	//insta booster!
 	if let Some(booster)=&attr.general.booster{
 		move_state.cull_velocity(booster.boost(body.velocity),body,touching,models,hitbox_mesh,style,camera,input_state);
 	}
 	if let Some(mode)=mode{
-		let zone=mode.get_zone(intersect.convex_mesh_id.model_id.into());
+		let zone=mode.get_zone(intersect.model_id.into());
 		match zone{
 			Some(gameplay_modes::Zone::Start)=>{
 				println!("@@@@ Starting new run!");
@@ -1678,7 +1630,7 @@ fn collision_start_intersect(
 		}
 	}
 	move_state.apply_enum_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
-	run_teleport_behaviour(intersect.convex_mesh_id.model_id.into(),attr.general.wormhole.as_ref(),mode,move_state,body,touching,run,mode_state,models,hitbox_mesh,bvh,style,camera,input_state,time);
+	run_teleport_behaviour(intersect.model_id.into(),attr.general.wormhole.as_ref(),mode,move_state,body,touching,run,mode_state,models,hitbox_mesh,bvh,style,camera,input_state,time);
 }
 
 fn collision_end_contact(
@@ -1691,17 +1643,15 @@ fn collision_end_contact(
 	camera:&PhysicsCamera,
 	input_state:&InputState,
 	_attr:&gameplay_attributes::ContactAttributes,
-	convex_mesh_id:&ConvexMeshId<ContactModelId>,
+	contact:ContactCollision,
 ){
-	touching.remove_contact(convex_mesh_id);//remove contact before calling contact_constrain_acceleration
+	touching.remove(&Collision::Contact(contact));//remove contact before calling contact_constrain_acceleration
 	//check ground
 	//TODO do better
 	//this is inner code from move_state.cull_velocity
 	match move_state.get_walk_state(){
 		// did you stop touching the thing you were walking on?
-		// This does not check the face! Is that a bad thing? It should be
-		// impossible to stop touching a different face than you started touching...
-		Some(walk_state)=>if &walk_state.contact.convex_mesh_id==convex_mesh_id{
+		Some(walk_state)=>if walk_state.contact==contact{
 			move_state.set_move_state(MoveState::Air,body,touching,models,hitbox_mesh,style,camera,input_state);
 		}else{
 			// stopped touching something else while walking
@@ -1723,13 +1673,13 @@ fn collision_end_intersect(
 	mode:Option<&gameplay_modes::Mode>,
 	run:&mut run::Run,
 	_attr:&gameplay_attributes::IntersectAttributes,
-	convex_mesh_id:&ConvexMeshId<IntersectModelId>,
+	intersect:IntersectCollision,
 	time:Time,
 ){
-	touching.remove_intersect(convex_mesh_id);
+	touching.remove(&Collision::Intersect(intersect));
 	move_state.apply_enum_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
 	if let Some(mode)=mode{
-		let zone=mode.get_zone(convex_mesh_id.model_id.into());
+		let zone=mode.get_zone(intersect.model_id.into());
 		match zone{
 			Some(gameplay_modes::Zone::Start)=>{
 				match run.start(time){
@@ -1763,7 +1713,7 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 						&mut state.move_state,&mut state.body,&mut state.mode_state,&mut state.touching,&mut state.run,
 						mode,
 						&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,
-						data.models.contact_attr(contact.convex_mesh_id.model_id),
+						data.models.contact_attr(contact.model_id),
 						contact,
 						state.time,
 					),
@@ -1771,7 +1721,7 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 						&mut state.move_state,&mut state.body,&mut state.mode_state,&mut state.touching,
 						mode,
 						&mut state.run,&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,
-						data.models.intersect_attr(intersect.convex_mesh_id.model_id),
+						data.models.intersect_attr(intersect.model_id),
 						intersect,
 						state.time,
 					),
@@ -1780,15 +1730,15 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 			InternalInstruction::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.convex_mesh_id.model_id),
-					&contact.convex_mesh_id
+					data.models.contact_attr(contact.model_id),
+					contact
 				),
 				Collision::Intersect(intersect)=>collision_end_intersect(
 					&mut state.move_state,&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state,
 					data.modes.get_mode(state.mode_state.get_mode_id()),
 					&mut state.run,
-					data.models.intersect_attr(intersect.convex_mesh_id.model_id),
-					&intersect.convex_mesh_id,
+					data.models.intersect_attr(intersect.model_id),
+					intersect,
 					state.time
 				),
 			},
@@ -1799,7 +1749,7 @@ 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!=vec3::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).divide().wrap_1()){
 								//this is wrong but will work ig
@@ -1822,7 +1772,7 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 						//which means that gravity can be fully cancelled
 						//ignore moving platforms for now
 						let target=core::mem::replace(&mut walk_state.target,TransientAcceleration::Reached);
-						set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,vec3::zero());
+						set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,vec3::ZERO);
