Fix movement inputs when holding shift

make invalid states unrepresentable!!!

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "strafe-client"
-version = "0.10.3"
+version = "0.10.5"
 edition = "2021"
 repository = "https://git.itzana.me/StrafesNET/strafe-client"
 license = "Custom"
@@ -18,17 +18,17 @@ roblox = ["dep:strafesnet_deferred_loader", "dep:strafesnet_rbx_loader"]
 bytemuck = { version = "1.13.1", features = ["derive"] }
 configparser = "3.0.2"
 ddsfile = "0.5.1"
-glam = "0.28.0"
+glam = "0.29.0"
 id = { version = "0.1.0", registry = "strafesnet" }
 parking_lot = "0.12.1"
 pollster = "0.3.0"
-strafesnet_bsp_loader = { version = "0.1.3", registry = "strafesnet", optional = true }
-strafesnet_common = { version = "0.3.0", registry = "strafesnet" }
-strafesnet_deferred_loader = { version = "0.3.1", features = ["legacy"], registry = "strafesnet", optional = true }
-strafesnet_rbx_loader = { version = "0.3.2", registry = "strafesnet", optional = true }
-strafesnet_snf = { version = "0.1.3-bot", registry = "strafesnet", optional = true }
-wgpu = "22.0.0"
-winit = "0.30.4"
+strafesnet_bsp_loader = { version = "0.2.1", registry = "strafesnet", optional = true }
+strafesnet_common = { version = "0.5.2", registry = "strafesnet" }
+strafesnet_deferred_loader = { version = "0.4.0", features = ["legacy"], registry = "strafesnet", optional = true }
+strafesnet_rbx_loader = { version = "0.5.1", registry = "strafesnet", optional = true }
+strafesnet_snf = { version = "0.2.0", registry = "strafesnet", optional = true }
+wgpu = "22.1.0"
+winit = "0.30.5"
 
 [profile.release]
 #lto = true

src/bot_worker.rs

@@ -1,35 +0,0 @@
-use strafesnet_snf::bot::BotDebug;
-
-pub enum Instruction{
-	//TODO: pass map id
-	Create,
-	//Delete,
-	Push{
-		ins:strafesnet_common::instruction::TimedInstruction<strafesnet_common::physics::Instruction>,
-	},
-}
-
-//a new worker is spawned on a thread
-//create opens a new file
-//push pushes an instruction to the file
-
-pub struct Worker{
-	file:BotDebug,
-}
-
-fn date()->String{
-	format!("/run/media/quat/Files/Documents/Strafe Client/debug_bots_v2/{}",std::time::SystemTime::UNIX_EPOCH.elapsed().unwrap().as_nanos())
-}
-
-pub fn new<'a>(scope:&'a std::thread::Scope<'a,'_>)->crate::worker::QNWorker<'a,Instruction>{
-	let mut worker=Worker{
-		file:BotDebug::new(date()).unwrap(),
-	};
-	crate::worker::QNWorker::new(scope,move|instruction|{
-		match instruction{
-			Instruction::Create=>worker.file=BotDebug::new(date()).unwrap(),
-			//Instruction::Delete=>worker.file.delete().unwrap(),
-			Instruction::Push{ins}=>worker.file.push(ins).unwrap(),
-		}
-	})
-}

src/face_crawler.rs

@@ -1,32 +1,33 @@
 use crate::physics::Body;
-use crate::model_physics::{FEV,MeshQuery,DirectedEdge};
-use strafesnet_common::integer::{Time,Planar64};
-use strafesnet_common::zeroes::zeroes2;
+use crate::model_physics::{GigaTime,FEV,MeshQuery,DirectedEdge,MinkowskiMesh,MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert};
+use strafesnet_common::integer::{Time,Fixed,Ratio};
 
+#[derive(Debug)]
 enum Transition<F,E:DirectedEdge,V>{
 	Miss,
-	Next(FEV<F,E,V>,Time),
-	Hit(F,Time),
+	Next(FEV<F,E,V>,GigaTime),
+	Hit(F,GigaTime),
 }
 
