expect two events

engine/graphics/Cargo.toml

@@ -11,7 +11,7 @@ id = { version = "0.1.0", registry = "strafesnet" }
 strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
 strafesnet_session = { path = "../session", registry = "strafesnet" }
 strafesnet_settings = { path = "../settings", registry = "strafesnet" }
-wgpu = "28.0.0"
+wgpu = "27.0.0"
 
 [lints]
 workspace = true

engine/graphics/src/graphics.rs

@@ -5,7 +5,7 @@ use strafesnet_settings::settings;
 use strafesnet_session::session;
 use strafesnet_common::model::{self, ColorId, NormalId, PolygonIter, PositionId, RenderConfigId, TextureCoordinateId, VertexId};
 use wgpu::{util::DeviceExt,AstcBlock,AstcChannel};
-use crate::model::{self as model_graphics,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelColor4,GraphicsModelOwned,GraphicsVertex,DebugGraphicsVertex};
+use crate::model::{self as model_graphics,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelColor4,GraphicsModelOwned,GraphicsVertex};
 
 pub fn required_limits()->wgpu::Limits{
 	wgpu::Limits::default()
@@ -36,22 +36,12 @@ struct GraphicsModel{
 	instance_count:u32,
 }
 
-struct DebugGraphicsMesh{
-	indices:Indices,
-	vertex_buf:wgpu::Buffer,
-}
-struct DebugGraphicsModel{
-	debug_mesh_id:u32,
-	bind_group:wgpu::BindGroup,
-}
-
 struct GraphicsSamplers{
 	repeat:wgpu::Sampler,
 }
 
 struct GraphicsBindGroupLayouts{
 	model:wgpu::BindGroupLayout,
-	debug_model:wgpu::BindGroupLayout,
 }
 
 struct GraphicsBindGroups{
@@ -62,7 +52,6 @@ struct GraphicsBindGroups{
 struct GraphicsPipelines{
 	skybox:wgpu::RenderPipeline,
 	model:wgpu::RenderPipeline,
-	debug:wgpu::RenderPipeline,
 }
 
 struct GraphicsCamera{
@@ -143,8 +132,6 @@ pub struct GraphicsState{
 	camera_buf:wgpu::Buffer,
 	temp_squid_texture_view:wgpu::TextureView,
 	models:Vec<GraphicsModel>,
-	debug_meshes:Vec<DebugGraphicsMesh>,
-	debug_models:Vec<DebugGraphicsModel>,
 	depth_view:wgpu::TextureView,
 	staging_belt:wgpu::util::StagingBelt,
 }
@@ -179,76 +166,6 @@ impl GraphicsState{
 		self.camera.fov=user_settings.calculate_fov(1.0,&self.camera.screen_size).as_vec2();
 	}
 	pub fn generate_models(&mut self,device:&wgpu::Device,queue:&wgpu::Queue,map:&map::CompleteMap){
-		//generate debug meshes, each debug model refers to one
-		self.debug_meshes=map.meshes.iter().map(|mesh|{
-			let vertices:Vec<DebugGraphicsVertex>=mesh.unique_vertices.iter().map(|vertex|{
-				DebugGraphicsVertex{
-					pos:mesh.unique_pos[vertex.pos.get() as usize].to_array().map(Into::into),
-					normal:mesh.unique_normal[vertex.normal.get() as usize].to_array().map(Into::into),
-				}
-			}).collect();
-			let vertex_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
-				label:Some("Vertex"),
-				contents:bytemuck::cast_slice(&vertices),
-				usage:wgpu::BufferUsages::VERTEX,
-			});
-
-			let mut indices=Vec::new();
-			for physics_group in &mesh.physics_groups{
-				for polygon_group_id in &physics_group.groups{
-					for poly in mesh.polygon_groups[polygon_group_id.get() as usize].polys(){
-						// triangulate
-						let mut poly_vertices=poly.into_iter().copied();
-						if let (Some(a),Some(mut b))=(poly_vertices.next(),poly_vertices.next()){
-							for c in poly_vertices{
-								indices.extend([a,b,c]);
-								b=c;
-							}
-						}
-					}
-				}
-			}
-
-			DebugGraphicsMesh{
-				indices:if (u32::MAX as usize)<vertices.len(){
-					panic!("Model has too many vertices!")
-				}else if (u16::MAX as usize)<vertices.len(){
-					Indices::new(device,&indices.into_iter().map(|vertex_idx|vertex_idx.get() as u32).collect(),wgpu::IndexFormat::Uint32)
-				}else{
-					Indices::new(device,&indices.into_iter().map(|vertex_idx|vertex_idx.get() as u16).collect(),wgpu::IndexFormat::Uint16)
-				},
-				vertex_buf,
-			}
-		}).collect();
-
-		//generate debug models, only one will be rendered at a time
-		self.debug_models=map.models.iter().enumerate().map(|(model_id,model)|{
-			let model_uniforms=get_instances_buffer_data(&[GraphicsModelOwned{
-				transform:model.transform.into(),
-				normal_transform:glam::Mat3::from_cols_array_2d(&model.transform.matrix3.to_array().map(|row|row.map(Into::into))).inverse().transpose(),
-				color:GraphicsModelColor4::new(glam::vec4(1.0,0.0,0.0,0.2)),
-			}]);
-			let model_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
-				label:Some(format!("Debug Model{} Buf",model_id).as_str()),
-				contents:bytemuck::cast_slice(&model_uniforms),
-				usage:wgpu::BufferUsages::UNIFORM|wgpu::BufferUsages::COPY_DST,
-			});
-			let bind_group=device.create_bind_group(&wgpu::BindGroupDescriptor{
-				layout:&self.bind_group_layouts.debug_model,
-				entries:&[
-					wgpu::BindGroupEntry{
-						binding:0,
-						resource:model_buf.as_entire_binding(),
-					},
-				],
-				label:Some(format!("Debug Model{} Bind Group",model_id).as_str()),
-			});
-			DebugGraphicsModel{
-				debug_mesh_id:model.mesh.get(),
-				bind_group,
-			}
-		}).collect();
-
 		//generate texture view per texture
 		let texture_views:HashMap<model::TextureId,wgpu::TextureView>=map.textures.iter().enumerate().filter_map(|(texture_id,texture_data)|{
 			let texture_id=model::TextureId::new(texture_id as u32);
@@ -691,21 +608,6 @@ impl GraphicsState{
 				},
 			],
 		});
-		let debug_model_bind_group_layout=device.create_bind_group_layout(&wgpu::BindGroupLayoutDescriptor{
-			label:Some("Debug Model Bind Group Layout"),
-			entries:&[
-				wgpu::BindGroupLayoutEntry{
-					binding:0,
-					visibility:wgpu::ShaderStages::VERTEX_FRAGMENT,
-					ty:wgpu::BindingType::Buffer{
-						ty:wgpu::BufferBindingType::Uniform,
-						has_dynamic_offset:false,
-						min_binding_size:None,
-					},
-					count:None,
-				},
-			],
-		});
 
 		let clamp_sampler=device.create_sampler(&wgpu::SamplerDescriptor{
 			label:Some("Clamp Sampler"),
@@ -714,7 +616,7 @@ impl GraphicsState{
 			address_mode_w:wgpu::AddressMode::ClampToEdge,
 			mag_filter:wgpu::FilterMode::Linear,
 			min_filter:wgpu::FilterMode::Linear,
-			mipmap_filter:wgpu::MipmapFilterMode::Linear,
+			mipmap_filter:wgpu::FilterMode::Linear,
 			..Default::default()
 		});
 		let repeat_sampler=device.create_sampler(&wgpu::SamplerDescriptor{
@@ -724,7 +626,7 @@ impl GraphicsState{
 			address_mode_w:wgpu::AddressMode::Repeat,
 			mag_filter:wgpu::FilterMode::Linear,
 			min_filter:wgpu::FilterMode::Linear,
-			mipmap_filter:wgpu::MipmapFilterMode::Linear,
+			mipmap_filter:wgpu::FilterMode::Linear,
 			anisotropy_clamp:16,
 			..Default::default()
 		});
@@ -852,23 +754,15 @@ impl GraphicsState{
 				&skybox_texture_bind_group_layout,
 				&model_bind_group_layout,
 			],
-			immediate_size:0,
+			push_constant_ranges:&[],
 		});
-		let debug_model_pipeline_layout=device.create_pipeline_layout(&wgpu::PipelineLayoutDescriptor{
-				label:None,
-				bind_group_layouts:&[
-					&camera_bind_group_layout,
-					&debug_model_bind_group_layout,
-				],
-				push_constant_ranges:&[],
-			});
 		let sky_pipeline_layout=device.create_pipeline_layout(&wgpu::PipelineLayoutDescriptor{
 			label:None,
 			bind_group_layouts:&[
 				&camera_bind_group_layout,
 				&skybox_texture_bind_group_layout,
 			],
-			immediate_size:0,
+			push_constant_ranges:&[],
 		});
 