 						// check what the target was to see if it was invalid
 						match target{
 							//you are not supposed to reach a walk target which is already reached!
@@ -1886,7 +1836,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 			if let Some(walk_state)=state.move_state.get_walk_state(){
 				if let Some(jump_settings)=&state.style.jump{
 					let jump_dir=walk_state.jump_direction.direction(&data.models,&data.hitbox_mesh,&walk_state.contact);
-					let booster_option=data.models.contact_attr(walk_state.contact.convex_mesh_id.model_id).general.booster.as_ref();
+					let booster_option=data.models.contact_attr(walk_state.contact.model_id).general.booster.as_ref();
 					let jumped_velocity=jump_settings.jumped_velocity(&state.style,jump_dir,state.body.velocity,booster_option);
 					state.cull_velocity(data,jumped_velocity);
 				}
@@ -1904,7 +1854,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 		},
 		Instruction::Mode(ModeInstruction::Restart(mode_id))=>{
 			//teleport to mode start zone
-			let mut spawn_point=vec3::zero();
+			let mut spawn_point=vec3::ZERO;
 			let mode=data.modes.get_mode(mode_id);
 			if let Some(mode)=mode{
 				// set style
@@ -1917,7 +1867,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 				}
 			}
 			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,vec3::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;
 		}
@@ -1967,7 +1917,7 @@ 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(),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();
@@ -1983,7 +1933,7 @@ mod test{
 					int3(0,1,0)>>1,
 					int3(-1,0,5)>>1,
 				]),
-				vec3::zero()
+				vec3::ZERO
 			),
 		);
 		let h1=StyleModifiers::roblox_bhop().calculate_mesh();
@@ -2002,7 +1952,7 @@ mod test{
 		test_collision(Body::new(
 			int3(0,5,0),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
@@ -2011,7 +1961,7 @@ mod test{
 		test_collision(Body::new(
 			int3(0,5,0),
 			int3(0,-1,0)+(vec3::X>>32),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
@@ -2020,7 +1970,7 @@ mod test{
 		test_collision(Body::new(
 			int3(3,5,0),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
@@ -2029,7 +1979,7 @@ mod test{
 		test_collision(Body::new(
 			int3(0,5,3),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
@@ -2038,7 +1988,7 @@ mod test{
 		test_collision(Body::new(
 			int3(-3,5,0),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
@@ -2047,7 +1997,7 @@ mod test{
 		test_collision(Body::new(
 			int3(0,5,-3),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
@@ -2164,7 +2114,7 @@ mod test{
 		test_collision(Body::new(
 			int3(0,5,0),
 			int3(1,-64,2)>>6,// /64
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)));
 	}
@@ -2180,7 +2130,7 @@ mod test{
 	#[test]
 	fn already_inside_hit_nothing(){
 		test_collision(Body::new(
-			vec3::zero(),
+			vec3::ZERO,
 			int3(1,0,0),
 			int3(0,1,0),
 			Time::ZERO
@@ -2192,7 +2142,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			(int3(0,10,-7)>>1)+vec3::raw_xyz(0,0,1),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)))
 	}
@@ -2201,7 +2151,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			(int3(7,10,0)>>1)+vec3::raw_xyz(-1,0,0),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)))
 	}
@@ -2210,7 +2160,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			(int3(0,10,7)>>1)+vec3::raw_xyz(0,0,-1),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)))
 	}
@@ -2219,7 +2169,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			(int3(-7,10,0)>>1)+vec3::raw_xyz(1,0,0),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),Some(Time::from_secs(2)))
 	}
@@ -2229,7 +2179,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			int3(0,10,-7)>>1,
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}
@@ -2238,7 +2188,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			int3(7,10,0)>>1,
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}
@@ -2247,7 +2197,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			int3(0,10,7)>>1,
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}
@@ -2256,7 +2206,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			int3(-7,10,0)>>1,
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}
@@ -2266,7 +2216,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			(int3(0,10,-7)>>1)-vec3::raw_xyz(0,0,1),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}
@@ -2275,7 +2225,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			(int3(7,10,0)>>1)-vec3::raw_xyz(-1,0,0),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}
@@ -2284,7 +2234,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			(int3(0,10,7)>>1)-vec3::raw_xyz(0,0,-1),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}
@@ -2293,7 +2243,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			(int3(-7,10,0)>>1)-vec3::raw_xyz(1,0,0),
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}

