update rbx_loader

make invalid states unrepresentable!!!

.cargo/config.toml

@@ -0,0 +1,2 @@
+[registries.strafesnet]
+index = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"

.gitignore

@@ -1,2 +1 @@
 /target
-/textures

Cargo.toml

@@ -1,25 +1,36 @@
 [package]
 name = "strafe-client"
-version = "0.9.0"
+version = "0.10.5"
 edition = "2021"
+repository = "https://git.itzana.me/StrafesNET/strafe-client"
+license = "Custom"
+description = "StrafesNET game client for bhop and surf."
+authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+[features]
+default = ["snf"]
+snf = ["dep:strafesnet_snf"]
+source = ["dep:strafesnet_deferred_loader", "dep:strafesnet_bsp_loader"]
+roblox = ["dep:strafesnet_deferred_loader", "dep:strafesnet_rbx_loader"]
 
 [dependencies]
 bytemuck = { version = "1.13.1", features = ["derive"] }
 configparser = "3.0.2"
 ddsfile = "0.5.1"
-glam = "0.25.0"
-id = { git = "https://git.itzana.me/Quaternions/id", rev = "1f710976cc786c8853dab73d6e1cee53158deeb0" }
+glam = "0.29.0"
+id = { version = "0.1.0", registry = "strafesnet" }
 parking_lot = "0.12.1"
 pollster = "0.3.0"
-strafesnet_rbx_loader = { git = "https://git.itzana.me/StrafesNET/rbx_loader", rev = "05e609521a31d14ca2c9def7a778d792022571dc" }
-strafesnet_common = { git = "https://git.itzana.me/StrafesNET/common", rev = "fccb13bc6080ea6db94ef9175affd4aef1d9249d" }
-strafesnet_texture_loader = { git = "https://git.itzana.me/StrafesNET/texture_loader", rev = "94e951ce06fb30873964ec29f30fcf9c8247a9a5", features = ["legacy"] }
-wgpu = "0.19.0"
-winit = "0.29.2"
+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]
+[profile.release]
 #lto = true
-#strip = true
-#codegen-units = 1
+strip = true
+codegen-units = 1

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;
 						}
 					}
@@ -98,22 +98,30 @@ 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),
 		}
 	}
 	//TODO: fix all bugs
-	println!("Too many iterations!  Using default behaviour instead of crashing...");
+	//println!("Too many iterations!  Using default behaviour instead of crashing...");
 	CrawlResult::Miss(fev)
 }

src/file.rs

@@ -0,0 +1,144 @@
+use std::io::Read;
+
+#[derive(Debug)]
+pub enum ReadError{
+	#[cfg(feature="roblox")]
+	Roblox(strafesnet_rbx_loader::ReadError),
+	#[cfg(feature="source")]
+	Source(strafesnet_bsp_loader::ReadError),
+	#[cfg(feature="snf")]
+	StrafesNET(strafesnet_snf::Error),
+	#[cfg(feature="snf")]
+	StrafesNETMap(strafesnet_snf::map::Error),
+	Io(std::io::Error),
+	UnknownFileFormat,
+}
+impl std::fmt::Display for ReadError{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{self:?}")
+	}
+}
+impl std::error::Error for ReadError{}
+
+pub enum DataStructure{
+	#[cfg(feature="roblox")]
+	Roblox(strafesnet_rbx_loader::Model),
+	#[cfg(feature="source")]
+	Source(strafesnet_bsp_loader::Bsp),
+	#[cfg(feature="snf")]
+	StrafesNET(strafesnet_common::map::CompleteMap),
+}
+
+pub fn read<R:Read+std::io::Seek>(input:R)->Result<DataStructure,ReadError>{
+	let mut buf=std::io::BufReader::new(input);
+	let peek=std::io::BufRead::fill_buf(&mut buf).map_err(ReadError::Io)?;
+	match &peek[0..4]{
+		#[cfg(feature="roblox")]
+		b"<rob"=>Ok(DataStructure::Roblox(strafesnet_rbx_loader::read(buf).map_err(ReadError::Roblox)?)),
+		#[cfg(feature="source")]
+		b"VBSP"=>Ok(DataStructure::Source(strafesnet_bsp_loader::read(buf).map_err(ReadError::Source)?)),
+		#[cfg(feature="snf")]
+		b"SNFM"=>Ok(DataStructure::StrafesNET(
+			strafesnet_snf::read_map(buf).map_err(ReadError::StrafesNET)?
+			.into_complete_map().map_err(ReadError::StrafesNETMap)?
+		)),
+		_=>Err(ReadError::UnknownFileFormat),
+	}
+}
+
+#[derive(Debug)]
+pub enum LoadError{
+	ReadError(ReadError),
+	File(std::io::Error),
+	Io(std::io::Error),
+}
+impl std::fmt::Display for LoadError{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{self:?}")
+	}
+}
+impl std::error::Error for LoadError{}
+
+pub fn load<P:AsRef<std::path::Path>>(path:P)->Result<strafesnet_common::map::CompleteMap,LoadError>{
+	//blocking because it's simpler...
+	let file=std::fs::File::open(path).map_err(LoadError::File)?;
+	match read(file).map_err(LoadError::ReadError)?{
+		#[cfg(feature="snf")]
+		DataStructure::StrafesNET(map)=>Ok(map),
+		#[cfg(feature="roblox")]
+		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(
+				&place,
+				|name|texture_loader.acquire_render_config_id(name),
+				|name|mesh_loader.acquire_mesh_id(name),
+			);
+
+			let meshpart_meshes=mesh_loader.load_meshes().map_err(LoadError::Io)?;
+
+			let map_step2=map_step1.add_meshpart_meshes_and_calculate_attributes(
+				meshpart_meshes.into_iter().map(|(mesh_id,loader_model)|
+					(mesh_id,strafesnet_rbx_loader::data::RobloxMeshBytes::new(loader_model.get()))
+				)
+			);
+
+			let (textures,render_configs)=loader.into_render_configs().map_err(LoadError::Io)?.consume();
+
+			let map=map_step2.add_render_configs_and_textures(
+				render_configs.into_iter(),
+				textures.into_iter().map(|(texture_id,texture)|
+					(texture_id,match texture{
+						strafesnet_deferred_loader::texture::Texture::ImageDDS(data)=>data,
+					})
+				)
+			);
+
+			Ok(map)
+		},
+		#[cfg(feature="source")]
+		DataStructure::Source(bsp)=>{
+			let mut loader=strafesnet_deferred_loader::source_legacy();
+
+			let (texture_loader,mesh_loader)=loader.get_inner_mut();
+
+			let map_step1=strafesnet_bsp_loader::convert(
+				&bsp,
+				|name|texture_loader.acquire_render_config_id(name),
+				|name|mesh_loader.acquire_mesh_id(name),
+			);
+
+			let prop_meshes=mesh_loader.load_meshes(bsp.as_ref());
+
+			let map_step2=map_step1.add_prop_meshes(
+				//the type conflagulator 9000
+				prop_meshes.into_iter().map(|(mesh_id,loader_model)|
+					(mesh_id,strafesnet_bsp_loader::data::ModelData{
+						mdl:strafesnet_bsp_loader::data::MdlData::new(loader_model.mdl.get()),
+						vtx:strafesnet_bsp_loader::data::VtxData::new(loader_model.vtx.get()),
+						vvd:strafesnet_bsp_loader::data::VvdData::new(loader_model.vvd.get()),
+					})
+				),
+				|name|texture_loader.acquire_render_config_id(name),
+			);
+
+			let (textures,render_configs)=loader.into_render_configs().map_err(LoadError::Io)?.consume();
+
+			let map=map_step2.add_render_configs_and_textures(
+				render_configs.into_iter(),
+				textures.into_iter().map(|(texture_id,texture)|
+					(texture_id,match texture{
+						strafesnet_deferred_loader::texture::Texture::ImageDDS(data)=>data,
+					})
+				),
+			);
+
+			Ok(map)
+		},
+	}
+}