 		// Create the render pipelines
@@ -899,7 +793,7 @@ impl GraphicsState{
 				bias:wgpu::DepthBiasState::default(),
 			}),
 			multisample:wgpu::MultisampleState::default(),
-			multiview_mask:None,
+			multiview:None,
 			cache:None,
 		});
 		let model_pipeline=device.create_render_pipeline(&wgpu::RenderPipelineDescriptor{
@@ -934,45 +828,6 @@ impl GraphicsState{
 				bias:wgpu::DepthBiasState::default(),
 			}),
 			multisample:wgpu::MultisampleState::default(),
-			multiview_mask:None,
-			cache:None,
-		});
-		let debug_model_pipeline=device.create_render_pipeline(&wgpu::RenderPipelineDescriptor{
-			label:Some("Debug Model Pipeline"),
-			layout:Some(&debug_model_pipeline_layout),
-			vertex:wgpu::VertexState{
-				module:&shader,
-				entry_point:Some("vs_debug"),
-				buffers:&[wgpu::VertexBufferLayout{
-					array_stride:size_of::<DebugGraphicsVertex>() as wgpu::BufferAddress,
-					step_mode:wgpu::VertexStepMode::Vertex,
-					attributes:&wgpu::vertex_attr_array![0=>Float32x3,1=>Float32x3],
-				}],
-				compilation_options:wgpu::PipelineCompilationOptions::default(),
-			},
-			fragment:Some(wgpu::FragmentState{
-				module:&shader,
-				entry_point:Some("fs_debug"),
-				targets:&[Some(wgpu::ColorTargetState{
-					format:config.view_formats[0],
-					blend:Some(wgpu::BlendState::ALPHA_BLENDING),
-					write_mask:wgpu::ColorWrites::default(),
-				})],
-				compilation_options:wgpu::PipelineCompilationOptions::default(),
-			}),
-			primitive:wgpu::PrimitiveState{
-				front_face:wgpu::FrontFace::Cw,
-				cull_mode:Some(wgpu::Face::Front),
-				..Default::default()
-			},
-			depth_stencil:Some(wgpu::DepthStencilState{
-				format:Self::DEPTH_FORMAT,
-				depth_write_enabled:true,
-				depth_compare:wgpu::CompareFunction::Always,
-				stencil:wgpu::StencilState::default(),
-				bias:wgpu::DepthBiasState::default(),
-			}),
-			multisample:wgpu::MultisampleState::default(),
 			multiview:None,
 			cache:None,
 		});
@@ -1015,8 +870,7 @@ impl GraphicsState{
 		Self{
 			pipelines:GraphicsPipelines{
 				skybox:sky_pipeline,
-				model:model_pipeline,
-				debug:debug_model_pipeline,
+				model:model_pipeline
 			},
 			bind_groups:GraphicsBindGroups{
 				camera:camera_bind_group,
@@ -1025,14 +879,9 @@ impl GraphicsState{
 			camera,
 			camera_buf,
 			models:Vec::new(),
-			debug_meshes:Vec::new(),
-			debug_models:Vec::new(),
 			depth_view,
-			staging_belt:wgpu::util::StagingBelt::new(device.clone(),0x100),
-			bind_group_layouts:GraphicsBindGroupLayouts{
-				model:model_bind_group_layout,
-				debug_model:debug_model_bind_group_layout,
-			},
+			staging_belt:wgpu::util::StagingBelt::new(0x100),
+			bind_group_layouts:GraphicsBindGroupLayouts{model:model_bind_group_layout},
 			samplers:GraphicsSamplers{repeat:repeat_sampler},
 			temp_squid_texture_view:squid_texture_view,
 		}
@@ -1069,6 +918,7 @@ impl GraphicsState{
 				&self.camera_buf,
 				0,
 				wgpu::BufferSize::new((camera_uniforms.len() * 4) as wgpu::BufferAddress).unwrap(),
+				device,
 			)
 			.copy_from_slice(bytemuck::cast_slice(&camera_uniforms));
 		//This code only needs to run when the uniforms change
@@ -1115,13 +965,11 @@ impl GraphicsState{
 				}),
 				timestamp_writes:Default::default(),
 				occlusion_query_set:Default::default(),
-				multiview_mask:None,
 			});
 
 			rpass.set_bind_group(0,&self.bind_groups.camera,&[]);
 			rpass.set_bind_group(1,&self.bind_groups.skybox_texture,&[]);
 
-			// Draw all models.
 			rpass.set_pipeline(&self.pipelines.model);
 			for model in &self.models{
 				rpass.set_bind_group(2,&model.bind_group,&[]);
@@ -1133,19 +981,6 @@ impl GraphicsState{
 
 			rpass.set_pipeline(&self.pipelines.skybox);
 			rpass.draw(0..3,0..1);
-
-			// render a single debug_model in red
-			if let Some(model_id)=frame_state.debug_model{
-				if let Some(model)=self.debug_models.get(model_id.get() as usize){
-					let mesh=&self.debug_meshes[model.debug_mesh_id as usize];
-					rpass.set_pipeline(&self.pipelines.debug);
-					rpass.set_bind_group(1,&model.bind_group,&[]);
-					rpass.set_vertex_buffer(0,mesh.vertex_buf.slice(..));
-					rpass.set_index_buffer(mesh.indices.buf.slice(..),mesh.indices.format);
-					//TODO: loop over triangle strips
-					rpass.draw_indexed(0..mesh.indices.count,0,0..1);
-				}
-			}
 		}
 
 		queue.submit(std::iter::once(encoder.finish()));

engine/graphics/src/model.rs

@@ -8,12 +8,6 @@ pub struct GraphicsVertex{
 	pub normal:[f32;3],
 	pub color:[f32;4],
 }
-#[derive(Clone,Copy,Pod,Zeroable)]
-#[repr(C)]
-pub struct DebugGraphicsVertex{
-	pub pos:[f32;3],
-	pub normal:[f32;3],
-}
 #[derive(Clone,Copy,id::Id)]
 pub struct IndexedGraphicsMeshOwnedRenderConfigId(u32);
 pub struct IndexedGraphicsMeshOwnedRenderConfig{

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

@@ -21,6 +21,12 @@ impl<M:MeshQuery> CrawlResult<M>{
 			CrawlResult::Hit(face,time)=>Some((face,time)),
 		}
 	}
+	pub fn miss(self)->Option<FEV<M>>{
+		match self{
+			CrawlResult::Miss(fev)=>Some(fev),
+			CrawlResult::Hit(_,_)=>None,
+		}
+	}
 }
 
 // TODO: move predict_collision_face_out algorithm in here or something

engine/physics/src/lib.rs

@@ -1,8 +1,7 @@
 mod body;
+mod push_solve;
 mod face_crawler;
 mod model;
-mod push_solve;
-mod minimum_difference;
 
 pub mod physics;
 