engine/physics/src/push_solve.rs

@@ -39,18 +39,20 @@ impl Contact{
 
 //note that this is horrible with fixed point arithmetic
 fn solve1(c0:&Contact)->Option<Ratio<Vector3<Fixed<3,96>>,Fixed<2,64>>>{
+	const EPSILON:Fixed<2,64>=Fixed::from_bits(Fixed::<2,64>::ONE.to_bits().shr(10));
 	let det=c0.normal.dot(c0.velocity);
-	if det.abs()==Fixed::ZERO{
+	if det.abs()<EPSILON{
 		return None;
 	}
 	let d0=c0.normal.dot(c0.position);
 	Some(c0.normal*d0/det)
 }
 fn solve2(c0:&Contact,c1:&Contact)->Option<Ratio<Vector3<Fixed<5,160>>,Fixed<4,128>>>{
+	const EPSILON:Fixed<4,128>=Fixed::from_bits(Fixed::<4,128>::ONE.to_bits().shr(10));
 	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.abs()==Fixed::ZERO{
+	if det.abs()<EPSILON{
 		return None;
 	}
 	let d0=c0.normal.dot(c0.position);
@@ -58,9 +60,10 @@ fn solve2(c0:&Contact,c1:&Contact)->Option<Ratio<Vector3<Fixed<5,160>>,Fixed<4,1
 	Some((c1.normal.cross(u0_u1)*d0+u0_u1.cross(c0.normal)*d1)/det)
 }
 fn solve3(c0:&Contact,c1:&Contact,c2:&Contact)->Option<Ratio<Vector3<Fixed<4,128>>,Fixed<3,96>>>{
+	const EPSILON:Fixed<3,96>=Fixed::from_bits(Fixed::<3,96>::ONE.to_bits().shr(10));
 	let n0_n1=c0.normal.cross(c1.normal);
 	let det=c2.normal.dot(n0_n1);
-	if det.abs()==Fixed::ZERO{
+	if det.abs()<EPSILON{
 		return None;
 	}
 	let d0=c0.normal.dot(c0.position);
@@ -146,7 +149,7 @@ fn is_space_enclosed_4(
 }
 
 const fn get_push_ray_0(point:Planar64Vec3)->Ray{
-	Ray{origin:point,direction:vec3::zero()}
+	Ray{origin:point,direction:vec3::ZERO}
 }
 fn get_push_ray_1(point:Planar64Vec3,c0:&Contact)->Option<Ray>{
 	//wrap for speed
@@ -318,13 +321,13 @@ mod tests{
 	fn test_push_solve(){
 		let contacts=vec![
 			Contact{
-				position:vec3::zero(),
+				position:vec3::ZERO,
 				velocity:vec3::Y,
 				normal:vec3::Y,
 			}
 		];
 		assert_eq!(
-			vec3::zero(),
+			vec3::ZERO,
 			push_solve(&contacts,vec3::NEG_Y)
 		);
 	}

