please fix this man

global.mouse.time
physics.time

src/aabb.rs

@@ -1,91 +0,0 @@
-#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
-pub enum AabbFace{
-	Right,//+X
-	Top,
-	Back,
-	Left,
-	Bottom,
-	Front,
-}
-#[derive(Clone)]
-pub struct Aabb {
-	pub min: glam::Vec3,
-	pub max: glam::Vec3,
-}
-
-impl Default for Aabb {
-	fn default() -> Self {
-		Aabb::new()
-	}
-}
-
-impl Aabb {
-	const VERTEX_DATA: [glam::Vec3; 8] = [
-		glam::vec3(1., -1., -1.),
-		glam::vec3(1., 1., -1.),
-		glam::vec3(1., 1., 1.),
-		glam::vec3(1., -1., 1.),
-		glam::vec3(-1., -1., 1.),
-		glam::vec3(-1., 1., 1.),
-		glam::vec3(-1., 1., -1.),
-		glam::vec3(-1., -1., -1.),
-	];
-
-	pub fn new() -> Self {
-		Self {min: glam::Vec3::INFINITY,max: glam::Vec3::NEG_INFINITY}
-	}
-
-	pub fn grow(&mut self, point:glam::Vec3){
-		self.min=self.min.min(point);
-		self.max=self.max.max(point);
-	}
-	pub fn join(&mut self, aabb:&Aabb){
-		self.min=self.min.min(aabb.min);
-		self.max=self.max.max(aabb.max);
-	}
-	pub fn inflate(&mut self, hs:glam::Vec3){
-		self.min-=hs;
-		self.max+=hs;
-	}
-	pub fn intersects(&self,aabb:&Aabb)->bool{
-		(self.min.cmplt(aabb.max)&aabb.min.cmplt(self.max)).all()
-	}
-	pub fn normal(face:AabbFace) -> glam::Vec3 {
-		match face {
-			AabbFace::Right => glam::vec3(1.,0.,0.),
-			AabbFace::Top => glam::vec3(0.,1.,0.),
-			AabbFace::Back => glam::vec3(0.,0.,1.),
-			AabbFace::Left => glam::vec3(-1.,0.,0.),
-			AabbFace::Bottom => glam::vec3(0.,-1.,0.),
-			AabbFace::Front => glam::vec3(0.,0.,-1.),
-		}
-	}
-	pub fn unit_vertices() -> [glam::Vec3;8] {
-		return Self::VERTEX_DATA;
-	}
-	pub fn face(&self,face:AabbFace) -> Aabb {
-		let mut aabb=self.clone();
-		//in this implementation face = worldspace aabb face
-		match face {
-			AabbFace::Right => aabb.min.x=aabb.max.x,
-			AabbFace::Top => aabb.min.y=aabb.max.y,
-			AabbFace::Back => aabb.min.z=aabb.max.z,
-			AabbFace::Left => aabb.max.x=aabb.min.x,
-			AabbFace::Bottom => aabb.max.y=aabb.min.y,
-			AabbFace::Front => aabb.max.z=aabb.min.z,
-		}
-		return aabb;
-	}
-	pub fn center(&self)->glam::Vec3{
-		return (self.min+self.max)/2.0
-	}
-	//probably use floats for area & volume because we don't care about precision
-	pub fn area_weight(&self)->f32{
-		let d=self.max-self.min;
-		d.x*d.y+d.y*d.z+d.z*d.x
-	}
-	pub fn volume(&self)->f32{
-		let d=self.max-self.min;
-		d.x*d.y*d.z
-	}
-}

