physics: typo

This reverts commit 65b49d27261754903b2e39194c80ac096afc1da2.

.cargo/config.toml

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

CONTRIBUTING.md

@@ -1 +0,0 @@
-By contributing code to the [StrafesNET project](https://git.itzana.me/StrafesNET/strafe-client), you agree to license your contribution under the [License](LICENSE).

Cargo.toml

@@ -1,34 +1,22 @@
-[package]
-name = "strafe-client"
-version = "0.10.3"
-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 = "0.28.0"
-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 = "0.4.0", 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 = "0.1.2", registry = "strafesnet", optional = true }
-wgpu = "22.0.0"
-winit = "0.30.4"
+[workspace]
+members = [
+	"engine/graphics",
+	"engine/physics",
+	"engine/session",
+	"engine/settings",
+	"integration-testing",
+	"lib/bsp_loader",
+	"lib/common",
+	"lib/deferred_loader",
+	"lib/fixed_wide",
+	"lib/linear_ops",
+	"lib/ratio_ops",
+	"lib/rbx_loader",
+	"lib/roblox_emulator",
+	"lib/snf",
+	"strafe-client",
+]
+resolver = "2"
 
 [profile.release]
 #lto = true

README.md

@@ -1,10 +1,16 @@
-<img align="right" width="25%" src="strafe.png">
+<img align="right" width="25%" src="logo.png">
 
-# Strafe Client
-In development client for jumping on squares (and riding on triangles)
+# Strafe Project
+Monorepo for working on projects related to strafe client.
+
+## Try it out
+See [releases](https://git.itzana.me/StrafesNET/strafe-project/releases) for downloads.
 
 ## How to build and run
 1. Have rust and git installed
-2. `git clone https://git.itzana.me/StrafesNET/strafe-client`
-3. `cd strafe-client`
-4. `cargo run --release`
+2. `git clone https://git.itzana.me/StrafesNET/strafe-project`
+3. `cd strafe-project`
+4. `cargo run --release --bin strafe-client`
+
+## Licenses
+Each project has its own license.  Most crates are MIT/Apache but notably the Strafe Client and engine crates have a sole proprietor license.

engine/graphics/Cargo.toml

@@ -0,0 +1,14 @@
+[package]
+name = "strafesnet_graphics"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+bytemuck = { version = "1.13.1", features = ["derive"] }
+ddsfile = "0.5.1"
+glam = "0.29.0"
+id = { version = "0.1.0", registry = "strafesnet" }
+strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
+strafesnet_session = { path = "../session", registry = "strafesnet" }
+strafesnet_settings = { path = "../settings", registry = "strafesnet" }
+wgpu = "24.0.0"

engine/graphics/src/graphics.rs

@@ -1,10 +1,15 @@
 use std::borrow::Cow;
 use std::collections::{HashSet,HashMap};
 use strafesnet_common::map;
-use strafesnet_common::integer;
+use strafesnet_settings::settings;
+use strafesnet_session::session;
 use strafesnet_common::model::{self, ColorId, NormalId, PolygonIter, PositionId, RenderConfigId, TextureCoordinateId, VertexId};
 use wgpu::{util::DeviceExt,AstcBlock,AstcChannel};
-use crate::model_graphics::{self,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelColor4,GraphicsModelOwned,GraphicsVertex};
+use crate::model::{self as model_graphics,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelColor4,GraphicsModelOwned,GraphicsVertex};
+
+pub fn required_limits()->wgpu::Limits{
+	wgpu::Limits::default()
+}
 
 struct Indices{
 	count:u32,
@@ -98,12 +103,6 @@ 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,
@@ -143,7 +142,7 @@ impl GraphicsState{
 	pub fn clear(&mut self){
 		self.models.clear();
 	}
-	pub fn load_user_settings(&mut self,user_settings:&crate::settings::UserSettings){
+	pub fn load_user_settings(&mut self,user_settings:&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){
@@ -219,7 +218,7 @@ 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
@@ -238,9 +237,9 @@ 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,
@@ -455,7 +454,7 @@ impl GraphicsState{
 		//.into_iter() the modeldata vec so entities can be /moved/ to models.entities
 		let mut model_count=0;
 		let mut instance_count=0;
-		let uniform_buffer_binding_size=crate::setup::required_limits().max_uniform_buffer_binding_size as usize;
+		let uniform_buffer_binding_size=required_limits().max_uniform_buffer_binding_size as usize;
 		let chunk_size=uniform_buffer_binding_size/MODEL_BUFFER_SIZE_BYTES;
 		self.models.reserve(models.len());
 		for model in models.into_iter(){
@@ -615,7 +614,7 @@ impl GraphicsState{
 		// Create the render pipeline
 		let shader=device.create_shader_module(wgpu::ShaderModuleDescriptor{
 			label:None,
-			source:wgpu::ShaderSource::Wgsl(Cow::Borrowed(include_str!("shader.wgsl"))),
+			source:wgpu::ShaderSource::Wgsl(Cow::Borrowed(include_str!("../../../strafe-client/src/shader.wgsl"))),
 		});
 
 		//load textures
@@ -643,10 +642,10 @@ impl GraphicsState{
 				wgpu::TextureFormat::Astc{
 					block:AstcBlock::B4x4,
 					channel:AstcChannel::UnormSrgb,
-				}=>&include_bytes!("../images/astc.dds")[..],
-				wgpu::TextureFormat::Etc2Rgb8UnormSrgb=>&include_bytes!("../images/etc2.dds")[..],
-				wgpu::TextureFormat::Bc1RgbaUnormSrgb=>&include_bytes!("../images/bc1.dds")[..],
-				wgpu::TextureFormat::Bgra8UnormSrgb=>&include_bytes!("../images/bgra.dds")[..],
+				}=>&include_bytes!("../../../strafe-client/images/astc.dds")[..],
+				wgpu::TextureFormat::Etc2Rgb8UnormSrgb=>&include_bytes!("../../../strafe-client/images/etc2.dds")[..],
+				wgpu::TextureFormat::Bc1RgbaUnormSrgb=>&include_bytes!("../../../strafe-client/images/bc1.dds")[..],
+				wgpu::TextureFormat::Bgra8UnormSrgb=>&include_bytes!("../../../strafe-client/images/bgra.dds")[..],
 				_=>unreachable!(),
 			};
 
@@ -689,7 +688,7 @@ impl GraphicsState{
 
 		//squid
 		let squid_texture_view={
-			let bytes=include_bytes!("../images/squid.dds");
+			let bytes=include_bytes!("../../../strafe-client/images/squid.dds");
 
 			let image=ddsfile::Dds::read(&mut std::io::Cursor::new(bytes)).unwrap();
 
@@ -752,13 +751,13 @@ impl GraphicsState{
 			layout:Some(&sky_pipeline_layout),
 			vertex:wgpu::VertexState{
 				module:&shader,
-				entry_point:"vs_sky",
+				entry_point:Some("vs_sky"),
 				buffers:&[],
 				compilation_options:wgpu::PipelineCompilationOptions::default(),
 			},
 			fragment:Some(wgpu::FragmentState{
 				module:&shader,
-				entry_point:"fs_sky",
+				entry_point:Some("fs_sky"),
 				targets:&[Some(config.view_formats[0].into())],
 				compilation_options:wgpu::PipelineCompilationOptions::default(),
 			}),
@@ -782,7 +781,7 @@ impl GraphicsState{
 			layout:Some(&model_pipeline_layout),
 			vertex:wgpu::VertexState{
 				module:&shader,
-				entry_point:"vs_entity_texture",
+				entry_point:Some("vs_entity_texture"),
 				buffers:&[wgpu::VertexBufferLayout{
 					array_stride:std::mem::size_of::<GraphicsVertex>() as wgpu::BufferAddress,
 					step_mode:wgpu::VertexStepMode::Vertex,
@@ -792,7 +791,7 @@ impl GraphicsState{
 			},
 			fragment:Some(wgpu::FragmentState{
 				module:&shader,
-				entry_point:"fs_entity_texture",
+				entry_point:Some("fs_entity_texture"),
 				targets:&[Some(config.view_formats[0].into())],
 				compilation_options:wgpu::PipelineCompilationOptions::default(),
 			}),
@@ -871,7 +870,7 @@ impl GraphicsState{
 		&mut self,
 		device:&wgpu::Device,
 		config:&wgpu::SurfaceConfiguration,
-		user_settings:&crate::settings::UserSettings,
+		user_settings:&settings::UserSettings,
 	){
 		self.depth_view=Self::create_depth_texture(config,device);
 		self.camera.screen_size=glam::uvec2(config.width,config.height);
@@ -882,7 +881,7 @@ impl GraphicsState{
 		view:&wgpu::TextureView,
 		device:&wgpu::Device,
 		queue:&wgpu::Queue,
-		frame_state:FrameState,
+		frame_state:session::FrameState,
 	){
 		//TODO:use scheduled frame times to create beautiful smoothing simulation physics extrapolation assuming no input
 
@@ -890,7 +889,7 @@ impl GraphicsState{
 
 		// update rotation
 		let camera_uniforms=self.camera.to_uniform_data(
-			frame_state.body.extrapolated_position(frame_state.time).into(),
+			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

engine/graphics/src/lib.rs

@@ -0,0 +1,2 @@
+pub mod model;
+pub mod graphics;

engine/physics/Cargo.toml

@@ -0,0 +1,10 @@
+[package]
+name = "strafesnet_physics"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+arrayvec = "0.7.6"
+glam = "0.29.0"
+id = { version = "0.1.0", registry = "strafesnet" }
+strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }

engine/physics/LICENSE

@@ -0,0 +1,8 @@
+/*******************************************************
+* Copyright (C) 2023-2024 Rhys Lloyd <krakow20@gmail.com>
+*
+* This file is part of the StrafesNET bhop/surf client.
+*
+* StrafesNET can not be copied and/or distributed
+* without the express permission of Rhys Lloyd
+*******************************************************/

engine/physics/src/body.rs

@@ -0,0 +1,160 @@
+use strafesnet_common::aabb;
+use strafesnet_common::integer::{self,vec3,Time,Planar64,Planar64Vec3};
+#[derive(Clone,Copy,Debug,Hash)]
+pub struct Body<T>{
+	pub position:Planar64Vec3,//I64 where 2^32 = 1 u
+	pub velocity:Planar64Vec3,//I64 where 2^32 = 1 u/s
+	pub acceleration:Planar64Vec3,//I64 where 2^32 = 1 u/s/s
+	pub time:Time<T>,//nanoseconds x xxxxD!
+}
+impl<T> std::ops::Neg for Body<T>{
+	type Output=Self;
+	fn neg(self)->Self::Output{
+		Self{
+			position:self.position,
+			velocity:-self.velocity,
+			acceleration:self.acceleration,
+			time:-self.time,
+		}
+	}
+}
+
+impl<T> Body<T>
+	where Time<T>:Copy,
+{
+	pub const ZERO:Self=Self::new(vec3::ZERO,vec3::ZERO,vec3::ZERO,Time::ZERO);
+	pub const fn new(position:Planar64Vec3,velocity:Planar64Vec3,acceleration:Planar64Vec3,time:Time<T>)->Self{
+		Self{
+			position,
+			velocity,
+			acceleration,
+			time,
+		}
+	}
+	pub const fn relative_to<'a>(&'a self,body0:&'a Body<T>)->VirtualBody<'a,T>{
+		//(p0,v0,a0,t0)
+		//(p1,v1,a1,t1)
+		VirtualBody{
+			body0,
+			body1:self,
+		}
+	}
+	pub fn extrapolated_position(&self,time:Time<T>)->Planar64Vec3{
+		let dt=time-self.time;
+		self.position
+		+(self.velocity*dt).map(|elem|elem.divide().fix_1())
+		+self.acceleration.map(|elem|(dt*dt*elem/2).divide().fix_1())
+	}
+	pub fn extrapolated_velocity(&self,time:Time<T>)->Planar64Vec3{
+		let dt=time-self.time;
+		self.velocity+(self.acceleration*dt).map(|elem|elem.divide().fix_1())
+	}
+	pub fn advance_time(&mut self,time:Time<T>){
+		self.position=self.extrapolated_position(time);
+		self.velocity=self.extrapolated_velocity(time);
+		self.time=time;
+	}
+	pub fn extrapolated_position_ratio_dt<Num,Den,N1,D1,N2,N3,D2,N4,T1>(&self,dt:integer::Ratio<Num,Den>)->Planar64Vec3
+		where
+			// Why?
+			// All of this can be removed with const generics because the type can be specified as
+			// Ratio<Fixed<N,NF>,Fixed<D,DF>>
+			// which is known to implement all the necessary traits
+			Num:Copy,
+			Den:Copy+core::ops::Mul<i64,Output=D1>,
+			D1:Copy,
+			Num:core::ops::Mul<Planar64,Output=N1>,
+			Planar64:core::ops::Mul<D1,Output=N2>,
+			N1:core::ops::Add<N2,Output=N3>,
+			Num:core::ops::Mul<N3,Output=N4>,
+			Den:core::ops::Mul<D1,Output=D2>,
+			D2:Copy,
+			Planar64:core::ops::Mul<D2,Output=N4>,
+			N4:integer::Divide<D2,Output=T1>,
+			T1:integer::Fix<Planar64>,
+	{
+		// a*dt^2/2 + v*dt + p
+		// (a*dt/2+v)*dt+p
+		(self.acceleration.map(|elem|dt*elem/2)+self.velocity).map(|elem|dt.mul_ratio(elem))
+		.map(|elem|elem.divide().fix())+self.position
+	}
+	pub fn extrapolated_velocity_ratio_dt<Num,Den,N1,T1>(&self,dt:integer::Ratio<Num,Den>)->Planar64Vec3
+		where
+			Num:Copy,
+			Den:Copy,
+			Num:core::ops::Mul<Planar64,Output=N1>,
+			Planar64:core::ops::Mul<Den,Output=N1>,
+			N1:integer::Divide<Den,Output=T1>,
+			T1:integer::Fix<Planar64>,
+	{
+		// a*dt + v
+		self.acceleration.map(|elem|(dt*elem).divide().fix())+self.velocity
+	}
+	pub fn advance_time_ratio_dt(&mut self,dt:crate::model::GigaTime){
+		self.position=self.extrapolated_position_ratio_dt(dt);
+		self.velocity=self.extrapolated_velocity_ratio_dt(dt);
+		self.time+=dt.into();
+	}
+	pub fn infinity_dir(&self)->Option<Planar64Vec3>{
+		if self.velocity==vec3::ZERO{
+			if self.acceleration==vec3::ZERO{
+				None
+			}else{
+				Some(self.acceleration)
+			}
+		}else{
+			Some(self.velocity)
+		}
+	}
+	pub fn grow_aabb(&self,aabb:&mut aabb::Aabb,t0:Time<T>,t1:Time<T>){
+		aabb.grow(self.extrapolated_position(t0));
+		aabb.grow(self.extrapolated_position(t1));
+		//v+a*t==0
+		//goober code
+		if !self.acceleration.x.is_zero(){
+			let t=-self.velocity.x/self.acceleration.x;
+			if t0.to_ratio().lt_ratio(t)&&t.lt_ratio(t1.to_ratio()){
+				aabb.grow(self.extrapolated_position_ratio_dt(t));
+			}
+		}
+		if !self.acceleration.y.is_zero(){
+			let t=-self.velocity.y/self.acceleration.y;
+			if t0.to_ratio().lt_ratio(t)&&t.lt_ratio(t1.to_ratio()){
+				aabb.grow(self.extrapolated_position_ratio_dt(t));
+			}
+		}
+		if !self.acceleration.z.is_zero(){
+			let t=-self.velocity.z/self.acceleration.z;
+			if t0.to_ratio().lt_ratio(t)&&t.lt_ratio(t1.to_ratio()){
+				aabb.grow(self.extrapolated_position_ratio_dt(t));
+			}
+		}
+	}
+
+}
+impl<T> std::fmt::Display for Body<T>{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"p({}) v({}) a({}) t({})",self.position,self.velocity,self.acceleration,self.time)
+	}
+}
+
+pub struct VirtualBody<'a,T>{
+	body0:&'a Body<T>,
+	body1:&'a Body<T>,
+}
+impl<T> VirtualBody<'_,T>
+	where Time<T>:Copy,
+{
+	pub fn extrapolated_position(&self,time:Time<T>)->Planar64Vec3{
+		self.body1.extrapolated_position(time)-self.body0.extrapolated_position(time)
+	}
+	pub fn extrapolated_velocity(&self,time:Time<T>)->Planar64Vec3{
+		self.body1.extrapolated_velocity(time)-self.body0.extrapolated_velocity(time)
+	}
+	pub fn acceleration(&self)->Planar64Vec3{
+		self.body1.acceleration-self.body0.acceleration
+	}
+	pub fn body(&self,time:Time<T>)->Body<T>{
+		Body::new(self.extrapolated_position(time),self.extrapolated_velocity(time),self.acceleration(),time)
+	}
+}

