cleaner

Cargo.lock

@@ -3892,7 +3892,6 @@ dependencies = [
  "glam",
  "id",
  "strafesnet_common",
- "strafesnet_physics",
  "strafesnet_session",
  "strafesnet_settings",
  "wgpu",

engine/graphics/Cargo.toml

@@ -9,7 +9,6 @@ ddsfile = "0.5.1"
 glam = "0.30.0"
 id = { version = "0.1.0", registry = "strafesnet" }
 strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
-strafesnet_physics = { path = "../physics", registry = "strafesnet" }
 strafesnet_session = { path = "../session", registry = "strafesnet" }
 strafesnet_settings = { path = "../settings", registry = "strafesnet" }
 wgpu = "28.0.0"

engine/graphics/src/graphics.rs

@@ -5,20 +5,10 @@ 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{
-	let mut limits=wgpu::Limits::default();
-	limits.max_task_invocations_per_dimension=1;
-	limits.max_task_invocations_per_workgroup=1;
-	limits.max_mesh_invocations_per_dimension=1;
-	limits.max_mesh_invocations_per_workgroup=1;
-	limits.max_task_mesh_workgroup_total_count=1;
-	limits.max_task_mesh_workgroups_per_dimension=1;
-	limits.max_task_payload_size=4;
-	limits.max_mesh_output_vertices=2*(3+2+4+8);
-	limits.max_mesh_output_primitives=2*(1+2+4+8)+2;
-	limits
+	wgpu::Limits::default()
 }
 
 struct Indices{
@@ -46,32 +36,12 @@ struct GraphicsModel{
 	instance_count:u32,
 }
 
-struct DebugGraphicsSubmesh{
-	verts:Vec<strafesnet_physics::model::MeshVertId>,
-	edges:Vec<[strafesnet_physics::model::MeshVertId;2]>,
-	faces:Vec<Indices>,
-}
-struct DebugGraphicsMesh{
-	vertices:Vec<DebugGraphicsVertex>,
-	submeshes:Vec<DebugGraphicsSubmesh>,
-	vertex_buf:wgpu::Buffer,
-}
-struct DebugGraphicsModel{
-	debug_mesh_id:u32,
-	bind_group:wgpu::BindGroup,
-	// 32 bytes used to tell the mesh shader where to draw
-	// Vert: [vec4,_]
-	// Edge: [vec4,vec4]
-	debug_buf:wgpu::Buffer,
-}
-
 struct GraphicsSamplers{
 	repeat:wgpu::Sampler,
 }
 
 struct GraphicsBindGroupLayouts{
 	model:wgpu::BindGroupLayout,
-	debug_model:wgpu::BindGroupLayout,
 }
 
 struct GraphicsBindGroups{
@@ -82,9 +52,6 @@ struct GraphicsBindGroups{
 struct GraphicsPipelines{
 	skybox:wgpu::RenderPipeline,
 	model:wgpu::RenderPipeline,
-	debug_face:wgpu::RenderPipeline,
-	debug_edge:wgpu::RenderPipeline,
-	debug_vert:wgpu::RenderPipeline,
 }
 