src/bvh.rs

@@ -1,107 +0,0 @@
-use crate::aabb::Aabb;
-
-//da algaritum
-//lista boxens
-//sort by {minx,maxx,miny,maxy,minz,maxz} (6 lists)
-//find the sets that minimizes the sum of surface areas
-//splitting is done when the minimum split sum of surface areas is larger than the node's own surface area
-
-//start with bisection into octrees because a bad bvh is still 1000x better than no bvh
-//sort the centerpoints on each axis (3 lists)
-//bv is put into octant based on whether it is upper or lower in each list
-#[derive(Default)]
-pub struct BvhNode{
-	children:Vec<Self>,
-	models:Vec<u32>,
-	aabb:Aabb,
-}
-
-impl BvhNode{
-	pub fn the_tester<F:FnMut(u32)>(&self,aabb:&Aabb,f:&mut F){
-		for &model in &self.models{
-			f(model);
-		}
-		for child in &self.children{
-			if aabb.intersects(&child.aabb){
-				child.the_tester(aabb,f);
-			}
-		}
-	}
-}
-
-pub fn generate_bvh(boxen:Vec<Aabb>)->BvhNode{
-	generate_bvh_node(boxen.into_iter().enumerate().collect())
-}
-
-fn generate_bvh_node(boxen:Vec<(usize,Aabb)>)->BvhNode{
-	let n=boxen.len();
-	if n<20{
-		let mut aabb=Aabb::new();
-		let models=boxen.into_iter().map(|b|{aabb.join(&b.1);b.0 as u32}).collect();
-		BvhNode{
-			children:Vec::new(),
-			models,
-			aabb,
-		}
-	}else{
-		let mut octant=std::collections::HashMap::with_capacity(n);//this ids which octant the boxen is put in
-		let mut sort_x=Vec::with_capacity(n);
-		let mut sort_y=Vec::with_capacity(n);
-		let mut sort_z=Vec::with_capacity(n);
-		for (i,aabb) in boxen.iter(){
-			let center=aabb.center();
-			octant.insert(*i,0);
-			sort_x.push((*i,center.x));
-			sort_y.push((*i,center.y));
-			sort_z.push((*i,center.z));
-		}
-		sort_x.sort_by(|tup0,tup1|tup0.1.partial_cmp(&tup1.1).unwrap());
-		sort_y.sort_by(|tup0,tup1|tup0.1.partial_cmp(&tup1.1).unwrap());
-		sort_z.sort_by(|tup0,tup1|tup0.1.partial_cmp(&tup1.1).unwrap());
-		let h=n/2;
-		let median_x=sort_x[h].1;
-		let median_y=sort_y[h].1;
-		let median_z=sort_z[h].1;
-		for (i,c) in sort_x{
-			if median_x<c{
-				octant.insert(i,octant[&i]+1<<0);
-			}
-		}
-		for (i,c) in sort_y{
-			if median_y<c{
-				octant.insert(i,octant[&i]+1<<1);
-			}
-		}
-		for (i,c) in sort_z{
-			if median_z<c{
-				octant.insert(i,octant[&i]+1<<2);
-			}
-		}
-		//generate lists for unique octant values
-		let mut list_list=Vec::with_capacity(8);
-		let mut octant_list=Vec::with_capacity(8);
-		for (i,aabb) in boxen.into_iter(){
-			let octant_id=octant[&i];
-			let list_id=if let Some(list_id)=octant_list.iter().position(|&id|id==octant_id){
-				list_id
-			}else{
-				let list_id=list_list.len();
-				octant_list.push(octant_id);
-				list_list.push(Vec::new());
-				list_id
-			};
-			list_list[list_id].push((i,aabb));
-		}
-		let mut aabb=Aabb::new();
-		let children=list_list.into_iter().map(|b|{
-			let node=generate_bvh_node(b);
-			aabb.join(&node.aabb);
-			node
-		}).collect();
-		BvhNode{
-			children,
-			models:Vec::new(),
-			aabb,
-		}
-	}
-}

src/main.rs

@@ -2,10 +2,10 @@ use std::{borrow::Cow, time::Instant};
 use wgpu::{util::DeviceExt, AstcBlock, AstcChannel};
 use model::{Vertex,ModelInstance,ModelGraphicsInstance};
 use physics::{InputInstruction, PhysicsInstruction};
-use instruction::{TimedInstruction, InstructionConsumer};
+use instruction::TimedInstruction;
+
+use crate::instruction::InstructionConsumer;
 
-mod bvh;
-mod aabb;
 mod model;
 mod zeroes;
 mod worker;
@@ -121,7 +121,7 @@ pub struct GlobalState{
 	manual_mouse_lock:bool,
 	mouse:physics::MouseState,
 	graphics:GraphicsState,
-	physics_thread:worker::CompatWorker<TimedInstruction<InputInstruction>,physics::PhysicsOutputState,Box<dyn FnMut(TimedInstruction<InputInstruction>)->physics::PhysicsOutputState>>,
+	physics_thread:worker::Worker<TimedInstruction<InputInstruction>,physics::PhysicsOutputState>,
 }
 
 impl GlobalState{
@@ -848,6 +848,7 @@ impl framework::Example for GlobalState {
 			//.snf = "SNMF"
 			//.snf = "SNBF"
 			if let (Ok(()),Ok(()))=(std::io::Read::read_exact(&mut input, &mut first_8),std::io::Seek::rewind(&mut input)){
+				//
 				if let Some(indexed_model_instances)={
 					match &first_8[0..4]{
 						b"<rob"=>{
@@ -881,7 +882,7 @@ impl framework::Example for GlobalState {
 					physics.spawn_point=spawn_point;
 					physics.process_instruction(instruction::TimedInstruction{
 						time:physics.time,
-						instruction: PhysicsInstruction::Input(physics::PhysicsInputInstruction::Reset),
+						instruction: PhysicsInstruction::Input(InputInstruction::Reset),
 					});
 					physics.generate_models(&indexed_model_instances);
 					self.physics_thread=physics.into_worker();