engine/physics/src/minimum_difference.rs

@@ -1,913 +0,0 @@
-use strafesnet_common::integer::vec3;
-use strafesnet_common::integer::vec3::Vector3;
-use strafesnet_common::integer::{Fixed,Planar64,Planar64Vec3};
-
-use crate::model::{DirectedEdge,FEV,MeshQuery};
-// TODO: remove mesh invert
-use crate::model::{MinkowskiMesh,MinkowskiVert};
-
-// This algorithm is based on Lua code
-// written by Trey Reynolds in 2021
-
-type Simplex<const N:usize,Vert>=[Vert;N];
-#[derive(Clone,Copy)]
-enum Simplex1_3<Vert>{
-	Simplex1(Simplex<1,Vert>),
-	Simplex2(Simplex<2,Vert>),
-	Simplex3(Simplex<3,Vert>),
-}
-impl<Vert> Simplex1_3<Vert>{
-	fn push_front(self,v:Vert)->Simplex2_4<Vert>{
-		match self{
-			Simplex1_3::Simplex1([v0])=>Simplex2_4::Simplex2([v,v0]),
-			Simplex1_3::Simplex2([v0,v1])=>Simplex2_4::Simplex3([v,v0,v1]),
-			Simplex1_3::Simplex3([v0,v1,v2])=>Simplex2_4::Simplex4([v,v0,v1,v2]),
-		}
-	}
-}
-#[derive(Clone,Copy)]
-enum Simplex2_4<Vert>{
-	Simplex2(Simplex<2,Vert>),
-	Simplex3(Simplex<3,Vert>),
-	Simplex4(Simplex<4,Vert>),
-}
-
-/*
-local function absDet(r, u, v, w)
-	if w then
-		return math.abs((u - r):Cross(v - r):Dot(w - r))
-	elseif v then
-		return (u - r):Cross(v - r).magnitude
-	elseif u then
-		return (u - r).magnitude
-	else
-		return 1
-	end
-end
-*/
-impl<Vert> Simplex2_4<Vert>{
-	fn det_is_zero<M:MeshQuery<Vert=Vert>>(self,mesh:&M)->bool{
-		match self{
-			Self::Simplex4([p0,p1,p2,p3])=>{
-				let p0=mesh.vert(p0);
-				let p1=mesh.vert(p1);
-				let p2=mesh.vert(p2);
-				let p3=mesh.vert(p3);
-				(p1-p0).cross(p2-p0).dot(p3-p0)==Fixed::ZERO
-			},
-			Self::Simplex3([p0,p1,p2])=>{
-				let p0=mesh.vert(p0);
-				let p1=mesh.vert(p1);
-				let p2=mesh.vert(p2);
-				(p1-p0).cross(p2-p0)==vec3::zero()
-			},
-			Self::Simplex2([p0,p1])=>{
-				let p0=mesh.vert(p0);
-				let p1=mesh.vert(p1);
-				p1-p0==vec3::zero()
-			}
-		}
-	}
-}
-
-/*
-local function choosePerpendicularDirection(d)
-	local x, y, z = d.x, d.y, d.z
-	local best = math.min(x*x, y*y, z*z)
-	if x*x == best then
-		return Vector3.new(y*y + z*z, -x*y, -x*z)
-	elseif y*y == best then
-		return Vector3.new(-x*y, x*x + z*z, -y*z)
-	else
-		return Vector3.new(-x*z, -y*z, x*x + y*y)
-	end
-end
-*/
-fn choose_perpendicular_direction(d:Planar64Vec3)->Planar64Vec3{
-	let x=d.x.abs();
-	let y=d.y.abs();
-	let z=d.z.abs();
-	if x<y&&x<z{
-		Vector3::new([Fixed::ZERO,-d.z,d.y])
-	}else if y<z{
-		Vector3::new([d.z,Fixed::ZERO,-d.x])
-	}else{
-		Vector3::new([-d.y,d.x,Fixed::ZERO])
-	}
-}
-
-const fn choose_any_direction()->Planar64Vec3{
-	vec3::X
-}
-
-fn narrow_dir2(dir:Vector3<Fixed<2,64>>)->Planar64Vec3{
-	if dir==vec3::zero(){
-		return dir.narrow_1().unwrap();
-	}
-	let x=dir.x.as_bits().unsigned_abs().bits();
-	let y=dir.y.as_bits().unsigned_abs().bits();
-	let z=dir.z.as_bits().unsigned_abs().bits();
-	let big=x.max(y).max(z);
-	const MAX_BITS:u32=64+31;
-	if MAX_BITS<big{
-		dir>>(big-MAX_BITS)
-	}else{
-		dir
-	}.narrow_1().unwrap()
-}
-fn narrow_dir3(dir:Vector3<Fixed<3,96>>)->Planar64Vec3{
-	if dir==vec3::zero(){
-		return dir.narrow_1().unwrap();
-	}
-	let x=dir.x.as_bits().unsigned_abs().bits();
-	let y=dir.y.as_bits().unsigned_abs().bits();
-	let z=dir.z.as_bits().unsigned_abs().bits();
-	let big=x.max(y).max(z);
-	const MAX_BITS:u32=96+31;
-	if MAX_BITS<big{
-		dir>>(big-MAX_BITS)
-	}else{
-		dir
-	}.narrow_1().unwrap()
-}
-
-fn reduce1<M:MeshQuery>(
-	[v0]:Simplex<1,M::Vert>,
-	mesh:&M,
-	point:Planar64Vec3,
-)->Reduced<M::Vert>{
-	// --debug.profilebegin("reduceSimplex0")
-	// local a = a1 - a0
-	let p0=mesh.vert(v0);
-
-	// local p = -a
-	let p=-(p0+point);
-
-	// local direction = p
-	let mut dir=p;
-
-	// if direction.magnitude == 0 then
-	// 	direction = chooseAnyDirection()
-	if dir==vec3::zero(){
-		dir=choose_any_direction();
-	}
-
-	// return direction, a0, a1
-	Reduced{
-		dir,
-		simplex:Simplex1_3::Simplex1([v0]),
-	}
-}
-
-// local function reduceSimplex1(a0, a1, b0, b1)
-fn reduce2<M:MeshQuery>(
-	[v0,v1]:Simplex<2,M::Vert>,
-	mesh:&M,
-	point:Planar64Vec3,
-)->Reduced<M::Vert>{
-	// --debug.profilebegin("reduceSimplex1")
-	// local a = a1 - a0
-	// local b = b1 - b0
-	let p0=mesh.vert(v0);
-	let p1=mesh.vert(v1);
-
-	// local p = -a
-	// local u = b - a
-	let p=-(p0+point);
-	let u=p1-p0;
-
-	// -- modify to take into account the radiuses
-	// local p_u = p:Dot(u)
-	let p_u=p.dot(u);
-
-	// if p_u >= 0 then
-	if !p_u.is_negative(){
-		// local direction = u:Cross(p):Cross(u)
-		let direction=u.cross(p).cross(u);
-
-		// if direction.magnitude == 0 then
-		if direction==vec3::zero(){
-			return Reduced{
-				dir:choose_perpendicular_direction(u),
-				simplex:Simplex1_3::Simplex2([v0,v1]),
-			};
-		}
-
-		// -- modify the direction to take into account a0R and b0R
-		// return direction, a0, a1, b0, b1
-		return Reduced{
-			dir:narrow_dir3(direction),
-			simplex:Simplex1_3::Simplex2([v0,v1]),
-		};
-	}
-
-	// local direction = p
-	let mut dir=p;
-
-	// if direction.magnitude == 0 then
-	if dir==vec3::zero(){
-		dir=choose_perpendicular_direction(u);
-	}
-
-	// return direction, a0, a1
-	Reduced{
-		dir,
-		simplex:Simplex1_3::Simplex1([v0]),
-	}
-}
-
-// local function reduceSimplex2(a0, a1, b0, b1, c0, c1)
-fn reduce3<M:MeshQuery>(
-	[v0,mut v1,v2]:Simplex<3,M::Vert>,
-	mesh:&M,
-	point:Planar64Vec3,
-)->Reduced<M::Vert>{
-	// --debug.profilebegin("reduceSimplex2")
-	// local a = a1 - a0
-	// local b = b1 - b0
-	// local c = c1 - c0
-	let p0=mesh.vert(v0);
-	let p1=mesh.vert(v1);
-	let p2=mesh.vert(v2);
-
-	// local p = -a
-	// local u = b - a
-	// local v = c - a
-	let p=-(p0+point);
-	let mut u=p1-p0;
-	let v=p2-p0;
-
-	// local uv = u:Cross(v)
-	// local up = u:Cross(p)
-	// local pv = p:Cross(v)
-	// local uv_up = uv:Dot(up)
-	// local uv_pv = uv:Dot(pv)
-	let mut uv=u.cross(v);
-	let mut up=u.cross(p);
-	let pv=p.cross(v);
-	let uv_up=uv.dot(up);
-	let uv_pv=uv.dot(pv);
-
-	// if uv_up >= 0 and uv_pv >= 0 then
-	if !uv_up.is_negative()&&!uv_pv.is_negative(){
-		// local uvp = uv:Dot(p)
-		let uvp=uv.dot(p);
-
-		// local direction = uvp < 0 and -uv or uv
-		let direction=if uvp.is_negative(){
-			-uv
-		}else{
-			uv
-		};
-
-		// return direction, a0, a1, b0, b1, c0, c1
-		return Reduced{
-			dir:narrow_dir2(direction),
-			simplex:Simplex1_3::Simplex3([v0,v1,v2]),
-		};
-	}
-
-	// local u_u = u:Dot(u)
-	// local v_v = v:Dot(v)
-	// local uDist = uv_up/(u_u*v.magnitude)
-	// local vDist = uv_pv/(v_v*u.magnitude)
-	// local minDist2 = math.min(uDist, vDist)
-	let u_dist=uv_up*v.length();
-	let v_dist=uv_pv*u.length();
-
-	// if vDist == minDist2 then
-	if v_dist<u_dist{
-		u=v;
-		up=-pv;
-		uv=-uv;
-		// b0 = c0
-		// b1 = c1
-		v1=v2;
-	}
-
-	// local p_u = p:Dot(u)
-	let p_u=p.dot(u);
-
-	// if p_u >= 0 then
-	if !p_u.is_negative(){
-		// local direction = up:Cross(u)
-		let direction=up.cross(u);
-		// if direction.magnitude == 0 then
-		if direction==vec3::zero(){
-			// direction = uv
-			return Reduced{
-				dir:narrow_dir2(uv),
-				simplex:Simplex1_3::Simplex2([v0,v1]),
-			};
-		}
-
-		// return direction, a0, a1, b0, b1
-		return Reduced{
-			dir:narrow_dir3(direction),
-			simplex:Simplex1_3::Simplex2([v0,v1]),
-		};
-	}
-
-	// local direction = p
-	let dir=p;
-	// if direction.magnitude == 0 then
-	if dir==vec3::zero(){
-		// direction = uv
-		return Reduced{
-			dir:narrow_dir2(uv),
-			simplex:Simplex1_3::Simplex1([v0]),
-		};
-	}
-	// return direction, a0, a0
-	Reduced{
-		dir,
-		simplex:Simplex1_3::Simplex1([v0]),
-	}
-}
-
-// local function reduceSimplex3(a0, a1, b0, b1, c0, c1, d0, d1)
-fn reduce4<M:MeshQuery>(
-	[v0,mut v1,mut v2,v3]:Simplex<4,M::Vert>,
-	mesh:&M,
-	point:Planar64Vec3,
-)->Reduce<M::Vert>{
-	// --debug.profilebegin("reduceSimplex3")
-	// local a = a1 - a0
-	// local b = b1 - b0
-	// local c = c1 - c0
-	// local d = d1 - d0
-	let p0=mesh.vert(v0);
-	let p1=mesh.vert(v1);
-	let p2=mesh.vert(v2);
-	let p3=mesh.vert(v3);
-
-	// local p = -a
-	// local u = b - a
-	// local v = c - a
-	// local w = d - a
-	let p=-(p0+point);
-	let mut u=p1-p0;
-	let mut v=p2-p0;
-	let w=p3-p0;
-
-	// local uv = u:Cross(v)
-	// local vw = v:Cross(w)
-	// local wu = w:Cross(u)
-	// local uvw = uv:Dot(w)
-	// local pvw = vw:Dot(p)
-	// local upw = wu:Dot(p)
-	// local uvp = uv:Dot(p)
-	let mut uv=u.cross(v);