 struct GraphicsCamera{
@@ -165,8 +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,
 }
@@ -201,98 +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_pos.iter().copied().map(|pos|{
-				DebugGraphicsVertex{
-					pos:pos.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,
-			});
-
-			macro_rules! indices{
-				($indices:expr)=>{
-					if (u32::MAX as usize)<vertices.len(){
-						panic!("Model has too many vertices!");
-					}else if (u16::MAX as usize)<vertices.len(){
-						Indices::new(device,&$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)
-					}
-				};
-			}
-
-			let submeshes=if let Ok(physics_mesh)=strafesnet_physics::model::PhysicsMesh::try_from(mesh){
-				physics_mesh.submesh_views().into_iter().map(|submesh_view|DebugGraphicsSubmesh{
-					verts:submesh_view.verts().to_owned(),
-					edges:submesh_view.edge_vert_ids_iter().collect(),
-					faces:submesh_view.face_vert_ids_iter().map(|face_verts|{
-						// triangulate
-						let mut indices=Vec::new();
-						let mut poly_vertices=face_verts.into_iter();
-						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;
-							}
-						}
-						indices!(indices)
-					}).collect(),
-				}).collect()
-			}else{
-				//idc
-				Vec::new()
-			};
-
-			DebugGraphicsMesh{
-				vertices,
-				submeshes,
-				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 debug_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
-				label:Some(format!("Debug Model{} EV Buf",model_id).as_str()),
-				contents:bytemuck::cast_slice(&[0u8;32]),
-				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(),
-					},
-					wgpu::BindGroupEntry{
-						binding:1,
-						resource:debug_buf.as_entire_binding(),
-					},
-				],
-				label:Some(format!("Debug Model{} Bind Group",model_id).as_str()),
-			});
-			DebugGraphicsModel{
-				debug_mesh_id:model.mesh.get(),
-				bind_group,
-				debug_buf,
-			}
-		}).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);
@@ -673,7 +546,7 @@ impl GraphicsState{
 			entries:&[
 				wgpu::BindGroupLayoutEntry{
 					binding:0,
-					visibility:wgpu::ShaderStages::VERTEX|wgpu::ShaderStages::MESH,
+					visibility:wgpu::ShaderStages::VERTEX,
 					ty:wgpu::BindingType::Buffer{
 						ty:wgpu::BufferBindingType::Uniform,
 						has_dynamic_offset:false,
@@ -735,31 +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|wgpu::ShaderStages::MESH,
-					ty:wgpu::BindingType::Buffer{
-						ty:wgpu::BufferBindingType::Uniform,
-						has_dynamic_offset:false,
-						min_binding_size:None,
-					},
-					count:None,
-				},
-				wgpu::BindGroupLayoutEntry{
-					binding:1,
-					visibility:wgpu::ShaderStages::MESH,
-					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"),
@@ -908,14 +756,6 @@ impl GraphicsState{
 			],
 			immediate_size:0,
 		});
-		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,
-				],
-				immediate_size:0,
-			});
 		let sky_pipeline_layout=device.create_pipeline_layout(&wgpu::PipelineLayoutDescriptor{
 			label:None,
 			bind_group_layouts:&[
@@ -991,92 +831,6 @@ impl GraphicsState{
 			multiview_mask:None,
 			cache:None,
 		});
-		let debug_model_pipeline_face=device.create_render_pipeline(&wgpu::RenderPipelineDescriptor{
-			label:Some("Debug Face Pipeline"),
-			layout:Some(&debug_model_pipeline_layout),
-			vertex:wgpu::VertexState{
-				module:&shader,
-				entry_point:Some("vs_debug_face"),
-				buffers:&[wgpu::VertexBufferLayout{
-					array_stride:size_of::<DebugGraphicsVertex>() as wgpu::BufferAddress,
-					step_mode:wgpu::VertexStepMode::Vertex,
-					attributes:&wgpu::vertex_attr_array![0=>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{
-				topology:wgpu::PrimitiveTopology::TriangleList,
-				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_mask:None,
-			cache:None,
-		});
-		let mut debug_model_pipeline=wgpu::MeshPipelineDescriptor{
-			label:None,//filled in below
-			layout:Some(&debug_model_pipeline_layout),
-			task:Some(wgpu::TaskState{
-				module:&shader,
-				entry_point:Some("ts_main"),
-				compilation_options:wgpu::PipelineCompilationOptions::default(),
-			}),
-			mesh:wgpu::MeshState{
-				module:&shader,
-				entry_point:None,//filled in below
-				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{
-				topology:wgpu::PrimitiveTopology::TriangleList,
-				front_face:wgpu::FrontFace::Cw,
-				cull_mode:None,
-				..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,
-		};
-		debug_model_pipeline.label=Some("Debug Vert Pipeline");
-		debug_model_pipeline.mesh.entry_point=Some("ms_debug_vert");
-		let debug_model_pipeline_vert=device.create_mesh_pipeline(&debug_model_pipeline);
-		debug_model_pipeline.label=Some("Debug Edge Pipeline");
-		debug_model_pipeline.mesh.entry_point=Some("ms_debug_edge");
-		let debug_model_pipeline_edge=device.create_mesh_pipeline(&debug_model_pipeline);
 
 		let camera=GraphicsCamera::default();
 		let camera_uniforms=camera.to_uniform_data(glam::Vec3::ZERO,glam::Vec2::ZERO);
@@ -1116,10 +870,7 @@ impl GraphicsState{
 		Self{
 			pipelines:GraphicsPipelines{
 				skybox:sky_pipeline,
-				model:model_pipeline,
-				debug_face:debug_model_pipeline_face,
-				debug_edge:debug_model_pipeline_edge,
-				debug_vert:debug_model_pipeline_vert,
+				model:model_pipeline
 			},
 			bind_groups:GraphicsBindGroups{
 				camera:camera_bind_group,
@@ -1128,14 +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,
-			},
+			bind_group_layouts:GraphicsBindGroupLayouts{model:model_bind_group_layout},
 			samplers:GraphicsSamplers{repeat:repeat_sampler},
 			temp_squid_texture_view:squid_texture_view,
 		}
@@ -1189,49 +935,6 @@ impl GraphicsState{
 				.copy_from_slice(bytemuck::cast_slice(&model_uniforms));
 		}
 		*/
-		// upload the edge or vertex for teh mesh shader to highlight
-		if let Some(hit)=&frame_state.hit{
-			if let Some(closest_fev)=&hit.closest_fev{
-				let model_id:model::ModelId=hit.convex_mesh_id.model_id.into();
-				if let Some(model)=self.debug_models.get(model_id.get() as usize){
-					let mesh=&self.debug_meshes[model.debug_mesh_id as usize];
-					match closest_fev{
-						strafesnet_physics::model::FEV::Face(_face)=>{
-							// face is rendered normally
-						},
-						strafesnet_physics::model::FEV::Edge(edge)=>{
-							let [v0_id,v1_id]=mesh.submeshes[hit.convex_mesh_id.submesh_id.get() as usize].edges[edge.get() as usize];
-							let v0_pos=mesh.vertices[v0_id.get() as usize].pos;
-							let v1_pos=mesh.vertices[v1_id.get() as usize].pos;
-							let debug_data=[glam::Vec3A::from_array(v0_pos).extend(1.0).to_array(),glam::Vec3A::from_array(v1_pos).extend(1.0).to_array()];
-							let debug_slice=bytemuck::cast_slice(&debug_data);
-							self.staging_belt
-								.write_buffer(
-									&mut encoder,
-									&model.debug_buf,
-									0,
-									wgpu::BufferSize::new(debug_slice.len() as wgpu::BufferAddress).unwrap(),
-								)
-								.copy_from_slice(debug_slice);
-						},
-						strafesnet_physics::model::FEV::Vert(vert)=>{
-							let vert_id=mesh.submeshes[hit.convex_mesh_id.submesh_id.get() as usize].verts[vert.get() as usize].get();
-							let pos=mesh.vertices[vert_id as usize].pos;
-							let debug_data=[glam::Vec3A::from_array(pos).extend(1.0).to_array()];
-							let debug_slice=bytemuck::cast_slice(&debug_data);
-							self.staging_belt
-								.write_buffer(
-									&mut encoder,
-									&model.debug_buf,
-									0,
-									wgpu::BufferSize::new(debug_slice.len() as wgpu::BufferAddress).unwrap(),
-								)
-								.copy_from_slice(debug_slice);
-						},
-					}
-				}
-			}
-		}
 		self.staging_belt.finish();
 