src/physics.rs

@@ -13,22 +13,7 @@ pub enum PhysicsInstruction {
 	// 	bool,//true = Force
 	// )
 	//InputInstructions conditionally activate RefreshWalkTarget (by doing what SetWalkTargetVelocity used to do and then flagging it)
-	Input(PhysicsInputInstruction),
-}
-#[derive(Debug)]
-pub enum PhysicsInputInstruction {
-	ReplaceMouse(MouseState,MouseState),
-	SetNextMouse(MouseState),
-	SetMoveForward(bool),
-	SetMoveLeft(bool),
-	SetMoveBack(bool),
-	SetMoveRight(bool),
-	SetMoveUp(bool),
-	SetMoveDown(bool),
-	SetJump(bool),
-	SetZoom(bool),
-	Reset,
-	Idle,
+	Input(InputInstruction),
 }
 #[derive(Debug)]
 pub enum InputInstruction {
@@ -107,7 +92,7 @@ impl crate::instruction::InstructionConsumer<InputInstruction> for InputState{
 */
 
 //hey dumbass just use a delta
-#[derive(Clone,Debug)]
+#[derive(Clone)]
 pub struct MouseState {
 	pub pos: glam::IVec2,
 	pub time: TIME,
@@ -121,6 +106,10 @@ impl Default for MouseState{
 	}
 }
 impl MouseState {
+	pub fn move_mouse(&mut self,pos:glam::IVec2,time:TIME){
+		self.time=time;
+		self.pos=pos;
+	}
 	pub fn lerp(&self,target:&MouseState,time:TIME)->glam::IVec2 {
 		let m0=self.pos.as_i64vec2();
 		let m1=target.pos.as_i64vec2();
@@ -297,7 +286,6 @@ pub struct PhysicsState{
 	pub grounded:bool,
 	//all models
 	pub models:Vec<ModelPhysics>,
-	pub bvh:crate::bvh::BvhNode,
 	
 	pub modes:Vec<crate::model::ModeDescription>,
 	pub mode_from_mode_id:std::collections::HashMap::<u32,usize>,
@@ -312,13 +300,118 @@ pub struct PhysicsOutputState{
 }
 impl PhysicsOutputState{
 	pub fn adjust_mouse(&self,mouse:&MouseState)->(glam::Vec3,glam::Vec2){
-		(self.body.extrapolated_position(mouse.time)+self.camera.offset,self.camera.simulate_move_angles(mouse.pos).as_vec2())
+		(self.body.extrapolated_position(mouse.time),self.camera.simulate_move_angles(mouse.pos).as_vec2())
+	}
+}
+
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub enum AabbFace{
+	Right,//+X
+	Top,
+	Back,
+	Left,
+	Bottom,
+	Front,
+}
+#[derive(Clone)]
+pub struct Aabb {
+	min: glam::Vec3,
+	max: glam::Vec3,
+}
+
+impl Aabb {
+	// const FACE_DATA: [[f32; 3]; 6] = [
+	// 	[0.0f32, 0., 1.],
+	// 	[0.0f32, 0., -1.],
+	// 	[1.0f32, 0., 0.],
+	// 	[-1.0f32, 0., 0.],
+	// 	[0.0f32, 1., 0.],
+	// 	[0.0f32, -1., 0.],
+	// ];
+	const VERTEX_DATA: [glam::Vec3; 8] = [
+		glam::vec3(1., -1., -1.),
+		glam::vec3(1., 1., -1.),
+		glam::vec3(1., 1., 1.),
+		glam::vec3(1., -1., 1.),
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(-1., 1., 1.),
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(-1., -1., -1.),
+	];
+	const VERTEX_DATA_RIGHT: [glam::Vec3; 4] = [
+		glam::vec3(1., -1., -1.),
+		glam::vec3(1., 1., -1.),
+		glam::vec3(1., 1., 1.),
+		glam::vec3(1., -1., 1.),
+	];
+	const VERTEX_DATA_TOP: [glam::Vec3; 4] = [
+		glam::vec3(1., 1., -1.),
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(-1., 1., 1.),
+		glam::vec3(1., 1., 1.),
+	];
+	const VERTEX_DATA_BACK: [glam::Vec3; 4] = [
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(1., -1., 1.),
+		glam::vec3(1., 1., 1.),
+		glam::vec3(-1., 1., 1.),
+	];
+	const VERTEX_DATA_LEFT: [glam::Vec3; 4] = [
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(-1., 1., 1.),
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(-1., -1., -1.),
+	];
+	const VERTEX_DATA_BOTTOM: [glam::Vec3; 4] = [
+		glam::vec3(1., -1., 1.),
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(-1., -1., -1.),
+		glam::vec3(1., -1., -1.),
+	];
+	const VERTEX_DATA_FRONT: [glam::Vec3; 4] = [
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(1., 1., -1.),
+		glam::vec3(1., -1., -1.),
+		glam::vec3(-1., -1., -1.),
+	];
+
+	pub fn new() -> Self {
+		Self {min: glam::Vec3::INFINITY,max: glam::Vec3::NEG_INFINITY}
+	}
+
+	pub fn grow(&mut self, point:glam::Vec3){
+		self.min=self.min.min(point);
+		self.max=self.max.max(point);
+	}
+
+	pub fn normal(face:AabbFace) -> glam::Vec3 {
+		match face {
+			AabbFace::Right => glam::vec3(1.,0.,0.),
+			AabbFace::Top => glam::vec3(0.,1.,0.),
+			AabbFace::Back => glam::vec3(0.,0.,1.),
+			AabbFace::Left => glam::vec3(-1.,0.,0.),
+			AabbFace::Bottom => glam::vec3(0.,-1.,0.),
+			AabbFace::Front => glam::vec3(0.,0.,-1.),
+		}
+	}
+	pub fn unit_vertices() -> [glam::Vec3;8] {
+		return Self::VERTEX_DATA;
+	}
+	pub fn unit_face_vertices(face:AabbFace) -> [glam::Vec3;4] {
+		match face {
+			AabbFace::Right => Self::VERTEX_DATA_RIGHT,
+			AabbFace::Top => Self::VERTEX_DATA_TOP,
+			AabbFace::Back => Self::VERTEX_DATA_BACK,
+			AabbFace::Left => Self::VERTEX_DATA_LEFT,
+			AabbFace::Bottom => Self::VERTEX_DATA_BOTTOM,
+			AabbFace::Front => Self::VERTEX_DATA_FRONT,
+		}
 	}
 }
 