-	fn next_transition<F:Copy,E:Copy+DirectedEdge,V:Copy>(fev:&FEV<F,E,V>,time:Time,mesh:&impl MeshQuery<F,E,V>,body:&Body,time_limit:Time)->Transition<F,E,V>{
+type MinkowskiFEV=FEV<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>;
+type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>;
+
+	fn next_transition(fev:&MinkowskiFEV,body_time:GigaTime,mesh:&MinkowskiMesh,body:&Body,mut best_time:GigaTime)->MinkowskiTransition{
 		//conflicting derivative means it crosses in the wrong direction.
 		//if the transition time is equal to an already tested transition, do not replace the current best.
-		let mut best_time=time_limit;
-		let mut best_transtition=Transition::Miss;
+		let mut best_transition=MinkowskiTransition::Miss;
 		match fev{
-			&FEV::<F,E,V>::Face(face_id)=>{
+			&MinkowskiFEV::Face(face_id)=>{
 				//test own face collision time, ignoring roots with zero or conflicting derivative
 				//n=face.normal d=face.dot
 				//n.a t^2+n.v t+n.p-d==0
 				let (n,d)=mesh.face_nd(face_id);
 				//TODO: use higher precision d value?
 				//use the mesh transform translation instead of baking it into the d value.
-				for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-					let t=body.time+Time::from(t);
-					if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
-						best_time=t;
-						best_transtition=Transition::Hit(face_id,t);
+				for dt in Fixed::<4,128>::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+						best_time=dt;
+						best_transition=MinkowskiTransition::Hit(face_id,dt);
 						break;
 					}
 				}
@@ -36,18 +37,18 @@ enum Transition<F,E:DirectedEdge,V>{
 					let n=n.cross(edge_n);
 					let verts=mesh.edge_verts(directed_edge_id.as_undirected());
 					//WARNING: d is moved out of the *2 block because of adding two vertices!
-					for t in zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))),n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						let t=body.time+Time::from(t);
-						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
-							best_time=t;
-							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
+					//WARNING: precision is swept under the rug!
+					for dt in Fixed::<4,128>::zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
+						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+							best_time=dt;
+							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
 							break;
 						}
 					}
 				}
 				//if none:
 			},
-			&FEV::<F,E,V>::Edge(edge_id)=>{
+			&MinkowskiFEV::Edge(edge_id)=>{
 				//test each face collision time, ignoring roots with zero or conflicting derivative
 				let edge_n=mesh.edge_n(edge_id);
 				let edge_verts=mesh.edge_verts(edge_id);
@@ -57,11 +58,10 @@ enum Transition<F,E:DirectedEdge,V>{
 					//edge_n gets parity from the order of edge_faces
 					let n=face_n.cross(edge_n)*((i as i64)*2-1);
 					//WARNING yada yada d *2
-					for t in zeroes2(n.dot(delta_pos),n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						let t=body.time+Time::from(t);
-						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
-							best_time=t;
-							best_transtition=Transition::Next(FEV::<F,E,V>::Face(edge_face_id),t);
+					for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
+						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+							best_time=dt;
+							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Face(edge_face_id),dt);
 							break;
 						}
 					}
@@ -70,27 +70,27 @@ enum Transition<F,E:DirectedEdge,V>{
 				for (i,&vert_id) in edge_verts.iter().enumerate(){
 					//vertex normal gets parity from vert index
 					let n=edge_n*(1-2*(i as i64));
-					for t in zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						let t=body.time+Time::from(t);
-						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
-							best_time=t;
-							best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t);
+					for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+							let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
+							best_time=dt;
+							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Vert(vert_id),dt);
 							break;
 						}
 					}
 				}
 				//if none:
 			},
-			&FEV::<F,E,V>::Vert(vert_id)=>{
+			&MinkowskiFEV::Vert(vert_id)=>{
 				//test each edge collision time, ignoring roots with zero or conflicting derivative
 				for &directed_edge_id in mesh.vert_edges(vert_id).iter(){
 					//edge is directed away from vertex, but we want the dot product to turn out negative
 					let n=-mesh.directed_edge_n(directed_edge_id);
-					for t in zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						let t=body.time+Time::from(t);
-						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
-							best_time=t;
-							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
+					for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+							let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
+							best_time=dt;
+							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
 							break;
 						}
 					}
@@ -98,18 +98,26 @@ enum Transition<F,E:DirectedEdge,V>{
 				//if none:
 			},
 		}
-		best_transtition
+		best_transition
 	}
 pub enum CrawlResult<F,E:DirectedEdge,V>{
 	Miss(FEV<F,E,V>),
-	Hit(F,Time),
+	Hit(F,GigaTime),
 }
-pub fn crawl_fev<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,start_time:Time,time_limit:Time)->CrawlResult<F,E,V>{	
-	let mut time=start_time;
+type MinkowskiCrawlResult=CrawlResult<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>;
+pub fn crawl_fev(mut fev:MinkowskiFEV,mesh:&MinkowskiMesh,relative_body:&Body,start_time:Time,time_limit:Time)->MinkowskiCrawlResult{
+	let mut body_time={
+		let r=(start_time-relative_body.time).to_ratio();
+		Ratio::new(r.num.fix_4(),r.den.fix_4())
+	};
+	let time_limit={
+		let r=(time_limit-relative_body.time).to_ratio();
+		Ratio::new(r.num.fix_4(),r.den.fix_4())
+	};
 	for _ in 0..20{
-		match next_transition(&fev,time,mesh,relative_body,time_limit){
+		match next_transition(&fev,body_time,mesh,relative_body,time_limit){
 			Transition::Miss=>return CrawlResult::Miss(fev),
-			Transition::Next(next_fev,next_time)=>(fev,time)=(next_fev,next_time),
+			Transition::Next(next_fev,next_time)=>(fev,body_time)=(next_fev,next_time),
 			Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),
 		}
 	}

src/file.rs

@@ -22,7 +22,7 @@ impl std::error::Error for ReadError{}
 
 pub enum DataStructure{
 	#[cfg(feature="roblox")]
-	Roblox(strafesnet_rbx_loader::Dom),
+	Roblox(strafesnet_rbx_loader::Model),
 	#[cfg(feature="source")]
 	Source(strafesnet_bsp_loader::Bsp),
 	#[cfg(feature="snf")]
@@ -66,13 +66,16 @@ pub fn load<P:AsRef<std::path::Path>>(path:P)->Result<strafesnet_common::map::Co
 		#[cfg(feature="snf")]
 		DataStructure::StrafesNET(map)=>Ok(map),
 		#[cfg(feature="roblox")]
-		DataStructure::Roblox(dom)=>{
+		DataStructure::Roblox(model)=>{
+			let mut place=model.into_place();
+			place.run_scripts();
+
 			let mut loader=strafesnet_deferred_loader::roblox_legacy();
 
 			let (texture_loader,mesh_loader)=loader.get_inner_mut();
 
 			let map_step1=strafesnet_rbx_loader::convert(
-				&dom,
+				&place,
 				|name|texture_loader.acquire_render_config_id(name),
 				|name|mesh_loader.acquire_mesh_id(name),
 			);
@@ -110,7 +113,7 @@ pub fn load<P:AsRef<std::path::Path>>(path:P)->Result<strafesnet_common::map::Co
 				|name|mesh_loader.acquire_mesh_id(name),
 			);
 
-			let prop_meshes=mesh_loader.load_meshes(&bsp.as_ref());
+			let prop_meshes=mesh_loader.load_meshes(bsp.as_ref());
 
 			let map_step2=map_step1.add_prop_meshes(
 				//the type conflagulator 9000

src/graphics.rs

@@ -6,12 +6,6 @@ use strafesnet_common::model::{self, ColorId, NormalId, PolygonIter, PositionId,
 use wgpu::{util::DeviceExt,AstcBlock,AstcChannel};
 use crate::model_graphics::{self,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelColor4,GraphicsModelOwned,GraphicsVertex};
 
-#[derive(Clone)]
-pub struct GraphicsModelUpdate{
-	transform:Option<glam::Mat4>,
-	color:Option<glam::Vec4>,
-}
-
 struct Indices{
 	count:u32,
 	buf:wgpu::Buffer,
@@ -32,7 +26,6 @@ impl Indices{
 }
 struct GraphicsModel{
 	indices:Indices,
-	model_buf:wgpu::Buffer,
 	vertex_buf:wgpu::Buffer,
 	bind_group:wgpu::BindGroup,
 	instance_count:u32,
@@ -65,12 +58,12 @@ struct GraphicsCamera{
 #[inline]
 fn perspective_rh(fov_x_slope:f32,fov_y_slope:f32,z_near:f32,z_far:f32)->glam::Mat4{
 	//glam_assert!(z_near > 0.0 && z_far > 0.0);
-	let r=z_far / (z_near-z_far);
+	let r=z_far/(z_near-z_far);
 	glam::Mat4::from_cols(
 		glam::Vec4::new(1.0/fov_x_slope,0.0,0.0,0.0),
 		glam::Vec4::new(0.0,1.0/fov_y_slope,0.0,0.0),
 		glam::Vec4::new(0.0,0.0,r,-1.0),
-		glam::Vec4::new(0.0,0.0,r * z_near,0.0),
+		glam::Vec4::new(0.0,0.0,r*z_near,0.0),
 	)
 }
 impl GraphicsCamera{
@@ -79,10 +72,10 @@ impl GraphicsCamera{
 	}
 	pub fn world(&self,pos:glam::Vec3,angles:glam::Vec2)->glam::Mat4{
 		//f32 good enough for view matrix
-		glam::Mat4::from_translation(pos) * glam::Mat4::from_euler(glam::EulerRot::YXZ,angles.x,angles.y,0f32)
+		glam::Mat4::from_translation(pos)*glam::Mat4::from_euler(glam::EulerRot::YXZ,angles.x,angles.y,0f32)
 	}
 