engine/physics/src/face_crawler.rs

@@ -0,0 +1,148 @@
+use crate::model::{GigaTime,FEV,MeshQuery,DirectedEdge};
+use strafesnet_common::integer::{Fixed,Ratio,vec3::Vector3};
+use crate::physics::{Time,Body};
+
+enum Transition<M:MeshQuery>{
+	Miss,
+	Next(FEV<M>,GigaTime),
+	Hit(M::Face,GigaTime),
+}
+
+pub enum CrawlResult<M:MeshQuery>{
+	Miss(FEV<M>),
+	Hit(M::Face,GigaTime),
+}
+impl<M:MeshQuery> CrawlResult<M>{
+	pub fn hit(self)->Option<(M::Face,GigaTime)>{
+		match self{
+			CrawlResult::Miss(_)=>None,
+			CrawlResult::Hit(face,time)=>Some((face,time)),
+		}
+	}
+	pub fn miss(self)->Option<FEV<M>>{
+		match self{
+			CrawlResult::Miss(fev)=>Some(fev),
+			CrawlResult::Hit(_,_)=>None,
+		}
+	}
+}
+
+impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
+	where
+		// This is hardcoded for MinkowskiMesh lol
+		M::Face:Copy,
+		M::Edge:Copy,
+		M::Vert:Copy,
+		F:core::ops::Mul<Fixed<1,32>,Output=Fixed<4,128>>,
+		<F as core::ops::Mul<Fixed<1,32>>>::Output:core::iter::Sum,
+		<M as MeshQuery>::Offset:core::ops::Sub<<F as std::ops::Mul<Fixed<1,32>>>::Output>,
+{
+	fn next_transition(&self,body_time:GigaTime,mesh:&M,body:&Body,mut best_time:GigaTime)->Transition<M>{
+		//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_transition=Transition::Miss;
+		match self{
+			&FEV::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 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=Transition::Hit(face_id,dt);
+						break;
+					}
+				}
+				//test each edge collision time, ignoring roots with zero or conflicting derivative
+				for &directed_edge_id in mesh.face_edges(face_id).iter(){
+					let edge_n=mesh.directed_edge_n(directed_edge_id);
+					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!
+					//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=Transition::Next(FEV::Edge(directed_edge_id.as_undirected()),dt);
+							break;
+						}
+					}
+				}
+				//if none:
+			},
+			&FEV::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);
+				let delta_pos=body.position*2-(mesh.vert(edge_verts[0])+mesh.vert(edge_verts[1]));
+				for (i,&edge_face_id) in mesh.edge_faces(edge_id).iter().enumerate(){
+					let face_n=mesh.face_nd(edge_face_id).0;
+					//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 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=Transition::Next(FEV::Face(edge_face_id),dt);
+							break;
+						}
+					}
+				}
+				//test each vertex collision time, ignoring roots with zero or conflicting derivative
+				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 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=Transition::Next(FEV::Vert(vert_id),dt);
+							break;
+						}
+					}
+				}
+				//if none:
+			},
+			&FEV::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 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=Transition::Next(FEV::Edge(directed_edge_id.as_undirected()),dt);
+							break;
+						}
+					}
+				}
+				//if none:
+			},
+		}
+		best_transition
+	}
+	pub fn crawl(mut self,mesh:&M,relative_body:&Body,start_time:Time,time_limit:Time)->CrawlResult<M>{
+		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 self.next_transition(body_time,mesh,relative_body,time_limit){
+				Transition::Miss=>return CrawlResult::Miss(self),
+				Transition::Next(next_fev,next_time)=>(self,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...");
+		CrawlResult::Miss(self)
+	}
+}

engine/physics/src/lib.rs

@@ -0,0 +1,45 @@
+mod body;
+mod push_solve;
+mod face_crawler;
+mod model;
+
+pub mod physics;
+
+// Physics bug fixes can easily desync all bots.
+//
+// When replaying a bot, use the exact physics version which it was recorded with.
+//
+// When validating a new bot, ignore the version and use the latest version,
+// and overwrite the version in the file.
+//
+// Compatible physics versions should be determined
+// empirically at development time via leaderboard resimulation.
+//
+// Compatible physics versions should result in an identical leaderboard state,
+// or the only bots which fail are ones exploiting a surgically patched bug.
+#[derive(Clone,Copy,Hash,Debug,id::Id,Eq,PartialEq,Ord,PartialOrd)]
+pub struct PhysicsVersion(u32);
+pub const VERSION:PhysicsVersion=PhysicsVersion(0);
+const LATEST_COMPATIBLE_VERSION:[u32;1+VERSION.0 as usize]=const{
+	let compat=[0];
+
+	let mut input_version=0;
+	while input_version<compat.len(){
+		// compatible version must be greater than or equal to the input version
+		assert!(input_version as u32<=compat[input_version]);
+		// compatible version must be a version that exists
+		assert!(compat[input_version]<=VERSION.0);
+		input_version+=1;
+	}
+	compat
+};
+pub enum PhysicsVersionError{
+	UnknownPhysicsVersion,
+}
+pub const fn get_latest_compatible_version(PhysicsVersion(version):PhysicsVersion)->Result<PhysicsVersion,PhysicsVersionError>{
+	if (version as usize)<LATEST_COMPATIBLE_VERSION.len(){
+		Ok(PhysicsVersion(LATEST_COMPATIBLE_VERSION[version as usize]))
+	}else{
+		Err(PhysicsVersionError::UnknownPhysicsVersion)
+	}
+}

engine/physics/src/model.rs

@@ -1,15 +1,19 @@
 use std::borrow::{Borrow,Cow};
 use std::collections::{HashSet,HashMap};
+use core::ops::Range;
+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};
+use strafesnet_common::physics::Time;
+
+type Body=crate::body::Body<strafesnet_common::physics::TimeInner>;
 
 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
@@ -50,10 +54,11 @@ impl DirectedEdge for SubmeshDirectedEdgeId{
 }
 
 //Vertex <-> Edge <-> Face -> Collide
-pub enum FEV<F,E:DirectedEdge,V>{
-	Face(F),
-	Edge(E::UndirectedEdge),
-	Vert(V),
+#[derive(Debug)]
+pub enum FEV<M:MeshQuery>{
+	Face(M::Face),
+	Edge(<M::Edge as DirectedEdge>::UndirectedEdge),
+	Vert(M::Vert),
 }
 
 //use Unit32 #[repr(C)] for map files
@@ -63,22 +68,28 @@ struct Face{
 	dot:Planar64,
 }
 struct Vert(Planar64Vec3);
-pub trait MeshQuery<FACE:Clone,EDGE:Clone+DirectedEdge,VERT:Clone>{
-	fn edge_n(&self,edge_id:EDGE::UndirectedEdge)->Planar64Vec3{
+pub trait MeshQuery{
+	type Face:Clone;
+	type Edge:Clone+DirectedEdge;
+	type Vert:Clone;
+	// Vertex must be Planar64Vec3 because it represents an actual position
+	type Normal;
+	type Offset;
+	fn edge_n(&self,edge_id:<Self::Edge as DirectedEdge>::UndirectedEdge)->Planar64Vec3{
 		let verts=self.edge_verts(edge_id);
 		self.vert(verts[1].clone())-self.vert(verts[0].clone())
 	}
-	fn directed_edge_n(&self,directed_edge_id:EDGE)->Planar64Vec3{
+	fn directed_edge_n(&self,directed_edge_id:Self::Edge)->Planar64Vec3{
 		let verts=self.edge_verts(directed_edge_id.as_undirected());
 		(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_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]>;
-	fn vert_edges(&self,vert_id:VERT)->Cow<Vec<EDGE>>;
-	fn vert_faces(&self,vert_id:VERT)->Cow<Vec<FACE>>;
+	fn vert(&self,vert_id:Self::Vert)->Planar64Vec3;
+	fn face_nd(&self,face_id:Self::Face)->(Self::Normal,Self::Offset);
+	fn face_edges(&self,face_id:Self::Face)->Cow<[Self::Edge]>;
+	fn edge_faces(&self,edge_id:<Self::Edge as DirectedEdge>::UndirectedEdge)->Cow<[Self::Face;2]>;
+	fn edge_verts(&self,edge_id:<Self::Edge as DirectedEdge>::UndirectedEdge)->Cow<[Self::Vert;2]>;
+	fn vert_edges(&self,vert_id:Self::Vert)->Cow<[Self::Edge]>;
+	fn vert_faces(&self,vert_id:Self::Vert)->Cow<[Self::Face]>;
 }
 struct FaceRefs{
 	edges:Vec<SubmeshDirectedEdgeId>,
@@ -137,22 +148,22 @@ 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{
@@ -269,15 +280,12 @@ struct EdgePool{
 }
 impl EdgePool{
 	fn push(&mut self,edge_ref_verts:EdgeRefVerts)->(&mut EdgeRefFaces,SubmeshEdgeId){
-		let edge_id=if let Some(&edge_id)=self.edge_id_from_guy.get(&edge_ref_verts){
-			edge_id
-		}else{
+		let edge_id=*self.edge_id_from_guy.entry(edge_ref_verts.clone()).or_insert_with(||{
 			let edge_id=SubmeshEdgeId::new(self.edge_guys.len() as u32);
-			self.edge_guys.push((edge_ref_verts.clone(),EdgeRefFaces::new()));
-			self.edge_id_from_guy.insert(edge_ref_verts,edge_id);
+			self.edge_guys.push((edge_ref_verts,EdgeRefFaces::new()));
 			edge_id
-		};
-		(&mut unsafe{self.edge_guys.get_unchecked_mut(edge_id.get() as usize)}.1,edge_id)
+		});
+		(&mut self.edge_guys[edge_id.get() as usize].1,edge_id)
 	}
 }
 
@@ -312,16 +320,11 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 			let mut submesh_verts=Vec::new();
 			let mut submesh_vert_id_from_mesh_vert_id=HashMap::<MeshVertId,SubmeshVertId>::new();
 			//lazy closure
-			let mut get_submesh_vert_id=|vert_id:MeshVertId|{
-				if let Some(&submesh_vert_id)=submesh_vert_id_from_mesh_vert_id.get(&vert_id){
-					submesh_vert_id
-				}else{
-					let submesh_vert_id=SubmeshVertId::new(submesh_verts.len() as u32);
-					submesh_verts.push(vert_id);
-					submesh_vert_id_from_mesh_vert_id.insert(vert_id,submesh_vert_id);
-					submesh_vert_id
-				}
-			};
+			let mut get_submesh_vert_id=|vert_id:MeshVertId|*submesh_vert_id_from_mesh_vert_id.entry(vert_id).or_insert_with(||{
+				let submesh_vert_id=SubmeshVertId::new(submesh_verts.len() as u32);
+				submesh_verts.push(vert_id);
+				submesh_vert_id
+			});
 			let mut edge_pool=EdgePool::default();
 			let mut vert_ref_guys=vec![VertRefGuy::default();mesh.unique_pos.len()];
 			let mut face_ref_guys=Vec::new();
@@ -330,7 +333,7 @@ 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 +344,11 @@ 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);
@@ -354,22 +357,24 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 						edge_ref_faces.push(!is_sorted as usize,submesh_face_id);
 						//index edges & face into vertices
 						{
-							let vert_ref_guy=unsafe{vert_ref_guys.get_unchecked_mut(submesh_vert0_id.get() as usize)};
+							let vert_ref_guy=&mut vert_ref_guys[submesh_vert0_id.get() as usize];
 							vert_ref_guy.edges.insert(edge_id.as_directed(is_sorted));
 							vert_ref_guy.faces.insert(submesh_face_id);
-							unsafe{vert_ref_guys.get_unchecked_mut(submesh_vert1_id.get() as usize)}.edges.insert(edge_id.as_directed(!is_sorted));
+							vert_ref_guys[submesh_vert1_id.get() as usize].edges.insert(edge_id.as_directed(!is_sorted));
 						}
 						//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=>{
@@ -415,7 +420,12 @@ pub struct PhysicsMeshView<'a>{
 	data:&'a PhysicsMeshData,
 	topology:&'a PhysicsMeshTopology,
 }
-impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for PhysicsMeshView<'_>{
+impl MeshQuery for PhysicsMeshView<'_>{
+	type Face=SubmeshFaceId;
+	type Edge=SubmeshDirectedEdgeId;
+	type Vert=SubmeshVertId;
+	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)
@@ -425,7 +435,7 @@ impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for PhysicsMes
 		let vert_idx=self.topology.verts[vert_id.get() as usize].get() as usize;
 		self.data.verts[vert_idx].0
 	}
-	fn face_edges(&self,face_id:SubmeshFaceId)->Cow<Vec<SubmeshDirectedEdgeId>>{
+	fn face_edges(&self,face_id:SubmeshFaceId)->Cow<[SubmeshDirectedEdgeId]>{
 		Cow::Borrowed(&self.topology.face_topology[face_id.get() as usize].edges)
 	}
 	fn edge_faces(&self,edge_id:SubmeshEdgeId)->Cow<[SubmeshFaceId;2]>{
@@ -434,24 +444,24 @@ impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for PhysicsMes
 	fn edge_verts(&self,edge_id:SubmeshEdgeId)->Cow<[SubmeshVertId;2]>{
 		Cow::Borrowed(&self.topology.edge_topology[edge_id.get() as usize].verts)
 	}
-	fn vert_edges(&self,vert_id:SubmeshVertId)->Cow<Vec<SubmeshDirectedEdgeId>>{
+	fn vert_edges(&self,vert_id:SubmeshVertId)->Cow<[SubmeshDirectedEdgeId]>{
 		Cow::Borrowed(&self.topology.vert_topology[vert_id.get() as usize].edges)
 	}
-	fn vert_faces(&self,vert_id:SubmeshVertId)->Cow<Vec<SubmeshFaceId>>{
+	fn vert_faces(&self,vert_id:SubmeshVertId)->Cow<[SubmeshFaceId]>{
 		Cow::Borrowed(&self.topology.vert_topology[vert_id.get() as usize].faces)
 	}
 }
 