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,
@@ -65,24 +58,24 @@ 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{
 	pub fn proj(&self)->glam::Mat4{
-		perspective_rh(self.fov.x,self.fov.y,0.5,2000.0)
+		perspective_rh(self.fov.x,self.fov.y,0.4,4000.0)
 	}
 	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,
@@ -147,10 +146,17 @@ impl GraphicsState{
 	pub fn load_user_settings(&mut self,user_settings:&crate::settings::UserSettings){
 		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,textures:strafesnet_texture_loader::texture_loader::Textures){
+	pub fn generate_models(&mut self,device:&wgpu::Device,queue:&wgpu::Queue,map:&map::CompleteMap){
 		//generate texture view per texture
-		let texture_views:Vec<wgpu::TextureView>=textures.into_iter().map(|(texture_id,texture_data)|{
-			let image=ddsfile::Dds::read(std::io::Cursor::new(texture_data)).unwrap();
+		let texture_views:HashMap<strafesnet_common::model::TextureId,wgpu::TextureView>=map.textures.iter().enumerate().filter_map(|(texture_id,texture_data)|{
+			let texture_id=model::TextureId::new(texture_id as u32);
+			let image=match ddsfile::Dds::read(std::io::Cursor::new(texture_data)){
+				Ok(image)=>image,
+				Err(e)=>{
+					println!("Error loading texture: {e}");
+					return None;
+				},
+			};
 
 			let (mut width,mut height)=(image.get_width(),image.get_height());
 
@@ -162,7 +168,10 @@ impl GraphicsState{
 					height=height/4*4;
 					wgpu::TextureFormat::Bc7RgbaUnormSrgb
 				},
-				other=>panic!("unsupported format{:?}",other),
+				other=>{
+					println!("unsupported texture format{:?}",other);
+					return None;
+				},
 			};
 
 			let size=wgpu::Extent3d{
@@ -192,11 +201,11 @@ impl GraphicsState{
 				wgpu::util::TextureDataOrder::LayerMajor,
 				&image.data,
 			);
-			texture.create_view(&wgpu::TextureViewDescriptor{
+			Some((texture_id,texture.create_view(&wgpu::TextureViewDescriptor{
 				label:Some(format!("Texture{} View",texture_id.get()).as_str()),
 				dimension:Some(wgpu::TextureViewDimension::D2),
 				..wgpu::TextureViewDescriptor::default()
-			})
+			})))
 		}).collect();
 		let num_textures=texture_views.len();
 