 //pretend to be using what we want to eventually do
-type TreyMeshFace = crate::aabb::AabbFace;
-type TreyMesh = crate::aabb::Aabb;
+type TreyMeshFace = AabbFace;
+type TreyMesh = Aabb;
 
 enum PhysicsCollisionAttributes{
 	Contact{//track whether you are contacting the object
@@ -341,7 +434,7 @@ pub struct ModelPhysics {
 
 impl ModelPhysics {
 	fn from_model_transform_attributes(model:&crate::model::IndexedModel,transform:&glam::Affine3A,attributes:PhysicsCollisionAttributes)->Self{
-		let mut aabb=TreyMesh::new();
+		let mut aabb=Aabb::new();
 		for indexed_vertex in &model.unique_vertices {
 			aabb.grow(transform.transform_point3(glam::Vec3::from_array(model.unique_pos[indexed_vertex.pos as usize])));
 		}
@@ -359,16 +452,29 @@ impl ModelPhysics {
 		}
 	}
 	pub fn unit_vertices(&self) -> [glam::Vec3;8] {
-		TreyMesh::unit_vertices()
+		Aabb::unit_vertices()
 	}
 	pub fn mesh(&self) -> &TreyMesh {
 		return &self.mesh;
 	}
-	pub fn face_mesh(&self,face:TreyMeshFace)->TreyMesh{
-		self.mesh.face(face)
+	pub fn unit_face_vertices(&self,face:TreyMeshFace) -> [glam::Vec3;4] {
+		Aabb::unit_face_vertices(face)
+	}
+	pub fn face_mesh(&self,face:TreyMeshFace) -> TreyMesh {
+		let mut aabb=self.mesh.clone();
+		//in this implementation face = worldspace aabb face
+		match face {
+			AabbFace::Right => aabb.min.x=aabb.max.x,
+			AabbFace::Top => aabb.min.y=aabb.max.y,
+			AabbFace::Back => aabb.min.z=aabb.max.z,
+			AabbFace::Left => aabb.max.x=aabb.min.x,
+			AabbFace::Bottom => aabb.max.y=aabb.min.y,
+			AabbFace::Front => aabb.max.z=aabb.min.z,
+		}
+		return aabb;
 	}
 	pub fn face_normal(&self,face:TreyMeshFace) -> glam::Vec3 {
-		TreyMesh::normal(face)//this is wrong for scale
+		Aabb::normal(face)//this is wrong for scale
 	}
 }
 
@@ -429,7 +535,6 @@ impl Default for PhysicsState{
 			contacts: std::collections::HashMap::new(),
 			intersects: std::collections::HashMap::new(),
 			models: Vec::new(),
-			bvh:crate::bvh::BvhNode::default(),
 			walk: WalkState::new(),
 			camera: PhysicsCamera::from_offset(glam::vec3(0.0,4.5-2.5,0.0)),
 			next_mouse: MouseState::default(),
@@ -450,80 +555,53 @@ impl PhysicsState {
 		self.intersects.clear();
 	}
 