integration-testing/src/test_scenes.rs

@@ -77,7 +77,7 @@ fn simultaneous_collision(){
 		Time::ZERO,
 	);
 	let mut physics=PhysicsState::new_with_body(body);
-	physics.style_mut().gravity=vec3::zero();
+	physics.style_mut().gravity=vec3::ZERO;
 	let mut phys_iter=PhysicsContext::iter_internal(&mut physics,&physics_data,Time::from_secs(2))
 		.filter(|ins|!matches!(ins.instruction,InternalInstruction::StrafeTick));
 	// the order that they hit does matter, but we aren't currently worrying about that.
@@ -101,7 +101,7 @@ fn bug_3(){
 		Time::ZERO,
 	);
 	let mut physics=PhysicsState::new_with_body(body);
-	physics.style_mut().gravity=vec3::zero();
+	physics.style_mut().gravity=vec3::ZERO;
 	let mut phys_iter=PhysicsContext::iter_internal(&mut physics,&physics_data,Time::from_secs(3))
 		.filter(|ins|!matches!(ins.instruction,InternalInstruction::StrafeTick));
 	// touch side of part at 0,0,0

lib/bsp_loader/src/brush.rs

@@ -210,7 +210,7 @@ pub fn faces_to_mesh(faces:Vec<Vec<integer::Planar64Vec3>>)->model::Mesh{
 	let color=mb.acquire_color_id(glam::Vec4::ONE);
 	let tex=mb.acquire_tex_id(glam::Vec2::ZERO);
 	// normals are ignored by physics
-	let normal=mb.acquire_normal_id(integer::vec3::zero());
+	let normal=mb.acquire_normal_id(integer::vec3::ZERO);
 
 	let polygon_list=faces.into_iter().map(|face|{
 		face.into_iter().map(|pos|{

lib/bsp_loader/src/bsp.rs

@@ -105,7 +105,7 @@ pub fn convert<'a>(
 					water:Some(attr::IntersectingWater{
 						viscosity:integer::Planar64::ONE,
 						density:integer::Planar64::ONE,
-						velocity:integer::vec3::zero(),
+						velocity:integer::vec3::ZERO,
 					}),
 				},
 				general:attr::GeneralAttributes::default(),
@@ -295,7 +295,7 @@ pub fn convert<'a>(
 					attributes,
 					transform:integer::Planar64Affine3::new(
 						integer::mat3::identity(),
-						integer::vec3::zero(),
+						integer::vec3::ZERO,
 					),
 					color:glam::Vec4::ONE,
 				});

lib/common/src/gameplay_style.rs

@@ -319,7 +319,7 @@ impl WalkSettings{
 		self.accelerate.accel.min((-gravity.y*friction).clamp_1())
 	}
 	pub fn get_walk_target_velocity(&self,control_dir:Planar64Vec3,normal:Planar64Vec3)->Planar64Vec3{
-		if control_dir==crate::integer::vec3::zero(){
+		if control_dir==crate::integer::vec3::ZERO{
 			return control_dir;
 		}
 		let nn=normal.length_squared();
@@ -329,13 +329,13 @@ impl WalkSettings{
 		let dd=d*d;
 		if dd<nnmm{
 			let cr=normal.cross(control_dir);
-			if cr==crate::integer::vec3::zero(){
-				crate::integer::vec3::zero()
+			if cr==crate::integer::vec3::ZERO_2{
+				crate::integer::vec3::ZERO
 			}else{
 				(cr.cross(normal)*self.accelerate.topspeed/((nn*(nnmm-dd)).sqrt())).divide().clamp_1()
 			}
 		}else{
-			crate::integer::vec3::zero()
+			crate::integer::vec3::ZERO
 		}
 	}
 	pub fn is_slope_walkable(&self,normal:Planar64Vec3,up:Planar64Vec3)->bool{
@@ -360,7 +360,7 @@ impl LadderSettings{
 		self.accelerate.accel
 	}
 	pub fn get_ladder_target_velocity(&self,mut control_dir:Planar64Vec3,normal:Planar64Vec3)->Planar64Vec3{
-		if control_dir==crate::integer::vec3::zero(){
+		if control_dir==crate::integer::vec3::ZERO{
 			return control_dir;
 		}
 		let nn=normal.length_squared();
@@ -382,13 +382,13 @@ impl LadderSettings{
 		//- fix the underlying issue
 		if dd<nnmm{
 			let cr=normal.cross(control_dir);
-			if cr==crate::integer::vec3::zero(){
-				crate::integer::vec3::zero()
+			if cr==crate::integer::vec3::ZERO_2{
+				crate::integer::vec3::ZERO
 			}else{
 				(cr.cross(normal)*self.accelerate.topspeed/((nn*(nnmm-dd)).sqrt())).divide().clamp_1()
 			}
 		}else{
-			crate::integer::vec3::zero()
+			crate::integer::vec3::ZERO
 		}
 	}
 }