@@ -210,18 +219,12 @@ 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
-			if let Some(owned_mesh_map)=owned_mesh_id_from_mesh_id_render_config_id.get(&model.mesh){
-				//the mesh has already been split into a set of unique renderconfig meshes
-				//simply add one instance to each of them
-				for owned_mesh_id in owned_mesh_map.values(){
-					let owned_mesh=unique_render_config_models.get_mut(owned_mesh_id.get() as usize).unwrap();
-					owned_mesh.instances.push(instance.clone());
-				}
-			}else{
+			let owned_mesh_map=owned_mesh_id_from_mesh_id_render_config_id
+			.entry(model.mesh).or_insert_with(||{
 				let mut owned_mesh_map=HashMap::new();
 				//add mesh if renderid never before seen for this model
 				//add instance
@@ -229,29 +232,23 @@ impl GraphicsState{
 				//check each group, if it's using a new render config then make a new clone of the model
 				if let Some(mesh)=map.meshes.get(model.mesh.get() as usize){
 					for graphics_group in mesh.graphics_groups.iter(){
-						let render_config=&map.render_configs[graphics_group.render.get() as usize];
-						if model.color.w==0.0&&render_config.texture.is_none(){
-							continue;
-						}
 						//get or create owned mesh
-						let owned_mesh_id=if let Some(&owned_mesh_id)=owned_mesh_map.get(&graphics_group.render){
-							owned_mesh_id
-						}else{
+						let owned_mesh_id=owned_mesh_map
+						.entry(graphics_group.render).or_insert_with(||{
 							//create
 							let owned_mesh_id=IndexedGraphicsMeshOwnedRenderConfigId::new(unique_render_config_models.len() as u32);
-							owned_mesh_map.insert(graphics_group.render,owned_mesh_id);
 							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,
 								polys:model::PolygonGroup::PolygonList(model::PolygonList::new(Vec::new())),
-								instances:vec![instance.clone()],
+								instances:Vec::new(),
 							});
 							owned_mesh_id
-						};
+						});
 						let owned_mesh=unique_render_config_models.get_mut(owned_mesh_id.get() as usize).unwrap();
 						match &mut owned_mesh.polys{
 							model::PolygonGroup::PolygonList(polygon_list)=>polygon_list.extend(
@@ -265,8 +262,16 @@ impl GraphicsState{
 						}
 					}
 				}
-				owned_mesh_id_from_mesh_id_render_config_id.insert(model.mesh,owned_mesh_map);
-			};
+				owned_mesh_map
+			});
+			for owned_mesh_id in owned_mesh_map.values(){
+				let owned_mesh=unique_render_config_models.get_mut(owned_mesh_id.get() as usize).unwrap();
+				let render_config=&map.render_configs[owned_mesh.render_config.get() as usize];
+				if model.color.w==0.0&&render_config.texture.is_none(){
+					continue;
+				}
+				owned_mesh.instances.push(instance.clone());
+			}
 		}
 		//check every model to see if it's using the same (texture,color) but has few instances,if it is combine it into one model
 		//1. collect unique instances of texture and color,note model id
@@ -285,24 +290,14 @@ impl GraphicsState{
 				continue;
 			}
 			//populate hashmap
-			let unique_color=if let Some(unique_color)=unique_texture_color.get_mut(&model.render_config){
-				unique_color
-			}else{
-				//make new hashmap
-				let unique_color=HashMap::new();
-				unique_texture_color.insert(model.render_config,unique_color);
-				unique_texture_color.get_mut(&model.render_config).unwrap()
-			};
+			let unique_color=unique_texture_color
+			.entry(model.render_config)
+			.or_insert_with(||HashMap::new());
 			//separate instances by color
 			for (instance_id,instance) in model.instances.iter().enumerate(){
-				let model_instance_list=if let Some(model_instance_list)=unique_color.get_mut(&instance.color){
-					model_instance_list
-				}else{
-					//make new hashmap
-					let model_instance_list=Vec::new();
-					unique_color.insert(instance.color.clone(),model_instance_list);
-					unique_color.get_mut(&instance.color).unwrap()
-				};
+				let model_instance_list=unique_color
+				.entry(instance.color)
+				.or_insert_with(||Vec::new());
 				//add model instance to list
 				model_instance_list.push((model_id,instance_id));
 			}
@@ -338,46 +333,34 @@ impl GraphicsState{
 						let map_pos_id:Vec<PositionId>=model.unique_pos.iter().map(|untransformed_pos|{
 							let pos=instance.transform.transform_point3(glam::Vec3::from_array(untransformed_pos.clone())).to_array();
 							let h=bytemuck::cast::<[f32;3],[u32;3]>(pos);
-							PositionId::new((if let Some(&pos_id)=pos_id_from.get(&h){
-								pos_id
-							}else{
+							PositionId::new(*pos_id_from.entry(h).or_insert_with(||{
 								let pos_id=unique_pos.len();
 								unique_pos.push(pos);
-								pos_id_from.insert(h,pos_id);
 								pos_id
 							}) as u32)
 						}).collect();
 						let map_tex_id:Vec<TextureCoordinateId>=model.unique_tex.iter().map(|&tex|{
 							let h=bytemuck::cast::<[f32;2],[u32;2]>(tex);
-							TextureCoordinateId::new((if let Some(&tex_id)=tex_id_from.get(&h){
-								tex_id
-							}else{
+							TextureCoordinateId::new(*tex_id_from.entry(h).or_insert_with(||{
 								let tex_id=unique_tex.len();
 								unique_tex.push(tex);
-								tex_id_from.insert(h,tex_id);
 								tex_id
 							}) as u32)
 						}).collect();
 						let map_normal_id:Vec<NormalId>=model.unique_normal.iter().map(|untransformed_normal|{
 							let normal=(instance.normal_transform*glam::Vec3::from_array(untransformed_normal.clone())).to_array();
 							let h=bytemuck::cast::<[f32;3],[u32;3]>(normal);
-							NormalId::new((if let Some(&normal_id)=normal_id_from.get(&h){
-								normal_id
-							}else{
+							NormalId::new(*normal_id_from.entry(h).or_insert_with(||{
 								let normal_id=unique_normal.len();
 								unique_normal.push(normal);
-								normal_id_from.insert(h,normal_id);
 								normal_id
 							}) as u32)
 						}).collect();
 						let map_color_id:Vec<ColorId>=model.unique_color.iter().map(|&color|{
 							let h=bytemuck::cast::<[f32;4],[u32;4]>(color);
-							ColorId::new((if let Some(&color_id)=color_id_from.get(&h){
-								color_id
-							}else{
+							ColorId::new(*color_id_from.entry(h).or_insert_with(||{
 								let color_id=unique_color.len();
 								unique_color.push(color);
-								color_id_from.insert(h,color_id);
 								color_id
 							}) as u32)
 						}).collect();
@@ -390,12 +373,9 @@ impl GraphicsState{
 								normal:map_normal_id[unmapped_vertex.normal.get() as usize],
 								color:map_color_id[unmapped_vertex.color.get() as usize],
 							};
-							VertexId::new((if let Some(&vertex_id)=vertex_id_from.get(&vertex){
-								vertex_id
-							}else{
+							VertexId::new(*vertex_id_from.entry(vertex.clone()).or_insert_with(||{
 								let vertex_id=unique_vertices.len();
-								unique_vertices.push(vertex.clone());
-								vertex_id_from.insert(vertex,vertex_id);
+								unique_vertices.push(vertex);
 								vertex_id
 							}) as u32)
 						}).collect();
@@ -438,12 +418,8 @@ impl GraphicsState{
 			//this mut be combined in a more complex way if the models use different render patterns per group
 			let mut indices=Vec::new();
 			for poly in model.polys.polys(){
-				for end_index in 2..poly.len(){
-					for index in [0,end_index-1,end_index]{
-						let vertex_index=poly[index];
-						if let Some(&i)=index_from_vertex.get(&vertex_index){
-							indices.push(i);
-						}else{
+				let mut poly_vertices=poly.iter()
+				.map(|&vertex_index|*index_from_vertex.entry(vertex_index).or_insert_with(||{
 					let i=vertices.len();
 					let vertex=&model.unique_vertices[vertex_index.get() as usize];
 					vertices.push(GraphicsVertex{
@@ -452,11 +428,16 @@ impl GraphicsState{
 						normal:model.unique_normal[vertex.normal.get() as usize],
 						color:model.unique_color[vertex.color.get() as usize],
 					});
-							index_from_vertex.insert(vertex_index,i);
-							indices.push(i);
-						}
-					}
-				}
+					i
+				}));
+
+				let a=poly_vertices.next().unwrap();
+				let mut b=poly_vertices.next().unwrap();
+
+				poly_vertices.for_each(|c|{
+					indices.extend([a,b,c]);
+					b=c;
+				});
 			}
 			GraphicsMeshOwnedRenderConfig{
 				instances:model.instances,
@@ -481,17 +462,18 @@ impl GraphicsState{
 			instance_count+=model.instances.len();
 			for instances_chunk in model.instances.rchunks(chunk_size){
 				model_count+=1;
-				let model_uniforms=get_instances_buffer_data(instances_chunk);
+				let mut model_uniforms=get_instances_buffer_data(instances_chunk);
+				//TEMP: fill with zeroes to pass validation
+				model_uniforms.resize(MODEL_BUFFER_SIZE*512,0.0f32);
 				let model_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
 					label:Some(format!("Model{} Buf",model_count).as_str()),
 					contents:bytemuck::cast_slice(&model_uniforms),
 					usage:wgpu::BufferUsages::UNIFORM|wgpu::BufferUsages::COPY_DST,
 				});
 				let render_config=&map.render_configs[model.render_config.get() as usize];
-				let texture_view=match render_config.texture{
-					Some(texture_id)=>&texture_views[texture_id.get() as usize],
-					None=>&self.temp_squid_texture_view,
-				};
+				let texture_view=render_config.texture.and_then(|texture_id|
+					texture_views.get(&texture_id)
+				).unwrap_or(&self.temp_squid_texture_view);
 				let bind_group=device.create_bind_group(&wgpu::BindGroupDescriptor{
 					layout:&self.bind_group_layouts.model,
 					entries:&[
@@ -524,7 +506,6 @@ impl GraphicsState{
 						model_graphics::Indices::U16(indices)=>Indices::new(device,indices,wgpu::IndexFormat::Uint16),
 					},
 					bind_group,
-					model_buf,
 				});
 			}
 		}
@@ -773,11 +754,13 @@ impl GraphicsState{
 				module:&shader,
 				entry_point:"vs_sky",
 				buffers:&[],
+				compilation_options:wgpu::PipelineCompilationOptions::default(),
 			},
 			fragment:Some(wgpu::FragmentState{
 				module:&shader,
 				entry_point:"fs_sky",
 				targets:&[Some(config.view_formats[0].into())],
+				compilation_options:wgpu::PipelineCompilationOptions::default(),
 			}),
 			primitive:wgpu::PrimitiveState{
 				front_face:wgpu::FrontFace::Cw,
@@ -792,6 +775,7 @@ impl GraphicsState{
 			}),
 			multisample:wgpu::MultisampleState::default(),
 			multiview:None,
+			cache:None,
 		});
 		let model_pipeline=device.create_render_pipeline(&wgpu::RenderPipelineDescriptor{
 			label:Some("Model Pipeline"),
@@ -804,11 +788,13 @@ impl GraphicsState{
 					step_mode:wgpu::VertexStepMode::Vertex,
 					attributes:&wgpu::vertex_attr_array![0=>Float32x3,1=>Float32x2,2=>Float32x3,3=>Float32x4],
 				}],
+				compilation_options:wgpu::PipelineCompilationOptions::default(),
 			},
 			fragment:Some(wgpu::FragmentState{
 				module:&shader,
 				entry_point:"fs_entity_texture",
 				targets:&[Some(config.view_formats[0].into())],
+				compilation_options:wgpu::PipelineCompilationOptions::default(),
 			}),
 			primitive:wgpu::PrimitiveState{
 				front_face:wgpu::FrontFace::Cw,
@@ -824,10 +810,11 @@ impl GraphicsState{
 			}),
 			multisample:wgpu::MultisampleState::default(),
 			multiview:None,
+			cache:None,
 		});
 