 		{
@@ -1267,7 +970,6 @@ impl GraphicsState{
 			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,&[]);
@@ -1279,37 +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(hit)=&frame_state.hit{
-				if let Some(closest_fev)=&hit.closest_fev{
-					let model_id:model::ModelId=hit.convex_mesh_id.model_id.into();
-					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_bind_group(1,&model.bind_group,&[]);
-						rpass.set_vertex_buffer(0,mesh.vertex_buf.slice(..));
-						match closest_fev{
-							strafesnet_physics::model::FEV::Face(face)=>{
-								rpass.set_pipeline(&self.pipelines.debug_face);
-								let indices=&mesh.submeshes[hit.convex_mesh_id.submesh_id.get() as usize].faces[face.get() as usize];
-								rpass.set_index_buffer(indices.buf.slice(..),indices.format);
-								//TODO: loop over triangle strips
-								rpass.draw_indexed(0..indices.count,0,0..1);
-							},
-							strafesnet_physics::model::FEV::Edge(_edge)=>{
-								rpass.set_pipeline(&self.pipelines.debug_edge);
-								// the data has already been primed by the staging belt
-								rpass.draw_mesh_tasks(1, 1, 1);
-							},
-							strafesnet_physics::model::FEV::Vert(_vert)=>{
-								rpass.set_pipeline(&self.pipelines.debug_vert);
-								// the data has already been primed by the staging belt
-								rpass.draw_mesh_tasks(1, 1, 1);
-							},
-						}
-					}
-				}
-			}
 		}
 
 		queue.submit(std::iter::once(encoder.finish()));

engine/graphics/src/model.rs

@@ -8,11 +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],
-}
 #[derive(Clone,Copy,id::Id)]
 pub struct IndexedGraphicsMeshOwnedRenderConfigId(u32);
 pub struct IndexedGraphicsMeshOwnedRenderConfig{

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 face_crawler;
-pub mod model;
 mod push_solve;
-mod minimum_difference;
+mod face_crawler;
+mod model;
 
 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

@@ -60,7 +60,7 @@ impl DirectedEdge for SubmeshDirectedEdgeId{
 }
 
 //Vertex <-> Edge <-> Face -> Collide
-#[derive(Debug,Clone)]
+#[derive(Debug)]
 pub enum FEV<M:MeshQuery>{
 	Face(M::Face),
 	Edge(<M::Edge as DirectedEdge>::UndirectedEdge),
@@ -93,7 +93,6 @@ pub trait MeshQuery{
 	/// 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]>;
@@ -440,29 +439,11 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 	}
 }
 
-#[derive(Debug,Clone,Copy)]
+#[derive(Debug)]
 pub struct PhysicsMeshView<'a>{
 	data:&'a PhysicsMeshData,
 	topology:&'a PhysicsMeshTopology,
 }
-impl PhysicsMeshView<'_>{
-	pub fn verts(&self)->&[MeshVertId]{
-		&self.topology.verts
-	}
-	pub fn edge_vert_ids_iter(&self)->impl Iterator<Item=[MeshVertId;2]>+'_{
-		self.topology.edge_topology.iter().map(|edge|{
-			edge.verts.map(|vert_id|self.topology.verts[vert_id.get() as usize])
-		})
-	}
-	pub fn face_vert_ids_iter(&self)->impl Iterator<Item=impl Iterator<Item=MeshVertId>>+'_{
-		self.topology.face_topology.iter().map(|face|{
-			face.edges.iter().map(|edge_id|{
-				let vert_id=self.topology.edge_topology[edge_id.as_undirected().get() as usize].verts[edge_id.parity() as usize];
-				self.topology.verts[vert_id.get() as usize]
-			})
-		})
-	}
-}
 impl MeshQuery for PhysicsMeshView<'_>{
 	type Face=SubmeshFaceId;
 	type Edge=SubmeshDirectedEdgeId;
@@ -477,18 +458,6 @@ impl MeshQuery for PhysicsMeshView<'_>{
 		// 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;
@@ -527,7 +496,7 @@ impl PhysicsMeshTransform{
 	}
 }
 