lib/common/src/integer.rs

@@ -561,6 +561,12 @@ pub mod vec3{
 	pub use linear_ops::types::Vector3;
 	pub const MIN:Planar64Vec3=Planar64Vec3::new([Planar64::MIN;3]);
 	pub const MAX:Planar64Vec3=Planar64Vec3::new([Planar64::MAX;3]);
+	pub const ZERO:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO;3]);
+	pub const ZERO_2:Vector3<Fixed::<2,64>>=Vector3::new([Fixed::<2,64>::ZERO;3]);
+	pub const ZERO_3:Vector3<Fixed::<3,96>>=Vector3::new([Fixed::<3,96>::ZERO;3]);
+	pub const ZERO_4:Vector3<Fixed::<4,128>>=Vector3::new([Fixed::<4,128>::ZERO;3]);
+	pub const ZERO_5:Vector3<Fixed::<5,160>>=Vector3::new([Fixed::<5,160>::ZERO;3]);
+	pub const ZERO_6:Vector3<Fixed::<6,192>>=Vector3::new([Fixed::<6,192>::ZERO;3]);
 	pub const X:Planar64Vec3=Planar64Vec3::new([Planar64::ONE,Planar64::ZERO,Planar64::ZERO]);
 	pub const Y:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::ONE,Planar64::ZERO]);
 	pub const Z:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::ZERO,Planar64::ONE]);
@@ -569,10 +575,6 @@ pub mod vec3{
 	pub const NEG_Y:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::NEG_ONE,Planar64::ZERO]);
 	pub const NEG_Z:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::ZERO,Planar64::NEG_ONE]);
 	pub const NEG_ONE:Planar64Vec3=Planar64Vec3::new([Planar64::NEG_ONE,Planar64::NEG_ONE,Planar64::NEG_ONE]);
-	// TODO: use #![feature(generic_const_items)] when stabilized https://github.com/rust-lang/rust/issues/113521
-	pub const fn zero<const N:usize,const F:usize>()->Vector3<Fixed<N,F>>{
-		Vector3::new([Fixed::ZERO;3])
-	}
 	#[inline]
 	pub const fn int(x:i32,y:i32,z:i32)->Planar64Vec3{
 		Planar64Vec3::new([Planar64::raw((x as i64)<<32),Planar64::raw((y as i64)<<32),Planar64::raw((z as i64)<<32)])
@@ -661,7 +663,7 @@ pub struct Planar64Affine3{
 	pub translation:Planar64Vec3,
 }
 impl Planar64Affine3{
-	pub const IDENTITY:Self=Self::new(mat3::identity(),vec3::zero());
+	pub const IDENTITY:Self=Self::new(mat3::identity(),vec3::ZERO);
 	#[inline]
 	pub const fn new(matrix3:Planar64Mat3,translation:Planar64Vec3)->Self{
 		Self{matrix3,translation}

lib/fixed_wide/src/fixed.rs

@@ -70,34 +70,6 @@ impl<const N:usize,const F:usize> Fixed<N,F>{
 	pub const fn midpoint(self,other:Self)->Self{
 		Self::from_bits(self.bits.midpoint(other.bits))
 	}
-	#[inline]
-	pub const fn min(self,other:Self)->Self{
-		Self::from_bits(self.bits.min(other.bits))
-	}
-	#[inline]
-	pub const fn max(self,other:Self)->Self{
-		Self::from_bits(self.bits.max(other.bits))
-	}
-	/// return the result of self*sign(other)
-	#[inline]
-	pub const fn mul_sign<const N1:usize,const F1:usize>(self,other:Fixed<N1,F1>)->Self{
-		if other.is_negative(){
-			Self::from_bits(self.bits.neg())
-		}else if other.is_zero(){
-			Fixed::ZERO
-		}else{
-			self
-		}
-	}
-	/// return the result of self/sign(other) (divide by zero does not change the sign)
-	#[inline]
-	pub const fn div_sign<const N1:usize,const F1:usize>(self,other:Fixed<N1,F1>)->Self{
-		if other.is_negative(){
-			Self::from_bits(self.bits.neg())
-		}else{
-			self
-		}
-	}
 }
 impl<const F:usize> Fixed<1,F>{
 	/// My old code called this function everywhere so let's provide it
@@ -129,6 +101,28 @@ impl_from!(
 	i8,i16,i32,i64,i128,isize
 );
 