-	pub fn to_uniform_data(&self,(pos,angles):(glam::Vec3,glam::Vec2))->[f32; 16 * 4]{
+	pub fn to_uniform_data(&self,pos:glam::Vec3,angles:glam::Vec2)->[f32;16*4]{
 		let proj=self.proj();
 		let proj_inv=proj.inverse();
 		let view_inv=self.world(pos,angles);
@@ -105,6 +98,12 @@ impl std::default::Default for GraphicsCamera{
 	}
 }
 
+pub struct FrameState{
+	pub body:crate::physics::Body,
+	pub camera:crate::physics::PhysicsCamera,
+	pub time:integer::Time,
+}
+
 pub struct GraphicsState{
 	pipelines:GraphicsPipelines,
 	bind_groups:GraphicsBindGroups,
@@ -220,7 +219,7 @@ impl GraphicsState{
 			//wow
 			let instance=GraphicsModelOwned{
 				transform:model.transform.into(),
-				normal_transform:Into::<glam::Mat3>::into(model.transform.matrix3).inverse().transpose(),
+				normal_transform:glam::Mat3::from_cols_array_2d(&model.transform.matrix3.to_array().map(|row|row.map(Into::into))).inverse().transpose(),
 				color:GraphicsModelColor4::new(model.color),
 			};
 			//get or create owned mesh map
@@ -239,9 +238,9 @@ impl GraphicsState{
 							//create
 							let owned_mesh_id=IndexedGraphicsMeshOwnedRenderConfigId::new(unique_render_config_models.len() as u32);
 							unique_render_config_models.push(IndexedGraphicsMeshOwnedRenderConfig{
-								unique_pos:mesh.unique_pos.iter().map(|&v|*Into::<glam::Vec3>::into(v).as_ref()).collect(),
+								unique_pos:mesh.unique_pos.iter().map(|v|v.to_array().map(Into::into)).collect(),
 								unique_tex:mesh.unique_tex.iter().map(|v|*v.as_ref()).collect(),
-								unique_normal:mesh.unique_normal.iter().map(|&v|*Into::<glam::Vec3>::into(v).as_ref()).collect(),
+								unique_normal:mesh.unique_normal.iter().map(|v|v.to_array().map(Into::into)).collect(),
 								unique_color:mesh.unique_color.iter().map(|v|*v.as_ref()).collect(),
 								unique_vertices:mesh.unique_vertices.clone(),
 								render_config:graphics_group.render,
@@ -507,7 +506,6 @@ impl GraphicsState{
 						model_graphics::Indices::U16(indices)=>Indices::new(device,indices,wgpu::IndexFormat::Uint16),
 					},
 					bind_group,
-					model_buf,
 				});
 			}
 		}
@@ -816,7 +814,7 @@ impl GraphicsState{
 		});
 
 		let camera=GraphicsCamera::default();
-		let camera_uniforms=camera.to_uniform_data(crate::physics::PhysicsOutputState::default().extrapolate(strafesnet_common::mouse::MouseState::default()));
+		let camera_uniforms=camera.to_uniform_data(glam::Vec3::ZERO,glam::Vec2::ZERO);
 		let camera_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
 			label:Some("Camera"),
 			contents:bytemuck::cast_slice(&camera_uniforms),
@@ -884,16 +882,17 @@ impl GraphicsState{
 		view:&wgpu::TextureView,
 		device:&wgpu::Device,
 		queue:&wgpu::Queue,
-		physics_output:crate::physics::PhysicsOutputState,
-		predicted_time:integer::Time,
-		mouse_pos:glam::IVec2,
+		frame_state:FrameState,
 	){
 		//TODO:use scheduled frame times to create beautiful smoothing simulation physics extrapolation assuming no input
 
 		let mut encoder=device.create_command_encoder(&wgpu::CommandEncoderDescriptor{label:None});
 
 		// update rotation
-		let camera_uniforms=self.camera.to_uniform_data(physics_output.extrapolate(strafesnet_common::mouse::MouseState{pos:mouse_pos,time:predicted_time}));
+		let camera_uniforms=self.camera.to_uniform_data(
+			frame_state.body.extrapolated_position(frame_state.time).map(Into::<f32>::into).to_array().into(),
+			frame_state.camera.simulate_move_angles(glam::IVec2::ZERO)
+		);
 		self.staging_belt
 			.write_buffer(
 				&mut encoder,

src/graphics_worker.rs

@@ -1,7 +1,5 @@
-use strafesnet_common::integer;
-
 pub enum Instruction{
-	Render(crate::physics::PhysicsOutputState,integer::Time,glam::IVec2),
+	Render(crate::graphics::FrameState),
 	//UpdateModel(crate::graphics::GraphicsModelUpdate),
 	Resize(winit::dpi::PhysicalSize<u32>,crate::settings::UserSettings),
 	ChangeMap(strafesnet_common::map::CompleteMap),
@@ -22,7 +20,7 @@ pub fn new<'a>(
 	surface:wgpu::Surface<'a>,
 	device:wgpu::Device,
 	queue:wgpu::Queue,
-	)->crate::compat_worker::INWorker<'a,Instruction>{
+)->crate::compat_worker::INWorker<'a,Instruction>{
 	let mut resize=None;
 	crate::compat_worker::INWorker::new(move |ins:Instruction|{
 		match ins{
@@ -33,18 +31,16 @@ pub fn new<'a>(
 			Instruction::Resize(size,user_settings)=>{
 				resize=Some((size,user_settings));
 			}
-			Instruction::Render(physics_output,predicted_time,mouse_pos)=>{
-				if let Some((size,user_settings))=&resize{
+			Instruction::Render(frame_state)=>{
+				if let Some((size,user_settings))=resize.take(){
 					println!("Resizing to {:?}",size);
 					let t0=std::time::Instant::now();
 					config.width=size.width.max(1);
 					config.height=size.height.max(1);
 					surface.configure(&device,&config);
-					graphics.resize(&device,&config,user_settings);
+					graphics.resize(&device,&config,&user_settings);
 					println!("Resize took {:?}",t0.elapsed());
 				}
-				//clear every time w/e
-				resize=None;
 				//this has to go deeper somehow
 				let frame=match surface.get_current_texture(){
 					Ok(frame)=>frame,
@@ -60,7 +56,7 @@ pub fn new<'a>(
 					..wgpu::TextureViewDescriptor::default()
 				});
 