 		let camera=GraphicsCamera::default();
-		let camera_uniforms=camera.to_uniform_data(crate::physics::PhysicsOutputState::default().extrapolate(glam::IVec2::ZERO,integer::Time::ZERO));
+		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),
@@ -895,16 +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(mouse_pos,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

@@ -1,11 +1,8 @@
-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),
-	GenerateModels(strafesnet_common::map::CompleteMap,strafesnet_texture_loader::texture_loader::Textures),
-	ClearModels,
+	ChangeMap(strafesnet_common::map::CompleteMap),
 }
 
 //Ideally the graphics thread worker description is:
@@ -23,31 +20,27 @@ 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{
-			Instruction::GenerateModels(map,textures)=>{
-				graphics.generate_models(&device,&queue,&map,textures);
-			},
-			Instruction::ClearModels=>{
+			Instruction::ChangeMap(map)=>{
 				graphics.clear();
+				graphics.generate_models(&device,&queue,&map);
 			},
 			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,
@@ -63,7 +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

@@ -1,3 +1,4 @@
+mod file;
 mod setup;
 mod window;
 mod worker;

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( 4294967296, 0, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw( 0, 4294967296, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw( 0, 0, 4294967296),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw(-4294967296, 0, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw( 0,-4294967296, 0),dot:Planar64::raw(4294967296)},
-				Face{normal:Planar64Vec3::raw( 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( 4294967296,-4294967296,-4294967296)),
-				Vert(Planar64Vec3::raw( 4294967296, 4294967296,-4294967296)),
-				Vert(Planar64Vec3::raw( 4294967296, 4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw( 4294967296,-4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw(-4294967296, 4294967296,-4294967296)),
-				Vert(Planar64Vec3::raw(-4294967296, 4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw(-4294967296,-4294967296, 4294967296)),
-				Vert(Planar64Vec3::raw(-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{
@@ -280,9 +284,25 @@ impl EdgePool{
 		(&mut unsafe{self.edge_guys.get_unchecked_mut(edge_id.get() as usize)}.1,edge_id)
 	}
 }
-impl From<&model::Mesh> for PhysicsMesh{
-	fn from(mesh:&model::Mesh)->Self{
-		assert!(mesh.unique_pos.len()!=0,"Mesh cannot have 0 vertices");
+
+#[derive(Debug)]
+pub enum PhysicsMeshError{
+	ZeroVertices,
+	NoPhysicsGroups,
+}
+impl std::fmt::Display for PhysicsMeshError{
+	fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+		write!(f,"{self:?}")
+	}
+}
+impl std::error::Error for PhysicsMeshError{}
+
+impl TryFrom<&model::Mesh> for PhysicsMesh{
+	type Error=PhysicsMeshError;
+	fn try_from(mesh:&model::Mesh)->Result<Self,PhysicsMeshError>{
+		if mesh.unique_pos.len()==0{
+			return Err(PhysicsMeshError::ZeroVertices);
+		}
 		let verts=mesh.unique_pos.iter().copied().map(Vert).collect();
 		//TODO: fix submeshes
 		//flat map mesh.physics_groups[$1].groups.polys()[$2] as face_id
@@ -314,7 +334,7 @@ impl From<&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);
@@ -325,11 +345,11 @@ impl From<&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);
@@ -346,14 +366,16 @@ impl From<&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=>{
@@ -384,14 +406,14 @@ impl From<&model::Mesh> for PhysicsMesh{
 				).collect(),
 			}
 		}).collect();
-		Self{
+		Ok(Self{
 			data:PhysicsMeshData{
 				faces,
 				verts,
 			},
-			complete_mesh:mesh_topologies.pop().unwrap(),
+			complete_mesh:mesh_topologies.pop().ok_or(PhysicsMeshError::NoPhysicsGroups)?,
 			submeshes:mesh_topologies,
-		}
+		})
 	}
 }
 
@@ -400,6 +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)
@@ -428,14 +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,
 		}
 	}
@@ -446,7 +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>{
@@ -455,33 +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>>{
@@ -509,11 +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),
@@ -528,7 +552,7 @@ impl UndirectedEdge for MinkowskiEdge{
 		}
 	}
 }
-#[derive(Clone,Copy)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiDirectedEdge{
 	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
 	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
@@ -549,7 +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),
@@ -565,6 +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
@@ -574,6 +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{
@@ -584,7 +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);
@@ -594,7 +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);
@@ -604,21 +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());
@@ -664,7 +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);
 					}
@@ -678,15 +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){
@@ -695,7 +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),
@@ -711,10 +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(){
@@ -724,10 +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;
 				}
@@ -735,9 +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);
@@ -751,7 +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);
@@ -800,17 +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);
@@ -829,15 +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);
@@ -873,19 +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));
@@ -897,7 +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));
@@ -912,7 +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{
@@ -920,9 +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{
@@ -937,8 +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