-#[derive(Debug,Clone,Copy)]
+#[derive(Debug)]
 pub struct TransformedMesh<'a>{
 	view:PhysicsMeshView<'a>,
 	transform:&'a PhysicsMeshTransform,
@@ -545,8 +514,17 @@ 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<'_>{
@@ -568,18 +546,6 @@ impl MeshQuery for TransformedMesh<'_>{
 	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)
@@ -606,20 +572,11 @@ 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),
@@ -634,7 +591,7 @@ impl UndirectedEdge for MinkowskiEdge{
 		}
 	}
 }
-#[derive(Clone,Copy,Debug,Eq,PartialEq)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiDirectedEdge{
 	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
 	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
@@ -655,7 +612,7 @@ 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),
@@ -671,20 +628,23 @@ 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{
@@ -692,27 +652,140 @@ 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
+			infinity_fev.crawl(self,&infinity_body,Bound::Unbounded,start_time).miss()
+		})
+	}
 	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
@@ -742,8 +815,20 @@ 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<'_>{
@@ -783,10 +868,8 @@ 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))
+		self.mesh1.transform.vertex.translation-
+		self.mesh0.transform.vertex.translation
 	}
 	fn face_edges(&self,face_id:MinkowskiFace)->impl AsRef<[MinkowskiDirectedEdge]>{
 		match face_id{

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;
@@ -287,8 +286,7 @@ 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)]
@@ -670,7 +668,7 @@ impl From<CollisionAttributesId> for IntersectAttributesId{
 	}
 }
 #[derive(Debug,Clone,Copy,Hash,id::Id,Eq,PartialEq)]
-pub struct ContactModelId(u32);
+struct ContactModelId(u32);
 impl From<ContactModelId> for ModelId{
 	fn from(value:ContactModelId)->ModelId{
 		ModelId::new(value.get())
@@ -682,7 +680,7 @@ impl From<ModelId> for ContactModelId{
 	}
 }
 #[derive(Debug,Clone,Copy,Hash,id::Id,Eq,PartialEq)]
-pub struct IntersectModelId(u32);
+struct IntersectModelId(u32);
 impl From<IntersectModelId> for ModelId{
 	fn from(value:IntersectModelId)->ModelId{
 		ModelId::new(value.get())
@@ -694,7 +692,7 @@ impl From<ModelId> for IntersectModelId{
 	}
 }
 #[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
-pub enum PhysicsModelId{
+enum PhysicsModelId{
 	Contact(ContactModelId),
 	Intersect(IntersectModelId),
 }
@@ -708,9 +706,9 @@ impl From<PhysicsModelId> for ModelId{
 }
 //unique physics meshes indexed by this
 #[derive(Debug,Clone,Copy,Eq,Hash,PartialEq)]
-pub struct ConvexMeshId<Id>{
-	pub model_id:Id,
-	pub submesh_id:PhysicsSubmeshId,
+struct ConvexMeshId<Id>{
+	model_id:Id,
+	submesh_id:PhysicsSubmeshId,
 }
 impl<Id> ConvexMeshId<Id>{
 	fn map<NewId>(self,model_id:NewId)->ConvexMeshId<NewId>{
@@ -731,7 +729,7 @@ 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 +738,7 @@ 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),
@@ -999,70 +997,6 @@ impl PhysicsData{
 			hitbox_mesh:StyleModifiers::default().calculate_mesh(),
 		}
 	}
-	pub fn trace_ray(&self,ray:strafesnet_common::ray::Ray)->Option<ConvexMeshId<PhysicsModelId>>{
-		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)
-	}
-	pub fn closest_fev_not_inside(&self,convex_mesh_id:ConvexMeshId<PhysicsModelId>,point:Planar64Vec3)->Option<model_physics::FEV<TransformedMesh<'static>>>{
-		let model_mesh=self.models.mesh(convex_mesh_id);
-		let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,self.hitbox_mesh.transformed_mesh());
-		let fev=crate::minimum_difference::closest_fev_not_inside(&minkowski,point)?;
-		Some(match fev{
-			model_physics::FEV::Face(face)=>{
-				match face{
-					model_physics::MinkowskiFace::VertFace(submesh_vert_id,_)=>model_physics::FEV::Vert(submesh_vert_id),
-					model_physics::MinkowskiFace::EdgeEdge(submesh_edge_id,..)=>model_physics::FEV::Edge(submesh_edge_id),
-					model_physics::MinkowskiFace::FaceVert(submesh_face_id,_)=>model_physics::FEV::Face(submesh_face_id),
-				}
-			},
-			model_physics::FEV::Edge(edge)=>{
-				match edge{
-					model_physics::MinkowskiEdge::VertEdge(submesh_vert_id,_)=>model_physics::FEV::Vert(submesh_vert_id),
-					model_physics::MinkowskiEdge::EdgeVert(submesh_edge_id,_)=>model_physics::FEV::Edge(submesh_edge_id),
-				}
-			},
-			model_physics::FEV::Vert(vert)=>{
-				match vert{
-					model_physics::MinkowskiVert::VertVert(submesh_vert_id,_)=>model_physics::FEV::Vert(submesh_vert_id),
-				}
-			},
-		})
-	}
 	pub fn new(map:&map::CompleteMap)->Self{
 		let modes=map.modes.clone().denormalize();
 		let mut used_contact_attributes=Vec::new();
@@ -1343,7 +1277,7 @@ 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

engine/session/src/session.rs

@@ -52,7 +52,6 @@ pub enum SessionControlInstruction{
 pub enum SessionPlaybackInstruction{
 	SkipForward,
 	SkipBack,
-	TogglePaused,
 	DecreaseTimescale,
 	IncreaseTimescale,
 }
@@ -61,7 +60,6 @@ pub struct FrameState{
 	pub body:physics::Body,
 	pub camera:physics::PhysicsCamera,
 	pub time:PhysicsTime,
-	pub hit:Option<Hit>,
 }
 
 pub struct Simulation{
@@ -78,12 +76,11 @@ impl Simulation{
 			physics,
 		}
 	}
-	pub fn get_frame_state(&self,time:SessionTime,debug_model:Option<Hit>)->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),
-			hit: debug_model,
 		}
 	}
 }
@@ -151,12 +148,6 @@ enum ViewState{
 	Replay(BotId),
 }
 