-				graphics.render(&view,&device,&queue,physics_output,predicted_time,mouse_pos);
+				graphics.render(&view,&device,&queue,frame_state);
 
 				frame.present();
 			}

src/main.rs

@@ -5,7 +5,6 @@ mod worker;
 mod physics;
 mod graphics;
 mod settings;
-mod bot_worker;
 mod face_crawler;
 mod compat_worker;
 mod model_physics;

src/model_physics.rs

@@ -1,15 +1,15 @@
 use std::borrow::{Borrow,Cow};
 use std::collections::{HashSet,HashMap};
+use strafesnet_common::integer::vec3::Vector3;
 use strafesnet_common::model::{self,MeshId,PolygonIter};
-use strafesnet_common::zeroes;
-use strafesnet_common::integer::{self,Planar64,Planar64Vec3};
+use strafesnet_common::integer::{self,vec3,Fixed,Planar64,Planar64Vec3,Ratio};
 
 pub trait UndirectedEdge{
 	type DirectedEdge:Copy+DirectedEdge;
 	fn as_directed(&self,parity:bool)->Self::DirectedEdge;
 }
 pub trait DirectedEdge{
-	type UndirectedEdge:Copy+UndirectedEdge;
+	type UndirectedEdge:Copy+std::fmt::Debug+UndirectedEdge;
 	fn as_undirected(&self)->Self::UndirectedEdge;
 	fn parity(&self)->bool;
 	//this is stupid but may work fine
@@ -50,6 +50,7 @@ impl DirectedEdge for SubmeshDirectedEdgeId{
 }
 
 //Vertex <-> Edge <-> Face -> Collide
+#[derive(Debug)]
 pub enum FEV<F,E:DirectedEdge,V>{
 	Face(F),
 	Edge(E::UndirectedEdge),
@@ -64,6 +65,9 @@ struct Face{
 }
 struct Vert(Planar64Vec3);
 pub trait MeshQuery<FACE:Clone,EDGE:Clone+DirectedEdge,VERT:Clone>{
+	// Vertex must be Planar64Vec3 because it represents an actual position
+	type Normal;
+	type Offset;
 	fn edge_n(&self,edge_id:EDGE::UndirectedEdge)->Planar64Vec3{
 		let verts=self.edge_verts(edge_id);
 		self.vert(verts[1].clone())-self.vert(verts[0].clone())
@@ -73,7 +77,7 @@ pub trait MeshQuery<FACE:Clone,EDGE:Clone+DirectedEdge,VERT:Clone>{
 		(self.vert(verts[1].clone())-self.vert(verts[0].clone()))*((directed_edge_id.parity() as i64)*2-1)
 	}
 	fn vert(&self,vert_id:VERT)->Planar64Vec3;
-	fn face_nd(&self,face_id:FACE)->(Planar64Vec3,Planar64);
+	fn face_nd(&self,face_id:FACE)->(Self::Normal,Self::Offset);
 	fn face_edges(&self,face_id:FACE)->Cow<Vec<EDGE>>;
 	fn edge_faces(&self,edge_id:EDGE::UndirectedEdge)->Cow<[FACE;2]>;
 	fn edge_verts(&self,edge_id:EDGE::UndirectedEdge)->Cow<[VERT;2]>;
@@ -137,22 +141,22 @@ impl PhysicsMesh{
 		//go go gadget debug print mesh
 		let data=PhysicsMeshData{
 			faces:vec![
-				Face{normal:Planar64Vec3::raw_xyz( 4294967296, 0, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw_xyz( 0, 4294967296, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw_xyz( 0, 0, 4294967296),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw_xyz(-4294967296, 0, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw_xyz( 0,-4294967296, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw_xyz( 0, 0,-4294967296),dot:Planar64::raw(4294967296)}
+				Face{normal:vec3::raw_xyz( 4294967296, 0, 0),dot:Planar64::raw(4294967296)},
+				Face{normal:vec3::raw_xyz( 0, 4294967296, 0),dot:Planar64::raw(4294967296)},
+				Face{normal:vec3::raw_xyz( 0, 0, 4294967296),dot:Planar64::raw(4294967296)},
+				Face{normal:vec3::raw_xyz(-4294967296, 0, 0),dot:Planar64::raw(4294967296)},
+				Face{normal:vec3::raw_xyz( 0,-4294967296, 0),dot:Planar64::raw(4294967296)},
+				Face{normal:vec3::raw_xyz( 0, 0,-4294967296),dot:Planar64::raw(4294967296)}
 			],
 			verts:vec![
-				Vert(Planar64Vec3::raw_xyz( 4294967296,-4294967296,-4294967296)),
-				Vert(Planar64Vec3::raw_xyz( 4294967296, 4294967296,-4294967296)),
-				Vert(Planar64Vec3::raw_xyz( 4294967296, 4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw_xyz( 4294967296,-4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw_xyz(-4294967296, 4294967296,-4294967296)),
-				Vert(Planar64Vec3::raw_xyz(-4294967296, 4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw_xyz(-4294967296,-4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw_xyz(-4294967296,-4294967296,-4294967296))
+				Vert(vec3::raw_xyz( 4294967296,-4294967296,-4294967296)),
+				Vert(vec3::raw_xyz( 4294967296, 4294967296,-4294967296)),
+				Vert(vec3::raw_xyz( 4294967296, 4294967296, 4294967296)),
+				Vert(vec3::raw_xyz( 4294967296,-4294967296, 4294967296)),
+				Vert(vec3::raw_xyz(-4294967296, 4294967296,-4294967296)),
+				Vert(vec3::raw_xyz(-4294967296, 4294967296, 4294967296)),
+				Vert(vec3::raw_xyz(-4294967296,-4294967296, 4294967296)),
+				Vert(vec3::raw_xyz(-4294967296,-4294967296,-4294967296))
 			]
 		};
 		let mesh_topology=PhysicsMeshTopology{
@@ -330,7 +334,7 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 				for poly_vertices in polygon_group.polys(){
 					let submesh_face_id=SubmeshFaceId::new(submesh_faces.len() as u32);
 					//one face per poly
-					let mut normal=Planar64Vec3::ZERO;
+					let mut normal=Vector3::new([Fixed::ZERO,Fixed::ZERO,Fixed::ZERO]);
 					let len=poly_vertices.len();
 					let face_edges=poly_vertices.into_iter().enumerate().map(|(i,vert_id)|{
 						let vert0_id=MeshVertId::new(mesh.unique_vertices[vert_id.get() as usize].pos.get() as u32);
@@ -341,11 +345,11 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 						//https://www.khronos.org/opengl/wiki/Calculating_a_Surface_Normal (Newell's Method)
 						let v0=mesh.unique_pos[vert0_id.get() as usize];
 						let v1=mesh.unique_pos[vert1_id.get() as usize];
-						normal+=Planar64Vec3::new(
-							(v0.y()-v1.y())*(v0.z()+v1.z()),
-							(v0.z()-v1.z())*(v0.x()+v1.x()),
-							(v0.x()-v1.x())*(v0.y()+v1.y()),
-						);
+						normal+=Vector3::new([
+							(v0.y-v1.y)*(v0.z+v1.z),
+							(v0.z-v1.z)*(v0.x+v1.x),
+							(v0.x-v1.x)*(v0.y+v1.y),
+						]);
 						//get/create edge and push face into it
 						let (edge_ref_verts,is_sorted)=EdgeRefVerts::new(submesh_vert0_id,submesh_vert1_id);
 						let (edge_ref_faces,edge_id)=edge_pool.push(edge_ref_verts);
@@ -362,14 +366,16 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 						//return directed_edge_id
 						edge_id.as_directed(is_sorted)
 					}).collect();
-					//choose precision loss randomly idk
-					normal=normal/len as i64;
-					let mut dot=Planar64::ZERO;
+					let mut dot=Fixed::ZERO;
+					// find the average dot
 					for &v in poly_vertices{
 						dot+=normal.dot(mesh.unique_pos[mesh.unique_vertices[v.get() as usize].pos.get() as usize]);
 					}
 					//assume face hash is stable, and there are no flush faces...
-					let face=Face{normal,dot:dot/len as i64};
+					let face=Face{
+						normal:(normal/len as i64).divide().fix_1(),
+						dot:(dot/(len*len) as i64).fix_1(),
+					};
 					let face_id=match face_id_from_face.get(&face){
 						Some(&face_id)=>face_id,
 						None=>{
@@ -416,6 +422,8 @@ pub struct PhysicsMeshView<'a>{
 	topology:&'a PhysicsMeshTopology,
 }
 impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for PhysicsMeshView<'_>{
+	type Normal=Planar64Vec3;
+	type Offset=Planar64;
 	fn face_nd(&self,face_id:SubmeshFaceId)->(Planar64Vec3,Planar64){
 		let face_idx=self.topology.faces[face_id.get() as usize].get() as usize;
 		(self.data.faces[face_idx].normal,self.data.faces[face_idx].dot)
@@ -444,14 +452,14 @@ impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for PhysicsMes
 