 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,
 		}
 	}
@@ -471,36 +481,39 @@ 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){
+impl MeshQuery for TransformedMesh<'_>{
+	type Face=SubmeshFaceId;
+	type Edge=SubmeshDirectedEdgeId;
+	type Vert=SubmeshVertId;
+	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>>{
+	fn face_edges(&self,face_id:SubmeshFaceId)->Cow<[SubmeshDirectedEdgeId]>{
 		self.view.face_edges(face_id)
 	}
 	#[inline]
@@ -512,11 +525,11 @@ impl MeshQuery<SubmeshFaceId,SubmeshDirectedEdgeId,SubmeshVertId> for Transforme
 		self.view.edge_verts(edge_id)
 	}
 	#[inline]
-	fn vert_edges(&self,vert_id:SubmeshVertId)->Cow<Vec<SubmeshDirectedEdgeId>>{
+	fn vert_edges(&self,vert_id:SubmeshVertId)->Cow<[SubmeshDirectedEdgeId]>{
 		self.view.vert_edges(vert_id)
 	}
 	#[inline]
-	fn vert_faces(&self,vert_id:SubmeshVertId)->Cow<Vec<SubmeshFaceId>>{
+	fn vert_faces(&self,vert_id:SubmeshVertId)->Cow<[SubmeshFaceId]>{
 		self.view.vert_faces(vert_id)
 	}
 }
@@ -525,11 +538,11 @@ 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 +557,7 @@ impl UndirectedEdge for MinkowskiEdge{
 		}
 	}
 }
-#[derive(Clone,Copy)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiDirectedEdge{
 	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
 	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
@@ -565,7 +578,7 @@ 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 +594,7 @@ 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 +604,8 @@ 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 +616,7 @@ 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 +626,7 @@ 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 +636,21 @@ 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
-			let d=edge_n.dot(diff);
-			if zeroes::zeroes1(d,edge_n.dot(infinity_dir)).len()==0{
+			if edge_n.dot(infinity_dir).is_zero(){
+				let d=edge_n.dot(diff);
 				//test the edge
 				let edge_nn=edge_n.dot(edge_n);
-				if 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());
@@ -658,13 +674,13 @@ impl MinkowskiMesh<'_>{
 		}
 	}
 	/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
-	fn infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>{
+	fn infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiMesh>{
 		//start on any vertex
 		//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
 		//cross edge-face boundary if it's uncrossable
 		match self.crawl_boundaries(self.farthest_vert(infinity_dir),infinity_dir,point){
 			//if a vert is returned, it is the closest point to the infinity point
-			EV::Vert(vert_id)=>FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Vert(vert_id),
+			EV::Vert(vert_id)=>FEV::Vert(vert_id),
 			EV::Edge(edge_id)=>{
 				//cross to face if the boundary is not crossable and we are on the wrong side
 				let edge_n=self.edge_n(edge_id);
@@ -680,57 +696,67 @@ 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);
+						return FEV::Face(face_id);
 					}
 				}
-				FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Edge(edge_id)
+				FEV::Edge(edge_id)
 			},
 		}
 	}
-	fn closest_fev_not_inside(&self,mut infinity_body:crate::physics::Body)->Option<FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>>{
-		infinity_body.infinity_dir().map_or(None,|dir|{
+	// TODO: fundamentally improve this algorithm.
+	// All it needs to do is find the closest point on the mesh
+	// and return the FEV which the point resides on.
+	//
+	// What it actually does is use the above functions to trace a ray in from infinity,
+	// crawling the closest point along the mesh surface until the ray reaches
+	// the starting point to discover the final FEV.
+	//
+	// The actual collision prediction probably does a single test
+	// and then immediately returns with 0 FEV transitions on average,
+	// because of the strict time_limit constraint.
+	//
+	// Most of the calculation time is just calculating the starting point
+	// for the "actual" crawling algorithm below (predict_collision_{in|out}).
+	fn closest_fev_not_inside(&self,mut infinity_body:Body,start_time:Time)->Option<FEV<MinkowskiMesh>>{
+		infinity_body.infinity_dir().and_then(|dir|{
 			let infinity_fev=self.infinity_fev(-dir,infinity_body.position);
 			//a line is simpler to solve than a parabola
 			infinity_body.velocity=dir;
-			infinity_body.acceleration=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){
-				crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
-				crate::face_crawler::CrawlResult::Hit(_,_)=>None,
-			}
+			// TODO: change crawl_fev args to delta time? Optional values?
+			infinity_fev.crawl(self,&infinity_body,Time::MIN/4,start_time).miss()
 		})
 	}
-	pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:integer::Time)->Option<(MinkowskiFace,integer::Time)>{
-		self.closest_fev_not_inside(relative_body.clone()).map_or(None,|fev|{
+	pub fn predict_collision_in(&self,relative_body:&Body,Range{start:start_time,end:time_limit}:Range<Time>)->Option<(MinkowskiFace,GigaTime)>{
+		self.closest_fev_not_inside(relative_body.clone(),start_time).and_then(|fev|{
 			//continue forwards along the body parabola
-			match crate::face_crawler::crawl_fev(fev,self,relative_body,relative_body.time,time_limit){
-				crate::face_crawler::CrawlResult::Miss(_)=>None,
-				crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
-			}
+			fev.crawl(self,relative_body,start_time,time_limit).hit()
 		})
 	}
-	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:&Body,Range{start:start_time,end:time_limit}:Range<Time>)->Option<(MinkowskiFace,GigaTime)>{
 		//create an extrapolated body at time_limit
-		let infinity_body=crate::physics::Body::new(
-			relative_body.extrapolated_position(time_limit),
-			-relative_body.extrapolated_velocity(time_limit),
-			relative_body.acceleration,
-			-time_limit,
-		);
-		self.closest_fev_not_inside(infinity_body).map_or(None,|fev|{
+		let infinity_body=-relative_body.clone();
+		self.closest_fev_not_inside(infinity_body,-time_limit).and_then(|fev|{
 			//continue backwards along the body parabola
-			match crate::face_crawler::crawl_fev(fev,self,&-relative_body.clone(),-time_limit,-relative_body.time){
-				crate::face_crawler::CrawlResult::Miss(_)=>None,
-				crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,-time)),//no need to test -time<time_limit because of the first step
-			}
+			fev.crawl(self,&infinity_body,-time_limit,-start_time).hit()
+				//no need to test -time<time_limit because of the first step
+				.map(|(face,time)|(face,-time))
 		})
 	}
-	pub fn predict_collision_face_out(&self,relative_body:&crate::physics::Body,time_limit:integer::Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,integer::Time)>{
+	pub fn predict_collision_face_out(&self,relative_body:&Body,Range{start:start_time,end:time_limit}:Range<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 start_time={
+			let r=(start_time-relative_body.time).to_ratio();
+			Ratio::new(r.num,r.den)
+		};
+		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 +766,10 @@ 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 start_time.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;
 				}
@@ -751,15 +777,12 @@ impl MinkowskiMesh<'_>{
 		}
 		best_edge.map(|e|(e.as_undirected(),best_time))
 	}
-	fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,integer::Time)>{
+	fn infinity_in(&self,infinity_body: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,infinity_body.time){
-			crate::face_crawler::CrawlResult::Miss(_)=>None,
-			crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
-		}
+		infinity_fev.crawl(self,&infinity_body,Time::MIN/4,infinity_body.time).hit()
 	}
 	pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
-		let infinity_body=crate::physics::Body::new(point,Planar64Vec3::Y,Planar64Vec3::ZERO,integer::Time::ZERO);
+		let infinity_body=Body::new(point,vec3::Y,vec3::ZERO,Time::ZERO);
 		//movement must escape the mesh forwards and backwards in time,
 		//otherwise the point is not inside the mesh
 		self.infinity_in(infinity_body)
@@ -769,8 +792,14 @@ impl MinkowskiMesh<'_>{
      	)
 	}
 }
-impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiMesh<'_>{
-	fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){
+impl MeshQuery for MinkowskiMesh<'_>{
+	type Face=MinkowskiFace;
+	type Edge=MinkowskiDirectedEdge;
+	type Vert=MinkowskiVert;
+	type Normal=Vector3<Fixed<3,96>>;
+	type Offset=Fixed<4,128>;
+	// TODO: relative d
+	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);
@@ -784,7 +813,7 @@ 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);
@@ -799,7 +828,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 			},
 		}
 	}
-	fn face_edges(&self,face_id:MinkowskiFace)->Cow<Vec<MinkowskiDirectedEdge>>{
+	fn face_edges(&self,face_id:MinkowskiFace)->Cow<[MinkowskiDirectedEdge]>{
 		match face_id{
 			MinkowskiFace::VertFace(v0,f1)=>{
 				Cow::Owned(self.mesh1.face_edges(f1).iter().map(|&edge_id1|{
@@ -833,17 +862,18 @@ 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);
@@ -862,15 +892,15 @@ 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);
@@ -899,26 +929,27 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 			},
 		}
 	}
-	fn vert_edges(&self,vert_id:MinkowskiVert)->Cow<Vec<MinkowskiDirectedEdge>>{
+	fn vert_edges(&self,vert_id:MinkowskiVert)->Cow<[MinkowskiDirectedEdge]>{
 		match vert_id{
 			MinkowskiVert::VertVert(v0,v1)=>{
 				let mut edges=Vec::new();
 				//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));
@@ -930,7 +961,7 @@ 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));
@@ -940,12 +971,12 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 			},
 		}
 	}
-	fn vert_faces(&self,_vert_id:MinkowskiVert)->Cow<Vec<MinkowskiFace>>{
+	fn vert_faces(&self,_vert_id:MinkowskiVert)->Cow<[MinkowskiFace]>{
 		unimplemented!()
 	}
 }
 
-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{
@@ -953,9 +984,10 @@ 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]);
-					if let Some(comp)=&d_comp{
-						if *comp*d<Planar64::ZERO{
+					let d=n.dot(normals[k]).is_negative();
+					if let &Some(comp)=&d_comp{
+						// This is testing if d_comp*d < 0
+						if comp^d{
 							return true;
 						}
 					}else{
@@ -970,8 +1002,8 @@ 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]

engine/physics/src/push_solve.rs

@@ -0,0 +1,349 @@
+use strafesnet_common::integer::{self,vec3::{self,Vector3},Fixed,Planar64,Planar64Vec3,Ratio};
+
+// This algorithm is based on Lua code
+// written by Trey Reynolds in 2021
+
+// EPSILON=1/2^10
+
+// A stack-allocated variable-size list that holds up to 4 elements
+// Direct references are used instead of indices i0, i1, i2, i3
+type Conts<'a>=arrayvec::ArrayVec<&'a Contact,4>;
+
+// hack to allow comparing ratios to zero
+const RATIO_ZERO:Ratio<Fixed<1,32>,Fixed<1,32>>=Ratio::new(Fixed::ZERO,Fixed::EPSILON);
+
+struct Ray{
+	origin:Planar64Vec3,
+	direction:Planar64Vec3,
+}
+impl Ray{
+	fn extrapolate<Num,Den,N1,T1>(&self,t:Ratio<Num,Den>)->Planar64Vec3
+	where
+		Num:Copy,
+		Den:Copy,
+		Num:core::ops::Mul<Planar64,Output=N1>,
+		Planar64:core::ops::Mul<Den,Output=N1>,
+		N1:integer::Divide<Den,Output=T1>,
+		T1:integer::Fix<Planar64>,
+	{
+		self.origin+self.direction.map(|elem|(t*elem).divide().fix())
+	}
+}
+
+/// Information about a contact restriction
+pub struct Contact{
+	pub position:Planar64Vec3,
+	pub velocity:Planar64Vec3,
+	pub normal:Planar64Vec3,
+}
+impl Contact{
+	fn relative_to(&self,point:Planar64Vec3)->Self{
+		Self{
+			position:self.position-point,
+			velocity:self.velocity,
+			normal:self.normal,
+		}
+	}
+	fn relative_dot(&self,direction:Planar64Vec3)->Fixed<2,64>{
+		(direction-self.velocity).dot(self.normal)
+	}
+	/// Calculate the time of intersection. (previously get_touch_time)
+	fn solve(&self,ray:&Ray)->Ratio<Fixed<2,64>,Fixed<2,64>>{
+		(self.position-ray.origin).dot(self.normal)/(ray.direction-self.velocity).dot(self.normal)
+	}
+}
+
+//note that this is horrible with fixed point arithmetic
+fn solve1(c0:&Contact)->Option<Ratio<Vector3<Fixed<3,96>>,Fixed<2,64>>>{
+	const EPSILON:Fixed<2,64>=Fixed::from_bits(Fixed::<2,64>::ONE.to_bits().shr(10));
+	let det=c0.normal.dot(c0.velocity);
+	if det.abs()<EPSILON{
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	Some(c0.normal*d0/det)
+}
+fn solve2(c0:&Contact,c1:&Contact)->Option<Ratio<Vector3<Fixed<5,160>>,Fixed<4,128>>>{
+	const EPSILON:Fixed<4,128>=Fixed::from_bits(Fixed::<4,128>::ONE.to_bits().shr(10));
+	let u0_u1=c0.velocity.cross(c1.velocity);
+	let n0_n1=c0.normal.cross(c1.normal);
+	let det=u0_u1.dot(n0_n1);
+	if det.abs()<EPSILON{
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	let d1=c1.normal.dot(c1.position);
+	Some((c1.normal.cross(u0_u1)*d0+u0_u1.cross(c0.normal)*d1)/det)
+}
+fn solve3(c0:&Contact,c1:&Contact,c2:&Contact)->Option<Ratio<Vector3<Fixed<4,128>>,Fixed<3,96>>>{
+	const EPSILON:Fixed<3,96>=Fixed::from_bits(Fixed::<3,96>::ONE.to_bits().shr(10));
+	let n0_n1=c0.normal.cross(c1.normal);
+	let det=c2.normal.dot(n0_n1);
+	if det.abs()<EPSILON{
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	let d1=c1.normal.dot(c1.position);
+	let d2=c2.normal.dot(c2.position);
+	Some((c1.normal.cross(c2.normal)*d0+c2.normal.cross(c0.normal)*d1+c0.normal.cross(c1.normal)*d2)/det)
+}
+
+fn decompose1(point:Planar64Vec3,u0:Planar64Vec3)->Option<[Ratio<Fixed<2,64>,Fixed<2,64>>;1]>{
+	let det=u0.dot(u0);
+	if det==Fixed::ZERO{
+		return None;
+	}
+	let s0=u0.dot(point)/det;
+	Some([s0])
+}
+fn decompose2(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3)->Option<[Ratio<Fixed<4,128>,Fixed<4,128>>;2]>{
+	let u0_u1=u0.cross(u1);
+	let det=u0_u1.dot(u0_u1);
+	if det==Fixed::ZERO{
+		return None;
+	}
+	let s0=u0_u1.dot(point.cross(u1))/det;
+	let s1=u0_u1.dot(u0.cross(point))/det;
+	Some([s0,s1])
+}
+fn decompose3(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3,u2:Planar64Vec3)->Option<[Ratio<Fixed<3,96>,Fixed<3,96>>;3]>{
+	let det=u0.cross(u1).dot(u2);
+	if det==Fixed::ZERO{
+		return None;
+	}
+	let s0=point.cross(u1).dot(u2)/det;
+	let s1=u0.cross(point).dot(u2)/det;
+	let s2=u0.cross(u1).dot(point)/det;
+	Some([s0,s1,s2])
+}
+
+fn is_space_enclosed_2(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+)->bool{
+	a.cross(b)==Vector3::new([Fixed::ZERO;3])
+	&&a.dot(b).is_negative()
+}
+fn is_space_enclosed_3(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+	c:Planar64Vec3
+)->bool{
+	a.cross(b).dot(c)==Fixed::ZERO
+	&&{
+		let det_abac=a.cross(b).dot(a.cross(c));
+		let det_abbc=a.cross(b).dot(b.cross(c));
+		let det_acbc=a.cross(c).dot(b.cross(c));
+		return!( det_abac*det_abbc).is_positive()
+			&&!( det_abbc*det_acbc).is_positive()
+			&&!(-det_acbc*det_abac).is_positive()
+			||is_space_enclosed_2(a,b)
+			||is_space_enclosed_2(a,c)
+			||is_space_enclosed_2(b,c)
+	}
+}
+fn is_space_enclosed_4(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+	c:Planar64Vec3,
+	d:Planar64Vec3,
+)->bool{
+	let det_abc=a.cross(b).dot(c);
+	let det_abd=a.cross(b).dot(d);
+	let det_acd=a.cross(c).dot(d);
+	let det_bcd=b.cross(c).dot(d);
+	return( det_abc*det_abd).is_negative()
+		&&(-det_abc*det_acd).is_negative()
+		&&( det_abd*det_acd).is_negative()
+		&&( det_abc*det_bcd).is_negative()
+		&&(-det_abd*det_bcd).is_negative()
+		&&( det_acd*det_bcd).is_negative()
+		||is_space_enclosed_3(a,b,c)
+		||is_space_enclosed_3(a,b,d)
+		||is_space_enclosed_3(a,c,d)
+		||is_space_enclosed_3(b,c,d)
+}
+
+const fn get_push_ray_0(point:Planar64Vec3)->Ray{
+	Ray{origin:point,direction:vec3::ZERO}
+}
+fn get_push_ray_1(point:Planar64Vec3,c0:&Contact)->Option<Ray>{
+	let direction=solve1(c0)?.divide().fix_1();
+	let [s0]=decompose1(direction,c0.velocity)?;
+	if s0.lt_ratio(RATIO_ZERO){
+		return None;
+	}
+	let origin=point+solve1(
+		&c0.relative_to(point),
+	)?.divide().fix_1();
+	Some(Ray{origin,direction})
+}
+fn get_push_ray_2(point:Planar64Vec3,c0:&Contact,c1:&Contact)->Option<Ray>{
+	let direction=solve2(c0,c1)?.divide().fix_1();
+	let [s0,s1]=decompose2(direction,c0.velocity,c1.velocity)?;
+	if s0.lt_ratio(RATIO_ZERO)||s1.lt_ratio(RATIO_ZERO){
+		return None;
+	}
+	let origin=point+solve2(
+		&c0.relative_to(point),
+		&c1.relative_to(point),
+	)?.divide().fix_1();
+	Some(Ray{origin,direction})
+}
+fn get_push_ray_3(point:Planar64Vec3,c0:&Contact,c1:&Contact,c2:&Contact)->Option<Ray>{
+	let direction=solve3(c0,c1,c2)?.divide().fix_1();
+	let [s0,s1,s2]=decompose3(direction,c0.velocity,c1.velocity,c2.velocity)?;
+	if s0.lt_ratio(RATIO_ZERO)||s1.lt_ratio(RATIO_ZERO)||s2.lt_ratio(RATIO_ZERO){
+		return None;
+	}
+	let origin=point+solve3(
+		&c0.relative_to(point),
+		&c1.relative_to(point),
+		&c2.relative_to(point),
+	)?.divide().fix_1();
+	Some(Ray{origin,direction})
+}
+
+const fn get_best_push_ray_and_conts_0<'a>(point:Planar64Vec3)->(Ray,Conts<'a>){
+	(get_push_ray_0(point),Conts::new_const())
+}
+fn get_best_push_ray_and_conts_1(point:Planar64Vec3,c0:&Contact)->Option<(Ray,Conts)>{
+	get_push_ray_1(point,c0)
+		.map(|ray|(ray,Conts::from_iter([c0])))
+}
+fn get_best_push_ray_and_conts_2<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_2(c0.normal,c1.normal){
+		return None;
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c1){
+		return Some((ray,Conts::from_iter([c0,c1])));
+	}
+	if let Some(ray)=get_push_ray_1(point,c0){
+		if !c1.relative_dot(ray.direction).is_negative(){
+			return Some((ray,Conts::from_iter([c0])));
+		}
+	}
+	return None;
+}
+fn get_best_push_ray_and_conts_3<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact,c2:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_3(c0.normal,c1.normal,c2.normal){
+		return None;
+	}
+	if let Some(ray)=get_push_ray_3(point,c0,c1,c2){
+		return Some((ray,Conts::from_iter([c0,c1,c2])));
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c1){
+		if !c2.relative_dot(ray.direction).is_negative(){
+			return Some((ray,Conts::from_iter([c0,c1])));
+		}
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c2){
+		if !c1.relative_dot(ray.direction).is_negative(){
+			return Some((ray,Conts::from_iter([c0,c2])));
+		}
+	}
+	if let Some(ray)=get_push_ray_1(point,c0){
+		if !c1.relative_dot(ray.direction).is_negative()
+		 &&!c2.relative_dot(ray.direction).is_negative(){
+			return Some((ray,Conts::from_iter([c0])));
+		}
+	}
+	return None;
+}
+fn get_best_push_ray_and_conts_4<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact,c2:&'a Contact,c3:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_4(c0.normal,c1.normal,c2.normal,c3.normal){
+		return None;
+	}
+
+	let (ray012,conts012)=get_best_push_ray_and_conts_3(point,c0,c1,c2)?;
+	let (ray013,conts013)=get_best_push_ray_and_conts_3(point,c0,c1,c3)?;
+	let (ray023,conts023)=get_best_push_ray_and_conts_3(point,c0,c2,c3)?;
+
+	let err012=c3.relative_dot(ray012.direction);
+	let err013=c2.relative_dot(ray013.direction);
+	let err023=c1.relative_dot(ray023.direction);
+
+	let best_err=err012.max(err013).max(err023);
+
+	if best_err==err012{
+		return Some((ray012,conts012))
+	}else if best_err==err013{
+		return Some((ray013,conts013))
+	}else if best_err==err023{
+		return Some((ray023,conts023))
+	}
+	unreachable!()
+}
+
+fn get_best_push_ray_and_conts<'a>(
+	point:Planar64Vec3,
+	conts:&[&'a Contact],
+)->Option<(Ray,Conts<'a>)>{
+	match conts{
+		&[c0,c1,c2,c3]=>get_best_push_ray_and_conts_4(point,c0,c1,c2,c3),
+		&[c0,c1,c2]=>get_best_push_ray_and_conts_3(point,c0,c1,c2),
+		&[c0,c1]=>get_best_push_ray_and_conts_2(point,c0,c1),
+		&[c0]=>get_best_push_ray_and_conts_1(point,c0),
+		&[]=>Some(get_best_push_ray_and_conts_0(point)),
+		_=>unreachable!(),
+	}
+}
+
+fn get_first_touch<'a>(contacts:&'a [Contact],ray:&Ray,conts:&Conts)->Option<(Ratio<Fixed<2,64>,Fixed<2,64>>,&'a Contact)>{
+	contacts.iter()
+		.filter(|&contact|
+			!conts.iter().any(|&c|std::ptr::eq(c,contact))
+			&&contact.relative_dot(ray.direction).is_negative()
+		)
+		.map(|contact|(contact.solve(ray),contact))
+		.min_by_key(|&(t,_)|t)
+}
+
+pub fn push_solve(contacts:&[Contact],point:Planar64Vec3)->Planar64Vec3{
+	let (mut ray,mut conts)=get_best_push_ray_and_conts_0(point);
+	loop{
+		let (next_t,next_cont)=match get_first_touch(contacts,&ray,&conts){
+			Some((t,cont))=>(t,cont),
+			None=>return ray.origin,
+		};
+
+		if RATIO_ZERO.le_ratio(next_t){
+			return ray.origin;
+		}
+
+		//push_front
+		if conts.len()==conts.capacity(){
+			//this is a dead case, new_conts never has more than 3 elements
+			conts.rotate_right(1);
+			conts[0]=next_cont;
+		}else{
+			conts.push(next_cont);
+			conts.rotate_right(1);
+		}
+
+		let meet_point=ray.extrapolate(next_t);
+		match get_best_push_ray_and_conts(meet_point,conts.as_slice()){
+			Some((new_ray,new_conts))=>(ray,conts)=(new_ray,new_conts),
+			None=>return meet_point,
+		}
+	}
+}
+
+#[cfg(test)]
+mod tests{
+	use super::*;
+	#[test]
+	fn test_push_solve(){
+		let contacts=vec![
+			Contact{
+				position:vec3::ZERO,
+				velocity:vec3::Y,
+				normal:vec3::Y,
+			}
+		];
+		assert_eq!(
+			vec3::ZERO,
+			push_solve(&contacts,vec3::NEG_Y)
+		);
+	}
+}