+impl<const N:usize,const F:usize,T> PartialEq<T> for Fixed<N,F>
+where
+		T:Copy,
+		BInt::<N>:From<T>,
+{
+	#[inline]
+	fn eq(&self,&other:&T)->bool{
+		self.bits.eq(&other.into())
+	}
+}
+
+impl<const N:usize,const F:usize,T> PartialOrd<T> for Fixed<N,F>
+	where
+		T:Copy,
+		BInt::<N>:From<T>,
+{
+	#[inline]
+	fn partial_cmp(&self,&other:&T)->Option<std::cmp::Ordering>{
+		self.bits.partial_cmp(&other.into())
+	}
+}
+
 impl<const N:usize,const F:usize> std::ops::Neg for Fixed<N,F>{
 	type Output=Self;
 	#[inline]
@@ -334,6 +328,16 @@ macro_rules! impl_additive_operator {
 				self.$method(other)
 			}
 		}
+		impl<const N:usize,const F:usize,U> core::ops::$trait<U> for $struct<N,F>
+			where
+				BInt::<N>:From<U>,
+		{
+			type Output = $output;
+			#[inline]
+			fn $method(self, other: U) -> Self::Output {
+				Self::from_bits(self.bits.$method(BInt::<N>::from(other).shl(F as u32)))
+			}
+		}
 	};
 }
 macro_rules! impl_additive_assign_operator {
@@ -344,6 +348,15 @@ macro_rules! impl_additive_assign_operator {
 				self.bits.$method(other.bits);
 			}
 		}
+		impl<const N:usize,const F:usize,U> core::ops::$trait<U> for $struct<N,F>
+		where
+				BInt::<N>:From<U>,
+		{
+			#[inline]
+			fn $method(&mut self, other: U) {
+				self.bits.$method(BInt::<N>::from(other).shl(F as u32));
+			}
+		}
 	};
 }
 
@@ -366,7 +379,7 @@ impl_additive_operator!( Fixed, BitXor, bitxor, Self );
 // non-wide operators.  The result is the same width as the inputs.
 
 // This macro is not used in the default configuration.
-#[expect(unused_macros)]
+#[allow(unused_macros)]
 macro_rules! impl_multiplicative_operator_not_const_generic {
 	( ($struct: ident, $trait: ident, $method: ident, $output: ty ), $width:expr ) => {
 		impl<const F:usize> core::ops::$trait for $struct<$width,F>{
@@ -545,7 +558,7 @@ impl_shift_operator!( Fixed, Shr, shr, Self );
 
 // wide operators.  The result width is the sum of the input widths, i.e. none of the multiplication
 
-#[expect(unused_macros)]
+#[allow(unused_macros)]
 macro_rules! impl_wide_operators{
 	($lhs:expr,$rhs:expr)=>{
 		impl core::ops::Mul<Fixed<$rhs,{$rhs*32}>> for Fixed<$lhs,{$lhs*32}>{