-#[derive(Clone)]
-pub struct Hit{
-	pub convex_mesh_id:physics::ConvexMeshId<physics::PhysicsModelId>,
-	pub closest_fev:Option<strafesnet_physics::model::FEV<strafesnet_physics::model::TransformedMesh<'static>>>
-}
-
 pub struct Session{
 	directories:Directories,
 	user_settings:UserSettings,
@@ -169,7 +160,6 @@ pub struct Session{
 	recording:Recording,
 	//players:HashMap<PlayerId,Simulation>,
 	replays:HashMap<BotId,Replay>,
-	last_ray_hit:Option<Hit>,
 }
 impl Session{
 	pub fn new(
@@ -186,7 +176,6 @@ impl Session{
 			view_state:ViewState::Play,
 			recording:Default::default(),
 			replays:HashMap::new(),
-			last_ray_hit:None,
 		}
 	}
 	fn clear_recording(&mut self){
@@ -198,30 +187,12 @@ 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.clone())),
+			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,
-			};
-			match self.geometry_shared.trace_ray(ray){
-				Some(convex_mesh_id)=>{
-					let closest_fev=self.geometry_shared.closest_fev_not_inside(convex_mesh_id,self.simulation.physics.body().position);
-					self.last_ray_hit=Some(Hit{
-						convex_mesh_id,
-						closest_fev,
-					});
-				},
-				None=>self.last_ray_hit=None,
-			}
-		}
-	}
 	pub fn user_settings(&self)->&UserSettings{
 		&self.user_settings
 	}
@@ -281,7 +252,14 @@ impl InstructionConsumer<Instruction<'_>> for Session{
 				// don't flush the buffered instructions in the mouse interpolator
 				// until the mouse is confirmed to be not moving at a later time
 				// what if they pause for 5ms lmao
-				_=self.simulation.timer.set_paused(ins.time,paused);
+				match &self.view_state{
+					ViewState::Play=>{
+						_=self.simulation.timer.set_paused(ins.time,paused);
+					},
+					ViewState::Replay(bot_id)=>if let Some(replay)=self.replays.get_mut(bot_id){
+						_=replay.simulation.timer.set_paused(ins.time,paused);
+					},
+				}
 			},
 			Instruction::Control(SessionControlInstruction::CopyRecordingIntoReplayAndSpectate)=> if let ViewState::Play=self.view_state{
 				// Bind: B
@@ -402,14 +380,6 @@ impl InstructionConsumer<Instruction<'_>> for Session{
 					},
 				}
 			},
-			Instruction::Playback(SessionPlaybackInstruction::TogglePaused)=>{
-				match &self.view_state{
-					ViewState::Play=>(),
-					ViewState::Replay(bot_id)=>if let Some(replay)=self.replays.get_mut(bot_id){
-						_=replay.simulation.timer.set_paused(ins.time,!replay.simulation.timer.is_paused());
-					},
-				}
-			}
 			Instruction::ChangeMap(complete_map)=>{
 				self.clear_recording();
 				self.change_map(complete_map);

lib/rbx_loader/Cargo.toml

@@ -12,7 +12,7 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 [dependencies]
 bytemuck = "1.14.3"
 glam = "0.30.0"
-regex = { version = "1.11.3", default-features = false }
+regex = { version = "1.11.3", default-features = false, features = ["unicode-perl"] }
 rbx_mesh = "0.5.0"
 rbxassetid = { version = "0.1.0", path = "../rbxassetid", registry = "strafesnet" }
 roblox_emulator = { version = "0.5.1", path = "../roblox_emulator", default-features = false, registry = "strafesnet" }

strafe-client/models/teslacyberv3.0.mtl

@@ -1,62 +0,0 @@
-# Blender MTL File: 'teslacyberv3.0.blend'
-# Material Count: 6
-
-newmtl Material
-Ns 65.476285
-Ka 1.000000 1.000000 1.000000
-Kd 0.411568 0.411568 0.411568
-Ks 0.614679 0.614679 0.614679
-Ke 0.000000 0.000000 0.000000
-Ni 36.750000
-d 1.000000
-illum 3
-
-newmtl Материал
-Ns 323.999994
-Ka 1.000000 1.000000 1.000000
-Kd 0.800000 0.800000 0.800000
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.000000
-d 1.000000
-illum 2
-
-newmtl Материал.001
-Ns 900.000000
-Ka 1.000000 1.000000 1.000000
-Kd 0.026240 0.026240 0.026240
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-Ni 1.450000
-d 1.000000
-illum 1
-
-newmtl Материал.002
-Ns 0.000000
-Ka 1.000000 1.000000 1.000000
-Kd 0.031837 0.032429 0.029425
-Ks 0.169725 0.169725 0.169725
-Ke 0.000000 0.000000 0.000000
-Ni 0.000000
-d 1.000000
-illum 2
-
-newmtl Материал.003
-Ns 900.000000
-Ka 1.000000 1.000000 1.000000
-Kd 0.023585 0.083235 0.095923
-Ks 1.000000 1.000000 1.000000
-Ke 0.000000 0.000000 0.000000
-Ni 45.049999
-d 1.000000
-illum 3
-
-newmtl Материал.004
-Ns 323.999994
-Ka 1.000000 1.000000 1.000000
-Kd 0.800000 0.800000 0.800000
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.000000
-d 1.000000
-illum 2