engine/session/Cargo.toml

@@ -0,0 +1,12 @@
+[package]
+name = "strafesnet_session"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+glam = "0.29.0"
+replace_with = "0.1.7"
+strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
+strafesnet_physics = { path = "../physics", registry = "strafesnet" }
+strafesnet_settings = { path = "../settings", registry = "strafesnet" }
+strafesnet_snf = { path = "../../lib/snf", registry = "strafesnet" }

engine/session/LICENSE

@@ -0,0 +1,8 @@
+/*******************************************************
+* Copyright (C) 2023-2024 Rhys Lloyd <krakow20@gmail.com>
+*
+* This file is part of the StrafesNET bhop/surf client.
+*
+* StrafesNET can not be copied and/or distributed
+* without the express permission of Rhys Lloyd
+*******************************************************/

engine/session/src/lib.rs

@@ -0,0 +1,2 @@
+mod mouse_interpolator;
+pub mod session;

engine/session/src/mouse_interpolator.rs

@@ -0,0 +1,281 @@
+use strafesnet_common::mouse::MouseState;
+use strafesnet_common::physics::{
+	MouseInstruction,SetControlInstruction,ModeInstruction,MiscInstruction,
+	Instruction as PhysicsInstruction,
+	TimeInner as PhysicsTimeInner,
+	Time as PhysicsTime,
+};
+use strafesnet_common::session::{Time as SessionTime,TimeInner as SessionTimeInner};
+use strafesnet_common::instruction::{InstructionConsumer,InstructionEmitter,TimedInstruction};
+
+type TimedSelfInstruction=TimedInstruction<Instruction,PhysicsTimeInner>;
+type DoubleTimedSelfInstruction=TimedInstruction<TimedSelfInstruction,SessionTimeInner>;
+
+type TimedPhysicsInstruction=TimedInstruction<PhysicsInstruction,PhysicsTimeInner>;
+
+const MOUSE_TIMEOUT:SessionTime=SessionTime::from_millis(10);
+
+/// To be fed into MouseInterpolator
+#[derive(Clone,Debug)]
+pub(crate) enum Instruction{
+	MoveMouse(glam::IVec2),
+	SetControl(SetControlInstruction),
+	Mode(ModeInstruction),
+	Misc(MiscInstruction),
+	Idle,
+}
+#[derive(Clone,Debug)]
+enum UnbufferedInstruction{
+	MoveMouse(glam::IVec2),
+	NonMouse(NonMouseInstruction),
+}
+#[derive(Clone,Debug)]
+enum BufferedInstruction{
+	Mouse(MouseInstruction),
+	NonMouse(NonMouseInstruction),
+}
+#[derive(Clone,Debug)]
+pub(crate) enum NonMouseInstruction{
+	SetControl(SetControlInstruction),
+	Mode(ModeInstruction),
+	Misc(MiscInstruction),
+	Idle,
+}
+impl From<Instruction> for UnbufferedInstruction{
+	#[inline]
+	fn from(value:Instruction)->Self{
+		match value{
+			Instruction::MoveMouse(mouse_instruction)=>UnbufferedInstruction::MoveMouse(mouse_instruction),
+			Instruction::SetControl(set_control_instruction)=>UnbufferedInstruction::NonMouse(NonMouseInstruction::SetControl(set_control_instruction)),
+			Instruction::Mode(mode_instruction)=>UnbufferedInstruction::NonMouse(NonMouseInstruction::Mode(mode_instruction)),
+			Instruction::Misc(misc_instruction)=>UnbufferedInstruction::NonMouse(NonMouseInstruction::Misc(misc_instruction)),
+			Instruction::Idle=>UnbufferedInstruction::NonMouse(NonMouseInstruction::Idle),
+		}
+	}
+}
+impl From<BufferedInstruction> for PhysicsInstruction{
+	#[inline]
+	fn from(value:BufferedInstruction)->Self{
+		match value{
+			BufferedInstruction::Mouse(mouse_instruction)=>PhysicsInstruction::Mouse(mouse_instruction),
+			BufferedInstruction::NonMouse(non_mouse_instruction)=>match non_mouse_instruction{
+				NonMouseInstruction::SetControl(set_control_instruction)=>PhysicsInstruction::SetControl(set_control_instruction),
+				NonMouseInstruction::Mode(mode_instruction)=>PhysicsInstruction::Mode(mode_instruction),
+				NonMouseInstruction::Misc(misc_instruction)=>PhysicsInstruction::Misc(misc_instruction),
+				NonMouseInstruction::Idle=>PhysicsInstruction::Idle,
+			},
+		}
+	}
+}
+
+pub(crate) enum StepInstruction{
+	Pop,
+	Timeout,
+}
+
+#[derive(Clone,Debug)]
+enum BufferState{
+	Unbuffered,
+	Initializing(SessionTime,MouseState<PhysicsTimeInner>),
+	Buffered(SessionTime,MouseState<PhysicsTimeInner>),
+}
+
+pub struct MouseInterpolator{
+	buffer_state:BufferState,
+	// double timestamped timeline?
+	buffer:std::collections::VecDeque<TimedPhysicsInstruction>,
+	output:std::collections::VecDeque<TimedPhysicsInstruction>,
+}
+// Maybe MouseInterpolator manipulation is better expressed using impls
+// and called from Instruction trait impls in session
+impl InstructionConsumer<TimedSelfInstruction> for MouseInterpolator{
+	type TimeInner=SessionTimeInner;
+	fn process_instruction(&mut self,ins:DoubleTimedSelfInstruction){
+		self.push_unbuffered_input(ins.time,ins.instruction.time,ins.instruction.instruction.into())
+	}
+}
+impl InstructionEmitter<StepInstruction> for MouseInterpolator{
+	type TimeInner=SessionTimeInner;
+	fn next_instruction(&self,time_limit:SessionTime)->Option<TimedInstruction<StepInstruction,Self::TimeInner>>{
+		self.buffered_instruction_with_timeout(time_limit)
+	}
+}
+impl MouseInterpolator{
+	pub fn new()->MouseInterpolator{
+		MouseInterpolator{
+			buffer_state:BufferState::Unbuffered,
+			buffer:std::collections::VecDeque::new(),
+			output:std::collections::VecDeque::new(),
+		}
+	}
+	fn push_mouse_and_flush_buffer(&mut self,ins:TimedInstruction<MouseInstruction,PhysicsTimeInner>){
+		self.buffer.push_front(TimedInstruction{
+			time:ins.time,
+			instruction:BufferedInstruction::Mouse(ins.instruction).into(),
+		});
+		// flush buffer to output
+		if self.output.len()==0{
+			// swap buffers
+			core::mem::swap(&mut self.buffer,&mut self.output);
+		}else{
+			// append buffer contents to output
+			self.output.append(&mut self.buffer);
+		}
+	}
+	fn get_mouse_timedout_at(&self,time_limit:SessionTime)->Option<SessionTime>{
+		match &self.buffer_state{
+			BufferState::Unbuffered=>None,
+			BufferState::Initializing(time,_mouse_state)
+			|BufferState::Buffered(time,_mouse_state)=>{
+				let timeout=*time+MOUSE_TIMEOUT;
+				(timeout<time_limit).then_some(timeout)
+			}
+		}
+	}
+	fn timeout_mouse(&mut self,timeout_time:PhysicsTime){
+		// the state always changes to unbuffered
+		let buffer_state=core::mem::replace(&mut self.buffer_state,BufferState::Unbuffered);
+		match buffer_state{
+			BufferState::Unbuffered=>(),
+			BufferState::Initializing(_time,mouse_state)=>{
+				// only a single mouse move was sent in 10ms, this is very much an edge case!
+				self.push_mouse_and_flush_buffer(TimedInstruction{
+					time:mouse_state.time,
+					instruction:MouseInstruction::ReplaceMouse{
+						m1:MouseState{pos:mouse_state.pos,time:timeout_time},
+						m0:mouse_state,
+					},
+				});
+			}
+			BufferState::Buffered(_time,mouse_state)=>{
+				// duplicate the currently buffered mouse state but at a later (future, from the physics perspective) time
+				self.push_mouse_and_flush_buffer(TimedInstruction{
+					time:mouse_state.time,
+					instruction:MouseInstruction::SetNextMouse(MouseState{pos:mouse_state.pos,time:timeout_time}),
+				});
+			},
+		}
+	}
+	fn push_unbuffered_input(&mut self,session_time:SessionTime,physics_time:PhysicsTime,ins:UnbufferedInstruction){
+		// new input
+		// if there is zero instruction buffered, it means the mouse is not moving
+		// case 1: unbuffered
+		// no mouse event is buffered
+		// - ins is mouse event? change to buffered
+		// - ins other -> write to timeline
+		// case 2: buffered
+		// a mouse event is buffered, and exists within the last 10ms
+		// case 3: stop
+		// a mouse event is buffered, but no mouse events have transpired within 10ms
+
+		// replace_with allows the enum variant to safely be replaced
+		// from behind a mutable reference, but a panic in the closure means that
+		// the entire program terminates rather than completing an unwind.
+		let (ins_mouse,ins_other)=replace_with::replace_with_or_abort_and_return(&mut self.buffer_state,|buffer_state|{
+			match ins{
+				UnbufferedInstruction::MoveMouse(pos)=>{
+					let next_mouse_state=MouseState{pos,time:physics_time};
+					match buffer_state{
+						BufferState::Unbuffered=>{
+							((None,None),BufferState::Initializing(session_time,next_mouse_state))
+						},
+						BufferState::Initializing(_time,mouse_state)=>{
+							let ins_mouse=TimedInstruction{
+								time:mouse_state.time,
+								instruction:MouseInstruction::ReplaceMouse{
+									m0:mouse_state,
+									m1:next_mouse_state.clone(),
+								},
+							};
+							((Some(ins_mouse),None),BufferState::Buffered(session_time,next_mouse_state))
+						},
+						BufferState::Buffered(_time,mouse_state)=>{
+							let ins_mouse=TimedInstruction{
+								time:mouse_state.time,
+								instruction:MouseInstruction::SetNextMouse(next_mouse_state.clone()),
+							};
+							((Some(ins_mouse),None),BufferState::Buffered(session_time,next_mouse_state))
+						},
+					}
+				},
+				UnbufferedInstruction::NonMouse(other_instruction)=>((None,Some(TimedInstruction{
+					time:physics_time,
+					instruction:other_instruction,
+				})),buffer_state),
+			}
+		});
+		if let Some(ins)=ins_mouse{
+			self.push_mouse_and_flush_buffer(ins);
+		}
+		if let Some(ins)=ins_other{
+			let instruction=TimedInstruction{
+				time:ins.time,
+				instruction:BufferedInstruction::NonMouse(ins.instruction).into(),
+			};
+			if matches!(self.buffer_state,BufferState::Unbuffered){
+				self.output.push_back(instruction);
+			}else{
+				self.buffer.push_back(instruction);
+			}
+		}
+	}
+	fn buffered_instruction_with_timeout(&self,time_limit:SessionTime)->Option<TimedInstruction<StepInstruction,SessionTimeInner>>{
+		match self.get_mouse_timedout_at(time_limit){
+			Some(timeout)=>Some(TimedInstruction{
+				time:timeout,
+				instruction:StepInstruction::Timeout,
+			}),
+			None=>(self.output.len()!=0).then_some(TimedInstruction{
+				// this timestamp should not matter
+				time:time_limit,
+				instruction:StepInstruction::Pop,
+			}),
+		}
+	}
+	pub fn pop_buffered_instruction(&mut self,ins:TimedInstruction<StepInstruction,PhysicsTimeInner>)->Option<TimedPhysicsInstruction>{
+		match ins.instruction{
+			StepInstruction::Pop=>(),
+			StepInstruction::Timeout=>self.timeout_mouse(ins.time),
+		}
+		self.output.pop_front()
+	}
+}
+
+#[cfg(test)]
+mod test{
+	use super::*;
+	#[test]
+	fn test(){
+		let mut interpolator=MouseInterpolator::new();
+
+		let timer=strafesnet_common::timer::Timer::<strafesnet_common::timer::Scaled<SessionTimeInner,PhysicsTimeInner>>::unpaused(SessionTime::ZERO,PhysicsTime::from_secs(1000));
+
+		macro_rules! push{
+			($time:expr,$ins:expr)=>{
+				println!("in={:?}",$ins);
+				interpolator.push_unbuffered_input(
+					$time,
+					timer.time($time),
+					$ins,
+				);
+				while let Some(ins)=interpolator.buffered_instruction_with_timeout($time){
+					let ins_retimed=TimedInstruction{
+						time:timer.time(ins.time),
+						instruction:ins.instruction,
+					};
+					let out=interpolator.pop_buffered_instruction(ins_retimed);
+					println!("out={out:?}");
+				}
+			};
+		}
+
+		// test each buffer_state transition
+		let mut t=SessionTime::ZERO;
+		push!(t,UnbufferedInstruction::MoveMouse(glam::ivec2(0,0)));
+		t+=SessionTime::from_millis(5);
+		push!(t,UnbufferedInstruction::MoveMouse(glam::ivec2(0,0)));
+		t+=SessionTime::from_millis(5);
+		push!(t,UnbufferedInstruction::MoveMouse(glam::ivec2(0,0)));
+		t+=SessionTime::from_millis(1);
+	}
+}

