pub use fixed_wide::fixed::{Fixed,Fix};
pub use ratio_ops::ratio::{Ratio,Divide};

//integer units

/// specific example of a "default" time type
#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
pub enum TimeInner{}
pub type AbsoluteTime=Time<TimeInner>;

#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
pub struct Time<T>(i64,core::marker::PhantomData<T>);
impl<T> Time<T>{
	pub const MIN:Self=Self::raw(i64::MIN);
	pub const MAX:Self=Self::raw(i64::MAX);
	pub const ZERO:Self=Self::raw(0);
	pub const ONE_SECOND:Self=Self::raw(1_000_000_000);
	pub const ONE_MILLISECOND:Self=Self::raw(1_000_000);
	pub const ONE_MICROSECOND:Self=Self::raw(1_000);
	pub const ONE_NANOSECOND:Self=Self::raw(1);
	#[inline]
	pub const fn raw(num:i64)->Self{
		Self(num,core::marker::PhantomData)
	}
	#[inline]
	pub const fn get(self)->i64{
		self.0
	}
	#[inline]
	pub const fn from_secs(num:i64)->Self{
		Self::raw(Self::ONE_SECOND.0*num)
	}
	#[inline]
	pub const fn from_millis(num:i64)->Self{
		Self::raw(Self::ONE_MILLISECOND.0*num)
	}
	#[inline]
	pub const fn from_micros(num:i64)->Self{
		Self::raw(Self::ONE_MICROSECOND.0*num)
	}
	#[inline]
	pub const fn from_nanos(num:i64)->Self{
		Self::raw(Self::ONE_NANOSECOND.0*num)
	}
	//should I have checked subtraction? force all time variables to be positive?
	#[inline]
	pub const fn nanos(self)->i64{
		self.0
	}
	#[inline]
	pub const fn to_ratio(self)->Ratio<Planar64,Planar64>{
		Ratio::new(Planar64::raw(self.0),Planar64::raw(1_000_000_000))
	}
	#[inline]
	pub const fn coerce<U>(self)->Time<U>{
		Time::raw(self.0)
	}
}
impl<T> From<Planar64> for Time<T>{
	#[inline]
	fn from(value:Planar64)->Self{
		Self::raw((value*Planar64::raw(1_000_000_000)).fix_1().to_raw())
	}
}
impl<T,Num,Den,N1,T1> From<Ratio<Num,Den>> for Time<T>
	where
		Num:core::ops::Mul<Planar64,Output=N1>,
		N1:Divide<Den,Output=T1>,
		T1:Fix<Planar64>,
{
	#[inline]
	fn from(value:Ratio<Num,Den>)->Self{
		Self::raw((value*Planar64::raw(1_000_000_000)).divide().fix().to_raw())
	}
}
impl<T> std::fmt::Display for Time<T>{
	#[inline]
	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
		write!(f,"{}s+{:09}ns",self.0/Self::ONE_SECOND.0,self.0%Self::ONE_SECOND.0)
	}
}
impl<T> std::default::Default for Time<T>{
	fn default()->Self{
		Self::raw(0)
	}
}
impl<T> std::ops::Neg for Time<T>{
	type Output=Self;
	#[inline]
	fn neg(self)->Self::Output {
		Self::raw(-self.0)
	}
}
macro_rules! impl_time_additive_operator {
	($trait:ty, $method:ident) => {
		impl<T> $trait for Time<T>{
			type Output=Self;
			#[inline]
			fn $method(self,rhs:Self)->Self::Output {
				Self::raw(self.0.$method(rhs.0))
			}
		}
	};
}
impl_time_additive_operator!(core::ops::Add,add);
impl_time_additive_operator!(core::ops::Sub,sub);
impl_time_additive_operator!(core::ops::Rem,rem);
macro_rules! impl_time_additive_assign_operator {
	($trait:ty, $method:ident) => {
		impl<T> $trait for Time<T>{
			#[inline]
			fn $method(&mut self,rhs:Self){
				self.0.$method(rhs.0)
			}
		}
	};
}
impl_time_additive_assign_operator!(core::ops::AddAssign,add_assign);
impl_time_additive_assign_operator!(core::ops::SubAssign,sub_assign);
impl_time_additive_assign_operator!(core::ops::RemAssign,rem_assign);
impl<T> std::ops::Mul for Time<T>{
	type Output=Ratio<fixed_wide::fixed::Fixed<2,64>,fixed_wide::fixed::Fixed<2,64>>;
	#[inline]
	fn mul(self,rhs:Self)->Self::Output{
		Ratio::new(Fixed::raw(self.0)*Fixed::raw(rhs.0),Fixed::raw_digit(1_000_000_000i64.pow(2)))
	}
}
impl<T> std::ops::Div<i64> for Time<T>{
	type Output=Self;
	#[inline]
	fn div(self,rhs:i64)->Self::Output{
		Self::raw(self.0/rhs)
	}
}
impl<T> std::ops::Mul<i64> for Time<T>{
	type Output=Self;
	#[inline]
	fn mul(self,rhs:i64)->Self::Output{
		Self::raw(self.0*rhs)
	}
}
impl<T> core::ops::Mul<Time<T>> for Planar64{
	type Output=Ratio<Fixed<2,64>,Planar64>;
	fn mul(self,rhs:Time<T>)->Self::Output{
		Ratio::new(self*Fixed::raw(rhs.0),Planar64::raw(1_000_000_000))
	}
}
#[cfg(test)]
mod test_time{
	use super::*;
	type Time=super::AbsoluteTime;
	#[test]
	fn time_from_planar64(){
		let a:Time=Planar64::from(1).into();
		assert_eq!(a,Time::ONE_SECOND);
	}
	#[test]
	fn time_from_ratio(){
		let a:Time=Ratio::new(Planar64::from(1),Planar64::from(1)).into();
		assert_eq!(a,Time::ONE_SECOND);
	}
	#[test]
	fn time_squared(){
		let a=Time::from_secs(2);
		assert_eq!(a*a,Ratio::new(Fixed::<2,64>::raw_digit(1_000_000_000i64.pow(2))*4,Fixed::<2,64>::raw_digit(1_000_000_000i64.pow(2))));
	}
	#[test]
	fn time_times_planar64(){
		let a=Time::from_secs(2);
		let b=Planar64::from(2);
		assert_eq!(b*a,Ratio::new(Fixed::<2,64>::raw_digit(1_000_000_000*(1<<32))<<2,Fixed::<1,32>::raw_digit(1_000_000_000)));
	}
}