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

@@ -3,7 +3,7 @@ fn optional_features()->wgpu::Features{
 	|wgpu::Features::TEXTURE_COMPRESSION_ETC2
 }
 fn required_features()->wgpu::Features{
-	wgpu::Features::TEXTURE_COMPRESSION_BC|wgpu::Features::EXPERIMENTAL_MESH_SHADER
+	wgpu::Features::TEXTURE_COMPRESSION_BC
 }
 fn required_downlevel_capabilities()->wgpu::DownlevelCapabilities{
 	wgpu::DownlevelCapabilities{
@@ -125,7 +125,7 @@ impl<'a> SetupContextPartial3<'a>{
 					required_limits:needed_limits,
 					memory_hints:wgpu::MemoryHints::Performance,
 					trace:wgpu::Trace::Off,
-					experimental_features:unsafe{wgpu::ExperimentalFeatures::enabled()},
+					experimental_features:wgpu::ExperimentalFeatures::disabled(),
 				},
 			))
 			.expect("Unable to find a suitable GPU adapter!");

strafe-client/src/shader.wgsl

@@ -1,5 +1,3 @@
-enable wgpu_mesh_shader;
-
 struct Camera {
 	// from camera to screen
 	proj: mat4x4<f32>,
@@ -88,166 +86,6 @@ fn vs_entity_texture(
 	return result;
 }
 