-	let vw=v.cross(w);
-	let wu=w.cross(u);
-	let uv_w=uv.dot(w);
-	let pv_w=vw.dot(p);
-	let up_w=wu.dot(p);
-	let uv_p=uv.dot(p);
-
-	// if pvw/uvw >= 0 and upw/uvw >= 0 and uvp/uvw >= 0 then
-	if !pv_w.div_sign(uv_w).is_negative()
-	 ||!up_w.div_sign(uv_w).is_negative()
-	 ||!uv_p.div_sign(uv_w).is_negative(){
-		// origin is contained, this is a positive detection
-		// local direction = Vector3.new(0, 0, 0)
-		// return direction, a0, a1, b0, b1, c0, c1, d0, d1
-		return Reduce::Escape([v0,v1,v2,v3]);
-	}
-
-	// local uvwSign = uvw < 0 and -1 or uvw > 0 and 1 or 0
-	// local uvDist = uvp*uvwSign/uv.magnitude
-	// local vwDist = pvw*uvwSign/vw.magnitude
-	// local wuDist = upw*uvwSign/wu.magnitude
-	// local minDist3 = math.min(uvDist, vwDist, wuDist)
-	let uv_dist=uv_p.mul_sign(uv_w);
-	let vw_dist=pv_w.mul_sign(uv_w);
-	let wu_dist=up_w.mul_sign(uv_w);
-	let wu_len=wu.length();
-	let uv_len=uv.length();
-	let vw_len=vw.length();
-
-	if vw_dist*wu_len<wu_dist*vw_len{
-		// if vwDist == minDist3 then
-		if vw_dist*uv_len<uv_dist*vw_len{
-			(u,v)=(v,w);
-			uv=vw;
-			// uv_p=pv_w; // unused
-			// b0, c0 = c0, d0
-			// b1, c1 = c1, d1
-			(v1,v2)=(v2,v3);
-		}else{
-			v2=v3;
-		}
-	}else{
-		// elseif wuDist == minDist3 then
-		if wu_dist*uv_len<uv_dist*wu_len{
-			(u,v)=(w,u);
-			uv=wu;
-			// uv_p=up_w; // unused
-			// b0, c0 = d0, b0
-			// b1, c1 = d1, b1
-			// before [a,b,c,d]
-			(v1,v2)=(v3,v1);
-			// after [a,d,b]
-		}else{
-			v2=v3;
-		}
-	}
-
-	// local up = u:Cross(p)
-	// local pv = p:Cross(v)
-	// local uv_up = uv:Dot(up)
-	// local uv_pv = uv:Dot(pv)
-	let mut up=u.cross(p);
-	let pv=p.cross(v);
-	let uv_up=uv.dot(up);
-	let uv_pv=uv.dot(pv);
-
-	// if uv_up >= 0 and uv_pv >= 0 then
-	if !uv_up.is_negative()&&!uv_pv.is_negative(){
-		// local direction = uvw < 0 and uv or -uv
-		// return direction, a0, a1, b0, b1, c0, c1
-		if uv_w.is_negative(){
-			return Reduce::Reduced(Reduced{
-				dir:narrow_dir2(uv),
-				simplex:Simplex1_3::Simplex3([v0,v1,v2]),
-			});
-		}else{
-			return Reduce::Reduced(Reduced{
-				dir:narrow_dir2(-uv),
-				simplex:Simplex1_3::Simplex3([v0,v1,v2]),
-			});
-		}
-	}
-
-	// local u_u = u:Dot(u)
-	// local v_v = v:Dot(v)
-	// local uDist = uv_up/(u_u*v.magnitude)
-	// local vDist = uv_pv/(v_v*u.magnitude)
-	// local minDist2 = math.min(uDist, vDist)
-	let u_dist=uv_up*v.length();
-	let v_dist=uv_pv*u.length();
-
-	// if vDist == minDist2 then
-	if v_dist<u_dist{
-		u=v;
-		up=-pv;
-		uv=-uv;
-		// b0 = c0
-		// b1 = c1
-		v1=v2;
-	}
-
-	// local p_u = p:Dot(u)
-	let p_u=p.dot(u);
-
-	// if p_u >= 0 then
-	if !p_u.is_negative(){
-		// local direction = up:Cross(u)
-		let direction=up.cross(u);
-		// if direction.magnitude == 0 then
-		if direction==vec3::zero(){
-			// direction = uvw < 0 and uv or -uv
-			// return direction, a0, a1, b0, b1
-			if uv_w.is_negative(){
-				return Reduce::Reduced(Reduced{
-					dir:narrow_dir2(uv),
-					simplex:Simplex1_3::Simplex2([v0,v1]),
-				});
-			}else{
-				return Reduce::Reduced(Reduced{
-					dir:narrow_dir2(-uv),
-					simplex:Simplex1_3::Simplex2([v0,v1]),
-				});
-			}
-		}
-
-		// return direction, a0, a1, b0, b1
-		return Reduce::Reduced(Reduced{
-			dir:narrow_dir3(direction),
-			simplex:Simplex1_3::Simplex2([v0,v1]),
-		});
-	}
-
-	// local direction = p
-	let dir=p;
-	// if direction.magnitude == 0 then
-	if dir==vec3::zero(){
-		// direction = uvw < 0 and uv or -uv
-		if uv_w.is_negative(){
-			return Reduce::Reduced(Reduced{
-				dir:narrow_dir2(uv),
-				simplex:Simplex1_3::Simplex1([v0]),
-			});
-		}else{
-			return Reduce::Reduced(Reduced{
-				dir:narrow_dir2(-uv),
-				simplex:Simplex1_3::Simplex1([v0]),
-			});
-		}
-	}
-
-	// return direction, a0, a1
-	Reduce::Reduced(Reduced{
-		dir,
-		simplex:Simplex1_3::Simplex1([v0]),
-	})
-}
-
-struct Reduced<Vert>{
-	dir:Planar64Vec3,
-	simplex:Simplex1_3<Vert>,
-}
-
-enum Reduce<Vert>{
-	Escape(Simplex<4,Vert>),
-	Reduced(Reduced<Vert>),
-}
-
-impl<Vert> Simplex2_4<Vert>{
-	fn reduce<M:MeshQuery<Vert=Vert>>(self,mesh:&M,point:Planar64Vec3)->Reduce<Vert>{
-		match self{
-			Self::Simplex2(simplex)=>Reduce::Reduced(reduce2(simplex,mesh,point)),
-			Self::Simplex3(simplex)=>Reduce::Reduced(reduce3(simplex,mesh,point)),
-			Self::Simplex4(simplex)=>reduce4(simplex,mesh,point),
-		}
-	}
-}
-
-pub fn contains_point(mesh:&MinkowskiMesh<'_>,point:Planar64Vec3)->bool{
-	const ENABLE_FAST_FAIL:bool=true;
-	// TODO: remove mesh negation
-	minimum_difference::<ENABLE_FAST_FAIL,_,_>(&-mesh,point,
-		// on_exact
-		|is_intersecting,_simplex|{
-			is_intersecting
-		},
-		// on_escape
-		|_simplex|{
-			// intersection is guaranteed at this point
-			true
-		},
-		// fast_fail value
-		||false
-	)
-}
-
-//infinity fev algorithm state transition
-#[derive(Debug)]
-enum Transition<Vert>{
-	Done,//found closest vert, no edges are better
-	Vert(Vert),//transition to vert
-}
-enum EV<M:MeshQuery>{
-	Vert(M::Vert),
-	Edge(<M::Edge as DirectedEdge>::UndirectedEdge),
-}
-impl<M:MeshQuery> From<EV<M>> for FEV<M>{
-	fn from(value:EV<M>)->Self{
-		match value{
-			EV::Vert(minkowski_vert)=>FEV::Vert(minkowski_vert),
-			EV::Edge(minkowski_edge)=>FEV::Edge(minkowski_edge),
-		}
-	}
-}
-
-trait Contains{
-	fn contains(&self,point:Planar64Vec3)->bool;
-}
-
-// convenience type to check if a point is within some threshold of a plane.
-struct ThickPlane{
-	point:Planar64Vec3,
-	normal:Vector3<Fixed<2,64>>,
-	epsilon:Fixed<3,96>,
-}
-impl ThickPlane{
-	fn new<M:MeshQuery>(mesh:&M,[v0,v1,v2]:Simplex<3,M::Vert>)->Self{
-		let p0=mesh.vert(v0);
-		let p1=mesh.vert(v1);
-		let p2=mesh.vert(v2);
-		let point=p0;
-		let normal=(p1-p0).cross(p2-p0);
-		// Allow ~ 2*sqrt(3) units of thickness on the plane
-		// This is to account for the variance of two voxels across the longest diagonal
-		let epsilon=(normal.length()*(Planar64::EPSILON*3)).wrap_3();
-		Self{point,normal,epsilon}
-	}
-}
-impl Contains for ThickPlane{
-	fn contains(&self,point:Planar64Vec3)->bool{
-		(point-self.point).dot(self.normal).abs()<=self.epsilon
-	}
-}
-
-struct ThickLine{
-	point:Planar64Vec3,
-	dir:Planar64Vec3,
-	epsilon:Fixed<4,128>,
-}
-impl ThickLine{
-	fn new<M:MeshQuery>(mesh:&M,[v0,v1]:Simplex<2,M::Vert>)->Self{
-		let p0=mesh.vert(v0);
-		let p1=mesh.vert(v1);
-		let point=p0;
-		let dir=p1-p0;
-		// Allow ~ 2*sqrt(3) units of thickness on the plane
-		// This is to account for the variance of two voxels across the longest diagonal
-		let epsilon=(dir.length_squared()*(Planar64::EPSILON*3)).widen_4();
-		Self{point,dir,epsilon}
-	}
-}
-impl Contains for ThickLine{
-	fn contains(&self,point:Planar64Vec3)->bool{
-		(point-self.point).cross(self.dir).length_squared()<=self.epsilon
-	}
-}
-
-struct EVFinder<'a,M,C>{
-	mesh:&'a M,
-	constraint:C,
-	best_distance_squared:Fixed<2,64>,
-}
-
-impl<M:MeshQuery,C:Contains> EVFinder<'_,M,C>{
-	fn next_transition_vert(&mut self,vert_id:M::Vert,point:Planar64Vec3)->Transition<M::Vert>{
-		let mut best_transition=Transition::Done;
-		for &directed_edge_id in self.mesh.vert_edges(vert_id).as_ref(){
-			//test if this edge's opposite vertex closer
-			let edge_verts=self.mesh.edge_verts(directed_edge_id.as_undirected());
-			//select opposite vertex
-			let test_vert_id=edge_verts.as_ref()[directed_edge_id.parity() as usize];
-			let test_pos=self.mesh.vert(test_vert_id);
-			let diff=point-test_pos;
-			let distance_squared=diff.dot(diff);
-			// ensure test_vert_id is coplanar to simplex
-			if distance_squared<self.best_distance_squared&&self.constraint.contains(test_pos){
-				best_transition=Transition::Vert(test_vert_id);
-				self.best_distance_squared=distance_squared;
-			}
-		}
-		best_transition
-	}
-	fn final_ev(&mut self,vert_id:M::Vert,point:Planar64Vec3)->EV<M>{
-		let mut best_transition=EV::Vert(vert_id);
-		let vert_pos=self.mesh.vert(vert_id);
-		let diff=point-vert_pos;
-		for &directed_edge_id in self.mesh.vert_edges(vert_id).as_ref(){
-			//test if this edge is closer
-			let edge_verts=self.mesh.edge_verts(directed_edge_id.as_undirected());
-			let test_vert_id=edge_verts.as_ref()[directed_edge_id.parity() as usize];
-			let test_pos=self.mesh.vert(test_vert_id);
-			let edge_n=test_pos-vert_pos;
-			let d=edge_n.dot(diff);
-			//test the edge
-			let edge_nn=edge_n.dot(edge_n);