#[inline]
const fn gcd(mut a:u64,mut b:u64)->u64{
	while b!=0{
		(a,b)=(b,a.rem_euclid(b));
	};
	a
}
#[derive(Clone,Copy,Debug,Hash)]
pub struct Ratio64{
	num:i64,
	den:u64,
}
impl Ratio64{
	pub const ZERO:Self=Ratio64{num:0,den:1};
	pub const ONE:Self=Ratio64{num:1,den:1};
	#[inline]
	pub const fn new(num:i64,den:u64)->Option<Ratio64>{
		if den==0{
			None
		}else{
			let d=gcd(num.unsigned_abs(),den);
			Some(Self{num:num/(d as i64),den:den/d})
		}
	}
	#[inline]
	pub const fn num(self)->i64{
		self.num
	}
	#[inline]
	pub const fn den(self)->u64{
		self.den
	}
	#[inline]
	pub const fn mul_int(&self,rhs:i64)->i64{
		rhs*self.num/(self.den as i64)
	}
	#[inline]
	pub const fn rhs_div_int(&self,rhs:i64)->i64{
		rhs*(self.den as i64)/self.num
	}
	#[inline]
	pub const fn mul_ref(&self,rhs:&Ratio64)->Ratio64{
		let (num,den)=(self.num*rhs.num,self.den*rhs.den);
		let d=gcd(num.unsigned_abs(),den);
		Self{
			num:num/(d as i64),
			den:den/d,
		}
	}
}
//from num_traits crate
#[inline]
fn integer_decode_f32(f: f32) -> (u64, i16, i8) {
	let bits: u32 = f.to_bits();
	let sign: i8 = if bits >> 31 == 0 { 1 } else { -1 };
	let mut exponent: i16 = ((bits >> 23) & 0xff) as i16;
	let mantissa = if exponent == 0 {
		(bits & 0x7fffff) << 1
	} else {
		(bits & 0x7fffff) | 0x800000
	};
	// Exponent bias + mantissa shift
	exponent -= 127 + 23;
	(mantissa as u64, exponent, sign)
}
#[inline]
fn integer_decode_f64(f: f64) -> (u64, i16, i8) {
	let bits: u64 = f.to_bits();
	let sign: i8 = if bits >> 63 == 0 { 1 } else { -1 };
	let mut exponent: i16 = ((bits >> 52) & 0x7ff) as i16;
	let mantissa = if exponent == 0 {
		(bits & 0xfffffffffffff) << 1
	} else {
		(bits & 0xfffffffffffff) | 0x10000000000000
	};
	// Exponent bias + mantissa shift
	exponent -= 1023 + 52;
	(mantissa, exponent, sign)
}
#[derive(Debug)]
pub enum Ratio64TryFromFloatError{
	Nan,
	Infinite,
	Subnormal,
	HighlyNegativeExponent(i16),
	HighlyPositiveExponent(i16),
}
const MAX_DENOMINATOR:u128=u64::MAX as u128;
#[inline]
fn ratio64_from_mes((m,e,s):(u64,i16,i8))->Result<Ratio64,Ratio64TryFromFloatError>{
	if e< -127{
		//this can also just be zero
		Err(Ratio64TryFromFloatError::HighlyNegativeExponent(e))
	}else if e< -63{
		//approximate input ratio within denominator limit
		let mut target_num=m as u128;
		let mut target_den=1u128<<-e;