-@group(1)
-@binding(0)
-var<uniform> model_instance: ModelInstance;
-
-@group(1)
-@binding(1)
-var<uniform> ve_verts: array<vec4<f32>, 2>;
-
-struct DebugEntityOutput {
-	@builtin(position) position: vec4<f32>,
-};
-
-@vertex
-fn vs_debug_face(
-	@location(0) pos: vec3<f32>,
-) -> DebugEntityOutput {
-	var position: vec4<f32> = model_instance.transform * vec4<f32>(pos, 1.0);
-	var result: DebugEntityOutput;
-	result.position = camera.proj * camera.view * position;
-	return result;
-}
-
-struct TaskPayload {
-    four_bytes: u32,
-}
-
-var<task_payload> taskPayload: TaskPayload;
-
-@task
-@payload(taskPayload)
-@workgroup_size(1)
-fn ts_main() -> @builtin(mesh_task_size) vec3<u32> {
-	taskPayload.four_bytes = 0;
-	return vec3(1, 1, 1);
-}
-
-struct VertexOutput {
-	@builtin(position) position: vec4<f32>,
-	@location(0) color: vec4<f32>,
-}
-struct PrimitiveOutput {
-	@builtin(triangle_indices) indices: vec3<u32>,
-}
-
-struct CircleOutput {
-	@builtin(vertices) vertices: array<VertexOutput, 24>,
-	@builtin(primitives) primitives: array<PrimitiveOutput, 22>,
-	@builtin(vertex_count) vertex_count: u32,
-	@builtin(primitive_count) primitive_count: u32,
-}
-
-var<workgroup> mesh_output: CircleOutput;
-
-const tau: f32 = 3.141592653589793 * 2.0;
-
-fn modulo(value:u32,modulus:u32)->u32{
-	return value-value/modulus*modulus;
-}
-
-@mesh(mesh_output)
-@payload(taskPayload)
-@workgroup_size(1)
-fn ms_debug_vert(){
-	// circle with 24 vertices.
-	const LAYERS:u32 = 3;
-	const N:u32 = 3*(1<<LAYERS);
-	mesh_output.vertex_count = N;
-	mesh_output.primitive_count = N-2;
-
-	var vertex_world_position: vec4<f32> = model_instance.transform * ve_verts[0];
-	var vertex_screen_position: vec4<f32> = camera.proj * camera.view * vertex_world_position;
-
-	for (var i:u32 = 0; i<N/4; i++){
-		// draw a 1 unit redius circle
-		var theta: f32 = f32(i) * tau / f32(N);
-		var cos_sin: vec2<f32> = vec2(cos(theta), sin(theta));
-		var offset: vec2<f32> = 0.5 * cos_sin;
-		mesh_output.vertices[i].position = vertex_screen_position + vec4<f32>(offset, 0.0, 0.0);
-		mesh_output.vertices[i+N/4].position = vertex_screen_position + vec4<f32>(-offset.y, offset.x, 0.0, 0.0);
-		mesh_output.vertices[i+N/4*2].position = vertex_screen_position + vec4<f32>(-offset, 0.0, 0.0);
-		mesh_output.vertices[i+N/4*3].position = vertex_screen_position + vec4<f32>(offset.y, -offset.x, 0.0, 0.0);
-	}
-
-	// max area triangle indices
-
-	// the big triangle
-	mesh_output.primitives[0].indices = vec3<u32>(0, N/3, N/3*2);
-
-	// 3 layers of infill triangles to approximate circle better than 1 triangle.
-	// we start on the outer layer because it's easier to construct this way
-	var count:u32=N;
-	var base:u32=1;
-	for (var layer:u32 = 0; layer<LAYERS; layer++){
-		count=count>>1;
-		var step:u32=N/count;
-		for (var i:u32 = 0; i<count; i++){
-			mesh_output.primitives[base+i].indices = vec3<u32>(i*step, i*step+(step>>1), modulo(i*step+step,N));
-		}
-		base+=count;
-	}
-}
-
-@mesh(mesh_output)
-@payload(taskPayload)
-@workgroup_size(1)
-fn ms_debug_edge(){
-	// draw two circles for now.
-	const LAYERS:u32 = 3;
-	const N:u32 = 2*(1<<LAYERS);
-	mesh_output.vertex_count = 2*(3+2+4+8);
-	mesh_output.primitive_count = 2*(1+2+4+8)+2;
-
-	var v0_world_position: vec4<f32> = model_instance.transform * ve_verts[0];
-	var v1_world_position: vec4<f32> = model_instance.transform * ve_verts[1];
-
-	var v0_screen_position: vec4<f32> = camera.proj * camera.view * v0_world_position;
-	var v1_screen_position: vec4<f32> = camera.proj * camera.view * v1_world_position;
-
-	var edge_dir_world: vec4<f32> = normalize(v0_world_position - v1_world_position);
-	var edge_dir_screen: vec4<f32> = camera.proj * camera.view * edge_dir_world;
-
-	for (var i:u32 = 0; i<=N/2; i++){
-		// two half circles that make a whole
-		var theta: f32 = f32(i) * tau / f32(N);
-		var cos_sin: vec2<f32> = vec2(cos(theta), sin(theta));
-
-		// construct basis vectors
-		var y_axis: vec2<f32> = edge_dir_screen.xy;
-		var x_axis: vec2<f32> = y_axis.yx;
-		x_axis.x = -x_axis.x;
-
-		var offset: vec4<f32> = vec4<f32>(0.5 * (x_axis * cos_sin.x + y_axis * cos_sin.y), 0.0, 0.0);;
-
-		mesh_output.vertices[i].position = v0_screen_position + offset;
-		mesh_output.vertices[N/2+1+i].position = v1_screen_position - offset;
-	}
-
-	// max area triangle indices
-	// number of primitives per circle half
-	const P:u32 = N/2;
-	// the big triangles between the circles
-	mesh_output.primitives[0].indices = vec3<u32>(0, N/2+1, P);
-	mesh_output.primitives[P].indices = vec3<u32>(N/2+1, 0, P + N/2+1);
-
-	// 3 layers of infill triangles to approximate circle better than 1 triangle.
-	// we start on the outer layer because it's easier to construct this way
-	var count:u32=P;
-	var base:u32=1;
-	for (var layer:u32 = 0; layer<LAYERS; layer++){
-		count=count>>1;
-		var step:u32=P/count;
-		for (var i:u32 = 0; i<count; i++){
-			var indices = vec3<u32>(i*step, i*step+(step>>1), i*step+step);
-			mesh_output.primitives[base+i].indices = indices;
-			mesh_output.primitives[P+base+i].indices = indices + N/2+1;
-		}
-		base+=count;
-	}
-}
-
 //group 2 is the skybox texture
 @group(1)
 @binding(0)
@@ -272,8 +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;
-}