-			// ensure edge contains closest point and directed_edge_id is coplanar to simplex
-			if !d.is_negative()&&d<=edge_nn&&self.constraint.contains(test_pos){
-				let distance_squared={
-					let c=diff.cross(edge_n);
-					//wrap for speed
-					(c.dot(c)/edge_nn).divide().wrap_2()
-				};
-				if distance_squared<=self.best_distance_squared{
-					best_transition=EV::Edge(directed_edge_id.as_undirected());
-					self.best_distance_squared=distance_squared;
-				}
-			}
-		}
-		best_transition
-	}
-	fn crawl_boundaries(&mut self,mut vert_id:M::Vert,point:Planar64Vec3)->EV<M>{
-		loop{
-			match self.next_transition_vert(vert_id,point){
-				Transition::Done=>return self.final_ev(vert_id,point),
-				Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
-			}
-		}
-	}
-}
-/// 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 crawl_to_closest_ev<M:MeshQuery>(mesh:&M,simplex:Simplex<2,M::Vert>,point:Planar64Vec3)->EV<M>{
-	// naively start at the closest vertex
-	// the closest vertex is not necessarily the one with the fewest boundary hops
-	// but it doesn't matter, we will get there regardless.
-	let (vert_id,best_distance_squared)=simplex.into_iter().map(|vert_id|{
-		let diff=point-mesh.vert(vert_id);
-		(vert_id,diff.dot(diff))
-	}).min_by_key(|&(_,d)|d).unwrap();
-
-	let constraint=ThickLine::new(mesh,simplex);
-	let mut finder=EVFinder{constraint,mesh,best_distance_squared};
-	//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
-	finder.crawl_boundaries(vert_id,point)
-}
-
-/// 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 crawl_to_closest_fev<'a>(mesh:&MinkowskiMesh<'a>,simplex:Simplex<3,MinkowskiVert>,point:Planar64Vec3)->FEV::<MinkowskiMesh<'a>>{
-	// naively start at the closest vertex
-	// the closest vertex is not necessarily the one with the fewest boundary hops
-	// but it doesn't matter, we will get there regardless.
-	let (vert_id,best_distance_squared)=simplex.into_iter().map(|vert_id|{
-		let diff=point-mesh.vert(vert_id);
-		(vert_id,diff.dot(diff))
-	}).min_by_key(|&(_,d)|d).unwrap();
-
-	let constraint=ThickPlane::new(mesh,simplex);
-	let mut finder=EVFinder{constraint,mesh,best_distance_squared};
-	//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 finder.crawl_boundaries(vert_id,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 we are on the wrong side
-			let edge_n=mesh.edge_n(edge_id);
-			// point is multiplied by two because vert_sum sums two vertices.
-			let delta_pos=point*2-{
-				let &[v0,v1]=mesh.edge_verts(edge_id).as_ref();
-				mesh.vert(v0)+mesh.vert(v1)
-			};
-			for (i,&face_id) in mesh.edge_faces(edge_id).as_ref().iter().enumerate(){
-				//test if this face is closer
-				let (face_n,d)=mesh.face_nd(face_id);
-				//if test point is behind face, the face is invalid
-				// TODO: find out why I thought of this backwards
-				if !(face_n.dot(point)-d).is_positive(){
-					continue;
-				}
-				//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);
-				//is test point behind edge, i.e. contained in the face
-				if !boundary_d.is_positive(){
-					//both faces cannot pass this condition, return early if one does.
-					return FEV::Face(face_id);
-				}
-			}
-			FEV::Edge(edge_id)
-		},
-	}
-}
-
-pub fn closest_fev_not_inside<'a>(mesh:&MinkowskiMesh<'a>,point:Planar64Vec3)->Option<FEV<MinkowskiMesh<'a>>>{
-	const ENABLE_FAST_FAIL:bool=false;
-	// TODO: remove mesh negation
-	minimum_difference::<ENABLE_FAST_FAIL,_,_>(&-mesh,point,
-		// on_exact
-		|is_intersecting,simplex|{
-			if is_intersecting{
-				return None;
-			}
-			// Convert simplex to FEV
-			// Vertices must be inverted since the mesh is inverted
-			Some(match simplex{
-				Simplex1_3::Simplex1([v0])=>FEV::Vert(-v0),
-				Simplex1_3::Simplex2([v0,v1])=>{
-					// invert
-					let (v0,v1)=(-v0,-v1);
-					let ev=crawl_to_closest_ev(mesh,[v0,v1],point);
-					if !matches!(ev,EV::Edge(_)){
-						println!("I can't believe it's not an edge!");
-					}
-					ev.into()
-				},
-				Simplex1_3::Simplex3([v0,v1,v2])=>{
-					// invert
-					let (v0,v1,v2)=(-v0,-v1,-v2);
-					// Shimmy to the side until you find a face that contains the closest point
-					// it's ALWAYS representable as a face, but this algorithm may
-					// return E or V in edge cases but I don't think that will break the face crawler
-					let fev=crawl_to_closest_fev(mesh,[v0,v1,v2],point);
-					if !matches!(fev,FEV::Face(_)){
-						println!("I can't believe it's not a face!");
-					}
-					fev
-				},
-			})
-		},
-		// on_escape
-		|_simplex|{
-			// intersection is guaranteed at this point
-			// local norm, dist, u0, u1, v0, v1, w0, w1 = expand(queryP, queryQ, a0, a1, b0, b1, c0, c1, d0, d1, 1e-5)
-			// let simplex=refine_to_exact(mesh,simplex);
-			None
-		},
-		// fast_fail value is irrelevant and will never be returned!
-		||unreachable!()
-	)
-}
-
-// local function minimumDifference(
-// 	queryP, radiusP,
-// 	queryQ, radiusQ,
-// 	exitRadius, testIntersection
-// )
-fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery>(
-	mesh:&M,
-	point:Planar64Vec3,
-	on_exact:impl FnOnce(bool,Simplex1_3<M::Vert>)->T,
-	on_escape:impl FnOnce(Simplex<4,M::Vert>)->T,
-	on_fast_fail:impl FnOnce()->T,
-)->T{
-	// local initialAxis = queryQ() - queryP()
-	// local new_point_p = queryP(initialAxis)
-	// local new_point_q = queryQ(-initialAxis)
-	// local direction, a0, a1, b0, b1, c0, c1, d0, d1
-	let mut initial_axis=mesh.hint_point()+point;
-	// degenerate case
-	if initial_axis==vec3::zero(){
-		initial_axis=choose_any_direction();
-	}
-	let last_point=mesh.farthest_vert(-initial_axis);
-	// this represents the 'a' value in the commented code
-	let mut last_pos=mesh.vert(last_point);
-	let Reduced{dir:mut direction,simplex:mut simplex_small}=reduce1([last_point],mesh,point);
-
-	// exitRadius = testIntersection and 0 or exitRadius or 1/0
-	// for _ = 1, 100 do
-	loop{
-		// new_point_p = queryP(-direction)
-		// new_point_q = queryQ(direction)
-		// local next_point = new_point_q - new_point_p
-		let next_point=mesh.farthest_vert(direction);
-		let next_pos=mesh.vert(next_point);
-
-		// if -direction:Dot(next_point) > (exitRadius + radiusP + radiusQ)*direction.magnitude then
-		if ENABLE_FAST_FAIL&&direction.dot(next_pos+point).is_negative(){
-			return on_fast_fail();
-		}
-
-		let simplex_big=simplex_small.push_front(next_point);
-
-		// if
-		// 	direction:Dot(next_point - a) <= 0 or
-		// 	absDet(next_point, a, b, c) < 1e-6
-		if !direction.dot(next_pos-last_pos).is_positive()
-		||simplex_big.det_is_zero(mesh){
-			// Found enough information to compute the exact closest point.
-			// local norm = direction.unit
-			// local dist = a:Dot(norm)
-			// local hits = -dist < radiusP + radiusQ
-			let is_intersecting=(last_pos+point).dot(direction).is_positive();
-			return on_exact(is_intersecting,simplex_small);
-		}
-
-		// direction, a0, a1, b0, b1, c0, c1, d0, d1 = reduceSimplex(new_point_p, new_point_q, a0, a1, b0, b1, c0, c1)
-		match simplex_big.reduce(mesh,point){
-			// if a and b and c and d then
-			Reduce::Escape(simplex)=>{
-				// Enough information to conclude that the meshes are intersecting.
-				// Topology information is computed if needed.
-				return on_escape(simplex);
-			},
-			Reduce::Reduced(reduced)=>{
-				direction=reduced.dir;
-				simplex_small=reduced.simplex;
-			},
-		}
-
-		// next loop this will be a
-		last_pos=next_pos;
-	}
-}
-
-#[cfg(test)]
-mod test{
-	use super::*;
-    use crate::model::{PhysicsMesh,PhysicsMeshView};
-
-    fn mesh_contains_point(mesh:PhysicsMeshView<'_>,point:Planar64Vec3)->bool{
-		const ENABLE_FAST_FAIL:bool=true;
-		// TODO: remove mesh negation
-		minimum_difference::<ENABLE_FAST_FAIL,_,_>(&mesh,point,
-			// on_exact
-			|is_intersecting,_simplex|{
-				is_intersecting
-			},
-			// on_escape
-			|_simplex|{
-				// intersection is guaranteed at this point
-				true
-			},
-			// fast_fail value
-			||false
-		)
-	}
-
-	#[test]
-	fn test_cube_points(){
-		let mesh=PhysicsMesh::unit_cube();
-		let mesh_view=mesh.complete_mesh_view();
-		for x in -2..=2{
-			for y in -2..=2{
-				for z in -2..=2{
-					let point=vec3::int(x,y,z)>>1;
-					assert!(mesh_contains_point(mesh_view,point),"Mesh did not contain point {point}");
-				}
-			}
-		}
-	}
-}