-	pub fn into_worker(mut self)->crate::worker::CompatWorker<TimedInstruction<InputInstruction>,PhysicsOutputState,Box<dyn FnMut(TimedInstruction<InputInstruction>)->PhysicsOutputState>>{
-		let mut mouse_blocking=true;
-		let mut last_mouse_time=self.next_mouse.time;
+	pub fn into_worker(mut self)->crate::worker::Worker<TimedInstruction<InputInstruction>,PhysicsOutputState>{
+		let mut last_time=0;
+			//last_time: this indicates the last time the mouse position was known.
+			//Only used to generate a MouseState right before mouse movement
+			//to finalize a long period of no movement and avoid interpolating from a long out-of-date MouseState.
+		let mut mouse_blocking=true;//waiting for next_mouse to be written
 		let mut timeline=std::collections::VecDeque::new();
-		crate::worker::CompatWorker::new(self.output(),Box::new(move |ins:TimedInstruction<InputInstruction>|{
-			if if let Some(phys_input)=match ins.instruction{
-				InputInstruction::MoveMouse(m)=>{
-					if mouse_blocking{
-						//tell the game state which is living in the past about its future
-						timeline.push_front(TimedInstruction{
-							time:last_mouse_time,
-							instruction:PhysicsInputInstruction::SetNextMouse(MouseState{time:ins.time,pos:m}),
-						});
-					}else{
-						//mouse has just started moving again after being still for longer than 10ms.
-						//replace the entire mouse interpolation state to avoid an intermediate state with identical m0.t m1.t timestamps which will divide by zero
-						timeline.push_front(TimedInstruction{
-							time:last_mouse_time,
-							instruction:PhysicsInputInstruction::ReplaceMouse(
-								MouseState{time:last_mouse_time,pos:self.next_mouse.pos},
-								MouseState{time:ins.time,pos:m}
-							),
-						});
-						//delay physics execution until we have an interpolation target
-						mouse_blocking=true;
+		crate::worker::Worker::new(self.output(),move |ins:TimedInstruction<InputInstruction>|{
+			let run_queue=match &ins.instruction{
+				InputInstruction::MoveMouse(_)=>{
+			//I FORGOT TO EDIT THE MOVE MOUSE TIMESTAMPS
+					if !mouse_blocking{
+						//mouse has not been moving for a while.
+						//make sure not to interpolate between two distant MouseStates.
+						//generate a mouse instruction with no movement timestamped at last InputInstruction
+						//Idle instructions are CRITICAL to keeping this value up to date
+						//interpolate normally (now that prev mouse pos is up to date)
+						// timeline.push_back(TimedInstruction{
+						// 	time:last_time,
+						// 	instruction:InputInstruction::MoveMouse(self.next_mouse.pos),
+						// });
 					}
-					last_mouse_time=ins.time;
-					None
+					mouse_blocking=true;//block physics until the next mouse event or mouse event timeout.
+					true//empty queue
 				},
-				InputInstruction::MoveForward(s)=>Some(PhysicsInputInstruction::SetMoveForward(s)),
-				InputInstruction::MoveLeft(s)=>Some(PhysicsInputInstruction::SetMoveLeft(s)),
-				InputInstruction::MoveBack(s)=>Some(PhysicsInputInstruction::SetMoveBack(s)),
-				InputInstruction::MoveRight(s)=>Some(PhysicsInputInstruction::SetMoveRight(s)),
-				InputInstruction::MoveUp(s)=>Some(PhysicsInputInstruction::SetMoveUp(s)),
-				InputInstruction::MoveDown(s)=>Some(PhysicsInputInstruction::SetMoveDown(s)),
-				InputInstruction::Jump(s)=>Some(PhysicsInputInstruction::SetJump(s)),
-				InputInstruction::Zoom(s)=>Some(PhysicsInputInstruction::SetZoom(s)),
-				InputInstruction::Reset=>Some(PhysicsInputInstruction::Reset),
-				InputInstruction::Idle=>Some(PhysicsInputInstruction::Idle),
-			}{
-				//non-mouse event
-				timeline.push_back(TimedInstruction{
-					time:ins.time,
-					instruction:phys_input,
-				});
-				
-				if mouse_blocking{
-					//assume the mouse has stopped moving after 10ms.
-					//shitty mice are 125Hz which is 8ms so this should cover that.
-					//setting this to 100us still doesn't print even though it's 10x lower than the polling rate,
-					//so mouse events are probably not handled separately from drawing and fire right before it :(
-					if 10_000_000<ins.time-self.next_mouse.time{
-						//push an event to extrapolate no movement from
-						timeline.push_front(TimedInstruction{
-							time:last_mouse_time,
-							instruction:PhysicsInputInstruction::SetNextMouse(MouseState{time:ins.time,pos:self.next_mouse.pos}),
-						});
-						last_mouse_time=ins.time;
-						//stop blocking. the mouse is not moving so the physics does not need to live in the past and wait for interpolation targets.
-						mouse_blocking=false;
-						true
+				_=>{
+					if mouse_blocking{
+						//maybe I can turn this inside out by making this anotehr state machine where 50_000_000 is an instruction timestamp
+						//check if last mouse move is within 50ms
+						if ins.time-self.next_mouse.time<50_000_000{
+							false//do not empty queue
+						}else{
+							mouse_blocking=false;
+							// timeline.push_back(TimedInstruction{
+							// 	time:ins.time,
+							// 	instruction:InputInstruction::MoveMouse(self.next_mouse.pos),
+							// });
+							true
+						}
 					}else{
-						false
+						true
 					}
-				}else{
-					//keep this up to date so that it can be used as a known-timestamp
-					//that the mouse was not moving when the mouse starts moving again
-					last_mouse_time=ins.time;
-					true
-				}
-			}else{
-				//mouse event
-				true
-			}{
+				},
+			};
+			last_time=ins.time;
+			timeline.push_back(ins);
+			if run_queue{
 				//empty queue
 				while let Some(instruction)=timeline.pop_front(){
 					self.run(instruction.time);
@@ -534,7 +612,7 @@ impl PhysicsState {
 				}
 			}
 			self.output()
-		}))
+		})
 	}
 