engine/session/src/session.rs

@@ -0,0 +1,443 @@
+use std::collections::HashMap;
+
+use strafesnet_common::gameplay_modes::{ModeId,StageId};
+use strafesnet_common::instruction::{InstructionConsumer,InstructionEmitter,InstructionFeedback,TimedInstruction};
+// session represents the non-hardware state of the client.
+// Ideally it is a deterministic state which is atomically updated by instructions, same as the simulation state.
+use strafesnet_common::physics::{
+	ModeInstruction,MiscInstruction,
+	Instruction as PhysicsInputInstruction,
+	TimeInner as PhysicsTimeInner,
+	Time as PhysicsTime
+};
+use strafesnet_common::timer::{Scaled,Timer};
+use strafesnet_common::session::{TimeInner as SessionTimeInner,Time as SessionTime};
+use strafesnet_settings::directories::Directories;
+
+use crate::mouse_interpolator::{MouseInterpolator,StepInstruction,Instruction as MouseInterpolatorInstruction};
+use strafesnet_physics::physics::{self,PhysicsContext,PhysicsData};
+use strafesnet_settings::settings::UserSettings;
+
+pub enum Instruction<'a>{
+	Input(SessionInputInstruction),
+	Control(SessionControlInstruction),
+	Playback(SessionPlaybackInstruction),
+	ChangeMap(&'a strafesnet_common::map::CompleteMap),
+	LoadReplay(strafesnet_snf::bot::Segment),
+	Idle,
+}
+
+pub enum SessionInputInstruction{
+	Mouse(glam::IVec2),
+	SetControl(strafesnet_common::physics::SetControlInstruction),
+	Mode(ImplicitModeInstruction),
+	Misc(strafesnet_common::physics::MiscInstruction),
+}
+/// Implicit mode instruction are fed separately to session.
+/// Session generates the explicit mode instructions interlaced with a SetSensitivity instruction
+#[derive(Clone,Debug)]
+pub enum ImplicitModeInstruction{
+	ResetAndRestart,
+	ResetAndSpawn(ModeId,StageId),
+}
+
+pub enum SessionControlInstruction{
+	SetPaused(bool),
+	// copy the current session simulation recording into a replay and view it
+	CopyRecordingIntoReplayAndSpectate,
+	StopSpectate,
+	SaveReplay,
+	LoadIntoReplayState,
+}
+pub enum SessionPlaybackInstruction{
+	SkipForward,
+	SkipBack,
+	TogglePaused,
+	DecreaseTimescale,
+	IncreaseTimescale,
+}
+
+pub struct FrameState{
+	pub body:physics::Body,
+	pub camera:physics::PhysicsCamera,
+	pub time:PhysicsTime,
+}
+
+pub struct Simulation{
+	timer:Timer<Scaled<SessionTimeInner,PhysicsTimeInner>>,
+	physics:physics::PhysicsState,
+}
+impl Simulation{
+	pub const fn new(
+		timer:Timer<Scaled<SessionTimeInner,PhysicsTimeInner>>,
+		physics:physics::PhysicsState,
+	)->Self{
+		Self{
+			timer,
+			physics,
+		}
+	}
+	pub fn get_frame_state(&self,time:SessionTime)->FrameState{
+		FrameState{
+			body:self.physics.camera_body(),
+			camera:self.physics.camera(),
+			time:self.timer.time(time),
+		}
+	}
+}
+
+#[derive(Default)]
+pub struct Recording{
+	instructions:Vec<TimedInstruction<PhysicsInputInstruction,PhysicsTimeInner>>,
+}
+impl Recording{
+	pub fn new(
+		instructions:Vec<TimedInstruction<PhysicsInputInstruction,PhysicsTimeInner>>,
+	)->Self{
+		Self{instructions}
+	}
+	fn clear(&mut self){
+		self.instructions.clear();
+	}
+}
+pub struct Replay{
+	next_instruction_id:usize,
+	recording:Recording,
+	simulation:Simulation,
+}
+impl Replay{
+	pub const fn new(
+		recording:Recording,
+		simulation:Simulation,
+	)->Self{
+		Self{
+			next_instruction_id:0,
+			recording,
+			simulation,
+		}
+	}
+	pub fn advance(&mut self,physics_data:&PhysicsData,time_limit:SessionTime){
+		let mut time=self.simulation.timer.time(time_limit);
+		loop{
+			if let Some(ins)=self.recording.instructions.get(self.next_instruction_id){
+				if ins.time<time{
+					PhysicsContext::run_input_instruction(&mut self.simulation.physics,physics_data,ins.clone());
+					self.next_instruction_id+=1;
+				}else{
+					break;
+				}
+			}else{
+				// loop playback
+				self.next_instruction_id=0;
+				// No need to reset physics because the very first instruction is 'Reset'
+				let new_time=self.recording.instructions.first().map_or(PhysicsTime::ZERO,|ins|ins.time);
+				self.simulation.timer.set_time(time_limit,new_time);
+				time=new_time;
+			}
+		}
+	}
+}
+
+#[derive(Clone,Copy,Hash,PartialEq,Eq)]
+struct BotId(u32);
+//#[derive(Clone,Copy,Hash,PartialEq,Eq)]
+//struct PlayerId(u32);
+
+enum ViewState{
+	Play,
+	//Spectate(PlayerId),
+	Replay(BotId),
+}
+
+pub struct Session{
+	directories:Directories,
+	user_settings:UserSettings,
+	mouse_interpolator:crate::mouse_interpolator::MouseInterpolator,
+	view_state:ViewState,
+	//gui:GuiState
+	geometry_shared:physics::PhysicsData,
+	simulation:Simulation,
+	// below fields not included in lite session
+	recording:Recording,
+	//players:HashMap<PlayerId,Simulation>,
+	replays:HashMap<BotId,Replay>,
+}
+impl Session{
+	pub fn new(
+		user_settings:UserSettings,
+		directories:Directories,
+		simulation:Simulation,
+	)->Self{
+		Self{
+			user_settings,
+			directories,
+			mouse_interpolator:MouseInterpolator::new(),
+			geometry_shared:Default::default(),
+			simulation,
+			view_state:ViewState::Play,
+			recording:Default::default(),
+			replays:HashMap::new(),
+		}
+	}
+	fn clear_recording(&mut self){
+		self.recording.clear();
+	}
+	fn change_map(&mut self,map:&strafesnet_common::map::CompleteMap){
+		self.simulation.physics.clear();
+		self.geometry_shared.generate_models(map);
+	}
+	pub fn get_frame_state(&self,time:SessionTime)->Option<FrameState>{
+		match &self.view_state{
+			ViewState::Play=>Some(self.simulation.get_frame_state(time)),
+			ViewState::Replay(bot_id)=>self.replays.get(bot_id).map(|replay|
+				replay.simulation.get_frame_state(time)
+			),
+		}
+	}
+	pub fn user_settings(&self)->&UserSettings{
+		&self.user_settings
+	}
+}
+
+// mouseinterpolator consumes RawInputInstruction
+// mouseinterpolator emits PhysicsInputInstruction
+// mouseinterpolator consumes DoStep to move on to the next emitted instruction
+// Session comsumes SessionInstruction -> forwards RawInputInstruction to mouseinterpolator
+// Session consumes DoStep -> forwards DoStep to mouseinterpolator
+// Session emits DoStep
+
+impl InstructionConsumer<Instruction<'_>> for Session{
+	type TimeInner=SessionTimeInner;
+	fn process_instruction(&mut self,ins:TimedInstruction<Instruction,Self::TimeInner>){
+		// repetitive procedure macro
+		macro_rules! run_mouse_interpolator_instruction{
+			($instruction:expr)=>{
+				self.mouse_interpolator.process_instruction(TimedInstruction{
+					time:ins.time,
+					instruction:TimedInstruction{
+						time:self.simulation.timer.time(ins.time),
+						instruction:$instruction,
+					},
+				});
+			};
+		}
+
+		// process any timeouts that occured since the last instruction
+		self.process_exhaustive(ins.time);
+
+		match ins.instruction{
+			// send it down to MouseInterpolator with two timestamps, SessionTime and PhysicsTime
+			Instruction::Input(SessionInputInstruction::Mouse(pos))=>{
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::MoveMouse(pos));
+			},
+			Instruction::Input(SessionInputInstruction::SetControl(set_control_instruction))=>{
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::SetControl(set_control_instruction));
+			},
+			Instruction::Input(SessionInputInstruction::Mode(ImplicitModeInstruction::ResetAndRestart))=>{
+				self.clear_recording();
+				let mode_id=self.simulation.physics.mode();
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Reset));
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Misc(MiscInstruction::SetSensitivity(self.user_settings().calculate_sensitivity())));
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Restart(mode_id)));
+			},
+			Instruction::Input(SessionInputInstruction::Mode(ImplicitModeInstruction::ResetAndSpawn(mode_id,spawn_id)))=>{
+				self.clear_recording();
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Reset));
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Misc(MiscInstruction::SetSensitivity(self.user_settings().calculate_sensitivity())));
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Spawn(mode_id,spawn_id)));
+			},
+			Instruction::Input(SessionInputInstruction::Misc(misc_instruction))=>{
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Misc(misc_instruction));
+			},
+			Instruction::Control(SessionControlInstruction::SetPaused(paused))=>{
+				// don't flush the buffered instructions in the mouse interpolator
+				// until the mouse is confirmed to be not moving at a later time
+				// what if they pause for 5ms lmao
+				_=self.simulation.timer.set_paused(ins.time,paused);
+			},
+			Instruction::Control(SessionControlInstruction::CopyRecordingIntoReplayAndSpectate)=> if let ViewState::Play=self.view_state{
+				// Bind: B
+
+				// pause simulation
+				_=self.simulation.timer.set_paused(ins.time,true);
+
+				// create recording
+				let mut recording=Recording::default();
+				recording.instructions.extend(self.recording.instructions.iter().cloned());
+
+				// create timer starting at first instruction (or zero if the list is empty)
+				let new_time=recording.instructions.first().map_or(PhysicsTime::ZERO,|ins|ins.time);
+				let timer=Timer::unpaused(ins.time,new_time);
+
+				// create default physics state
+				let simulation=Simulation::new(timer,Default::default());
+
+				// invent a new bot id and insert the replay
+				let bot_id=BotId(self.replays.len() as u32);
+				self.replays.insert(bot_id,Replay::new(
+					recording,
+					simulation,
+				));
+
+				// begin spectate
+				self.view_state=ViewState::Replay(bot_id);
+			},
+			Instruction::Control(SessionControlInstruction::StopSpectate)=>{
+				let view_state=core::mem::replace(&mut self.view_state,ViewState::Play);
+				// delete the bot, otherwise it's inaccessible and wastes CPU
+				match view_state{
+					ViewState::Play=>(),
+					ViewState::Replay(bot_id)=>{
+						self.replays.remove(&bot_id);
+					},
+				}
+				_=self.simulation.timer.set_paused(ins.time,false);
+			},
+			Instruction::Control(SessionControlInstruction::SaveReplay)=>{
+				// Bind: N
+				let view_state=core::mem::replace(&mut self.view_state,ViewState::Play);
+				match view_state{
+					ViewState::Play=>(),
+					ViewState::Replay(bot_id)=>if let Some(replay)=self.replays.remove(&bot_id){
+						let mut replays_path=self.directories.replays.clone();
+						let file_name=format!("{}.snfb",ins.time);
+						std::thread::spawn(move ||{
+							std::fs::create_dir_all(replays_path.as_path()).unwrap();
+							replays_path.push(file_name);
+							let file=std::fs::File::create(replays_path).unwrap();
+							strafesnet_snf::bot::write_bot(
+								std::io::BufWriter::new(file),
+								strafesnet_physics::VERSION.get(),
+								replay.recording.instructions
+							).unwrap();
+							println!("Finished writing bot file!");
+						});
+					},
+				}
+				_=self.simulation.timer.set_paused(ins.time,false);
+			},
+			Instruction::Control(SessionControlInstruction::LoadIntoReplayState)=>{
+				// Bind: J
+				let view_state=core::mem::replace(&mut self.view_state,ViewState::Play);
+				match view_state{
+					ViewState::Play=>(),
+					ViewState::Replay(bot_id)=>if let Some(replay)=self.replays.remove(&bot_id){
+						self.recording.instructions=replay.recording.instructions.into_iter().take(replay.next_instruction_id).collect();
+						self.simulation=replay.simulation;
+					},
+				}
+				// don't unpause -- use the replay timer state whether it is pasued or unpaused
+			},
+			Instruction::Playback(SessionPlaybackInstruction::IncreaseTimescale)=>{
+				match &self.view_state{
+					ViewState::Play=>{
+						// allow simulation timescale for fun
+						let scale=self.simulation.timer.get_scale();
+						self.simulation.timer.set_scale(ins.time,strafesnet_common::integer::Ratio64::new(scale.num()*5,scale.den()*4).unwrap());
+					},
+					ViewState::Replay(bot_id)=>if let Some(replay)=self.replays.get_mut(bot_id){
+						let scale=replay.simulation.timer.get_scale();
+						replay.simulation.timer.set_scale(ins.time,strafesnet_common::integer::Ratio64::new(scale.num()*5,scale.den()*4).unwrap());
+					},
+				}
+			},
+			Instruction::Playback(SessionPlaybackInstruction::DecreaseTimescale)=>{
+				match &self.view_state{
+					ViewState::Play=>{
+						// allow simulation timescale for fun
+						let scale=self.simulation.timer.get_scale();
+						self.simulation.timer.set_scale(ins.time,strafesnet_common::integer::Ratio64::new(scale.num()*4,scale.den()*5).unwrap());
+					},
+					ViewState::Replay(bot_id)=>if let Some(replay)=self.replays.get_mut(bot_id){
+						let scale=replay.simulation.timer.get_scale();
+						replay.simulation.timer.set_scale(ins.time,strafesnet_common::integer::Ratio64::new(scale.num()*4,scale.den()*5).unwrap());
+					},
+				}
+			},
+			Instruction::Playback(SessionPlaybackInstruction::SkipForward)=>{
+				match &self.view_state{
+					ViewState::Play=>(),
+					ViewState::Replay(bot_id)=>if let Some(replay)=self.replays.get_mut(bot_id){
+						let time=replay.simulation.timer.time(ins.time+SessionTime::from_secs(5));
+						replay.simulation.timer.set_time(ins.time,time);
+					},
+				}
+			},
+			Instruction::Playback(SessionPlaybackInstruction::SkipBack)=>{
+				match &self.view_state{
+					ViewState::Play=>(),
+					ViewState::Replay(bot_id)=>if let Some(replay)=self.replays.get_mut(bot_id){
+						let time=replay.simulation.timer.time(ins.time+SessionTime::from_secs(5));
+						replay.simulation.timer.set_time(ins.time,time);
+						// resimulate the entire playback lol
+						replay.next_instruction_id=0;
+					},
+				}
+			},
+			Instruction::Playback(SessionPlaybackInstruction::TogglePaused)=>{
+				match &self.view_state{
+					ViewState::Play=>(),
+					ViewState::Replay(bot_id)=>if let Some(replay)=self.replays.get_mut(bot_id){
+						_=replay.simulation.timer.set_paused(ins.time,!replay.simulation.timer.is_paused());
+					},
+				}
+			}
+			Instruction::ChangeMap(complete_map)=>{
+				self.clear_recording();
+				self.change_map(complete_map);
+			},
+			Instruction::LoadReplay(bot)=>{
+				// pause simulation
+				_=self.simulation.timer.set_paused(ins.time,true);
+
+				// create recording
+				let recording=Recording::new(bot.instructions);
+
+				// create timer starting at first instruction (or zero if the list is empty)
+				let new_time=recording.instructions.first().map_or(PhysicsTime::ZERO,|ins|ins.time);
+				let timer=Timer::unpaused(ins.time,new_time);
+
+				// create default physics state
+				let simulation=Simulation::new(timer,Default::default());
+
+				// invent a new bot id and insert the replay
+				let bot_id=BotId(self.replays.len() as u32);
+				self.replays.insert(bot_id,Replay::new(
+					recording,
+					simulation,
+				));
+
+				// begin spectate
+				self.view_state=ViewState::Replay(bot_id);
+			},
+			Instruction::Idle=>{
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Idle);
+				// this just refreshes the replays
+				for replay in self.replays.values_mut(){
+					// TODO: filter idles from recording, inject new idles in real time
+					replay.advance(&self.geometry_shared,ins.time);
+				}
+			}
+		};
+
+		// process all emitted output instructions
+		self.process_exhaustive(ins.time);
+	}
+}
+impl InstructionConsumer<StepInstruction> for Session{
+	type TimeInner=SessionTimeInner;
+	fn process_instruction(&mut self,ins:TimedInstruction<StepInstruction,Self::TimeInner>){
+		let time=self.simulation.timer.time(ins.time);
+		if let Some(instruction)=self.mouse_interpolator.pop_buffered_instruction(ins.set_time(time)){
+			//record
+			self.recording.instructions.push(instruction.clone());
+			PhysicsContext::run_input_instruction(&mut self.simulation.physics,&self.geometry_shared,instruction);
+		}
+	}
+}
+impl InstructionEmitter<StepInstruction> for Session{
+	type TimeInner=SessionTimeInner;
+	fn next_instruction(&self,time_limit:SessionTime)->Option<TimedInstruction<StepInstruction,Self::TimeInner>>{
+		self.mouse_interpolator.next_instruction(time_limit)
+	}
+}

engine/settings/Cargo.toml

@@ -0,0 +1,10 @@
+[package]
+name = "strafesnet_settings"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+configparser = "3.0.2"
+directories = "6.0.0"
+glam = "0.29.0"
+strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }

engine/settings/LICENSE

@@ -0,0 +1,8 @@
+/*******************************************************
+* Copyright (C) 2023-2024 Rhys Lloyd <krakow20@gmail.com>
+*
+* This file is part of the StrafesNET bhop/surf client.
+*
+* StrafesNET can not be copied and/or distributed
+* without the express permission of Rhys Lloyd
+*******************************************************/

engine/settings/src/directories.rs

@@ -0,0 +1,32 @@
+use std::path::PathBuf;
+
+use crate::settings::{UserSettings,load_user_settings};
+
+pub struct Directories{
+	pub settings:PathBuf,
+	pub maps:PathBuf,
+	pub replays:PathBuf,
+}
+impl Directories{
+	pub fn settings(&self)->UserSettings{
+		load_user_settings(&self.settings)
+	}
+	pub fn user()->Option<Self>{
+		let dirs=directories::ProjectDirs::from("net.strafes","StrafesNET","Strafe Client")?;
+		Some(Self{
+			settings:dirs.config_dir().join("settings.conf"),
+			maps:dirs.cache_dir().join("maps"),
+			// separate directory for remote downloaded replays (cache)
+			// bots:dirs.cache_dir().join("bots"),
+			replays:dirs.data_local_dir().join("replays"),
+		})
+	}
+	pub fn portable()->Result<Self,std::io::Error>{
+		let current_dir=std::env::current_dir()?;
+		Ok(Self{
+			settings:current_dir.join("settings.conf"),
+			maps:current_dir.join("maps"),
+			replays:current_dir.join("replays"),
+		})
+	}
+}

engine/settings/src/lib.rs

@@ -0,0 +1,2 @@
+pub mod settings;
+pub mod directories;

engine/settings/src/settings.rs

@@ -74,9 +74,9 @@ sensitivity_y_from_x_ratio=1
 Sensitivity::DeriveY{x:0.0.001,y:DerivedSensitivity{ratio:1.0}}
 */
 