@@ -1,6 +1,10 @@
-use crate::physics::{MouseState,PhysicsInputInstruction};
+use strafesnet_common::mouse::MouseState;
+use strafesnet_common::physics::Instruction as PhysicsInputInstruction;
 use strafesnet_common::integer::Time;
-use strafesnet_common::instruction::{TimedInstruction,InstructionConsumer};
+use strafesnet_common::instruction::TimedInstruction;
+use strafesnet_common::timer::{Scaled,Timer,TimerState};
+use mouse_interpolator::MouseInterpolator;
+
 #[derive(Debug)]
 pub enum InputInstruction{
 	MoveMouse(glam::IVec2),
@@ -12,82 +16,148 @@ pub enum InputInstruction{
 	MoveForward(bool),
 	Jump(bool),
 	Zoom(bool),
-	Reset,
+	ResetAndRestart,
+	ResetAndSpawn(strafesnet_common::gameplay_modes::ModeId,strafesnet_common::gameplay_modes::StageId),
+	PracticeFly,
 }
 pub enum Instruction{
 	Input(InputInstruction),
 	Render,
-	Resize(winit::dpi::PhysicalSize<u32>,crate::settings::UserSettings),
-	GenerateModels(strafesnet_common::map::CompleteMap,strafesnet_texture_loader::texture_loader::Textures),
-	ClearModels,
+	Resize(winit::dpi::PhysicalSize<u32>),
+	ChangeMap(strafesnet_common::map::CompleteMap),
+	//SetPaused is not an InputInstruction: the physics doesn't know that it's paused.
+	SetPaused(bool),
 	//Graphics(crate::graphics_worker::Instruction),
 }
+mod mouse_interpolator{
+	use super::*;
+	//TODO: move this or tab
+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,
+	//"Simulation"
+	timer:Timer<Scaled>,
+	physics:crate::physics::PhysicsContext,
 