strafe-client/src/window.rs

@@ -15,6 +15,7 @@ pub enum Instruction{
 struct WindowContext<'a>{
 	manual_mouse_lock:bool,
 	mouse_pos:glam::DVec2,
+	simulation_paused:bool,
 	screen_size:glam::UVec2,
 	window:&'a winit::window::Window,
 	physics_thread:crate::compat_worker::QNWorker<'a,TimedInstruction<PhysicsWorkerInstruction,SessionTime>>,
@@ -24,6 +25,35 @@ impl WindowContext<'_>{
 	fn get_middle_of_screen(&self)->winit::dpi::PhysicalPosition<u32>{
 		winit::dpi::PhysicalPosition::new(self.screen_size.x/2,self.screen_size.y/2)
 	}
+	fn free_mouse(&mut self){
+		self.manual_mouse_lock=false;
+		match self.window.set_cursor_position(self.get_middle_of_screen()){
+			Ok(())=>(),
+			Err(e)=>println!("Could not set cursor position: {:?}",e),
+		}
+		match self.window.set_cursor_grab(winit::window::CursorGrabMode::None){
+			Ok(())=>(),
+			Err(e)=>println!("Could not release cursor: {:?}",e),
+		}
+		self.window.set_cursor_visible(true);
+	}
+	fn lock_mouse(&mut self){
+		//if cursor is outside window don't lock but apparently there's no get pos function
+		//let pos=window.get_cursor_pos();
+		match self.window.set_cursor_grab(winit::window::CursorGrabMode::Locked){
+			Ok(())=>(),
+			Err(_)=>{
+				match self.window.set_cursor_grab(winit::window::CursorGrabMode::Confined){
+					Ok(())=>(),
+					Err(e)=>{
+						self.manual_mouse_lock=true;
+						println!("Could not confine cursor: {:?}",e)
+					},
+				}
+			}
+		}
+		self.window.set_cursor_visible(false);
+	}
 	fn window_event(&mut self,time:SessionTime,event:winit::event::WindowEvent){
 		match event{
 			winit::event::WindowEvent::DroppedFile(path)=>{
@@ -34,6 +64,10 @@ impl WindowContext<'_>{
 				}
 			},
 			winit::event::WindowEvent::Focused(state)=>{
+				// don't unpause if manually paused
+				if self.simulation_paused{
+					return;
+				}
 				//pause unpause
 				self.physics_thread.send(TimedInstruction{
 					time,
@@ -46,35 +80,8 @@ impl WindowContext<'_>{
 				..
 			}=>{
 				match (logical_key,state){
-					(winit::keyboard::Key::Named(winit::keyboard::NamedKey::Tab),winit::event::ElementState::Pressed)=>{
-						self.manual_mouse_lock=false;
-						match self.window.set_cursor_position(self.get_middle_of_screen()){
-							Ok(())=>(),
-							Err(e)=>println!("Could not set cursor position: {:?}",e),
-						}
-						match self.window.set_cursor_grab(winit::window::CursorGrabMode::None){
-							Ok(())=>(),
-							Err(e)=>println!("Could not release cursor: {:?}",e),
-						}
-						self.window.set_cursor_visible(state.is_pressed());
-					},
-					(winit::keyboard::Key::Named(winit::keyboard::NamedKey::Tab),winit::event::ElementState::Released)=>{
-						//if cursor is outside window don't lock but apparently there's no get pos function
-						//let pos=window.get_cursor_pos();
-						match self.window.set_cursor_grab(winit::window::CursorGrabMode::Locked){
-							Ok(())=>(),
-							Err(_)=>{
-								match self.window.set_cursor_grab(winit::window::CursorGrabMode::Confined){
-									Ok(())=>(),
-									Err(e)=>{
-										self.manual_mouse_lock=true;
-										println!("Could not confine cursor: {:?}",e)
-									},
-								}
-							}
-						}
-						self.window.set_cursor_visible(state.is_pressed());
-					},
+					(winit::keyboard::Key::Named(winit::keyboard::NamedKey::Tab),winit::event::ElementState::Pressed)=>self.free_mouse(),
+					(winit::keyboard::Key::Named(winit::keyboard::NamedKey::Tab),winit::event::ElementState::Released)=>self.lock_mouse(),
 					(winit::keyboard::Key::Named(winit::keyboard::NamedKey::F11),winit::event::ElementState::Pressed)=>{
 						if self.window.fullscreen().is_some(){
 							self.window.set_fullscreen(None);
@@ -90,7 +97,24 @@ impl WindowContext<'_>{
 						}
 						self.window.set_cursor_visible(true);
 					},
+					(winit::keyboard::Key::Named(winit::keyboard::NamedKey::Enter),winit::event::ElementState::Pressed)=>{
+						let paused=!self.simulation_paused;
+						self.simulation_paused=paused;
+						if paused{
+							self.free_mouse();
+						}else{
+							self.lock_mouse();
+						}
+						let instruction=PhysicsWorkerInstruction::SessionControl(SessionControlInstruction::SetPaused(paused));
+						self.physics_thread.send(TimedInstruction{
+							time,
+							instruction,
+						}).unwrap();
+					}
 					(keycode,state)=>{
+						if self.simulation_paused{
+							return;
+						}
 						let s=state.is_pressed();
 
 						// internal variants for this scope
@@ -132,7 +156,6 @@ impl WindowContext<'_>{
 						if let Some(session_instruction)=match keycode{
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Space)=>input_ctrl!(SetJump,s),
 							// TODO: bind system so playback pausing can use spacebar
-							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Enter)=>session_playback!(TogglePaused,s),
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::ArrowUp)=>session_playback!(IncreaseTimescale,s),
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::ArrowDown)=>session_playback!(DecreaseTimescale,s),
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::ArrowLeft)=>session_playback!(SkipBack,s),
@@ -191,7 +214,7 @@ impl WindowContext<'_>{
 	fn device_event(&mut self,time:SessionTime,event:winit::event::DeviceEvent){
 		match event{
 			winit::event::DeviceEvent::MouseMotion{
-			    delta,
+				delta:(delta_x,delta_y),
 			}=>{
 				if self.manual_mouse_lock{
 					match self.window.set_cursor_position(self.get_middle_of_screen()){
@@ -199,7 +222,10 @@ impl WindowContext<'_>{
 						Err(e)=>println!("Could not set cursor position: {:?}",e),
 					}
 				}
-				self.mouse_pos+=glam::dvec2(delta.0,delta.1);
+				self.mouse_pos+=glam::dvec2(delta_x,delta_y);
+				if self.simulation_paused{
+					return;
+				}
 				self.physics_thread.send(TimedInstruction{
 					time,
 					instruction:PhysicsWorkerInstruction::SessionInput(SessionInputInstruction::Mouse(self.mouse_pos.as_ivec2())),
@@ -241,6 +267,7 @@ pub fn worker<'a>(
 	let mut window_context=WindowContext{
 		manual_mouse_lock:false,
 		mouse_pos:glam::DVec2::ZERO,
+		simulation_paused:false,
 		//make sure to update this!!!!!
 		screen_size,
 		window,