-pub fn read_user_settings()->UserSettings{
+pub fn load_user_settings(path:&std::path::Path)->UserSettings{
 	let mut cfg=configparser::ini::Ini::new();
-	if let Ok(_)=cfg.load("settings.conf"){
+	if let Ok(_)=cfg.load(path){
 		let (cfg_fov_x,cfg_fov_y)=(cfg.getfloat("camera","fov_x"),cfg.getfloat("camera","fov_y"));
 		let fov=match(cfg_fov_x,cfg_fov_y){
 			(Ok(Some(fov_x)),Ok(Some(fov_y)))=>Fov::Exactly {
@@ -136,4 +136,4 @@ pub fn read_user_settings()->UserSettings{
 	}else{
 		UserSettings::default()
 	}
-}
+}

integration-testing/Cargo.toml

@@ -0,0 +1,9 @@
+[package]
+name = "integration-testing"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+strafesnet_common = { version = "0.5.2", path = "../lib/common", registry = "strafesnet" }
+strafesnet_physics = { version = "0.1.0", path = "../engine/physics", registry = "strafesnet" }
+strafesnet_snf = { path = "../lib/snf", registry = "strafesnet" }

integration-testing/src/main.rs

@@ -0,0 +1,221 @@
+
+use std::{io::{Cursor,Read},path::Path};
+
+use strafesnet_physics::physics::{PhysicsData,PhysicsState,PhysicsContext};
+
+fn main(){
+	test_determinism().unwrap();
+}
+
+#[allow(unused)]
+#[derive(Debug)]
+enum ReplayError{
+	IO(std::io::Error),
+	SNF(strafesnet_snf::Error),
+	SNFM(strafesnet_snf::map::Error),
+	SNFB(strafesnet_snf::bot::Error),
+}
+impl From<std::io::Error> for ReplayError{
+	fn from(value:std::io::Error)->Self{
+		Self::IO(value)
+	}
+}
+impl From<strafesnet_snf::Error> for ReplayError{
+	fn from(value:strafesnet_snf::Error)->Self{
+		Self::SNF(value)
+	}
+}
+impl From<strafesnet_snf::map::Error> for ReplayError{
+	fn from(value:strafesnet_snf::map::Error)->Self{
+		Self::SNFM(value)
+	}
+}
+impl From<strafesnet_snf::bot::Error> for ReplayError{
+	fn from(value:strafesnet_snf::bot::Error)->Self{
+		Self::SNFB(value)
+	}
+}
+
+fn read_entire_file(path:impl AsRef<Path>)->Result<Cursor<Vec<u8>>,std::io::Error>{
+	let mut file=std::fs::File::open(path)?;
+	let mut data=Vec::new();
+	file.read_to_end(&mut data)?;
+	Ok(Cursor::new(data))
+}
+
+fn run_replay()->Result<(),ReplayError>{
+	println!("loading map file..");
+	let data=read_entire_file("../tools/bhop_maps/5692113331.snfm")?;
+	let map=strafesnet_snf::read_map(data)?.into_complete_map()?;
+
+	println!("loading bot file..");
+	let data=read_entire_file("../tools/replays/535s+159764769ns.snfb")?;
+	let bot=strafesnet_snf::read_bot(data)?.read_all()?;
+
+	// create recording
+	let mut physics_data=PhysicsData::default();
+	println!("generating models..");
+	physics_data.generate_models(&map);
+	println!("simulating...");
+	let mut physics=PhysicsState::default();
+	for ins in bot.instructions{
+		PhysicsContext::run_input_instruction(&mut physics,&physics_data,ins);
+	}
+	match physics.get_finish_time(){
+		Some(time)=>println!("finish time:{}",time),
+		None=>println!("simulation did not end in finished state"),
+	}
+
+	Ok(())
+}
+enum DeterminismResult{
+	Deterministic,
+	NonDeterministic,
+}
+fn segment_determinism(bot:strafesnet_snf::bot::Segment,physics_data:&PhysicsData)->DeterminismResult{
+	// create default physics state
+	let mut physics_deterministic=PhysicsState::default();
+	// create a second physics state
+	let mut physics_filtered=PhysicsState::default();
+
+	// invent a new bot id and insert the replay
+	println!("simulating...");
+
+	let mut non_idle_count=0;
+
+	for (i,ins) in bot.instructions.into_iter().enumerate(){
+		let state_deterministic=physics_deterministic.clone();
+		let state_filtered=physics_filtered.clone();
+		PhysicsContext::run_input_instruction(&mut physics_deterministic,&physics_data,ins.clone());
+		match ins{
+			strafesnet_common::instruction::TimedInstruction{instruction:strafesnet_common::physics::Instruction::Idle,..}=>(),
+			other=>{
+				non_idle_count+=1;
+				// run
+				PhysicsContext::run_input_instruction(&mut physics_filtered,&physics_data,other.clone());
+				// check if position matches
+				let b0=physics_deterministic.camera_body();
+				let b1=physics_filtered.camera_body();
+				if b0.position!=b1.position{
+					println!("desync at instruction #{}",i);
+					println!("non idle instructions completed={non_idle_count}");
+					println!("instruction #{i}={:?}",other);
+					println!("deterministic state0:\n{state_deterministic:?}");
+					println!("filtered state0:\n{state_filtered:?}");
+					println!("deterministic state1:\n{:?}",physics_deterministic);
+					println!("filtered state1:\n{:?}",physics_filtered);
+					return DeterminismResult::NonDeterministic;
+				}
+			},
+		}
+	}
+	match physics_deterministic.get_finish_time(){
+		Some(time)=>println!("[with idle] finish time:{}",time),
+		None=>println!("[with idle] simulation did not end in finished state"),
+	}
+	match physics_filtered.get_finish_time(){
+		Some(time)=>println!("[filtered] finish time:{}",time),
+		None=>println!("[filtered] simulation did not end in finished state"),
+	}
+	DeterminismResult::Deterministic
+}
+type ThreadResult=Result<Option<DeterminismResult>,ReplayError>;
+fn read_and_run(file_path:std::path::PathBuf,physics_data:&PhysicsData)->ThreadResult{
+	let data=read_entire_file(file_path.as_path())?;
+	let bot=strafesnet_snf::read_bot(data)?.read_all()?;
+	println!("Running {:?}",file_path.file_stem());
+	Ok(Some(segment_determinism(bot,physics_data)))
+}
+fn do_thread<'a>(s:&'a std::thread::Scope<'a,'_>,file_path:std::path::PathBuf,send:std::sync::mpsc::Sender<ThreadResult>,physics_data:&'a PhysicsData){
+	s.spawn(move ||{
+		let result=read_and_run(file_path,physics_data);
+		// send when thread is complete
+		send.send(result).unwrap();
+	});
+}
+fn get_file_path(dir_entry:std::fs::DirEntry)->Result<Option<std::path::PathBuf>,std::io::Error>{
+	Ok(dir_entry.file_type()?.is_file().then_some(
+		dir_entry.path()
+	))
+}
+fn test_determinism()->Result<(),ReplayError>{
+	let thread_limit=std::thread::available_parallelism()?.get();
+	println!("loading map file..");
+	let data=read_entire_file("../tools/bhop_maps/5692113331.snfm")?;
+	let map=strafesnet_snf::read_map(data)?.into_complete_map()?;
+
+	let mut physics_data=PhysicsData::default();
+	println!("generating models..");
+	physics_data.generate_models(&map);
+
+	let (send,recv)=std::sync::mpsc::channel();
+
+	let mut read_dir=std::fs::read_dir("../tools/replays")?;
+
+	// promise that &physics_data will outlive the spawned threads
+	let thread_results=std::thread::scope(|s|{
+		let mut thread_results=Vec::new();
+
+		// spawn threads
+		println!("spawning up to {thread_limit} threads...");
+		let mut active_thread_count=0;
+		while active_thread_count<thread_limit{
+			if let Some(dir_entry_result)=read_dir.next(){
+				if let Some(file_path)=get_file_path(dir_entry_result?)?{
+					active_thread_count+=1;
+					do_thread(s,file_path,send.clone(),&physics_data);
+				}
+			}else{
+				break;
+			}
+		}
+
+		// spawn another thread every time a message is received from the channel
+		println!("riding parallelism wave...");
+		while let Some(dir_entry_result)=read_dir.next(){
+			if let Some(file_path)=get_file_path(dir_entry_result?)?{
+				// wait for a thread to complete
+				thread_results.push(recv.recv().unwrap());
+				do_thread(s,file_path,send.clone(),&physics_data);
+			}
+		}
+
+		// wait for remaining threads to complete
+		println!("waiting for all threads to complete...");
+		for _ in 0..active_thread_count{
+			thread_results.push(recv.recv().unwrap());
+		}
+
+		println!("done.");
+		Ok::<_,ReplayError>(thread_results)
+	})?;
+
+	// tally results
+	#[derive(Default)]
+	struct Totals{
+		deterministic:u32,
+		nondeterministic:u32,
+		invalid:u32,
+		error:u32,
+	}
+	let Totals{deterministic,nondeterministic,invalid,error}=thread_results.into_iter().fold(Totals::default(),|mut totals,result|{
+		match result{
+			Ok(Some(DeterminismResult::Deterministic))=>totals.deterministic+=1,
+			Ok(Some(DeterminismResult::NonDeterministic))=>totals.nondeterministic+=1,
+			Ok(None)=>totals.invalid+=1,
+			Err(_)=>totals.error+=1,
+		}
+		totals
+	});
+
+	println!("deterministic={deterministic}");
+	println!("nondeterministic={nondeterministic}");
+	println!("invalid={invalid}");
+	println!("error={error}");
+
+	assert!(nondeterministic==0);
+	assert!(invalid==0);
+	assert!(error==0);
+
+	Ok(())
+}

lib/README.md

@@ -0,0 +1,19 @@
+Vectors: Fixed Size, Fixed Point, Wide
+======================================
+
+## These exist separately in the Rust ecosystem, but not together.
+
+#### License
+
+<sup>
+Licensed under either of <a href="LICENSE-APACHE">Apache License, Version
+2.0</a> or <a href="LICENSE-MIT">MIT license</a> at your option.
+</sup>
+
+<br>
+
+<sub>
+Unless you explicitly state otherwise, any contribution intentionally submitted
+for inclusion in this crate by you, as defined in the Apache-2.0 license, shall
+be dual licensed as above, without any additional terms or conditions.
+</sub>

lib/bsp_loader/.gitignore

@@ -0,0 +1 @@
+/target

lib/bsp_loader/Cargo.toml

@@ -0,0 +1,16 @@
+[package]
+name = "strafesnet_bsp_loader"
+version = "0.2.2"
+edition = "2021"
+repository = "https://git.itzana.me/StrafesNET/strafe-project"
+license = "MIT OR Apache-2.0"
+description = "Convert Valve BSP files to StrafesNET data structures."
+authors = ["Rhys Lloyd <krakow20@gmail.com>"]
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+glam = "0.29.0"
+strafesnet_common = { path = "../common", registry = "strafesnet" }
+vbsp = "0.6.0"
+vmdl = "0.2.0"

lib/bsp_loader/LICENSE-APACHE

@@ -0,0 +1,176 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+   "License" shall mean the terms and conditions for use, reproduction,
+   and distribution as defined by Sections 1 through 9 of this document.
+
+   "Licensor" shall mean the copyright owner or entity authorized by
+   the copyright owner that is granting the License.
+
+   "Legal Entity" shall mean the union of the acting entity and all
+   other entities that control, are controlled by, or are under common
+   control with that entity. For the purposes of this definition,
+   "control" means (i) the power, direct or indirect, to cause the
+   direction or management of such entity, whether by contract or
+   otherwise, or (ii) ownership of fifty percent (50%) or more of the
+   outstanding shares, or (iii) beneficial ownership of such entity.
+
+   "You" (or "Your") shall mean an individual or Legal Entity
+   exercising permissions granted by this License.
+
+   "Source" form shall mean the preferred form for making modifications,
+   including but not limited to software source code, documentation
+   source, and configuration files.
+
+   "Object" form shall mean any form resulting from mechanical
+   transformation or translation of a Source form, including but
+   not limited to compiled object code, generated documentation,
+   and conversions to other media types.
+
+   "Work" shall mean the work of authorship, whether in Source or
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+
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+
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+   any Contribution intentionally submitted for inclusion in the Work
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+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
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+8. Limitation of Liability. In no event and under no legal theory,
+   whether in tort (including negligence), contract, or otherwise,
+   unless required by applicable law (such as deliberate and grossly
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+   liable to You for damages, including any direct, indirect, special,
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+
+END OF TERMS AND CONDITIONS

lib/bsp_loader/LICENSE-MIT

@@ -0,0 +1,23 @@
+Permission is hereby granted, free of charge, to any
+person obtaining a copy of this software and associated
+documentation files (the "Software"), to deal in the
+Software without restriction, including without
+limitation the rights to use, copy, modify, merge,
+publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software
+is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice
+shall be included in all copies or substantial portions
+of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF
+ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
+SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
+IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

lib/bsp_loader/README.md

@@ -0,0 +1,19 @@
+StrafesNET BSP Loader
+=====================
+
+## Convert Valve BSP files into StrafesNET data structures
+
+#### License
+
+<sup>
+Licensed under either of <a href="LICENSE-APACHE">Apache License, Version
+2.0</a> or <a href="LICENSE-MIT">MIT license</a> at your option.
+</sup>
+
+<br>
+
+<sub>
+Unless you explicitly state otherwise, any contribution intentionally submitted
+for inclusion in this crate by you, as defined in the Apache-2.0 license, shall
+be dual licensed as above, without any additional terms or conditions.
+</sub>