		let mut num=1;
		let mut den=0;
		let mut prev_num=0;
		let mut prev_den=1;

		while target_den!=0{
			let whole=target_num/target_den;
			(target_num,target_den)=(target_den,target_num-whole*target_den);
			let new_num=whole*num+prev_num;
			let new_den=whole*den+prev_den;
			if MAX_DENOMINATOR<new_den{
				break;
			}else{
				(prev_num,prev_den)=(num,den);
				(num,den)=(new_num,new_den);
			}
		}

		Ok(Ratio64::new(num as i64,den as u64).unwrap())
	}else if e<0{
		Ok(Ratio64::new((m as i64)*(s as i64),1<<-e).unwrap())
	}else if (64-m.leading_zeros() as i16)+e<64{
		Ok(Ratio64::new((m as i64)*(s as i64)*(1<<e),1).unwrap())
	}else{
		Err(Ratio64TryFromFloatError::HighlyPositiveExponent(e))
	}
}
impl TryFrom<f32> for Ratio64{
	type Error=Ratio64TryFromFloatError;
	#[inline]
	fn try_from(value:f32)->Result<Self,Self::Error>{
		match value.classify(){
			std::num::FpCategory::Nan=>Err(Self::Error::Nan),
			std::num::FpCategory::Infinite=>Err(Self::Error::Infinite),
			std::num::FpCategory::Zero=>Ok(Self::ZERO),
			std::num::FpCategory::Subnormal
			|std::num::FpCategory::Normal=>ratio64_from_mes(integer_decode_f32(value)),
		}
	}
}
impl TryFrom<f64> for Ratio64{
	type Error=Ratio64TryFromFloatError;
	#[inline]
	fn try_from(value:f64)->Result<Self,Self::Error>{
		match value.classify(){
			std::num::FpCategory::Nan=>Err(Self::Error::Nan),
			std::num::FpCategory::Infinite=>Err(Self::Error::Infinite),
			std::num::FpCategory::Zero=>Ok(Self::ZERO),
			std::num::FpCategory::Subnormal
			|std::num::FpCategory::Normal=>ratio64_from_mes(integer_decode_f64(value)),
		}
	}
}
impl std::ops::Mul<Ratio64> for Ratio64{
	type Output=Ratio64;
	#[inline]
	fn mul(self,rhs:Ratio64)->Self::Output{
		let (num,den)=(self.num*rhs.num,self.den*rhs.den);
		let d=gcd(num.unsigned_abs(),den);
		Self{
			num:num/(d as i64),
			den:den/d,
		}
	}
}
impl std::ops::Mul<i64> for Ratio64{
	type Output=Ratio64;
	#[inline]
	fn mul(self,rhs:i64)->Self::Output {
		Self{
			num:self.num*rhs,
			den:self.den,
		}
	}
}
impl std::ops::Div<u64> for Ratio64{
	type Output=Ratio64;
	#[inline]
	fn div(self,rhs:u64)->Self::Output {
		Self{
			num:self.num,
			den:self.den*rhs,
		}
	}
}
#[derive(Clone,Copy,Debug,Hash)]
pub struct Ratio64Vec2{
	pub x:Ratio64,
	pub y:Ratio64,
}
impl Ratio64Vec2{
	pub const ONE:Self=Self{x:Ratio64::ONE,y:Ratio64::ONE};
	#[inline]
	pub const fn new(x:Ratio64,y:Ratio64)->Self{
		Self{x,y}
	}
	#[inline]
	pub const fn mul_int(&self,rhs:glam::I64Vec2)->glam::I64Vec2{
		glam::i64vec2(
			self.x.mul_int(rhs.x),
			self.y.mul_int(rhs.y),
		)
	}
}
impl std::ops::Mul<i64> for Ratio64Vec2{
	type Output=Ratio64Vec2;
	#[inline]
	fn mul(self,rhs:i64)->Self::Output {
		Self{
			x:self.x*rhs,
			y:self.y*rhs,
		}
	}
}