engine/physics/src/model.rs

@@ -90,10 +90,6 @@ 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;
-	fn farthest_vert(&self,dir:Planar64Vec3)->Self::Vert;
 	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]>;
@@ -104,21 +100,17 @@ 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)]
@@ -440,7 +432,7 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 	}
 }
 
-#[derive(Debug,Clone,Copy)]
+#[derive(Debug)]
 pub struct PhysicsMeshView<'a>{
 	data:&'a PhysicsMeshData,
 	topology:&'a PhysicsMeshTopology,
@@ -455,22 +447,6 @@ 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()
-	}
-	fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
-		//this happens to be well-defined.  there are no virtual virtices
-		SubmeshVertId::new(
-			self.topology.verts.iter()
-			.enumerate()
-			.max_by_key(|&(_,&vert_id)|
-				dir.dot(self.data.verts[vert_id.get() as usize].0)
-			)
-			//assume there is more than zero vertices.
-			.unwrap().0 as u32
-		)
-	}
 	//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;
@@ -509,7 +485,7 @@ impl PhysicsMeshTransform{
 	}
 }
 
-#[derive(Debug,Clone,Copy)]
+#[derive(Debug)]
 pub struct TransformedMesh<'a>{
 	view:PhysicsMeshView<'a>,
 	transform:&'a PhysicsMeshTransform,
@@ -527,8 +503,17 @@ impl TransformedMesh<'_>{
 	pub fn verts<'a>(&'a self)->impl Iterator<Item=Vector3<Fixed<2,64>>>+'a{
 		self.view.data.verts.iter().map(|&Vert(pos)|self.transform.vertex.transform_point3(pos))
 	}
-	pub fn faces(&self)->impl Iterator<Item=SubmeshFaceId>{
-		(0..self.view.topology.faces.len() as u32).map(SubmeshFaceId::new)
+	fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
+		//this happens to be well-defined.  there are no virtual virtices
+		SubmeshVertId::new(
+			self.view.topology.verts.iter()
+			.enumerate()
+			.max_by_key(|&(_,&vert_id)|
+				dir.dot(self.transform.vertex.transform_point3(self.view.data.verts[vert_id.get() as usize].0))
+			)
+			//assume there is more than zero vertices.
+			.unwrap().0 as u32
+		)
 	}
 }
 impl MeshQuery for TransformedMesh<'_>{
@@ -547,21 +532,6 @@ 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
-	}
-	fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
-		//this happens to be well-defined.  there are no virtual virtices
-		SubmeshVertId::new(
-			self.view.topology.verts.iter()
-			.enumerate()
-			.max_by_key(|&(_,&vert_id)|
-				dir.dot(self.transform.vertex.transform_point3(self.view.data.verts[vert_id.get() as usize].0))
-			)
-			//assume there is more than zero vertices.
-			.unwrap().0 as u32
-		)
-	}
 	#[inline]
 	fn face_edges(&self,face_id:SubmeshFaceId)->impl AsRef<[SubmeshDirectedEdgeId]>{
 		self.view.face_edges(face_id)
@@ -588,20 +558,11 @@ impl MeshQuery for TransformedMesh<'_>{
 //(face,vertex)
 //(edge,edge)
 //(vertex,face)
-#[derive(Clone,Copy,Debug,Eq,PartialEq)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiVert{
 	VertVert(SubmeshVertId,SubmeshVertId),
 }
-// TODO: remove this
-impl core::ops::Neg for MinkowskiVert{
-	type Output=Self;
-	fn neg(self)->Self::Output{
-		match self{
-			MinkowskiVert::VertVert(v0,v1)=>MinkowskiVert::VertVert(v1,v0),
-		}
-	}
-}
-#[derive(Clone,Copy,Debug,Eq,PartialEq)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiEdge{
 	VertEdge(SubmeshVertId,SubmeshEdgeId),
 	EdgeVert(SubmeshEdgeId,SubmeshVertId),
@@ -616,7 +577,7 @@ impl UndirectedEdge for MinkowskiEdge{
 		}
 	}
 }
-#[derive(Clone,Copy,Debug,Eq,PartialEq)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiDirectedEdge{
 	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
 	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
@@ -637,7 +598,7 @@ impl DirectedEdge for MinkowskiDirectedEdge{
 		}
 	}
 }
-#[derive(Clone,Copy,Debug,Hash)]
+#[derive(Clone,Copy,Debug,Hash,Eq,PartialEq)]
 pub enum MinkowskiFace{
 	VertFace(SubmeshVertId,SubmeshFaceId),
 	EdgeEdge(SubmeshEdgeId,SubmeshEdgeId,bool),
@@ -653,20 +614,23 @@ 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();
 	Ratio::new(r.num.widen_4(),r.den.widen_4())
 }
 
-// TODO: remove this
-impl<'a> core::ops::Neg for &MinkowskiMesh<'a>{
-	type Output=MinkowskiMesh<'a>;
-	fn neg(self)->Self::Output{
-		MinkowskiMesh::minkowski_sum(self.mesh1,self.mesh0)
-	}
-}
-
 impl MinkowskiMesh<'_>{
 	pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
 		MinkowskiMesh{
@@ -674,27 +638,155 @@ impl MinkowskiMesh<'_>{
 			mesh1,
 		}
 	}
+	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{
+		let mut best_distance_squared={
+			let diff=point-self.vert(vert_id);
+			diff.dot(diff)
+		};
+		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,
+			}
+		}
+	}
+	/// 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);
+					}
+				}
+				FEV::Edge(edge_id)
+			},
+		}
+	}
+	// 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
+			match infinity_fev.crawl(self,&infinity_body,Bound::Unbounded,start_time){
+				// This is the expected case.
+				// We expect to never hit the mesh while setting up for the real crawl
+				// since the algorithm breaks down on the inside of the mesh.
+				crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
+				// An exact hit is allowed, it has not crossed the boundary.
+				crate::face_crawler::CrawlResult::Hit(face,ratio)=>match start_time{
+					Bound::Included(_)=>ratio.num.is_zero().then(||FEV::Face(face)),
+					// You are looking for collision events within a range that does not include the start_time.
+					// The boundary is crossed at exactly start_time, so the range is not met.
+					// Therefore, the correct return value is None.
+					Bound::Excluded(_)=>unimplemented!(),
+					// To infinity and beyond!
+					Bound::Unbounded=>None,
+				},
+			}
+		})
+	}
 	pub fn predict_collision_in(&self,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
-		let fev=crate::minimum_difference::closest_fev_not_inside(self,relative_body.position)?;
-		//continue forwards along the body parabola
-		fev.crawl(self,relative_body,range.start_bound(),range.end_bound()).hit()
+		self.closest_fev_not_inside(*relative_body,range.start_bound()).and_then(|fev|{
+			//continue forwards along the body parabola
+			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());
-		// TODO: handle unbounded collision using infinity fev
-		let time=match upper_bound{
-			Bound::Included(&time)=>time,
-			Bound::Excluded(&time)=>time,
-			Bound::Unbounded=>unimplemented!("unbounded collision out"),
-		};
-		let fev=crate::minimum_difference::closest_fev_not_inside(self,relative_body.extrapolated_position(time))?;
 		// 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;
-		//continue backwards along the body parabola
-		fev.crawl(self,&infinity_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))
+		self.closest_fev_not_inside(infinity_body,lower_bound.as_ref()).and_then(|fev|{
+			//continue backwards along the body parabola
+			fev.crawl(self,&infinity_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))
+		})
 	}
 	pub fn predict_collision_face_out(&self,relative_body:&Body,range:impl RangeBounds<Time>,contact_face_id:MinkowskiFace)->Option<(MinkowskiDirectedEdge,GigaTime)>{
 		// TODO: make better
@@ -724,8 +816,20 @@ impl MinkowskiMesh<'_>{
 		}
 		best_edge
 	}
-	pub fn contains_point(&self,point:Planar64Vec3)->bool{
-		crate::minimum_difference::contains_point(self,point)
+	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(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()
+     	)
 	}
 }
 impl MeshQuery for MinkowskiMesh<'_>{
@@ -764,12 +868,6 @@ impl MeshQuery for MinkowskiMesh<'_>{
 			},
 		}
 	}
-	fn hint_point(&self)->Planar64Vec3{
-		self.mesh0.transform.vertex.translation-self.mesh1.transform.vertex.translation
-	}
-	fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
-		MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
-	}
 	fn face_edges(&self,face_id:MinkowskiFace)->impl AsRef<[MinkowskiDirectedEdge]>{
 		match face_id{
 			MinkowskiFace::VertFace(v0,f1)=>{