lib/bsp_loader/src/bsp.rs

@@ -0,0 +1,333 @@
+use strafesnet_common::{map,model,integer,gameplay_attributes};
+
+const VALVE_SCALE:f32=1.0/16.0;
+fn valve_transform([x,y,z]:[f32;3])->integer::Planar64Vec3{
+	integer::vec3::try_from_f32_array([x*VALVE_SCALE,z*VALVE_SCALE,-y*VALVE_SCALE]).unwrap()
+}
+pub fn convert_bsp<AcquireRenderConfigId,AcquireMeshId>(
+	bsp:&vbsp::Bsp,
+	mut acquire_render_config_id:AcquireRenderConfigId,
+	mut acquire_mesh_id:AcquireMeshId
+)->PartialMap1
+where
+	AcquireRenderConfigId:FnMut(Option<&str>)->model::RenderConfigId,
+	AcquireMeshId:FnMut(&str)->model::MeshId,
+{
+	//figure out real attributes later
+	let mut unique_attributes=Vec::new();
+	unique_attributes.push(gameplay_attributes::CollisionAttributes::Decoration);
+	const TEMP_TOUCH_ME_ATTRIBUTE:gameplay_attributes::CollisionAttributesId=gameplay_attributes::CollisionAttributesId::new(0);
+
+	let mut prop_mesh_count=0;
+	//declare all prop models to Loader
+	let prop_models=bsp.static_props().map(|prop|{
+		//get or create mesh_id
+		let mesh_id=acquire_mesh_id(prop.model());
+		//not the most failsafe code but this is just for the map tool lmao
+		if prop_mesh_count==mesh_id.get(){
+			prop_mesh_count+=1;
+		};
+		let placement=prop.as_prop_placement();
+		model::Model{
+			mesh:mesh_id,
+			attributes:TEMP_TOUCH_ME_ATTRIBUTE,
+			transform:integer::Planar64Affine3::new(
+				integer::mat3::try_from_f32_array_2d((
+					glam::Mat3A::from_diagonal(glam::Vec3::splat(placement.scale))
+					//TODO: figure this out
+					*glam::Mat3A::from_quat(glam::Quat::from_array(placement.rotation.into()))
+				).to_cols_array_2d()).unwrap(),
+				valve_transform(placement.origin.into()),
+			),
+			color:glam::Vec4::ONE,
+		}
+	}).collect();
+
+	//TODO: make the main map one single mesh with a bunch of different physics groups and graphics groups
+
+	//the generated MeshIds in here will collide with the Loader Mesh Ids
+	//but I can't think of a good workaround other than just remapping one later.
+	let world_meshes:Vec<model::Mesh>=bsp.models().map(|world_model|{
+		//non-deduplicated
+		let mut spam_pos=Vec::new();
+		let mut spam_tex=Vec::new();
+		let mut spam_normal=Vec::new();
+		let mut spam_vertices=Vec::new();
+		let mut graphics_groups=Vec::new();
+		let mut physics_group=model::IndexedPhysicsGroup::default();
+		let polygon_groups=world_model.faces().enumerate().map(|(polygon_group_id,face)|{
+			let polygon_group_id=model::PolygonGroupId::new(polygon_group_id as u32);
+			let face_texture=face.texture();
+			let face_texture_data=face_texture.texture_data();
+			//this would be better as a 4x2 matrix
+			let texture_transform_u=glam::Vec4::from_array(face_texture.texture_transforms_u)/(face_texture_data.width as f32);
+			let texture_transform_v=glam::Vec4::from_array(face_texture.texture_transforms_v)/(face_texture_data.height as f32);
+
+			//this automatically figures out what the texture is trying to do and creates
+			//a render config for it, and then returns the id to that render config
+			let render_id=acquire_render_config_id(Some(face_texture_data.name()));
+
+			//normal
+			let normal=face.normal();
+			let normal_idx=spam_normal.len() as u32;
+			spam_normal.push(valve_transform(normal.into()));
+			let mut polygon_iter=face.vertex_positions().map(|vertex_position|{
+				//world_model.origin seems to always be 0,0,0
+				let vertex_xyz=(world_model.origin+vertex_position).into();
+				let pos_idx=spam_pos.len();
+				spam_pos.push(valve_transform(vertex_xyz));
+
+				//calculate texture coordinates
+				let pos=glam::Vec3::from_array(vertex_xyz).extend(1.0);
+				let tex=glam::vec2(texture_transform_u.dot(pos),texture_transform_v.dot(pos));
+				let tex_idx=spam_tex.len() as u32;
+				spam_tex.push(tex);
+
+				let vertex_id=model::VertexId::new(spam_vertices.len() as u32);
+				spam_vertices.push(model::IndexedVertex{
+					pos:model::PositionId::new(pos_idx as u32),
+					tex:model::TextureCoordinateId::new(tex_idx as u32),
+					normal:model::NormalId::new(normal_idx),
+					color:model::ColorId::new(0),
+				});
+				vertex_id
+			});
+			let polygon_list=std::iter::from_fn(move||{
+				match (polygon_iter.next(),polygon_iter.next(),polygon_iter.next()){
+					(Some(v1),Some(v2),Some(v3))=>Some(vec![v1,v2,v3]),
+					//ignore extra vertices, not sure what to do in this case, failing the whole conversion could be appropriate
+					_=>None,
+				}
+			}).collect();
+			if face.is_visible(){
+				//TODO: deduplicate graphics groups by render id
+				graphics_groups.push(model::IndexedGraphicsGroup{
+					render:render_id,
+					groups:vec![polygon_group_id],
+				})
+			}
+			physics_group.groups.push(polygon_group_id);
+			model::PolygonGroup::PolygonList(model::PolygonList::new(polygon_list))
+		}).collect();
+		model::Mesh{
+			unique_pos:spam_pos,
+			unique_tex:spam_tex,
+			unique_normal:spam_normal,
+			unique_color:vec![glam::Vec4::ONE],
+			unique_vertices:spam_vertices,
+			polygon_groups,
+			graphics_groups,
+			physics_groups:vec![physics_group],
+		}
+	}).collect();
+
+	let world_models:Vec<model::Model>=
+	//one instance of the main world mesh
+	std::iter::once((
+		//world_model
+		model::MeshId::new(0),
+		//model_origin
+		vbsp::Vector::from([0.0,0.0,0.0]),
+		//model_color
+		vbsp::Color{r:255,g:255,b:255},
+	)).chain(
+		//entities sprinkle instances of the other meshes around
+		bsp.entities.iter()
+		.flat_map(|ent|ent.parse())//ignore entity parsing errors
+		.filter_map(|ent|match ent{
+			vbsp::Entity::Brush(brush)=>Some(brush),
+			vbsp::Entity::BrushIllusionary(brush)=>Some(brush),
+			vbsp::Entity::BrushWall(brush)=>Some(brush),
+			vbsp::Entity::BrushWallToggle(brush)=>Some(brush),
+			_=>None,
+		}).flat_map(|brush|
+			//The first character of brush.model is '*'
+			brush.model[1..].parse().map(|mesh_id|//ignore parse int errors
+				(model::MeshId::new(mesh_id),brush.origin,brush.color)
+			)
+		)
+	).map(|(mesh_id,model_origin,vbsp::Color{r,g,b})|{
+		model::Model{
+			mesh:mesh_id,
+			attributes:TEMP_TOUCH_ME_ATTRIBUTE,
+			transform:integer::Planar64Affine3::new(
+				integer::mat3::identity(),
+				valve_transform(model_origin.into())
+			),
+			color:(glam::Vec3::from_array([r as f32,g as f32,b as f32])/255.0).extend(1.0),
+		}
+	}).collect();
+
+	PartialMap1{
+		attributes:unique_attributes,
+		world_meshes,
+		prop_models,
+		world_models,
+		modes:strafesnet_common::gameplay_modes::Modes::new(Vec::new()),
+	}
+}
+
+//partially constructed map types
+pub struct PartialMap1{
+	attributes:Vec<strafesnet_common::gameplay_attributes::CollisionAttributes>,
+	prop_models:Vec<model::Model>,
+	world_meshes:Vec<model::Mesh>,
+	world_models:Vec<model::Model>,
+	modes:strafesnet_common::gameplay_modes::Modes,
+}
+impl PartialMap1{
+	pub fn add_prop_meshes<AcquireRenderConfigId>(
+		self,
+		prop_meshes:impl IntoIterator<Item=(model::MeshId,crate::data::ModelData)>,
+		mut acquire_render_config_id:AcquireRenderConfigId,
+	)->PartialMap2
+	where
+		AcquireRenderConfigId:FnMut(Option<&str>)->model::RenderConfigId,
+	{
+		PartialMap2{
+			attributes:self.attributes,
+			prop_meshes:prop_meshes.into_iter().filter_map(|(mesh_id,model_data)|
+				//this will generate new render ids and texture ids
+				match convert_mesh(model_data,&mut acquire_render_config_id){
+					Ok(mesh)=>Some((mesh_id,mesh)),
+					Err(e)=>{
+						println!("error converting mesh: {e}");
+						None
+					}
+				}
+			).collect(),
+			prop_models:self.prop_models,
+			world_meshes:self.world_meshes,
+			world_models:self.world_models,
+			modes:self.modes,
+		}
+	}
+}
+pub struct PartialMap2{
+	attributes:Vec<strafesnet_common::gameplay_attributes::CollisionAttributes>,
+	prop_meshes:Vec<(model::MeshId,model::Mesh)>,
+	prop_models:Vec<model::Model>,
+	world_meshes:Vec<model::Mesh>,
+	world_models:Vec<model::Model>,
+	modes:strafesnet_common::gameplay_modes::Modes,
+}
+impl PartialMap2{
+	pub fn add_render_configs_and_textures(
+		mut self,
+		render_configs:impl IntoIterator<Item=(model::RenderConfigId,model::RenderConfig)>,
+		textures:impl IntoIterator<Item=(model::TextureId,Vec<u8>)>,
+	)->map::CompleteMap{
+		//merge mesh and model lists, flatten and remap all ids
+		let mesh_id_offset=self.world_meshes.len();
+		println!("prop_meshes.len()={}",self.prop_meshes.len());
+		let (mut prop_meshes,prop_mesh_id_map):(Vec<model::Mesh>,std::collections::HashMap<model::MeshId,model::MeshId>)
+		=self.prop_meshes.into_iter().enumerate().map(|(new_mesh_id,(old_mesh_id,mesh))|{
+			(mesh,(old_mesh_id,model::MeshId::new((mesh_id_offset+new_mesh_id) as u32)))
+		}).unzip();
+		self.world_meshes.append(&mut prop_meshes);
+		//there is no modes or runtime behaviour with references to the model ids currently
+		//so just relentlessly cull them if the mesh is missing
+		self.world_models.extend(self.prop_models.into_iter().filter_map(|mut model|
+			prop_mesh_id_map.get(&model.mesh).map(|&new_mesh_id|{
+				model.mesh=new_mesh_id;
+				model
+			})
+		));
+		//let mut models=Vec::new();
+		let (textures,texture_id_map):(Vec<Vec<u8>>,std::collections::HashMap<model::TextureId,model::TextureId>)
+		=textures.into_iter()
+		//.filter_map(f) cull unused textures
+		.enumerate().map(|(new_texture_id,(old_texture_id,texture))|{
+			(texture,(old_texture_id,model::TextureId::new(new_texture_id as u32)))
+		}).unzip();
+		let render_configs=render_configs.into_iter().map(|(render_config_id,mut render_config)|{
+			//this may generate duplicate no-texture render configs but idc
+			render_config.texture=render_config.texture.and_then(|texture_id|
+				texture_id_map.get(&texture_id).copied()
+			);
+			render_config
+		}).collect();
+		map::CompleteMap{
+			modes:self.modes,
+			attributes:self.attributes,
+			meshes:self.world_meshes,
+			models:self.world_models,
+			textures,
+			render_configs,
+		}
+	}
+}
+
+fn convert_mesh<AcquireRenderConfigId>(
+	model_data:crate::data::ModelData,
+	acquire_render_config_id:&mut AcquireRenderConfigId,
+)->Result<model::Mesh,vmdl::ModelError>
+where
+	AcquireRenderConfigId:FnMut(Option<&str>)->model::RenderConfigId,
+{
+	let model=model_data.read_model()?;
+	let texture_paths=model.texture_directories();
+	if texture_paths.len()!=1{
+		println!("WARNING: multiple texture paths");
+	}
+	let skin=model.skin_tables().nth(0).unwrap();
+
+	let mut spam_pos=Vec::with_capacity(model.vertices().len());
+	let mut spam_normal=Vec::with_capacity(model.vertices().len());
+	let mut spam_tex=Vec::with_capacity(model.vertices().len());
+	let mut spam_vertices=Vec::with_capacity(model.vertices().len());
+	for (i,vertex) in model.vertices().iter().enumerate(){
+		spam_pos.push(valve_transform(vertex.position.into()));
+		spam_normal.push(valve_transform(vertex.normal.into()));
+		spam_tex.push(glam::Vec2::from_array(vertex.texture_coordinates));
+		spam_vertices.push(model::IndexedVertex{
+			pos:model::PositionId::new(i as u32),
+			tex:model::TextureCoordinateId::new(i as u32),
+			normal:model::NormalId::new(i as u32),
+			color:model::ColorId::new(0),
+		});
+	}
+	let mut graphics_groups=Vec::new();
+	let mut physics_groups=Vec::new();
+	let polygon_groups=model.meshes().enumerate().map(|(polygon_group_id,mesh)|{
+		let polygon_group_id=model::PolygonGroupId::new(polygon_group_id as u32);
+
+		let render_id=if let (Some(texture_path),Some(texture_name))=(texture_paths.get(0),skin.texture(mesh.material_index())){
+			let mut path=std::path::PathBuf::from(texture_path.as_str());
+			path.push(texture_name);
+			acquire_render_config_id(path.as_os_str().to_str())
+		}else{
+			acquire_render_config_id(None)
+		};
+
+		graphics_groups.push(model::IndexedGraphicsGroup{
+			render:render_id,
+			groups:vec![polygon_group_id],
+		});
+		physics_groups.push(model::IndexedPhysicsGroup{
+			groups:vec![polygon_group_id],
+		});
+		model::PolygonGroup::PolygonList(model::PolygonList::new(
+			//looking at the code, it would seem that the strips are pre-deindexed into triangle lists when calling this function
+			mesh.vertex_strip_indices().flat_map(|mut strip|
+				std::iter::from_fn(move||{
+					match (strip.next(),strip.next(),strip.next()){
+						(Some(v1),Some(v2),Some(v3))=>Some([v1,v2,v3].map(|vertex_id|model::VertexId::new(vertex_id as u32)).to_vec()),
+						//ignore extra vertices, not sure what to do in this case, failing the whole conversion could be appropriate
+						_=>None,
+					}
+				})
+			).collect()
+		))
+	}).collect();
+	Ok(model::Mesh{
+		unique_pos:spam_pos,
+		unique_normal:spam_normal,
+		unique_tex:spam_tex,
+		unique_color:vec![glam::Vec4::ONE],
+		unique_vertices:spam_vertices,
+		polygon_groups,
+		graphics_groups,
+		physics_groups,
+	})
+}

lib/bsp_loader/src/data.rs

@@ -0,0 +1,60 @@
+pub struct Bsp(vbsp::Bsp);
+impl Bsp{
+	pub const fn new(value:vbsp::Bsp)->Self{
+		Self(value)
+	}
+}
+impl AsRef<vbsp::Bsp> for Bsp{
+	fn as_ref(&self)->&vbsp::Bsp{
+		&self.0
+	}
+}
+
+pub struct MdlData(Vec<u8>);
+impl MdlData{
+	pub const fn new(value:Vec<u8>)->Self{
+		Self(value)
+	}
+}
+impl AsRef<[u8]> for MdlData{
+	fn as_ref(&self)->&[u8]{
+		self.0.as_ref()
+	}
+}
+pub struct VtxData(Vec<u8>);
+impl VtxData{
+	pub const fn new(value:Vec<u8>)->Self{
+		Self(value)
+	}
+}
+impl AsRef<[u8]> for VtxData{
+	fn as_ref(&self)->&[u8]{
+		self.0.as_ref()
+	}
+}
+pub struct VvdData(Vec<u8>);
+impl VvdData{
+	pub const fn new(value:Vec<u8>)->Self{
+		Self(value)
+	}
+}
+impl AsRef<[u8]> for VvdData{
+	fn as_ref(&self)->&[u8]{
+		self.0.as_ref()
+	}
+}
+
+pub struct ModelData{
+	pub mdl:MdlData,
+	pub vtx:VtxData,
+	pub vvd:VvdData,
+}
+impl ModelData{
+	pub fn read_model(&self)->Result<vmdl::Model,vmdl::ModelError>{
+		Ok(vmdl::Model::from_parts(
+			vmdl::mdl::Mdl::read(self.mdl.as_ref())?,
+			vmdl::vtx::Vtx::read(self.vtx.as_ref())?,
+			vmdl::vvd::Vvd::read(self.vvd.as_ref())?,
+		))
+	}
+}

lib/bsp_loader/src/lib.rs

@@ -0,0 +1,37 @@
+mod bsp;
+pub mod data;
+
+pub use data::Bsp;
+
+#[derive(Debug)]
+pub enum ReadError{
+	Bsp(vbsp::BspError),
+	Io(std::io::Error),
+}
+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 fn read<R:std::io::Read>(mut input:R)->Result<Bsp,ReadError>{
+	let mut s=Vec::new();
+
+	//TODO: mmap
+	input.read_to_end(&mut s).map_err(ReadError::Io)?;
+
+	vbsp::Bsp::read(s.as_slice()).map(Bsp::new).map_err(ReadError::Bsp)
+}
+
+pub fn convert<AcquireRenderConfigId,AcquireMeshId>(
+	bsp:&Bsp,
+	acquire_render_config_id:AcquireRenderConfigId,
+	acquire_mesh_id:AcquireMeshId
+)->bsp::PartialMap1
+where
+	AcquireRenderConfigId:FnMut(Option<&str>)->strafesnet_common::model::RenderConfigId,
+	AcquireMeshId:FnMut(&str)->strafesnet_common::model::MeshId,
+{
+	bsp::convert_bsp(bsp.as_ref(),acquire_render_config_id,acquire_mesh_id)
+}

lib/common/.gitignore

@@ -0,0 +1 @@
+/target

lib/common/Cargo.toml

@@ -0,0 +1,19 @@
+[package]
+name = "strafesnet_common"
+version = "0.5.2"
+edition = "2021"
+repository = "https://git.itzana.me/StrafesNET/strafe-project"
+license = "MIT OR Apache-2.0"
+description = "Common types and helpers for Strafe Client associated projects."
+authors = ["Rhys Lloyd <krakow20@gmail.com>"]
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+arrayvec = "0.7.4"
+bitflags = "2.6.0"
+fixed_wide = { path = "../fixed_wide", registry = "strafesnet", features = ["deferred-division","zeroes","wide-mul"] }
+linear_ops = { path = "../linear_ops", registry = "strafesnet", features = ["deferred-division","named-fields"] }
+ratio_ops = { path = "../ratio_ops", registry = "strafesnet" }
+glam = "0.29.0"
+id = { version = "0.1.0", registry = "strafesnet" }