 	pub fn output(&self)->PhysicsOutputState{
@@ -566,7 +644,6 @@ impl PhysicsState {
 				}
 			}
 		}
-		self.bvh=crate::bvh::generate_bvh(self.models.iter().map(|m|m.mesh().clone()).collect());
 		//I don't wanna write structs for temporary structures
 		//this code builds ModeDescriptions from the unsorted lists at the top of the function
 		starts.sort_by_key(|tup|tup.0);
@@ -746,8 +823,8 @@ impl PhysicsState {
 		}
 	}
 	fn mesh(&self) -> TreyMesh {
-		let mut aabb=TreyMesh::new();
-		for vertex in TreyMesh::unit_vertices(){
+		let mut aabb=Aabb::new();
+		for vertex in Aabb::unit_vertices(){
 			aabb.grow(self.body.position+self.style.hitbox_halfsize*vertex);
 		}
 		aabb
@@ -764,7 +841,7 @@ impl PhysicsState {
 		let (v,a)=(-self.body.velocity,self.body.acceleration);
 		//collect x
 		match collision_data.face {
-			TreyMeshFace::Top|TreyMeshFace::Back|TreyMeshFace::Bottom|TreyMeshFace::Front=>{
+			AabbFace::Top|AabbFace::Back|AabbFace::Bottom|AabbFace::Front=>{
 				for t in zeroes2(mesh0.max.x-mesh1.min.x,v.x,0.5*a.x) {
 					//negative t = back in time
 					//must be moving towards surface to collide
@@ -792,14 +869,14 @@ impl PhysicsState {
 					}
 				}
 			},
-			TreyMeshFace::Left=>{
+			AabbFace::Left=>{
 				//generate event if v.x<0||a.x<0
 				if -v.x<0f32{
 					best_time=time;
 					exit_face=Some(TreyMeshFace::Left);
 				}
 			},
-			TreyMeshFace::Right=>{
+			AabbFace::Right=>{
 				//generate event if 0<v.x||0<a.x
 				if 0f32<(-v.x){
 					best_time=time;
@@ -809,7 +886,7 @@ impl PhysicsState {
 		}
 		//collect y
 		match collision_data.face {
-			TreyMeshFace::Left|TreyMeshFace::Back|TreyMeshFace::Right|TreyMeshFace::Front=>{
+			AabbFace::Left|AabbFace::Back|AabbFace::Right|AabbFace::Front=>{
 				for t in zeroes2(mesh0.max.y-mesh1.min.y,v.y,0.5*a.y) {
 					//negative t = back in time
 					//must be moving towards surface to collide
@@ -837,14 +914,14 @@ impl PhysicsState {
 					}
 				}
 			},
-			TreyMeshFace::Bottom=>{
+			AabbFace::Bottom=>{
 				//generate event if v.y<0||a.y<0
 				if -v.y<0f32{
 					best_time=time;
 					exit_face=Some(TreyMeshFace::Bottom);
 				}
 			},
-			TreyMeshFace::Top=>{
+			AabbFace::Top=>{
 				//generate event if 0<v.y||0<a.y
 				if 0f32<(-v.y){
 					best_time=time;
@@ -854,7 +931,7 @@ impl PhysicsState {
 		}
 		//collect z
 		match collision_data.face {
-			TreyMeshFace::Left|TreyMeshFace::Bottom|TreyMeshFace::Right|TreyMeshFace::Top=>{
+			AabbFace::Left|AabbFace::Bottom|AabbFace::Right|AabbFace::Top=>{
 				for t in zeroes2(mesh0.max.z-mesh1.min.z,v.z,0.5*a.z) {
 					//negative t = back in time
 					//must be moving towards surface to collide
@@ -882,14 +959,14 @@ impl PhysicsState {
 					}
 				}
 			},
-			TreyMeshFace::Front=>{
+			AabbFace::Front=>{
 				//generate event if v.z<0||a.z<0
 				if -v.z<0f32{
 					best_time=time;
 					exit_face=Some(TreyMeshFace::Front);
 				}
 			},
-			TreyMeshFace::Back=>{
+			AabbFace::Back=>{
 				//generate event if 0<v.z||0<a.z
 				if 0f32<(-v.z){
 					best_time=time;
@@ -907,18 +984,18 @@ impl PhysicsState {
 		None
 	}
 	fn predict_collision_start(&self,time:TIME,time_limit:TIME,model_id:u32) -> Option<TimedInstruction<PhysicsInstruction>> {
-		let mesh0=self.mesh();
-		let mesh1=self.models.get(model_id as usize).unwrap().mesh();
-		let (p,v,a,time)=(self.body.position,self.body.velocity,self.body.acceleration,self.body.time);
 		//find best t
 		let mut best_time=time_limit;