 pub struct PhysicsMeshTransform{
 	pub vertex:integer::Planar64Affine3,
-	pub normal:integer::Planar64Mat3,
-	pub det:Planar64,
+	pub normal:integer::mat3::Matrix3<Fixed<2,64>>,
+	pub det:Fixed<3,96>,
 }
 impl PhysicsMeshTransform{
-	pub const fn new(transform:integer::Planar64Affine3)->Self{
+	pub fn new(transform:integer::Planar64Affine3)->Self{
 		Self{
-			normal:transform.matrix3.inverse_times_det().transpose(),
-			det:transform.matrix3.determinant(),
+			normal:transform.matrix3.adjugate().transpose(),
+			det:transform.matrix3.det(),
 			vertex:transform,
 		}
 	}
@@ -462,7 +470,7 @@ pub struct TransformedMesh<'a>{
 	transform:&'a PhysicsMeshTransform,
 }
 impl TransformedMesh<'_>{
-	pub fn new<'a>(
+	pub const fn new<'a>(
 		view:PhysicsMeshView<'a>,
 		transform:&'a PhysicsMeshTransform,
 	)->TransformedMesh<'a>{
@@ -471,33 +479,33 @@ impl TransformedMesh<'_>{
 			transform,
 		}
 	}
-	pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
+	pub fn verts<'a>(&'a self)->impl Iterator<Item=vec3::Vector3<Fixed<2,64>>>+'a{
 		self.view.data.verts.iter().map(|&Vert(pos)|self.transform.vertex.transform_point3(pos))
 	}
 	fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
-		let mut best_dot=Planar64::MIN;
-		let mut best_vert=SubmeshVertId(0);
 		//this happens to be well-defined.  there are no virtual virtices
-		for (i,vert_id) in self.view.topology.verts.iter().enumerate(){
-			let p=self.transform.vertex.transform_point3(self.view.data.verts[vert_id.get() as usize].0);
-			let d=dir.dot(p);
-			if best_dot<d{
-				best_dot=d;
-				best_vert=SubmeshVertId::new(i as u32);
-			}
-		}
-		best_vert
+		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<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for TransformedMesh<'_>{
-	fn face_nd(&self,face_id:SubmeshFaceId)->(Planar64Vec3,Planar64){
+	type Normal=Vector3<Fixed<3,96>>;
+	type Offset=Fixed<4,128>;
+	fn face_nd(&self,face_id:SubmeshFaceId)->(Self::Normal,Self::Offset){
 		let (n,d)=self.view.face_nd(face_id);
 		let transformed_n=self.transform.normal*n;
-		let transformed_d=d+transformed_n.dot(self.transform.vertex.translation)/self.transform.det;
-		(transformed_n/self.transform.det,transformed_d)
+		let transformed_d=d*self.transform.det+transformed_n.dot(self.transform.vertex.translation);
+		(transformed_n,transformed_d)
 	}
 	fn vert(&self,vert_id:SubmeshVertId)->Planar64Vec3{
-		self.transform.vertex.transform_point3(self.view.vert(vert_id))
+		self.transform.vertex.transform_point3(self.view.vert(vert_id)).fix_1()
 	}
 	#[inline]
 	fn face_edges(&self,face_id:SubmeshFaceId)->Cow<Vec<SubmeshDirectedEdgeId>>{
@@ -525,11 +533,11 @@ impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for Transforme
 //(face,vertex)
 //(edge,edge)
 //(vertex,face)
-#[derive(Clone,Copy)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiVert{
 	VertVert(SubmeshVertId,SubmeshVertId),
 }
-#[derive(Clone,Copy)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiEdge{
 	VertEdge(SubmeshVertId,SubmeshEdgeId),
 	EdgeVert(SubmeshEdgeId,SubmeshVertId),
@@ -544,7 +552,7 @@ impl UndirectedEdge for MinkowskiEdge{
 		}
 	}
 }
-#[derive(Clone,Copy)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiDirectedEdge{
 	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
 	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
@@ -565,7 +573,7 @@ impl DirectedEdge for MinkowskiDirectedEdge{
 		}
 	}
 }
-#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+#[derive(Clone,Copy,Debug,Hash,Eq,PartialEq)]
 pub enum MinkowskiFace{
 	VertFace(SubmeshVertId,SubmeshFaceId),
 	EdgeEdge(SubmeshEdgeId,SubmeshEdgeId,bool),
@@ -581,6 +589,7 @@ pub struct MinkowskiMesh<'a>{
 }
 