lib/rbx_loader/Cargo.toml

@@ -13,16 +13,16 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 bytemuck = "1.14.3"
 glam = "0.30.0"
 regex = { version = "1.11.3", default-features = false }
+rbx_binary = { version = "1.0.1-sn5", registry = "strafesnet" }
+rbx_dom_weak =  { version = "3.0.1-sn5", registry = "strafesnet" }
 rbx_mesh = "0.5.0"
+rbx_reflection = "5.0.0"
+rbx_reflection_database = "1.0.0"
+rbx_xml = { version = "1.0.1-sn5", registry = "strafesnet" }
 rbxassetid = { version = "0.1.0", path = "../rbxassetid", registry = "strafesnet" }
 roblox_emulator = { version = "0.5.1", path = "../roblox_emulator", default-features = false, registry = "strafesnet" }
 strafesnet_common = { version = "0.7.0", path = "../common", registry = "strafesnet" }
 strafesnet_deferred_loader = { version = "0.5.1", path = "../deferred_loader", registry = "strafesnet" }
-rbx_binary = "2.0.1"
-rbx_dom_weak = "4.1.0"
-rbx_reflection = "6.1.0"
-rbx_reflection_database = "2.0.2"
-rbx_xml = "2.0.1"
 
 [lints]
 workspace = true

lib/rbx_loader/src/rbx.rs

@@ -251,7 +251,7 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,model_id:mode
 		}
 	}
 	//need some way to skip this
-	if allow_booster&&velocity!=vec3::zero(){
+	if allow_booster&&velocity!=vec3::ZERO{
 		general.booster=Some(attr::Booster::Velocity(velocity));
 	}
 	Ok(match force_can_collide{
@@ -559,7 +559,7 @@ pub fn convert<'a>(
 	//just going to leave it like this for now instead of reworking the data structures for this whole thing
 	let textureless_render_group=render_config_deferred_loader.acquire_render_config_id(None);
 
-	let db=rbx_reflection_database::get().unwrap();
+	let db=rbx_reflection_database::get();
 	let basepart=&db.classes["BasePart"];
 	let baseparts=dom.descendants().filter(|&instance|
 		db.classes.get(instance.class.as_str()).is_some_and(|class|

lib/rbx_loader/src/union.rs

@@ -250,7 +250,7 @@ pub fn convert(
 		// generate a unit cube as default physics
 		let pos_list=CUBE_DEFAULT_VERTICES.map(|pos|mb.acquire_pos_id(pos>>1));
 		let tex=mb.acquire_tex_id(glam::Vec2::ZERO);
-		let normal=mb.acquire_normal_id(vec3::zero());
+		let normal=mb.acquire_normal_id(vec3::ZERO);
 		let color=mb.acquire_color_id(glam::Vec4::ONE);
 		let polygon_group=PolygonGroup::PolygonList(PolygonList::new(CUBE_DEFAULT_POLYS.map(|poly|poly.map(|[pos_id,_]|
 			mb.acquire_vertex_id(IndexedVertex{pos:pos_list[pos_id as usize],tex,normal,color})

lib/roblox_emulator/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "roblox_emulator"
-version = "0.5.2"
+version = "0.5.1"
 edition = "2024"
 repository = "https://git.itzana.me/StrafesNET/strafe-project"
 license = "MIT OR Apache-2.0"
@@ -15,10 +15,10 @@ run-service=[]
 glam = "0.30.0"
 mlua = { version = "0.11.3", features = ["luau"] }
 phf = { version = "0.13.1", features = ["macros"] }
-rbx_dom_weak = "4.1.0"
-rbx_reflection = "6.1.0"
-rbx_reflection_database = "2.0.2"
-rbx_types = "3.1.0"
+rbx_dom_weak = { version = "3.0.1-sn5", registry = "strafesnet" }
+rbx_reflection = "5.0.0"
+rbx_reflection_database = "1.0.0"
+rbx_types = "2.0.0"
 
 [lints]
 workspace = true

lib/roblox_emulator/src/context.rs

@@ -52,7 +52,7 @@ impl Context{
 	}
 	/// Creates an iterator over all items of a particular class.
 	pub fn superclass_iter<'a>(&'a self,superclass:&'a str)->impl Iterator<Item=Ref>+'a{
-		let db=rbx_reflection_database::get().unwrap();
+		let db=rbx_reflection_database::get();
 		let Some(superclass)=db.classes.get(superclass)else{
 			panic!("Invalid class");
 		};

lib/roblox_emulator/src/runner/enum.rs

@@ -37,7 +37,7 @@ impl PartialEq for EnumItem<'_>{
 pub struct Enums;
 impl Enums{
 	pub fn get(&self,index:&str)->Option<EnumItems<'static>>{
-		let db=rbx_reflection_database::get().unwrap();
+		let db=rbx_reflection_database::get();
 		db.enums.get(index).map(|ed|EnumItems{ed})
 	}
 }