-	pub fn new(mut physics:crate::physics::PhysicsContext,mut graphics_worker:crate::compat_worker::INWorker<crate::graphics_worker::Instruction>)->crate::compat_worker::QNWorker<TimedInstruction<Instruction>>{
-		let mut mouse_blocking=true;
-		let mut last_mouse_time=physics.state.next_mouse.time;
-		let mut timeline=std::collections::VecDeque::new();
-		crate::compat_worker::QNWorker::new(move |ins:TimedInstruction<Instruction>|{
-			if if let Some(phys_input)=match &ins.instruction{
-				Instruction::Input(input_instruction)=>match input_instruction{
-					&InputInstruction::MoveMouse(m)=>{
-						if mouse_blocking{
+}
+impl MouseInterpolator{
+	pub fn new(
+		physics:crate::physics::PhysicsContext,
+		user_settings:crate::settings::UserSettings,
+	)->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,
+			user_settings,
+		}
+	}
+	fn push_mouse_instruction(&mut self,ins:&TimedInstruction<Instruction>,m:glam::IVec2){
+		if self.mouse_blocking{
 			//tell the game state which is living in the past about its future
-							timeline.push_front(TimedInstruction{
-								time:last_mouse_time,
-								instruction:PhysicsInputInstruction::SetNextMouse(MouseState{time:ins.time,pos:m}),
+			self.timeline.push_front(TimedInstruction{
+				time:self.last_mouse_time,
+				instruction:PhysicsInputInstruction::SetNextMouse(MouseState{time:self.timer.time(ins.time),pos:m}),
 			});
 		}else{
 			//mouse has just started moving again after being still for longer than 10ms.
 			//replace the entire mouse interpolation state to avoid an intermediate state with identical m0.t m1.t timestamps which will divide by zero
-							timeline.push_front(TimedInstruction{
-								time:last_mouse_time,
+			self.timeline.push_front(TimedInstruction{
+				time:self.last_mouse_time,
 				instruction:PhysicsInputInstruction::ReplaceMouse(
-									MouseState{time:last_mouse_time,pos:physics.state.next_mouse.pos},
-									MouseState{time:ins.time,pos:m}
+					MouseState{time:self.last_mouse_time,pos:self.physics.get_next_mouse().pos},
+					MouseState{time:self.timer.time(ins.time),pos:m}
 				),
 			});
 			//delay physics execution until we have an interpolation target
-							mouse_blocking=true;
+			self.mouse_blocking=true;
 		}
-						last_mouse_time=ins.time;
-						None
-					},
-					&InputInstruction::MoveForward(s)=>Some(PhysicsInputInstruction::SetMoveForward(s)),
-					&InputInstruction::MoveLeft(s)=>Some(PhysicsInputInstruction::SetMoveLeft(s)),
-					&InputInstruction::MoveBack(s)=>Some(PhysicsInputInstruction::SetMoveBack(s)),
-					&InputInstruction::MoveRight(s)=>Some(PhysicsInputInstruction::SetMoveRight(s)),
-					&InputInstruction::MoveUp(s)=>Some(PhysicsInputInstruction::SetMoveUp(s)),
-					&InputInstruction::MoveDown(s)=>Some(PhysicsInputInstruction::SetMoveDown(s)),
-					&InputInstruction::Jump(s)=>Some(PhysicsInputInstruction::SetJump(s)),
-					&InputInstruction::Zoom(s)=>Some(PhysicsInputInstruction::SetZoom(s)),
-					InputInstruction::Reset=>Some(PhysicsInputInstruction::Reset),
-				},
-				Instruction::GenerateModels(_,_)=>Some(PhysicsInputInstruction::Idle),
-				Instruction::ClearModels=>Some(PhysicsInputInstruction::Idle),
-				Instruction::Resize(_,_)=>Some(PhysicsInputInstruction::Idle),
-				Instruction::Render=>Some(PhysicsInputInstruction::Idle),
-			}{
-				//non-mouse event
-				timeline.push_back(TimedInstruction{
-					time:ins.time,
+		self.last_mouse_time=self.timer.time(ins.time);
+	}
+	fn push(&mut self,time:Time,phys_input:PhysicsInputInstruction){
+		//This is always a non-mouse event
+		self.timeline.push_back(TimedInstruction{
+			time:self.timer.time(time),
 			instruction:phys_input,
 		});
-				
-				if mouse_blocking{
+	}
+	/// returns should_empty_queue
+	/// may or may not mutate internal state XD!
+	fn map_instruction(&mut self,ins:&TimedInstruction<Instruction>)->bool{
+		let mut update_mouse_blocking=true;
+		match &ins.instruction{
+			Instruction::Input(input_instruction)=>match input_instruction{
+				&InputInstruction::MoveMouse(m)=>{
+					if !self.timer.is_paused(){
+						self.push_mouse_instruction(ins,m);
+					}
+					update_mouse_blocking=false;
+				},
+				&InputInstruction::MoveForward(s)=>self.push(ins.time,PhysicsInputInstruction::SetMoveForward(s)),
+				&InputInstruction::MoveLeft(s)=>self.push(ins.time,PhysicsInputInstruction::SetMoveLeft(s)),
+				&InputInstruction::MoveBack(s)=>self.push(ins.time,PhysicsInputInstruction::SetMoveBack(s)),
+				&InputInstruction::MoveRight(s)=>self.push(ins.time,PhysicsInputInstruction::SetMoveRight(s)),
+				&InputInstruction::MoveUp(s)=>self.push(ins.time,PhysicsInputInstruction::SetMoveUp(s)),
+				&InputInstruction::MoveDown(s)=>self.push(ins.time,PhysicsInputInstruction::SetMoveDown(s)),
+				&InputInstruction::Jump(s)=>self.push(ins.time,PhysicsInputInstruction::SetJump(s)),
+				&InputInstruction::Zoom(s)=>self.push(ins.time,PhysicsInputInstruction::SetZoom(s)),
+				&InputInstruction::ResetAndSpawn(mode_id,stage_id)=>{
+					self.push(ins.time,PhysicsInputInstruction::Reset);
+					self.push(ins.time,PhysicsInputInstruction::SetSensitivity(self.user_settings.calculate_sensitivity()));
+					self.push(ins.time,PhysicsInputInstruction::Spawn(mode_id,stage_id));
+				},
+				InputInstruction::ResetAndRestart=>{
+					self.push(ins.time,PhysicsInputInstruction::Reset);
+					self.push(ins.time,PhysicsInputInstruction::SetSensitivity(self.user_settings.calculate_sensitivity()));
+					self.push(ins.time,PhysicsInputInstruction::Restart);
+				},
+				InputInstruction::PracticeFly=>self.push(ins.time,PhysicsInputInstruction::PracticeFly),
+			},
+			//do these really need to idle the physics?
+			//sending None dumps the instruction queue
+			Instruction::ChangeMap(_)=>self.push(ins.time,PhysicsInputInstruction::Idle),
+			Instruction::Resize(_)=>self.push(ins.time,PhysicsInputInstruction::Idle),
+			Instruction::Render=>self.push(ins.time,PhysicsInputInstruction::Idle),
+			&Instruction::SetPaused(paused)=>{
+				if let Err(e)=self.timer.set_paused(ins.time,paused){
+					println!("Cannot pause: {e}");
+				}
+				self.push(ins.time,PhysicsInputInstruction::Idle);
+			},
+		}
+		if update_mouse_blocking{
+			//this returns the bool for us
+			self.update_mouse_blocking(ins.time)
+		}else{
+			//do flush that queue
+			true
+		}
+	}
+	/// must check if self.mouse_blocking==true before calling!
+	fn unblock_mouse(&mut self,time:Time){
+		//push an event to extrapolate no movement from
+		self.timeline.push_front(TimedInstruction{
+			time:self.last_mouse_time,
+			instruction:PhysicsInputInstruction::SetNextMouse(MouseState{time:self.timer.time(time),pos:self.physics.get_next_mouse().pos}),
+		});
+		self.last_mouse_time=self.timer.time(time);
+		//stop blocking. the mouse is not moving so the physics does not need to live in the past and wait for interpolation targets.
+		self.mouse_blocking=false;
+	}
+	fn update_mouse_blocking(&mut self,time:Time)->bool{
+		if self.mouse_blocking{
 			//assume the mouse has stopped moving after 10ms.
 			//shitty mice are 125Hz which is 8ms so this should cover that.
 			//setting this to 100us still doesn't print even though it's 10x lower than the polling rate,
 			//so mouse events are probably not handled separately from drawing and fire right before it :(
-					if Time::from_millis(10)<ins.time-physics.state.next_mouse.time{
-						//push an event to extrapolate no movement from
-						timeline.push_front(TimedInstruction{
-							time:last_mouse_time,
-							instruction:PhysicsInputInstruction::SetNextMouse(MouseState{time:ins.time,pos:physics.state.next_mouse.pos}),
-						});
-						last_mouse_time=ins.time;
-						//stop blocking. the mouse is not moving so the physics does not need to live in the past and wait for interpolation targets.
-						mouse_blocking=false;
+			if Time::from_millis(10)<self.timer.time(time)-self.physics.get_next_mouse().time{
+				self.unblock_mouse(time);
 				true
 			}else{
 				false
@@ -95,39 +165,78 @@ pub enum Instruction{
 		}else{
 			//keep this up to date so that it can be used as a known-timestamp
 			//that the mouse was not moving when the mouse starts moving again
-					last_mouse_time=ins.time;
+			self.last_mouse_time=self.timer.time(time);
 			true
 		}
-			}else{
-				//mouse event
-				true
-			}{
-				//empty queue
-				while let Some(instruction)=timeline.pop_front(){
-					physics.run(instruction.time);
-					physics.process_instruction(TimedInstruction{
-						time:instruction.time,
-						instruction:crate::physics::PhysicsInstruction::Input(instruction.instruction),
+	}
+	fn empty_queue(&mut self){
+		while let Some(instruction)=self.timeline.pop_front(){
+			self.physics.run_input_instruction(instruction);
+		}
+	}
+	pub fn handle_instruction(&mut self,ins:&TimedInstruction<Instruction>){
+		let should_empty_queue=self.map_instruction(ins);
+		if should_empty_queue{
+			self.empty_queue();
+		}
+	}
+	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
+		if self.mouse_blocking{
+			self.unblock_mouse(time);
+		}
+		self.empty_queue();
+
+		//doing it like this to avoid doing PhysicsInstruction::ChangeMap(Rc<CompleteMap>)
+		self.physics.generate_models(&map);
+
+		//use the standard input interface so the instructions are written out to bots
+		self.handle_instruction(&TimedInstruction{
+			time:self.timer.time(time),
+			instruction:Instruction::Input(InputInstruction::ResetAndSpawn(
+				strafesnet_common::gameplay_modes::ModeId::MAIN,
+				strafesnet_common::gameplay_modes::StageId::FIRST,
+			)),
 		});
 	}
+	pub const fn user_settings(&self)->&crate::settings::UserSettings{
+		&self.user_settings
 	}
+}
+}
+
+pub fn new<'a>(
+	mut graphics_worker:crate::compat_worker::INWorker<'a,crate::graphics_worker::Instruction>,
+	user_settings:crate::settings::UserSettings,
+)->crate::compat_worker::QNWorker<'a,TimedInstruction<Instruction>>{
+	let physics=crate::physics::PhysicsContext::default();
+	let mut interpolator=MouseInterpolator::new(
+		physics,
+		user_settings
+	);
+	crate::compat_worker::QNWorker::new(move |ins:TimedInstruction<Instruction>|{
+		interpolator.handle_instruction(&ins);
 		match ins.instruction{
 			Instruction::Render=>{
-					graphics_worker.send(crate::graphics_worker::Instruction::Render(physics.state.output(),ins.time,physics.state.next_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,user_settings)=>{
-					graphics_worker.send(crate::graphics_worker::Instruction::Resize(size,user_settings)).unwrap();
+			Instruction::Resize(size)=>{
+				graphics_worker.send(crate::graphics_worker::Instruction::Resize(size,interpolator.user_settings().clone())).unwrap();
 			},
-				Instruction::GenerateModels(map,textures)=>{
-					physics.generate_models(&map);
-					physics.spawn();
-					graphics_worker.send(crate::graphics_worker::Instruction::GenerateModels(map,textures)).unwrap();
+			Instruction::ChangeMap(map)=>{
+				interpolator.change_map(ins.time,&map);
+				graphics_worker.send(crate::graphics_worker::Instruction::ChangeMap(map)).unwrap();
 			},
-				Instruction::ClearModels=>{
-					physics.state.clear();
-					graphics_worker.send(crate::graphics_worker::Instruction::ClearModels).unwrap();
-				},
-				_=>(),
+			Instruction::Input(_)=>(),
+			Instruction::SetPaused(_)=>(),
 		}
 	})
-	}
+}