engine/physics/src/physics.rs

@@ -1,5 +1,4 @@
 use std::collections::{HashMap,HashSet};
-use crate::model::DirectedEdge;
 use crate::model::{self as model_physics,PhysicsMesh,PhysicsMeshTransform,TransformedMesh,MeshQuery,PhysicsMeshId,PhysicsSubmeshId};
 use strafesnet_common::bvh;
 use strafesnet_common::map;
@@ -29,6 +28,7 @@ pub enum InternalInstruction{
 	CollisionStart(Collision,model_physics::GigaTime),
 	CollisionEnd(Collision,model_physics::GigaTime),
 	StrafeTick,
+	// TODO: add GigaTime to ReachWalkTargetVelocity
 	ReachWalkTargetVelocity,
 	// Water,
 }
@@ -114,11 +114,11 @@ 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()
+				acceleration:vec3::ZERO
 			}
 		}else{
 			//normal friction acceleration is clippedAcceleration.dot(normal)*friction
@@ -141,7 +141,7 @@ 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,
 		}
@@ -287,8 +287,7 @@ impl PhysicsCamera{
 		.clamp(Self::ANGLE_PITCH_LOWER_LIMIT,Self::ANGLE_PITCH_UPPER_LIMIT);
 		mat3::from_rotation_yx(ax,ay)
 	}
-	#[inline]
-	pub fn rotation(&self)->Planar64Mat3{
+	fn rotation(&self)->Planar64Mat3{
 		self.get_rotation(self.clamped_mouse_pos)
 	}
 	#[expect(dead_code)]
@@ -445,7 +444,7 @@ 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){
@@ -484,7 +483,7 @@ impl StyleHelper for StyleModifiers{
 		};
 		let transform=integer::Planar64Affine3::new(
 			mat3::from_diagonal(self.hitbox.halfsize),
-			vec3::zero()
+			vec3::ZERO
 		);
 		HitboxMesh::new(mesh,transform)
 	}
@@ -502,7 +501,7 @@ 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);
@@ -616,7 +615,7 @@ 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_key(&walk_state.contact.convex_mesh_id){
 					self.set_move_state(MoveState::Air,body,touching,models,hitbox_mesh,style,camera,input_state);
 				}else{
 					// stopped touching something else while walking
@@ -731,7 +730,7 @@ struct IntersectModel{
 	transform:PhysicsMeshTransform,
 }
 
-#[derive(Debug,Clone,Copy,Hash)]
+#[derive(Debug,Clone,Copy,Eq,Hash,PartialEq)]
 pub struct ContactCollision{
 	convex_mesh_id:ConvexMeshId<ContactModelId>,
 	face_id:model_physics::MinkowskiFace,
@@ -740,7 +739,7 @@ pub struct ContactCollision{
 pub struct IntersectCollision{
 	convex_mesh_id:ConvexMeshId<IntersectModelId>,
 }
-#[derive(Debug,Clone,Hash)]
+#[derive(Debug,Clone,Eq,Hash,PartialEq)]
 pub enum Collision{
 	Contact(ContactCollision),
 	Intersect(IntersectCollision),
@@ -755,8 +754,6 @@ impl Collision{
 }
 #[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>>,
 }
@@ -777,16 +774,10 @@ impl TouchingState{
 	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)),
+			PhysicsModelId::Contact(contact_model_id)=>self.contacts.contains_key(&convex_mesh_id.map(contact_model_id)),
+			PhysicsModelId::Intersect(intersect_model_id)=>self.intersects.contains(&convex_mesh_id.map(intersect_model_id)),
 		}
 	}
 	fn base_acceleration(&self,models:&PhysicsModels,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->Planar64Vec3{
@@ -812,7 +803,7 @@ impl TouchingState{
 		let contacts:Vec<_>=self.contacts.iter().map(|(convex_mesh_id,face_id)|{
 			let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
 			crate::push_solve::Contact{
-				position:vec3::zero(),
+				position:vec3::ZERO,
 				velocity:n,
 				normal:n,
 			}
@@ -823,7 +814,7 @@ impl TouchingState{
 		let contacts:Vec<_>=self.contacts.iter().map(|(convex_mesh_id,face_id)|{
 			let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
 			crate::push_solve::Contact{
-				position:vec3::zero(),
+				position:vec3::ZERO,
 				velocity:n,
 				normal:n,
 			}
@@ -837,7 +828,7 @@ impl TouchingState{
 			//detect face slide off
 			let model_mesh=models.contact_mesh(convex_mesh_id);
 			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(),*face_id).map(|(_face,time)|{
 				TimedInstruction{
 					time:relative_body.time+time.into(),
 					instruction:InternalInstruction::CollisionEnd(
@@ -851,7 +842,7 @@ impl TouchingState{
 			//detect model collision in reverse
 			let model_mesh=models.intersect_mesh(convex_mesh_id);
 			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)|{
+			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(
@@ -999,45 +990,6 @@ impl PhysicsData{
 			hitbox_mesh:StyleModifiers::default().calculate_mesh(),
 		}
 	}
-	pub fn trace_ray(&self,ray:strafesnet_common::ray::Ray)->Option<ModelId>{
-		let (_time,convex_mesh_id)=self.bvh.sample_ray(&ray,Time::ZERO,Time::MAX/4,|&model,ray|{
-			let mesh=self.models.mesh(model);
-			// brute force trace every face
-			let faces=mesh.faces().filter_map(|face_id|{
-				let (n,d)=mesh.face_nd(face_id);
-				// trace ray onto face
-				// n.(o+d*t)==n.p
-				// n.o + n.d * t == n.p
-				// t == (n.p - n.o)/n.d
-				let nd=n.dot(ray.direction);
-				if nd.is_zero(){
-					return None;
-				}
-				let t=(d-n.dot(ray.origin))/nd;
-				Some((face_id,t,n))
-			});
-			let mut min=None;
-			for (face_id,t,n) in faces{
-				if let Some(min)=min&&min<t{
-					continue;
-				}
-				// check if point of intersection is behind face edges
-				// *2 because average of 2 vertices
-				let p=ray.extrapolate(t)*2;
-				let is_inside_face=mesh.face_edges(face_id).as_ref().iter().all(|&directed_edge_id|{
-					let edge_n=mesh.directed_edge_n(directed_edge_id);
-					let cross_n=edge_n.cross(n);
-					let &[vert0,vert1]=mesh.edge_verts(directed_edge_id.as_undirected()).as_ref();
-					cross_n.dot(p)<cross_n.dot(mesh.vert(vert0)+mesh.vert(vert1))
-				});
-				if is_inside_face{
-					min=Some(t);
-				}
-			}
-			min.map(Into::into)
-		})?;
-		Some(convex_mesh_id.model_id.into())
-	}
 	pub fn new(map:&map::CompleteMap)->Self{
 		let modes=map.modes.clone().denormalize();
 		let mut used_contact_attributes=Vec::new();
@@ -1237,7 +1189,7 @@ impl<'a> PhysicsContext<'a>{
 		//JUST POLLING!!! NO MUTATION
 		let mut collector=instruction::InstructionCollector::new(time_limit);
 
-		collector.collect(state.next_move_instruction());
+		// collector.collect(state.next_move_instruction());
 