 //infinity fev algorithm state transition
+#[derive(Debug)]
 enum Transition{
 	Done,//found closest vert, no edges are better
 	Vert(MinkowskiVert),//transition to vert
@@ -590,6 +599,8 @@ enum EV{
 	Edge(MinkowskiEdge),
 }
 
+pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
+
 impl MinkowskiMesh<'_>{
 	pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
 		MinkowskiMesh{
@@ -600,7 +611,7 @@ impl MinkowskiMesh<'_>{
 	fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
 		MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
 	}
-	fn next_transition_vert(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
+	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).iter(){
 			let edge_n=self.directed_edge_n(directed_edge_id);
@@ -610,7 +621,7 @@ impl MinkowskiMesh<'_>{
 			let test_vert_id=edge_verts[directed_edge_id.parity() as usize];
 			//test if it's closer
 			let diff=point-self.vert(test_vert_id);
-			if zeroes::zeroes1(edge_n.dot(diff),edge_n.dot(infinity_dir)).len()==0{
+			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);
@@ -620,21 +631,21 @@ impl MinkowskiMesh<'_>{
 		}
 		best_transition
 	}
-	fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Planar64,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
+	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).iter(){
 			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);
-			if zeroes::zeroes1(d,edge_n.dot(infinity_dir)).len()==0{
 				//test the edge
 				let edge_nn=edge_n.dot(edge_n);
-				if Planar64::ZERO<=d&&d<=edge_nn{
+				if !d.is_negative()&&d<=edge_nn{
 					let distance_squared={
 						let c=diff.cross(edge_n);
-						c.dot(c)/edge_nn
+						(c.dot(c)/edge_nn).divide().fix_2()
 					};
 					if distance_squared<=*best_distance_squared{
 						best_transition=EV::Edge(directed_edge_id.as_undirected());
@@ -680,7 +691,7 @@ impl MinkowskiMesh<'_>{
 					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)<=Planar64::ZERO&&zeroes::zeroes1(boundary_d,boundary_n.dot(infinity_dir)*2).len()==0{
+					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::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id);
 					}
@@ -694,15 +705,16 @@ impl MinkowskiMesh<'_>{
 			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=Planar64Vec3::ZERO;
+			infinity_body.acceleration=vec3::ZERO;
 			//crawl in from negative infinity along a tangent line to get the closest fev
-			match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
+			// TODO: change crawl_fev args to delta time? Optional values?
+			match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN/4,infinity_body.time){
 				crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
 				crate::face_crawler::CrawlResult::Hit(_,_)=>None,
 			}
 		})
 	}
-	pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,integer::Time)>{
+	pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,GigaTime)>{
 		self.closest_fev_not_inside(relative_body.clone()).map_or(None,|fev|{
 			//continue forwards along the body parabola
 			match crate::face_crawler::crawl_fev(fev,self,relative_body,relative_body.time,time_limit){
@@ -711,7 +723,7 @@ impl MinkowskiMesh<'_>{
 			}
 		})
 	}
-	pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,integer::Time)>{
+	pub fn predict_collision_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,GigaTime)>{
 		//create an extrapolated body at time_limit
 		let infinity_body=crate::physics::Body::new(
 			relative_body.extrapolated_position(time_limit),
@@ -727,10 +739,13 @@ impl MinkowskiMesh<'_>{
 			}
 		})
 	}
-	pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,integer::Time)>{
+	pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,GigaTime)>{
 		//no algorithm needed, there is only one state and two cases (Edge,None)
 		//determine when it passes an edge ("sliding off" case)
-		let mut best_time=time_limit;
+		let mut best_time={
+			let r=(time_limit-relative_body.time).to_ratio();
+			Ratio::new(r.num.fix_4(),r.den.fix_4())
+		};
 		let mut best_edge=None;
 		let face_n=self.face_nd(contact_face_id).0;
 		for &directed_edge_id in self.face_edges(contact_face_id).iter(){
@@ -740,10 +755,10 @@ impl MinkowskiMesh<'_>{
 			let verts=self.edge_verts(directed_edge_id.as_undirected());
 			let d=n.dot(self.vert(verts[0])+self.vert(verts[1]));
 			//WARNING! d outside of *2
-			for t in zeroes::zeroes2((n.dot(relative_body.position))*2-d,n.dot(relative_body.velocity)*2,n.dot(relative_body.acceleration)){
-				let t=relative_body.time+integer::Time::from(t);
-				if relative_body.time<t&&t<best_time&&n.dot(relative_body.extrapolated_velocity(t))<Planar64::ZERO{
-					best_time=t;
+			//WARNING: truncated precision
+			for dt in Fixed::<4,128>::zeroes2(((n.dot(relative_body.position))*2-d).fix_4(),n.dot(relative_body.velocity).fix_4()*2,n.dot(relative_body.acceleration).fix_4()){
+				if Ratio::new(Planar64::ZERO,Planar64::EPSILON).le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(relative_body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					best_time=dt;
 					best_edge=Some(directed_edge_id);
 					break;
 				}
@@ -751,9 +766,28 @@ impl MinkowskiMesh<'_>{
 		}
 		best_edge.map(|e|(e.as_undirected(),best_time))
 	}
+	fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,GigaTime)>{
+		let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
+		match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN/4,infinity_body.time){
+			crate::face_crawler::CrawlResult::Miss(_)=>None,
+			crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
+		}
+	}
+	pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
+		let infinity_body=crate::physics::Body::new(point,vec3::Y,vec3::ZERO,integer::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<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiMesh<'_>{
-	fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){
+	type Normal=Vector3<Fixed<3,96>>;
+	type Offset=Fixed<4,128>;
+	fn face_nd(&self,face_id:MinkowskiFace)->(Self::Normal,Self::Offset){
 		match face_id{
 			MinkowskiFace::VertFace(v0,f1)=>{
 				let (n,d)=self.mesh1.face_nd(f1);
@@ -767,7 +801,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 				let n=edge0_n.cross(edge1_n);
 				let e0d=n.dot(self.mesh0.vert(e0v0)+self.mesh0.vert(e0v1));
 				let e1d=n.dot(self.mesh1.vert(e1v0)+self.mesh1.vert(e1v1));
-				(n*(parity as i64*4-2),(e0d-e1d)*(parity as i64*2-1))
+				((n*(parity as i64*4-2)).fix_3(),((e0d-e1d)*(parity as i64*2-1)).fix_4())
 			},
 			MinkowskiFace::FaceVert(f0,v1)=>{
 				let (n,d)=self.mesh0.face_nd(f0);
@@ -816,17 +850,18 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 				let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).borrow();
 				Cow::Owned([(e1f1,false),(e1f0,true)].map(|(edge_face_id1,face_parity)|{
 					let mut best_edge=None;
-					let mut best_d=Planar64::ZERO;
+					let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
 					let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
 					let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
 					for &directed_edge_id0 in v0e.iter(){
 						let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
 						//must be behind other face.
 						let d=edge_face1_n.dot(edge0_n);
-						if d<Planar64::ZERO{
+						if d.is_negative(){
 							let edge0_nn=edge0_n.dot(edge0_n);
-							//divide by zero???
-							let dd=d*d/(edge_face1_nn*edge0_nn);
+							// Assume not every number is huge
+							// TODO: revisit this
+							let dd=(d*d)/(edge_face1_nn*edge0_nn);
 							if best_d<dd{
 								best_d=dd;
 								best_edge=Some(directed_edge_id0);
@@ -845,15 +880,15 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 				let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).borrow();
 				Cow::Owned([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
 					let mut best_edge=None;
-					let mut best_d=Planar64::ZERO;
+					let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
 					let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
 					let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
 					for &directed_edge_id1 in v1e.iter(){
 						let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
 						let d=edge_face0_n.dot(edge1_n);
-						if d<Planar64::ZERO{
+						if d.is_negative(){
 							let edge1_nn=edge1_n.dot(edge1_n);
-							let dd=d*d/(edge_face0_nn*edge1_nn);
+							let dd=(d*d)/(edge_face0_nn*edge1_nn);
 							if best_d<dd{
 								best_d=dd;
 								best_edge=Some(directed_edge_id1);
@@ -889,19 +924,20 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 				//detect shared volume when the other mesh is mirrored along a test edge dir
 				let v0f=self.mesh0.vert_faces(v0);
 				let v1f=self.mesh1.vert_faces(v1);
-				let v0f_n:Vec<Planar64Vec3>=v0f.iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
-				let v1f_n:Vec<Planar64Vec3>=v1f.iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
+				let v0f_n:Vec<_>=v0f.iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
+				let v1f_n:Vec<_>=v1f.iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
 				let the_len=v0f.len()+v1f.len();
 				for &directed_edge_id in self.mesh0.vert_edges(v0).iter(){
 					let n=self.mesh0.directed_edge_n(directed_edge_id);
 					let nn=n.dot(n);
+					// TODO: there's gotta be a better way to do this
 					//make a set of faces
 					let mut face_normals=Vec::with_capacity(the_len);
 					//add mesh0 faces as-is
 					face_normals.clone_from(&v0f_n);
 					for face_n in &v1f_n{
 						//add reflected mesh1 faces
-						face_normals.push(*face_n-n*(face_n.dot(n)*2/nn));
+						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().fix_3());
 					}
 					if is_empty_volume(face_normals){
 						edges.push(MinkowskiDirectedEdge::EdgeVert(directed_edge_id,v1));
@@ -913,7 +949,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 					let mut face_normals=Vec::with_capacity(the_len);
 					face_normals.clone_from(&v1f_n);
 					for face_n in &v0f_n{
-						face_normals.push(*face_n-n*(face_n.dot(n)*2/nn));
+						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().fix_3());
 					}
 					if is_empty_volume(face_normals){
 						edges.push(MinkowskiDirectedEdge::VertEdge(v0,directed_edge_id));
@@ -928,7 +964,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 	}
 }
 