src/setup.rs

@@ -25,14 +25,14 @@ struct SetupContextPartial1{
 	instance:wgpu::Instance,
 }
 fn create_window(title:&str,event_loop:&winit::event_loop::EventLoop<()>)->Result<winit::window::Window,winit::error::OsError>{
-	let mut builder = winit::window::WindowBuilder::new();
-	builder = builder.with_title(title);
+	let mut attr=winit::window::WindowAttributes::default();
+	attr=attr.with_title(title);
 	#[cfg(windows_OFF)] // TODO
 	{
 		use winit::platform::windows::WindowBuilderExtWindows;
-		builder = builder.with_no_redirection_bitmap(true);
+		builder=builder.with_no_redirection_bitmap(true);
 	}
-	builder.build(event_loop)
+	event_loop.create_window(attr)
 }
 fn create_instance()->SetupContextPartial1{
 	let backends=wgpu::util::backend_bits_from_env().unwrap_or_else(wgpu::Backends::all);
@@ -143,6 +143,7 @@ impl<'a> SetupContextPartial3<'a>{
 					label: None,
 					required_features: (optional_features & self.adapter.features()) | required_features,
 					required_limits: needed_limits,
+					memory_hints:wgpu::MemoryHints::Performance,
 				},
 				trace_dir.ok().as_ref().map(std::path::Path::new),
 			))
@@ -212,13 +213,14 @@ pub fn setup_and_start(title:String){
 
 	//dedicated thread to ping request redraw back and resize the window doesn't seem logical
 
-	let window=crate::window::WindowContextSetup::new(&setup_context,&window);
 	//the thread that spawns the physics thread
-	let mut window_thread=window.into_worker(setup_context);
+	let mut window_thread=crate::window::worker(
+		&window,
+		setup_context,
+	);
 
-	let args:Vec<String>=std::env::args().collect();
-	if args.len()==2{
-		let path=std::path::PathBuf::from(&args[1]);
+	if let Some(arg)=std::env::args().nth(1){
+		let path=std::path::PathBuf::from(arg);
 		window_thread.send(TimedInstruction{
 			time:integer::Time::ZERO,
 			instruction:WindowInstruction::WindowEvent(winit::event::WindowEvent::DroppedFile(path)),

src/shader.wgsl

@@ -48,7 +48,7 @@ struct ModelInstance{
 //my fancy idea is to create a megatexture for each model that includes all the textures each intance will need
 //the texture transform then maps the texture coordinates to the location of the specific texture
 //group 1 is the model
-const MAX_MODEL_INSTANCES=4096;
+const MAX_MODEL_INSTANCES=512;
 @group(2)
 @binding(0)
 var<uniform> model_instances: array<ModelInstance, MAX_MODEL_INSTANCES>;

src/window.rs

@@ -1,7 +1,6 @@
 use crate::physics_worker::InputInstruction;
 use strafesnet_common::integer;
 use strafesnet_common::instruction::TimedInstruction;
-use strafesnet_texture_loader::texture_loader::TextureLoaderTrait;
 
 pub enum WindowInstruction{
 	Resize(winit::dpi::PhysicalSize<u32>),
@@ -14,9 +13,8 @@ pub enum WindowInstruction{
 //holds thread handles to dispatch to
 struct WindowContext<'a>{
 	manual_mouse_lock:bool,
-	mouse:crate::physics::MouseState,//std::sync::Arc<std::sync::Mutex<>>
+	mouse:strafesnet_common::mouse::MouseState,//std::sync::Arc<std::sync::Mutex<>>
 	screen_size:glam::UVec2,
-	user_settings:crate::settings::UserSettings,
 	window:&'a winit::window::Window,
 	physics_thread:crate::compat_worker::QNWorker<'a, TimedInstruction<crate::physics_worker::Instruction>>,
 }
@@ -28,43 +26,17 @@ impl WindowContext<'_>{
 	fn window_event(&mut self,time:integer::Time,event: winit::event::WindowEvent) {
 		match event {
 			winit::event::WindowEvent::DroppedFile(path)=>{
-				let path=path.as_path();
-				//blocking because it's simpler...
-				if let Ok(file)=std::fs::File::open(path){
-					// match strafesnet_snf::read_snf(std::io::BufReader::new(file)){
-					// 	Ok(strafesnet_snf::SNF::Map(streamable_map))=>{
-					// 		if let Ok(indexed_model_instances)=streamable_map.load_all(){
-					// 			self.physics_thread.send(TimedInstruction{time,instruction:crate::physics_worker::Instruction::ClearModels}).unwrap();
-					// 			self.physics_thread.send(TimedInstruction{time,instruction:crate::physics_worker::Instruction::GenerateModels(indexed_model_instances)}).unwrap();
-					// 		}
-					// 	},
-					// 	Ok(strafesnet_snf::SNF::Bot(streamable_map))=>println!("File type not yet supported"),
-					// 	Ok(strafesnet_snf::SNF::Demo(streamable_map))=>println!("File type not yet supported"),
-					// 	Err(e)=>println!("Error reading file: {e:?}"),
-					// }
-					let mut texture_loader=strafesnet_texture_loader::legacy();
-					match (strafesnet_rbx_loader::read(file,|name|{
-						match texture_loader.acquire_id(name){
-							Ok(texture_id)=>Some(texture_id),
-							Err(e)=>{
-								println!("there was error: {e}");
-								None
-							},
-						}
-					}),texture_loader.load()){
-						(Ok(map),Ok(textures))=>{
-							self.physics_thread.send(TimedInstruction{time,instruction:crate::physics_worker::Instruction::ClearModels}).unwrap();
-							self.physics_thread.send(TimedInstruction{time,instruction:crate::physics_worker::Instruction::GenerateModels(map,textures)}).unwrap();
-						},
-						(Err(e),_)=>println!("Error reading file: {e:?}"),
-						(_,Err(e))=>println!("Error loading textures: {e:?}"),
-					}
-				}else{
-					println!("Failed to open file {path:?}");
+				match crate::file::load(path.as_path()){
+					Ok(map)=>self.physics_thread.send(TimedInstruction{time,instruction:crate::physics_worker::Instruction::ChangeMap(map)}).unwrap(),
+					Err(e)=>println!("Failed to load map: {e}"),
 				}
 			},
-			winit::event::WindowEvent::Focused(_state)=>{
+			winit::event::WindowEvent::Focused(state)=>{
 				//pause unpause
+				self.physics_thread.send(TimedInstruction{
+					time,
+					instruction:crate::physics_worker::Instruction::SetPaused(!state),
+				}).unwrap();
 				//recalculate pressed keys on focus
 			},
 			winit::event::WindowEvent::KeyboardInput{
@@ -135,7 +107,12 @@ impl WindowContext<'_>{
 								"e"=>Some(InputInstruction::MoveUp(s)),
 								"q"=>Some(InputInstruction::MoveDown(s)),
 								"z"=>Some(InputInstruction::Zoom(s)),
-								"r"=>if s{Some(InputInstruction::Reset)}else{None},
+								"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},
 								_=>None,
 							},
 							_=>None,
@@ -188,48 +165,32 @@ impl WindowContext<'_>{
 		}
 	}
 }
-
-pub struct WindowContextSetup<'a>{
-	user_settings:crate::settings::UserSettings,
+pub fn worker<'a>(
 	window:&'a winit::window::Window,
-	physics:crate::physics::PhysicsContext,
-	graphics:crate::graphics::GraphicsState,
-}
-
-impl<'a> WindowContextSetup<'a>{
-	pub fn new(context:&crate::setup::SetupContext,window:&'a winit::window::Window)->Self{
+	setup_context:crate::setup::SetupContext<'a>,
+)->crate::compat_worker::QNWorker<'a,TimedInstruction<WindowInstruction>>{
+	// WindowContextSetup::new
 		let user_settings=crate::settings::read_user_settings();
 