 		//check for collision ends
 		state.touching.predict_collision_end(&mut collector,&data.models,&data.hitbox_mesh,&state.body,state.time);
@@ -1255,7 +1207,7 @@ impl<'a> PhysicsContext<'a>{
 			//no checks are needed because of the time limits.
 			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())
+			collector.collect(minkowski.predict_collision_in(relative_body,state.time..=collector.time())
 				.map(|(face,dt)|
 					TimedInstruction{
 						time:relative_body.time+dt.into(),
@@ -1318,7 +1270,7 @@ fn recalculate_touching(
 		//no checks are needed because of the time limits.
 		let model_mesh=models.mesh(convex_mesh_id);
 		let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
-		if minkowski.contains_point(body.position){
+		if minkowski.is_point_in_mesh(body.position){
 			match convex_mesh_id.model_id{
 				//being inside of contact objects is an invalid physics state
 				//but the physics isn't advanced enough to do anything about it yet
@@ -1613,7 +1565,7 @@ 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);
@@ -1784,17 +1736,14 @@ fn collision_end_intersect(
 }
 fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedInstruction<InternalInstruction,Time>){
 	state.time=ins.time;
-	let (should_advance_body,goober_time)=match ins.instruction{
+	match ins.instruction{
+		// collisions advance the body precisely
 		InternalInstruction::CollisionStart(_,dt)
-		|InternalInstruction::CollisionEnd(_,dt)=>(true,Some(dt)),
-		InternalInstruction::StrafeTick
-		|InternalInstruction::ReachWalkTargetVelocity=>(true,None),
-	};
-	if should_advance_body{
-		match goober_time{
-			Some(dt)=>state.body.advance_time_ratio_dt(dt),
-			None=>state.body.advance_time(state.time),
-		}
+		|InternalInstruction::CollisionEnd(_,dt)=>state.body.advance_time_ratio_dt(dt),
+		// this advances imprecisely
+		InternalInstruction::ReachWalkTargetVelocity=>state.body.advance_time(state.time),
+		// strafe tick decides for itself whether to advance the body.
+		InternalInstruction::StrafeTick=>(),
 	}
 		match ins.instruction{
 			InternalInstruction::CollisionStart(collision,_)=>{
@@ -1840,7 +1789,9 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 					if strafe_settings.activates(controls){
 						let masked_controls=strafe_settings.mask(controls);
 						let control_dir=state.style.get_control_dir(masked_controls);
-						if control_dir!=vec3::zero(){
+						if control_dir!=vec3::ZERO{
+							// manually advance time
+							state.body.advance_time(state.time);
 							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
@@ -1863,7 +1814,7 @@ 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!
@@ -1945,7 +1896,7 @@ 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
@@ -1958,7 +1909,7 @@ 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;
 		}
@@ -2008,7 +1959,7 @@ 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();
@@ -2024,7 +1975,7 @@ mod test{
 					int3(0,1,0)>>1,
 					int3(-1,0,5)>>1,
 				]),
-				vec3::zero()
+				vec3::ZERO
 			),
 		);
 		let h1=StyleModifiers::roblox_bhop().calculate_mesh();
@@ -2043,7 +1994,7 @@ 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)));
 	}
@@ -2052,7 +2003,7 @@ 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)));
 	}
@@ -2061,7 +2012,7 @@ 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)));
 	}
@@ -2070,7 +2021,7 @@ 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)));
 	}
@@ -2079,7 +2030,7 @@ 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)));
 	}
@@ -2088,7 +2039,7 @@ 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)));
 	}
@@ -2205,7 +2156,7 @@ 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)));
 	}
@@ -2221,7 +2172,7 @@ 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
@@ -2233,7 +2184,7 @@ 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)))
 	}
@@ -2242,7 +2193,7 @@ 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)))
 	}
@@ -2251,7 +2202,7 @@ 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)))
 	}
@@ -2260,7 +2211,7 @@ 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)))
 	}
@@ -2270,7 +2221,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			int3(0,10,-7)>>1,
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}
@@ -2279,7 +2230,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			int3(7,10,0)>>1,
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}
@@ -2288,7 +2239,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			int3(0,10,7)>>1,
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}
@@ -2297,7 +2248,7 @@ mod test{
 		test_collision_axis_aligned(Body::new(
 			int3(-7,10,0)>>1,
 			int3(0,-1,0),
-			vec3::zero(),
+			vec3::ZERO,
 			Time::ZERO
 		),None)
 	}
@@ -2307,7 +2258,7 @@ 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)
 	}
@@ -2316,7 +2267,7 @@ 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)
 	}
@@ -2325,7 +2276,7 @@ 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)
 	}
@@ -2334,7 +2285,7 @@ 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)
 		);
 	}

engine/session/src/session.rs

@@ -2,7 +2,6 @@ use std::collections::HashMap;
 
 use strafesnet_common::gameplay_modes::{ModeId,StageId};
 use strafesnet_common::instruction::{InstructionConsumer,InstructionEmitter,InstructionFeedback,TimedInstruction};
-use strafesnet_common::model::ModelId;
 // session represents the non-hardware state of the client.
 // Ideally it is a deterministic state which is atomically updated by instructions, same as the simulation state.
 use strafesnet_common::physics::{
@@ -62,7 +61,6 @@ pub struct FrameState{
 	pub body:physics::Body,
 	pub camera:physics::PhysicsCamera,
 	pub time:PhysicsTime,
-	pub debug_model:Option<ModelId>,
 }
 
 pub struct Simulation{
@@ -79,12 +77,11 @@ impl Simulation{
 			physics,
 		}
 	}
-	pub fn get_frame_state(&self,time:SessionTime,debug_model:Option<ModelId>)->FrameState{
+	pub fn get_frame_state(&self,time:SessionTime)->FrameState{
 		FrameState{
 			body:self.physics.camera_body(),
 			camera:self.physics.camera(),
 			time:self.timer.time(time),
-			debug_model,
 		}
 	}
 }
@@ -164,7 +161,6 @@ pub struct Session{
 	recording:Recording,
 	//players:HashMap<PlayerId,Simulation>,
 	replays:HashMap<BotId,Replay>,
-	last_ray_hit:Option<ModelId>,
 }
 impl Session{
 	pub fn new(
@@ -181,7 +177,6 @@ impl Session{
 			view_state:ViewState::Play,
 			recording:Default::default(),
 			replays:HashMap::new(),
-			last_ray_hit:None,
 		}
 	}
 	fn clear_recording(&mut self){
@@ -193,25 +188,12 @@ impl Session{
 	}
 	pub fn get_frame_state(&self,time:SessionTime)->Option<FrameState>{
 		match &self.view_state{
-			ViewState::Play=>Some(self.simulation.get_frame_state(time,self.last_ray_hit)),
+			ViewState::Play=>Some(self.simulation.get_frame_state(time)),
 			ViewState::Replay(bot_id)=>self.replays.get(bot_id).map(|replay|
-				replay.simulation.get_frame_state(time,None)
+				replay.simulation.get_frame_state(time)
 			),
 		}
 	}
-	pub fn debug_raycast_print_model_id_if_changed(&mut self,time:SessionTime){
-		if let Some(frame_state)=self.get_frame_state(time){
-			let ray=strafesnet_common::ray::Ray{
-				origin:frame_state.body.extrapolated_position(self.simulation.timer.time(time)),
-				direction:-frame_state.camera.rotation().z_axis,
-			};
-			let model_id=self.geometry_shared.trace_ray(ray);
-			if model_id!=self.last_ray_hit{
-				println!("hit={model_id:?}");
-				self.last_ray_hit=model_id;
-			}
-		}
-	}
 	pub fn user_settings(&self)->&UserSettings{
 		&self.user_settings
 	}

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.
@@ -101,12 +101,14 @@ 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
 	assert_eq!(phys_iter.next().unwrap().time,Time::from_secs(1));
-	// touch top of part at 5,-5,0
+	// EXPECTED: touch top of part at 5,-5,0
+	// OBSERVED: CollisionEnd part at 0,0,0; clip through part at 5,-5,0
+	assert_eq!(phys_iter.next().unwrap().time,Time::from_secs(2));
 	assert_eq!(phys_iter.next().unwrap().time,Time::from_secs(2));
 	assert!(phys_iter.next().is_none());
 	let body=physics.body();

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
@@ -366,7 +338,7 @@ 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 +517,7 @@ 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" }

strafe-client/Cargo.toml

@@ -28,7 +28,7 @@ strafesnet_rbx_loader = { path = "../lib/rbx_loader", registry = "strafesnet", o
 strafesnet_session = { path = "../engine/session", registry = "strafesnet" }
 strafesnet_settings = { path = "../engine/settings", registry = "strafesnet" }
 strafesnet_snf = { path = "../lib/snf", registry = "strafesnet", optional = true }
-wgpu = "28.0.0"
+wgpu = "27.0.0"
 winit = "0.30.7"
 
 [profile.dev]

strafe-client/src/physics_worker.rs

@@ -77,8 +77,5 @@ pub fn new<'a>(
 				run_session_instruction!(ins.time,SessionInstruction::LoadReplay(bot));
 			}
 		}
-
-		//whatever just do it
-		session.debug_raycast_print_model_id_if_changed(ins.time);
 	})
 }

strafe-client/src/setup.rs

@@ -52,7 +52,7 @@ impl<'a> SetupContextPartial2<'a>{
 		let required_features=required_features();
 
 		//no helper function smh gotta write it myself
-		let adapters=pollster::block_on(self.instance.enumerate_adapters(self.backends));
+		let adapters=self.instance.enumerate_adapters(self.backends);
 
 		let mut chosen_adapter=None;
 		let mut chosen_adapter_score=0;

strafe-client/src/shader.wgsl

@@ -86,29 +86,6 @@ fn vs_entity_texture(
 	return result;
 }
 
-@group(1)
-@binding(0)
-var<uniform> model_instance: ModelInstance;
-
-struct DebugEntityOutput {
-	@builtin(position) position: vec4<f32>,
-	@location(1) normal: vec3<f32>,
-	@location(2) view: vec3<f32>,
-};
-
-@vertex
-fn vs_debug(
-	@location(0) pos: vec3<f32>,
-	@location(1) normal: vec3<f32>,
-) -> DebugEntityOutput {
-	var position: vec4<f32> = model_instance.transform * vec4<f32>(pos, 1.0);
-	var result: DebugEntityOutput;
-	result.normal = model_instance.normal_transform * normal;
-	result.view = position.xyz - camera.view_inv[3].xyz;//col(3)
-	result.position = camera.proj * camera.view * position;
-	return result;
-}
-
 //group 2 is the skybox texture
 @group(1)
 @binding(0)
@@ -133,8 +110,3 @@ fn fs_entity_texture(vertex: EntityOutputTexture) -> @location(0) vec4<f32> {
 	let reflected_color = textureSample(cube_texture, cube_sampler, reflected).rgb;
 	return mix(vec4<f32>(vec3<f32>(0.05) + 0.2 * reflected_color,1.0),mix(vertex.model_color,vec4<f32>(fragment_color.rgb,1.0),fragment_color.a),0.5+0.5*abs(d));
 }
-
-@fragment
-fn fs_debug(vertex: DebugEntityOutput) -> @location(0) vec4<f32> {
-	return model_instance.color;
-}