///[-pi,pi) = [-2^31,2^31-1]
#[derive(Clone,Copy,Hash)]
pub struct Angle32(i32);
impl Angle32{
	const ANGLE32_TO_FLOAT64_RADIANS:f64=std::f64::consts::PI/((1i64<<31) as f64);
	pub const FRAC_PI_2:Self=Self(1<<30);
	pub const NEG_FRAC_PI_2:Self=Self(-1<<30);
	pub const PI:Self=Self(-1<<31);
	#[inline]
	pub const fn wrap_from_i64(theta:i64)->Self{
		//take lower bits
		//note: this was checked on compiler explorer and compiles to 1 instruction!
		Self(i32::from_ne_bytes(((theta&((1<<32)-1)) as u32).to_ne_bytes()))
	}
	#[inline]
	pub fn clamp_from_i64(theta:i64)->Self{
		//the assembly is a bit confusing for this, I thought it was checking the same thing twice
		//but it's just checking and then overwriting the value for both upper and lower bounds.
		Self(theta.clamp(i32::MIN as i64,i32::MAX as i64) as i32)
	}
	#[inline]
	pub const fn get(&self)->i32{
		self.0
	}
	/// Clamps the value towards the midpoint of the range.
	/// Note that theta_min can be larger than theta_max and it will wrap clamp the other way around
	#[inline]
	pub fn clamp(&self,theta_min:Self,theta_max:Self)->Self{
		//((max-min as u32)/2 as i32)+min
		let midpoint=((
			(theta_max.0 as u32)
			.wrapping_sub(theta_min.0 as u32)
			/2
		) as i32)//(u32::MAX/2) as i32 ALWAYS works
		.wrapping_add(theta_min.0);
		//(theta-mid).clamp(max-mid,min-mid)+mid
		Self(
			self.0.wrapping_sub(midpoint)
			.max(theta_min.0.wrapping_sub(midpoint))
			.min(theta_max.0.wrapping_sub(midpoint))
			.wrapping_add(midpoint)
		)
	}
	#[inline]
	pub fn cos_sin(&self)->(Planar64,Planar64){
		/*
		//cordic
		let a=self.0 as u32;
		//initialize based on the quadrant
		let (mut x,mut y)=match (a&(1<<31)!=0,a&(1<<30)!=0){
			(false,false)=>( 1i64<<32, 0i64    ),//TR
			(false,true )=>( 0i64    , 1i64<<32),//TL
			(true ,false)=>(-1i64<<32, 0i64    ),//BL
			(true ,true )=>( 0i64    ,-1i64<<32),//BR
		};
		println!("x={} y={}",Planar64::raw(x),Planar64::raw(y));
		for i in 0..30{
			if a&(1<<(29-i))!=0{
				(x,y)=(x-(y>>i),y+(x>>i));
			}
			println!("i={i} t={} x={} y={}",(a&(1<<(29-i))!=0) as u8,Planar64::raw(x),Planar64::raw(y));
		}
		//don't forget the gain
		(Planar64::raw(x),Planar64::raw(y))
		*/
		let (s,c)=(self.0 as f64*Self::ANGLE32_TO_FLOAT64_RADIANS).sin_cos();
		(Planar64::raw((c*((1u64<<32) as f64)) as i64),Planar64::raw((s*((1u64<<32) as f64)) as i64))
	}
}
impl Into<f32> for Angle32{
	#[inline]
	fn into(self)->f32{
		(self.0 as f64*Self::ANGLE32_TO_FLOAT64_RADIANS) as f32
	}
}
impl std::ops::Neg for Angle32{
	type Output=Angle32;
	#[inline]
	fn neg(self)->Self::Output{
		Angle32(self.0.wrapping_neg())
	}
}
impl std::ops::Add<Angle32> for Angle32{
	type Output=Angle32;
	#[inline]
	fn add(self,rhs:Self)->Self::Output {
		Angle32(self.0.wrapping_add(rhs.0))
	}
}
impl std::ops::Sub<Angle32> for Angle32{
	type Output=Angle32;
	#[inline]
	fn sub(self,rhs:Self)->Self::Output {
		Angle32(self.0.wrapping_sub(rhs.0))
	}
}
impl std::ops::Mul<i32> for Angle32{
	type Output=Angle32;
	#[inline]
	fn mul(self,rhs:i32)->Self::Output {
		Angle32(self.0.wrapping_mul(rhs))
	}
}
impl std::ops::Mul<Angle32> for Angle32{
	type Output=Angle32;
	#[inline]
	fn mul(self,rhs:Self)->Self::Output {
		Angle32(self.0.wrapping_mul(rhs.0))
	}
}
#[test]
fn angle_sin_cos(){
	fn close_enough(lhs:Planar64,rhs:Planar64)->bool{
		(lhs-rhs).abs()<Planar64::EPSILON*4
	}
	fn test_angle(f:f64){
		let a=Angle32((f/Angle32::ANGLE32_TO_FLOAT64_RADIANS) as i32);
		println!("a={:#034b}",a.0);
		let (c,s)=a.cos_sin();
		let h=(s*s+c*c).sqrt();
		println!("cordic s={} c={}",(s/h).divide(),(c/h).divide());
		let (fs,fc)=f.sin_cos();
		println!("float s={} c={}",fs,fc);
		assert!(close_enough((c/h).divide().fix_1(),Planar64::raw((fc*((1u64<<32) as f64)) as i64)));
		assert!(close_enough((s/h).divide().fix_1(),Planar64::raw((fs*((1u64<<32) as f64)) as i64)));
	}
	test_angle(1.0);
	test_angle(std::f64::consts::PI/4.0);
	test_angle(std::f64::consts::PI/8.0);
}