-		let mut physics=crate::physics::PhysicsContext::default();
-		physics.state.load_user_settings(&user_settings);
-
-		let mut graphics=crate::graphics::GraphicsState::new(&context.device,&context.queue,&context.config);
+		let mut graphics=crate::graphics::GraphicsState::new(&setup_context.device,&setup_context.queue,&setup_context.config);
 		graphics.load_user_settings(&user_settings);
 
-		Self{
-			user_settings,
-			window,
-			graphics,
-			physics,
-		}
-	}
-
-	fn into_context(self,setup_context:crate::setup::SetupContext<'a>)->WindowContext<'a>{
+	//WindowContextSetup::into_context
 		let screen_size=glam::uvec2(setup_context.config.width,setup_context.config.height);
-		let graphics_thread=crate::graphics_worker::new(self.graphics,setup_context.config,setup_context.surface,setup_context.device,setup_context.queue);
-		WindowContext{
+		let graphics_thread=crate::graphics_worker::new(graphics,setup_context.config,setup_context.surface,setup_context.device,setup_context.queue);
+		let mut window_context=WindowContext{
 			manual_mouse_lock:false,
-			mouse:crate::physics::MouseState::default(),
+			mouse:strafesnet_common::mouse::MouseState::default(),
 			//make sure to update this!!!!!
 			screen_size,
-			user_settings:self.user_settings,
-			window:self.window,
-			physics_thread:crate::physics_worker::new(self.physics,graphics_thread),
-		}
-	}
+			window,
+			physics_thread:crate::physics_worker::new(
+				graphics_thread,
+				user_settings,
+			),
+		};
 
-	pub fn into_worker(self,setup_context:crate::setup::SetupContext<'a>)->crate::compat_worker::QNWorker<'a,TimedInstruction<WindowInstruction>>{
-		let mut window_context=self.into_context(setup_context);
+	//WindowContextSetup::into_worker
 		crate::compat_worker::QNWorker::new(move |ins:TimedInstruction<WindowInstruction>|{
 			match ins.instruction{
 				WindowInstruction::RequestRedraw=>{
@@ -245,7 +206,7 @@ impl<'a> WindowContextSetup<'a>{
 					window_context.physics_thread.send(
 						TimedInstruction{
 							time:ins.time,
-							instruction:crate::physics_worker::Instruction::Resize(size,window_context.user_settings.clone())
+							instruction:crate::physics_worker::Instruction::Resize(size)
 						}
 					).unwrap();
 				}
@@ -259,5 +220,4 @@ impl<'a> WindowContextSetup<'a>{
 				}
 			}
 		})
-	}
 }

src/worker.rs

@@ -181,16 +181,16 @@ 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
 		for _ in 0..5 {
 			let task = instruction::TimedInstruction{
 				time:integer::Time::ZERO,
-				instruction:physics::PhysicsInstruction::StrafeTick,
+				instruction:strafesnet_common::physics::Instruction::Idle,
 			};
 			worker.send(task).unwrap();
 		}
@@ -204,7 +204,7 @@ mod test{
 		// Send a new task
 		let task = instruction::TimedInstruction{
 			time:integer::Time::ZERO,
-			instruction:physics::PhysicsInstruction::StrafeTick,
+			instruction:strafesnet_common::physics::Instruction::Idle,
 		};
 		worker.send(task).unwrap();
 

tools/arcane

@@ -1 +1 @@
-mangohud ../target/release/strafe-client bhop_maps/5692113331.rbxm
+mangohud ../target/release/strafe-client bhop_maps/5692113331.snfm

tools/bhop_maps

@@ -1 +1 @@
-/run/media/quat/Files/Documents/map-files/verify-scripts/maps/bhop_all/
+/run/media/quat/Files/Documents/map-files/verify-scripts/maps/bhop_snfm

tools/cross-compile.sh

@@ -1 +1 @@
-cargo build --release --target x86_64-pc-windows-gnu
+cargo build --release --target x86_64-pc-windows-gnu --all-features

tools/iso

@@ -0,0 +1 @@
+mangohud ../target/release/strafe-client bhop_maps/5692124338.snfm

tools/surf_maps

@@ -1 +1 @@
-/run/media/quat/Files/Documents/map-files/verify-scripts/maps/surf_all/
+/run/media/quat/Files/Documents/map-files/verify-scripts/maps/surf_snfm

tools/textures

@@ -1 +0,0 @@
-/run/media/quat/Files/Documents/map-files/verify-scripts/textures/dds/

tools/toc

@@ -1 +1 @@
-mangohud ../target/release/strafe-client bhop_maps/5692152916.rbxm
+mangohud ../target/release/strafe-client bhop_maps/5692152916.snfm

tools/utopia

@@ -1 +1 @@
-mangohud ../target/release/strafe-client surf_maps/5692145408.rbxm
+mangohud ../target/release/strafe-client surf_maps/5692145408.snfm