-fn is_empty_volume(normals:Vec<Planar64Vec3>)->bool{
+fn is_empty_volume(normals:Vec<Vector3<Fixed<3,96>>>)->bool{
 	let len=normals.len();
 	for i in 0..len-1{
 		for j in i+1..len{
@@ -936,9 +972,10 @@ fn is_empty_volume(normals:Vec<Planar64Vec3>)->bool{
 			let mut d_comp=None;
 			for k in 0..len{
 				if k!=i&&k!=j{
-					let d=n.dot(normals[k]);
+					let d=n.dot(normals[k]).is_negative();
 					if let Some(comp)=&d_comp{
-						if *comp*d<Planar64::ZERO{
+						// This is testing if d_comp*d < 0
+						if comp^d{
 							return true;
 						}
 					}else{
@@ -953,8 +990,8 @@ fn is_empty_volume(normals:Vec<Planar64Vec3>)->bool{
 
 #[test]
 fn test_is_empty_volume(){
-	assert!(!is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z].to_vec()));
-	assert!(is_empty_volume([Planar64Vec3::X,Planar64Vec3::Y,Planar64Vec3::Z,Planar64Vec3::NEG_X].to_vec()));
+	assert!(!is_empty_volume([vec3::X.fix_3(),vec3::Y.fix_3(),vec3::Z.fix_3()].to_vec()));
+	assert!(is_empty_volume([vec3::X.fix_3(),vec3::Y.fix_3(),vec3::Z.fix_3(),vec3::NEG_X.fix_3()].to_vec()));
 }
 
 #[test]

src/physics_worker.rs

@@ -32,33 +32,29 @@ pub enum Instruction{
 mod mouse_interpolator{
 	use super::*;
 	//TODO: move this or tab
-pub struct MouseInterpolator<'a>{
+pub struct MouseInterpolator{
 	//"PlayerController"
 	user_settings:crate::settings::UserSettings,
 	//"MouseInterpolator"
 	timeline:std::collections::VecDeque<TimedInstruction<PhysicsInputInstruction>>,
 	last_mouse_time:Time,//this value is pre-transformed to simulation time
 	mouse_blocking:bool,
-	//????
-	bot_worker:crate::worker::QNWorker<'a,crate::bot_worker::Instruction>,
 	//"Simulation"
 	timer:Timer<Scaled>,
 	physics:crate::physics::PhysicsContext,
 