/* Unit type unused for now, may revive it for map files
///[-1.0,1.0] = [-2^30,2^30]
pub struct Unit32(i32);
impl Unit32{
	#[inline]
	pub fn as_planar64(&self) -> Planar64{
		Planar64(4*(self.0 as i64))
	}
}
const UNIT32_ONE_FLOAT64=((1<<30) as f64);
///[-1.0,1.0] = [-2^30,2^30]
pub struct Unit32Vec3(glam::IVec3);
impl TryFrom<[f32;3]> for Unit32Vec3{
	type Error=Unit32TryFromFloatError;
	fn try_from(value:[f32;3])->Result<Self,Self::Error>{
		Ok(Self(glam::ivec3(
			Unit32::try_from(Planar64::try_from(value[0])?)?.0,
			Unit32::try_from(Planar64::try_from(value[1])?)?.0,
			Unit32::try_from(Planar64::try_from(value[2])?)?.0,
		)))
	}
}
*/

pub type Planar64TryFromFloatError=fixed_wide::fixed::FixedFromFloatError;
pub type Planar64=fixed_wide::types::I32F32;
pub type Planar64Vec3=linear_ops::types::Vector3<Planar64>;
pub type Planar64Mat3=linear_ops::types::Matrix3<Planar64>;
pub mod vec3{
	use super::*;
	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:linear_ops::types::Vector3<Fixed::<2,64>>=linear_ops::types::Vector3::new([Fixed::<2,64>::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]);
	pub const ONE:Planar64Vec3=Planar64Vec3::new([Planar64::ONE,Planar64::ONE,Planar64::ONE]);
	pub const NEG_X:Planar64Vec3=Planar64Vec3::new([Planar64::NEG_ONE,Planar64::ZERO,Planar64::ZERO]);
	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]);
	#[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)])
	}
	#[inline]
	pub fn raw_array(array:[i64;3])->Planar64Vec3{
		Planar64Vec3::new(array.map(Planar64::raw))
	}
	#[inline]
	pub fn raw_xyz(x:i64,y:i64,z:i64)->Planar64Vec3{
		Planar64Vec3::new([Planar64::raw(x),Planar64::raw(y),Planar64::raw(z)])
	}
	#[inline]
	pub fn try_from_f32_array([x,y,z]:[f32;3])->Result<Planar64Vec3,Planar64TryFromFloatError>{
		Ok(Planar64Vec3::new([
			try_from_f32(x)?,
			try_from_f32(y)?,
			try_from_f32(z)?,
		]))
	}
}