 		let mut best_face:Option<TreyMeshFace>=None;
+		let mesh0=self.mesh();
+		let mesh1=self.models.get(model_id as usize).unwrap().mesh();
+		let (p,v,a)=(self.body.position,self.body.velocity,self.body.acceleration);
 		//collect x
 		for t in zeroes2(mesh0.max.x-mesh1.min.x,v.x,0.5*a.x) {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&0f32<v.x+a.x*t{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -934,7 +1011,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&v.x+a.x*t<0f32{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -951,7 +1028,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&0f32<v.y+a.y*t{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -967,7 +1044,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&v.y+a.y*t<0f32{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -984,7 +1061,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&0f32<v.z+a.z*t{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -1000,7 +1077,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&v.z+a.z*t<0f32{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -1039,15 +1116,13 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 		// 	collector.collect(self.predict_collision_end2(self.time,time_limit,collision_data));
 		// }
 		//check for collision start instructions (against every part in the game with no optimization!!)
-		let mut aabb=crate::aabb::Aabb::new();
-		aabb.grow(self.body.extrapolated_position(self.time));
-		aabb.grow(self.body.extrapolated_position(time_limit));
-		aabb.inflate(self.style.hitbox_halfsize);
-		self.bvh.the_tester(&aabb,&mut |id|{
-			if !(self.contacts.contains_key(&id)||self.intersects.contains_key(&id)){
-				collector.collect(self.predict_collision_start(self.time,time_limit,id));
+		for i in 0..self.models.len() {
+			let i=i as u32;
+			if self.contacts.contains_key(&i)||self.intersects.contains_key(&i){
+				continue;
 			}
-		});
+			collector.collect(self.predict_collision_start(self.time,time_limit,i));
+		}
 		if self.grounded {
 			//walk maintenance
 			collector.collect(self.next_walk_instruction());
@@ -1062,11 +1137,10 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsState {
 	fn process_instruction(&mut self, ins:TimedInstruction<PhysicsInstruction>) {
 		match &ins.instruction {
-			PhysicsInstruction::Input(PhysicsInputInstruction::Idle)
-			|PhysicsInstruction::Input(PhysicsInputInstruction::SetNextMouse(_))
-			|PhysicsInstruction::Input(PhysicsInputInstruction::ReplaceMouse(_,_))
+			PhysicsInstruction::Input(InputInstruction::Idle)
+			|PhysicsInstruction::Input(InputInstruction::MoveMouse(_))
 			|PhysicsInstruction::StrafeTick => (),
-			_=>println!("{}|{:?}",ins.time,ins.instruction),
+			_=>println!("{:?}",ins),
 		}
 		//selectively update body
 		match &ins.instruction {
@@ -1085,7 +1159,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						match &contacting.surf{
 							Some(surf)=>println!("I'm surfing!"),
 							None=>match &c.face {
-								TreyMeshFace::Top => {
+								AabbFace::Top => {
 									//ground
 									self.grounded=true;
 								},
@@ -1155,7 +1229,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						self.body.acceleration=a;
 						//check ground
 						match &c.face {
-							TreyMeshFace::Top => {
+							AabbFace::Top => {
 								self.grounded=false;
 							},
 							_ => (),
@@ -1191,32 +1265,29 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 				let mut refresh_walk_target=true;
 				let mut refresh_walk_target_velocity=true;