 }
-impl MouseInterpolator<'_>{
-	pub fn new<'a>(
+impl MouseInterpolator{
+	pub fn new(
 		physics:crate::physics::PhysicsContext,
-		bot_worker:crate::worker::QNWorker<'a,crate::bot_worker::Instruction>,
 		user_settings:crate::settings::UserSettings,
-	)->MouseInterpolator<'a>{
+	)->MouseInterpolator{
 		MouseInterpolator{
 			mouse_blocking:true,
 			last_mouse_time:physics.get_next_mouse().time,
 			timeline:std::collections::VecDeque::new(),
 			timer:Timer::from_state(Scaled::identity(),false),
 			physics,
-			bot_worker,
 			user_settings,
 		}
 	}
@@ -175,13 +171,6 @@ impl MouseInterpolator<'_>{
 	}
 	fn empty_queue(&mut self){
 		while let Some(instruction)=self.timeline.pop_front(){
-			//makeshift clone because requiring all TimedInstructions to be Clone is troublesome
-			self.bot_worker.send(crate::bot_worker::Instruction::Push{
-				ins:TimedInstruction{
-					time:instruction.time,
-					instruction:instruction.instruction.clone(),
-				}
-			}).unwrap();
 			self.physics.run_input_instruction(instruction);
 		}
 	}
@@ -191,8 +180,12 @@ impl MouseInterpolator<'_>{
 			self.empty_queue();
 		}
 	}
-	pub fn get_render_stuff(&self,time:Time)->(crate::physics::PhysicsOutputState,Time,glam::IVec2){
-		(self.physics.output(),self.timer.time(time),self.physics.get_next_mouse().pos)
+	pub fn get_frame_state(&self,time:Time)->crate::graphics::FrameState{
+		crate::graphics::FrameState{
+			body:self.physics.camera_body(),
+			camera:self.physics.camera(),
+			time:self.timer.time(time),
+		}
 	}
 	pub fn change_map(&mut self,time:Time,map:&strafesnet_common::map::CompleteMap){
 		//dump any pending interpolation state
@@ -222,20 +215,18 @@ impl MouseInterpolator<'_>{
 pub fn new<'a>(
 	mut graphics_worker:crate::compat_worker::INWorker<'a,crate::graphics_worker::Instruction>,
 	user_settings:crate::settings::UserSettings,
-	bot_worker:crate::worker::QNWorker<'a,crate::bot_worker::Instruction>,
 )->crate::compat_worker::QNWorker<'a,TimedInstruction<Instruction>>{
 	let physics=crate::physics::PhysicsContext::default();
 	let mut interpolator=MouseInterpolator::new(
 		physics,
-		bot_worker,
 		user_settings
 	);
 	crate::compat_worker::QNWorker::new(move |ins:TimedInstruction<Instruction>|{
 		interpolator.handle_instruction(&ins);
 		match ins.instruction{
 			Instruction::Render=>{
-				let (physics_output,time,mouse_pos)=interpolator.get_render_stuff(ins.time);
-				graphics_worker.send(crate::graphics_worker::Instruction::Render(physics_output,time,mouse_pos)).unwrap();
+				let frame_state=interpolator.get_frame_state(ins.time);
+				graphics_worker.send(crate::graphics_worker::Instruction::Render(frame_state)).unwrap();
 			},
 			Instruction::Resize(size)=>{
 				graphics_worker.send(crate::graphics_worker::Instruction::Resize(size,interpolator.user_settings().clone())).unwrap();

src/setup.rs

@@ -213,13 +213,10 @@ pub fn setup_and_start(title:String){
 
 	//dedicated thread to ping request redraw back and resize the window doesn't seem logical
 
-	std::thread::scope(|scope|{
-		//TODO: TAB
 	//the thread that spawns the physics thread
 	let mut window_thread=crate::window::worker(
 		&window,
 		setup_context,
-		scope
 	);
 
 	if let Some(arg)=std::env::args().nth(1){
@@ -233,7 +230,6 @@ pub fn setup_and_start(title:String){
 	println!("Entering event loop...");
 	let root_time=std::time::Instant::now();
 	run_event_loop(event_loop,window_thread,root_time).unwrap();
-	});
 }
 
 fn run_event_loop(

src/window.rs

@@ -100,19 +100,19 @@ impl WindowContext<'_>{
 						if let Some(input_instruction)=match keycode{
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Space)=>Some(InputInstruction::Jump(s)),
 							winit::keyboard::Key::Character(key)=>match key.as_str(){
-								"w"=>Some(InputInstruction::MoveForward(s)),
-								"a"=>Some(InputInstruction::MoveLeft(s)),
-								"s"=>Some(InputInstruction::MoveBack(s)),
-								"d"=>Some(InputInstruction::MoveRight(s)),
-								"e"=>Some(InputInstruction::MoveUp(s)),
-								"q"=>Some(InputInstruction::MoveDown(s)),
-								"z"=>Some(InputInstruction::Zoom(s)),
-								"r"=>if s{
+								"w"|"W"=>Some(InputInstruction::MoveForward(s)),
+								"a"|"A"=>Some(InputInstruction::MoveLeft(s)),
+								"s"|"S"=>Some(InputInstruction::MoveBack(s)),
+								"d"|"D"=>Some(InputInstruction::MoveRight(s)),
+								"e"|"E"=>Some(InputInstruction::MoveUp(s)),
+								"q"|"Q"=>Some(InputInstruction::MoveDown(s)),
+								"z"|"Z"=>Some(InputInstruction::Zoom(s)),
+								"r"|"R"=>if s{
 									//mouse needs to be reset since the position is absolute
 									self.mouse=strafesnet_common::mouse::MouseState::default();
 									Some(InputInstruction::ResetAndRestart)
 								}else{None},
-								"f"=>if s{Some(InputInstruction::PracticeFly)}else{None},
+								"f"|"F"=>if s{Some(InputInstruction::PracticeFly)}else{None},
 								_=>None,
 							},
 							_=>None,
@@ -168,7 +168,6 @@ impl WindowContext<'_>{
 pub fn worker<'a>(
 	window:&'a winit::window::Window,
 	setup_context:crate::setup::SetupContext<'a>,
-	scope:&'a std::thread::Scope<'a,'_>,
 )->crate::compat_worker::QNWorker<'a,TimedInstruction<WindowInstruction>>{
 	// WindowContextSetup::new
 		let user_settings=crate::settings::read_user_settings();
@@ -179,8 +178,6 @@ pub fn worker<'a>(
 	//WindowContextSetup::into_context
 		let screen_size=glam::uvec2(setup_context.config.width,setup_context.config.height);
 		let graphics_thread=crate::graphics_worker::new(graphics,setup_context.config,setup_context.surface,setup_context.device,setup_context.queue);
-		//this obviously doesn't belong here, do something about it pls
-		let bot_thread=crate::bot_worker::new(scope);
 		let mut window_context=WindowContext{
 			manual_mouse_lock:false,
 			mouse:strafesnet_common::mouse::MouseState::default(),
@@ -190,7 +187,6 @@ pub fn worker<'a>(
 			physics_thread:crate::physics_worker::new(
 				graphics_thread,
 				user_settings,
-				bot_thread,
 			),
 		};
 

src/worker.rs

@@ -181,9 +181,9 @@ mod test{
 	#[test]//How to run this test with printing: cargo test --release -- --nocapture
 	fn test_worker() {
 		// Create the worker thread
-		let test_body=physics::Body::new(integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Time::ZERO);
-		let worker=QRWorker::new(physics::Body::default(),
-			|_|physics::Body::new(integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Planar64Vec3::ONE,integer::Time::ZERO)
+		let test_body=physics::Body::new(integer::vec3::ONE,integer::vec3::ONE,integer::vec3::ONE,integer::Time::ZERO);
+		let worker=QRWorker::new(physics::Body::ZERO,
+			|_|physics::Body::new(integer::vec3::ONE,integer::vec3::ONE,integer::vec3::ONE,integer::Time::ZERO)
 		);
 
 		// Send tasks to the worker