lib/roblox_emulator/src/runner/instance/instance.rs

@@ -37,7 +37,7 @@ pub fn dom_mut<T>(lua:&mlua::Lua,mut f:impl FnMut(&mut WeakDom)->mlua::Result<T>
 }
 
 pub fn class_is_a(class:&str,superclass:&str)->bool{
-	let db=rbx_reflection_database::get().unwrap();
+	let db=rbx_reflection_database::get();
 	let (Some(class),Some(superclass))=(db.classes.get(class),db.classes.get(superclass))else{
 		return false;
 	};
@@ -80,14 +80,14 @@ pub fn find_first_descendant_of_class<'a>(dom:&'a WeakDom,instance:&rbx_dom_weak
 }
 
 pub fn find_first_child_which_is_a<'a>(dom:&'a WeakDom,instance:&rbx_dom_weak::Instance,superclass:&str)->Option<&'a rbx_dom_weak::Instance>{
-	let db=rbx_reflection_database::get().unwrap();
+	let db=rbx_reflection_database::get();
 	let superclass_descriptor=db.classes.get(superclass)?;
 	instance.children().iter().filter_map(|&r|dom.get_by_ref(r)).find(|inst|{
 		db.classes.get(inst.class.as_str()).is_some_and(|descriptor|db.has_superclass(descriptor,superclass_descriptor))
 	})
 }
 pub fn find_first_descendant_which_is_a<'a>(dom:&'a WeakDom,instance:&rbx_dom_weak::Instance,superclass:&str)->Option<&'a rbx_dom_weak::Instance>{
-	let db=rbx_reflection_database::get().unwrap();
+	let db=rbx_reflection_database::get();
 	let superclass_descriptor=db.classes.get(superclass)?;
 	dom.descendants_of(instance.referent()).find(|inst|{
 		db.classes.get(inst.class.as_str()).is_some_and(|descriptor|db.has_superclass(descriptor,superclass_descriptor))
@@ -282,7 +282,7 @@ impl mlua::UserData for Instance{
 			dom_mut(lua,|dom|{
 				let instance=this.get(dom)?;
 				//println!("__index t={} i={index:?}",instance.name);
-				let db=rbx_reflection_database::get().unwrap();
+				let db=rbx_reflection_database::get();
 				let class=db.classes.get(instance.class.as_str()).ok_or_else(||mlua::Error::runtime("Class missing"))?;
 				// Find existing property
 				// Interestingly, ustr can know ahead of time if
@@ -344,7 +344,7 @@ impl mlua::UserData for Instance{
 			let index_str=&*index.to_str()?;
 			dom_mut(lua,|dom|{
 				let instance=this.get_mut(dom)?;
-				let db=rbx_reflection_database::get().unwrap();
+				let db=rbx_reflection_database::get();
 				let class=db.classes.get(instance.class.as_str()).ok_or_else(||mlua::Error::runtime("Class missing"))?;
 				let property=db.superclasses_iter(class).find_map(|cls|
 					cls.properties.get(index_str)

map-tool/Cargo.toml

@@ -13,10 +13,10 @@ futures = "0.3.31"
 image = "0.25.2"
 image_dds = "0.7.1"
 rbx_asset = { version = "0.5.0", registry = "strafesnet" }
-rbx_binary = "2.0.1"
-rbx_dom_weak = "4.1.0"
-rbx_reflection_database = "2.0.2"
-rbx_xml = "2.0.1"
+rbx_binary  = { version = "1.0.1-sn5", registry = "strafesnet" }
+rbx_dom_weak =  { version = "3.0.1-sn5", registry = "strafesnet" }
+rbx_reflection_database = "1.0.0"
+rbx_xml = { version = "1.0.1-sn5", registry = "strafesnet" }
 rbxassetid = { version = "0.1.0", registry = "strafesnet" }
 strafesnet_bsp_loader = { version = "0.3.1", path = "../lib/bsp_loader", registry = "strafesnet" }
 strafesnet_deferred_loader = { version = "0.5.1", path = "../lib/deferred_loader", registry = "strafesnet" }