 				match input_instruction{
-					PhysicsInputInstruction::SetNextMouse(m) => {
+					InputInstruction::MoveMouse(m) => {
 						self.camera.angles=self.camera.simulate_move_angles(self.next_mouse.pos);
-						(self.camera.mouse,self.next_mouse)=(self.next_mouse.clone(),m);
+						self.camera.mouse.move_mouse(self.next_mouse.pos,self.next_mouse.time);
+						self.next_mouse.move_mouse(m,self.time);
 					},
-					PhysicsInputInstruction::ReplaceMouse(m0,m1) => {
-						self.camera.angles=self.camera.simulate_move_angles(m0.pos);
-						(self.camera.mouse,self.next_mouse)=(m0,m1);
-					},
-					PhysicsInputInstruction::SetMoveForward(s) => self.set_control(StyleModifiers::CONTROL_MOVEFORWARD,s),
-					PhysicsInputInstruction::SetMoveLeft(s) => self.set_control(StyleModifiers::CONTROL_MOVELEFT,s),
-					PhysicsInputInstruction::SetMoveBack(s) => self.set_control(StyleModifiers::CONTROL_MOVEBACK,s),
-					PhysicsInputInstruction::SetMoveRight(s) => self.set_control(StyleModifiers::CONTROL_MOVERIGHT,s),
-					PhysicsInputInstruction::SetMoveUp(s) => self.set_control(StyleModifiers::CONTROL_MOVEUP,s),
-					PhysicsInputInstruction::SetMoveDown(s) => self.set_control(StyleModifiers::CONTROL_MOVEDOWN,s),
-					PhysicsInputInstruction::SetJump(s) => {
+					InputInstruction::MoveForward(s) => self.set_control(StyleModifiers::CONTROL_MOVEFORWARD,s),
+					InputInstruction::MoveLeft(s) => self.set_control(StyleModifiers::CONTROL_MOVELEFT,s),
+					InputInstruction::MoveBack(s) => self.set_control(StyleModifiers::CONTROL_MOVEBACK,s),
+					InputInstruction::MoveRight(s) => self.set_control(StyleModifiers::CONTROL_MOVERIGHT,s),
+					InputInstruction::MoveUp(s) => self.set_control(StyleModifiers::CONTROL_MOVEUP,s),
+					InputInstruction::MoveDown(s) => self.set_control(StyleModifiers::CONTROL_MOVEDOWN,s),
+					InputInstruction::Jump(s) => {
 						self.set_control(StyleModifiers::CONTROL_JUMP,s);
 						if self.grounded{
 							self.jump();
 						}
 						refresh_walk_target_velocity=false;
 					},
-					PhysicsInputInstruction::SetZoom(s) => {
+					InputInstruction::Zoom(s) => {
 						self.set_control(StyleModifiers::CONTROL_ZOOM,s);
 						refresh_walk_target=false;
 					},
-					PhysicsInputInstruction::Reset => {
+					InputInstruction::Reset => {
 						//temp
 						self.body.position=self.spawn_point;
 						self.body.velocity=glam::Vec3::ZERO;
@@ -1227,7 +1298,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						self.grounded=false;
 						refresh_walk_target=false;
 					},
-					PhysicsInputInstruction::Idle => {refresh_walk_target=false;},//literally idle!
+					InputInstruction::Idle => {refresh_walk_target=false;},//literally idle!
 				}
 				if refresh_walk_target{
 					//calculate walk target velocity

src/worker.rs

@@ -45,31 +45,6 @@ impl<Task:Send+'static,Value:Clone+Send+'static> Worker<Task,Value> {
 	}
 }
 
-pub struct CompatWorker<Task,Value:Clone,F>{
-	data:std::marker::PhantomData<Task>,
-	f:F,
-	value:Value,
-}
-
-impl<Task,Value:Clone,F:FnMut(Task)->Value> CompatWorker<Task,Value,F> {
-	pub fn new(value:Value,f:F) -> Self {
-		Self {
-			f,
-			value,
-			data:std::marker::PhantomData,
-		}
-	}
-
-	pub fn send(&mut self,task:Task)->Result<(),()>{
-		self.value=(self.f)(task);
-		Ok(())
-	}
-
-	pub fn grab_clone(&self)->Value{
-		self.value.clone()
-	}
-}
-
 #[test]//How to run this test with printing: cargo test --release -- --nocapture
 fn test_worker() {
 	println!("hiiiii");