#[inline]
pub fn int(value:i32)->Planar64{
	Planar64::from(value)
}
#[inline]
pub fn try_from_f32(value:f32)->Result<Planar64,Planar64TryFromFloatError>{
	let result:Result<Planar64,_>=value.try_into();
	match result{
		Ok(ok)=>Ok(ok),
		Err(e)=>e.underflow_to_zero(),
	}
}
pub mod mat3{
	use super::*;
	pub use linear_ops::types::Matrix3;
	#[inline]
	pub const fn identity()->Planar64Mat3{
		Planar64Mat3::new([
			[Planar64::ONE,Planar64::ZERO,Planar64::ZERO],
			[Planar64::ZERO,Planar64::ONE,Planar64::ZERO],
			[Planar64::ZERO,Planar64::ZERO,Planar64::ONE],
		])
	}
	#[inline]
	pub fn from_diagonal(diag:Planar64Vec3)->Planar64Mat3{
		Planar64Mat3::new([
			[diag.x,Planar64::ZERO,Planar64::ZERO],
			[Planar64::ZERO,diag.y,Planar64::ZERO],
			[Planar64::ZERO,Planar64::ZERO,diag.z],
		])
	}
	#[inline]
	pub fn from_rotation_yx(x:Angle32,y:Angle32)->Planar64Mat3{
		let (xc,xs)=x.cos_sin();
		let (yc,ys)=y.cos_sin();
		Planar64Mat3::from_cols([
			Planar64Vec3::new([xc,Planar64::ZERO,-xs]),
			Planar64Vec3::new([(xs*ys).fix_1(),yc,(xc*ys).fix_1()]),
			Planar64Vec3::new([(xs*yc).fix_1(),-ys,(xc*yc).fix_1()]),
		])
	}
	#[inline]
	pub fn from_rotation_y(y:Angle32)->Planar64Mat3{
		let (c,s)=y.cos_sin();
		Planar64Mat3::from_cols([
			Planar64Vec3::new([c,Planar64::ZERO,-s]),
			vec3::Y,
			Planar64Vec3::new([s,Planar64::ZERO,c]),
		])
	}
	#[inline]
	pub fn try_from_f32_array_2d([x_axis,y_axis,z_axis]:[[f32;3];3])->Result<Planar64Mat3,Planar64TryFromFloatError>{
		Ok(Planar64Mat3::new([
			vec3::try_from_f32_array(x_axis)?.to_array(),
			vec3::try_from_f32_array(y_axis)?.to_array(),
			vec3::try_from_f32_array(z_axis)?.to_array(),
		]))
	}
}

#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
pub struct Planar64Affine3{
	pub matrix3:Planar64Mat3,//includes scale above 1
	pub translation:Planar64Vec3,
}
impl Planar64Affine3{
	#[inline]
	pub const fn new(matrix3:Planar64Mat3,translation:Planar64Vec3)->Self{
		Self{matrix3,translation}
	}
	#[inline]
	pub fn transform_point3(&self,point:Planar64Vec3)->vec3::Vector3<Fixed<2,64>>{
		self.translation.fix_2()+self.matrix3*point
	}
}
impl Into<glam::Mat4> for Planar64Affine3{
	#[inline]
	fn into(self)->glam::Mat4{
		let matrix3=self.matrix3.to_array().map(|row|row.map(Into::<f32>::into));
		let translation=self.translation.to_array().map(Into::<f32>::into);
		glam::Mat4::from_cols_array(&[
			matrix3[0][0],matrix3[0][1],matrix3[0][2],0.0,
			matrix3[1][0],matrix3[1][1],matrix3[1][2],0.0,
			matrix3[2][0],matrix3[2][1],matrix3[2][2],0.0,
			translation[0],translation[1],translation[2],1.0
		])
	}
}

#[test]
fn test_sqrt(){
	let r=int(400);
	assert_eq!(r,Planar64::raw(1717986918400));
	let s=r.sqrt();
	assert_eq!(s,Planar64::raw(85899345920));
}