lib/common/LICENSE-APACHE

@@ -0,0 +1,176 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+   "License" shall mean the terms and conditions for use, reproduction,
+   and distribution as defined by Sections 1 through 9 of this document.
+
+   "Licensor" shall mean the copyright owner or entity authorized by
+   the copyright owner that is granting the License.
+
+   "Legal Entity" shall mean the union of the acting entity and all
+   other entities that control, are controlled by, or are under common
+   control with that entity. For the purposes of this definition,
+   "control" means (i) the power, direct or indirect, to cause the
+   direction or management of such entity, whether by contract or
+   otherwise, or (ii) ownership of fifty percent (50%) or more of the
+   outstanding shares, or (iii) beneficial ownership of such entity.
+
+   "You" (or "Your") shall mean an individual or Legal Entity
+   exercising permissions granted by this License.
+
+   "Source" form shall mean the preferred form for making modifications,
+   including but not limited to software source code, documentation
+   source, and configuration files.
+
+   "Object" form shall mean any form resulting from mechanical
+   transformation or translation of a Source form, including but
+   not limited to compiled object code, generated documentation,
+   and conversions to other media types.
+
+   "Work" shall mean the work of authorship, whether in Source or
+   Object form, made available under the License, as indicated by a
+   copyright notice that is included in or attached to the work
+   (an example is provided in the Appendix below).
+
+   "Derivative Works" shall mean any work, whether in Source or Object
+   form, that is based on (or derived from) the Work and for which the
+   editorial revisions, annotations, elaborations, or other modifications
+   represent, as a whole, an original work of authorship. For the purposes
+   of this License, Derivative Works shall not include works that remain
+   separable from, or merely link (or bind by name) to the interfaces of,
+   the Work and Derivative Works thereof.
+
+   "Contribution" shall mean any work of authorship, including
+   the original version of the Work and any modifications or additions
+   to that Work or Derivative Works thereof, that is intentionally
+   submitted to Licensor for inclusion in the Work by the copyright owner
+   or by an individual or Legal Entity authorized to submit on behalf of
+   the copyright owner. For the purposes of this definition, "submitted"
+   means any form of electronic, verbal, or written communication sent
+   to the Licensor or its representatives, including but not limited to
+   communication on electronic mailing lists, source code control systems,
+   and issue tracking systems that are managed by, or on behalf of, the
+   Licensor for the purpose of discussing and improving the Work, but
+   excluding communication that is conspicuously marked or otherwise
+   designated in writing by the copyright owner as "Not a Contribution."
+
+   "Contributor" shall mean Licensor and any individual or Legal Entity
+   on behalf of whom a Contribution has been received by Licensor and
+   subsequently incorporated within the Work.
+
+2. Grant of Copyright License. Subject to the terms and conditions of
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+   risks associated with Your exercise of permissions under this License.
+
+8. Limitation of Liability. In no event and under no legal theory,
+   whether in tort (including negligence), contract, or otherwise,
+   unless required by applicable law (such as deliberate and grossly
+   negligent acts) or agreed to in writing, shall any Contributor be
+   liable to You for damages, including any direct, indirect, special,
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+   of your accepting any such warranty or additional liability.
+
+END OF TERMS AND CONDITIONS

lib/common/LICENSE-MIT

@@ -0,0 +1,23 @@
+Permission is hereby granted, free of charge, to any
+person obtaining a copy of this software and associated
+documentation files (the "Software"), to deal in the
+Software without restriction, including without
+limitation the rights to use, copy, modify, merge,
+publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software
+is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice
+shall be included in all copies or substantial portions
+of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF
+ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
+SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
+IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

lib/common/README.md

@@ -0,0 +1,19 @@
+StrafesNET Common Library
+=========================
+
+## Common types used in the StrafesNET ecosystem
+
+#### License
+
+<sup>
+Licensed under either of <a href="LICENSE-APACHE">Apache License, Version
+2.0</a> or <a href="LICENSE-MIT">MIT license</a> at your option.
+</sup>
+
+<br>
+
+<sub>
+Unless you explicitly state otherwise, any contribution intentionally submitted
+for inclusion in this crate by you, as defined in the Apache-2.0 license, shall
+be dual licensed as above, without any additional terms or conditions.
+</sub>

lib/common/src/aabb.rs

@@ -0,0 +1,56 @@
+use crate::integer::{vec3,Planar64Vec3};
+
+#[derive(Clone)]
+pub struct Aabb{
+	min:Planar64Vec3,
+	max:Planar64Vec3,
+}
+
+impl Default for Aabb{
+	fn default()->Self{
+		Self{min:vec3::MAX,max:vec3::MIN}
+	}
+}
+
+impl Aabb{
+	pub const fn new(min:Planar64Vec3,max:Planar64Vec3)->Self{
+		Self{min,max}
+	}
+	pub const fn max(&self)->Planar64Vec3{
+		self.max
+	}
+	pub const fn min(&self)->Planar64Vec3{
+		self.min
+	}
+	pub fn grow(&mut self,point:Planar64Vec3){
+		self.min=self.min.min(point);
+		self.max=self.max.max(point);
+	}
+	pub fn join(&mut self,aabb:&Aabb){
+		self.min=self.min.min(aabb.min);
+		self.max=self.max.max(aabb.max);
+	}
+	pub fn inflate(&mut self,hs:Planar64Vec3){
+		self.min-=hs;
+		self.max+=hs;
+	}
+	pub fn intersects(&self,aabb:&Aabb)->bool{
+		let bvec=self.min.lt(aabb.max)&aabb.min.lt(self.max);
+		bvec.all()
+	}
+	pub fn size(&self)->Planar64Vec3{
+		self.max-self.min
+	}
+	pub fn center(&self)->Planar64Vec3{
+		self.min+(self.max-self.min)>>1
+	}
+	//probably use floats for area & volume because we don't care about precision
+	// pub fn area_weight(&self)->f32{
+	// 	let d=self.max-self.min;
+	// 	d.x*d.y+d.y*d.z+d.z*d.x
+	// }
+	// pub fn volume(&self)->f32{
+	// 	let d=self.max-self.min;
+	// 	d.x*d.y*d.z
+	// }
+}

lib/common/src/bvh.rs

@@ -0,0 +1,194 @@
+use crate::aabb::Aabb;
+
+//da algaritum
+//lista boxens
+//sort by {minx,maxx,miny,maxy,minz,maxz} (6 lists)
+//find the sets that minimizes the sum of surface areas
+//splitting is done when the minimum split sum of surface areas is larger than the node's own surface area
+
+//start with bisection into octrees because a bad bvh is still 1000x better than no bvh
+//sort the centerpoints on each axis (3 lists)
+//bv is put into octant based on whether it is upper or lower in each list
+
+pub enum RecursiveContent<R,T>{
+	Branch(Vec<R>),
+	Leaf(T),
+}
+impl<R,T> Default for RecursiveContent<R,T>{
+	fn default()->Self{
+		Self::Branch(Vec::new())
+	}
+}
+pub struct BvhNode<T>{
+	content:RecursiveContent<BvhNode<T>,T>,
+	aabb:Aabb,
+}
+impl<T> Default for BvhNode<T>{
+	fn default()->Self{
+		Self{
+			content:Default::default(),
+			aabb:Aabb::default(),
+		}
+	}
+}
+pub struct BvhWeightNode<W,T>{
+	content:RecursiveContent<BvhWeightNode<W,T>,T>,
+	weight:W,
+	aabb:Aabb,
+}
+
+impl<T> BvhNode<T>{
+	pub fn the_tester<F:FnMut(&T)>(&self,aabb:&Aabb,f:&mut F){
+		match &self.content{
+			RecursiveContent::Leaf(model)=>f(model),
+			RecursiveContent::Branch(children)=>for child in children{
+				//this test could be moved outside the match statement
+				//but that would test the root node aabb
+				//you're probably not going to spend a lot of time outside the map,
+				//so the test is extra work for nothing
+				if aabb.intersects(&child.aabb){
+					child.the_tester(aabb,f);
+				}
+			},
+		}
+	}
+	pub fn into_visitor<F:FnMut(T)>(self,f:&mut F){
+		match self.content{
+			RecursiveContent::Leaf(model)=>f(model),
+			RecursiveContent::Branch(children)=>for child in children{
+				child.into_visitor(f)
+			},
+		}
+	}
+	pub fn weigh_contents<W:Copy+std::iter::Sum<W>,F:Fn(&T)->W>(self,f:&F)->BvhWeightNode<W,T>{
+		match self.content{
+			RecursiveContent::Leaf(model)=>BvhWeightNode{
+				weight:f(&model),
+				content:RecursiveContent::Leaf(model),
+				aabb:self.aabb,
+			},
+			RecursiveContent::Branch(children)=>{
+				let branch:Vec<BvhWeightNode<W,T>>=children.into_iter().map(|child|
+					child.weigh_contents(f)
+				).collect();
+				BvhWeightNode{
+					weight:branch.iter().map(|node|node.weight).sum(),
+					content:RecursiveContent::Branch(branch),
+					aabb:self.aabb,
+				}
+			},
+		}
+	}
+}
+
+impl <W,T> BvhWeightNode<W,T>{
+	pub const fn weight(&self)->&W{
+		&self.weight
+	}
+	pub const fn aabb(&self)->&Aabb{
+		&self.aabb
+	}
+	pub fn into_content(self)->RecursiveContent<BvhWeightNode<W,T>,T>{
+		self.content
+	}
+	pub fn into_visitor<F:FnMut(T)>(self,f:&mut F){
+		match self.content{
+			RecursiveContent::Leaf(model)=>f(model),
+			RecursiveContent::Branch(children)=>for child in children{
+				child.into_visitor(f)
+			},
+		}
+	}
+}
+
+pub fn generate_bvh<T>(boxen:Vec<(T,Aabb)>)->BvhNode<T>{
+	generate_bvh_node(boxen,false)
+}
+
+fn generate_bvh_node<T>(boxen:Vec<(T,Aabb)>,force:bool)->BvhNode<T>{
+	let n=boxen.len();
+	if force||n<20{
+		let mut aabb=Aabb::default();
+		let nodes=boxen.into_iter().map(|b|{
+			aabb.join(&b.1);
+			BvhNode{
+				content:RecursiveContent::Leaf(b.0),
+				aabb:b.1,
+			}
+		}).collect();
+		BvhNode{
+			content:RecursiveContent::Branch(nodes),
+			aabb,
+		}
+	}else{
+		let mut sort_x=Vec::with_capacity(n);
+		let mut sort_y=Vec::with_capacity(n);
+		let mut sort_z=Vec::with_capacity(n);
+		for (i,(_,aabb)) in boxen.iter().enumerate(){
+			let center=aabb.center();
+			sort_x.push((i,center.x));
+			sort_y.push((i,center.y));
+			sort_z.push((i,center.z));
+		}
+		sort_x.sort_by(|tup0,tup1|tup0.1.cmp(&tup1.1));
+		sort_y.sort_by(|tup0,tup1|tup0.1.cmp(&tup1.1));
+		sort_z.sort_by(|tup0,tup1|tup0.1.cmp(&tup1.1));
+		let h=n/2;
+		let median_x=sort_x[h].1;
+		let median_y=sort_y[h].1;
+		let median_z=sort_z[h].1;
+		//locate a run of values equal to the median
+		//partition point gives the first index for which the predicate evaluates to false
+		let first_index_eq_median_x=sort_x.partition_point(|&(_,x)|x<median_x);
+		let first_index_eq_median_y=sort_y.partition_point(|&(_,y)|y<median_y);
+		let first_index_eq_median_z=sort_z.partition_point(|&(_,z)|z<median_z);
+		let first_index_gt_median_x=sort_x.partition_point(|&(_,x)|x<=median_x);
+		let first_index_gt_median_y=sort_y.partition_point(|&(_,y)|y<=median_y);
+		let first_index_gt_median_z=sort_z.partition_point(|&(_,z)|z<=median_z);
+		//pick which side median value copies go into such that both sides are as balanced as possible based on distance from n/2
+		let partition_point_x=if n.abs_diff(2*first_index_eq_median_x)<n.abs_diff(2*first_index_gt_median_x){first_index_eq_median_x}else{first_index_gt_median_x};
+		let partition_point_y=if n.abs_diff(2*first_index_eq_median_y)<n.abs_diff(2*first_index_gt_median_y){first_index_eq_median_y}else{first_index_gt_median_y};
+		let partition_point_z=if n.abs_diff(2*first_index_eq_median_z)<n.abs_diff(2*first_index_gt_median_z){first_index_eq_median_z}else{first_index_gt_median_z};
+		//this ids which octant the boxen is put in
+		let mut octant=vec![0;n];
+		for &(i,_) in &sort_x[partition_point_x..]{
+			octant[i]+=1<<0;
+		}
+		for &(i,_) in &sort_y[partition_point_y..]{
+			octant[i]+=1<<1;
+		}
+		for &(i,_) in &sort_z[partition_point_z..]{
+			octant[i]+=1<<2;
+		}
+		//generate lists for unique octant values
+		let mut list_list=Vec::with_capacity(8);
+		let mut octant_list=Vec::with_capacity(8);
+		for (i,(data,aabb)) in boxen.into_iter().enumerate(){
+			let octant_id=octant[i];
+			let list_id=if let Some(list_id)=octant_list.iter().position(|&id|id==octant_id){
+				list_id
+			}else{
+				let list_id=list_list.len();
+				octant_list.push(octant_id);
+				list_list.push(Vec::new());
+				list_id
+			};
+			list_list[list_id].push((data,aabb));
+		}
+		let mut aabb=Aabb::default();
+		if list_list.len()==1{
+			generate_bvh_node(list_list.remove(0),true)
+		}else{
+			BvhNode{
+				content:RecursiveContent::Branch(
+					list_list.into_iter().map(|b|{
+						let node=generate_bvh_node(b,false);
+						aabb.join(&node.aabb);
+						node
+					}).collect()
+				),
+				aabb,
+			}
+		}
+	}
+}

lib/common/src/controls_bitflag.rs

@@ -0,0 +1,25 @@
+bitflags::bitflags!{
+	#[derive(Clone,Copy,Debug,Default)]
+	pub struct Controls:u32{
+		const MoveForward=1<<0;
+		const MoveLeft=1<<1;
+		const MoveBackward=1<<2;
+		const MoveRight=1<<3;
+		const MoveUp=1<<4;
+		const MoveDown=1<<5;
+		const LookUp=1<<6;
+		const LookLeft=1<<7;
+		const LookDown=1<<8;
+		const LookRight=1<<9;
+		const Jump=1<<10;
+		const Crouch=1<<11;
+		const Sprint=1<<12;
+		const Zoom=1<<13;
+		const Use=1<<14;//Interact with object
+		const PrimaryAction=1<<15;//LBM/Shoot/Melee
+		const SecondaryAction=1<<16;//RMB/ADS/Block
+
+		const WASD=Self::MoveForward.union(Self::MoveLeft).union(Self::MoveBackward).union(Self::MoveRight).bits();
+		const WASDQE=Self::MoveForward.union(Self::MoveLeft).union(Self::MoveBackward).union(Self::MoveRight).union(Self::MoveUp).union(Self::MoveDown).bits();
+	}
+}

lib/common/src/gameplay_attributes.rs

@@ -0,0 +1,174 @@
+use crate::model;
+use crate::integer::{AbsoluteTime,Planar64,Planar64Vec3};
+
+//you have this effect while in contact
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub struct ContactingLadder{
+	pub sticky:bool
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub enum ContactingBehaviour{
+	Surf,
+	Ladder(ContactingLadder),
+	NoJump,
+	Cling,//usable as a zipline, or other weird and wonderful things
+	Elastic(u32),//[1/2^32,1] 0=None (elasticity+1)/2^32
+}
+//you have this effect while intersecting
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub struct IntersectingWater{
+	pub viscosity:Planar64,
+	pub density:Planar64,
+	pub velocity:Planar64Vec3,
+}
+//All models can be given these attributes
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub struct Accelerator{
+	pub acceleration:Planar64Vec3
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub enum Booster{
+	//Affine(crate::integer::Planar64Affine3),//capable of SetVelocity,DotVelocity,normal booster,bouncy part,redirect velocity, and much more
+	Velocity(Planar64Vec3),//straight up boost velocity adds to your current velocity
+	Energy{direction:Planar64Vec3,energy:Planar64},//increase energy in direction
+	AirTime(AbsoluteTime),//increase airtime, invariant across mass and gravity changes
+	Height(Planar64),//increase height, invariant across mass and gravity changes
+}
+impl Booster{
+	pub fn boost(&self,velocity:Planar64Vec3)->Planar64Vec3{
+		match self{
+			&Booster::Velocity(boost_velocity)=>velocity+boost_velocity,
+			&Booster::Energy{..}=>{
+				todo!()
+				//let d=direction.dot(velocity);
+				//TODO: think about negative
+				//velocity+direction.with_length((d*d+energy).sqrt()-d)
+			},
+			Booster::AirTime(_)=>todo!(),
+			Booster::Height(_)=>todo!(),
+		}
+	}
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub enum TrajectoryChoice{
+	HighArcLongDuration,//underhand lob at target: less horizontal speed and more air time
+	LowArcShortDuration,//overhand throw at target: more horizontal speed and less air time
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub enum SetTrajectory{
+	//Speed-type SetTrajectory
+	AirTime(AbsoluteTime),//air time (relative to gravity direction) is invariant across mass and gravity changes
+	Height(Planar64),//boost height (relative to gravity direction) is invariant across mass and gravity changes
+	DotVelocity{direction:Planar64Vec3,dot:Planar64},//set your velocity in a specific direction without touching other directions
+	//Velocity-type SetTrajectory
+	TargetPointTime{//launch on a trajectory that will land at a target point in a set amount of time
+		target_point:Planar64Vec3,
+		time:AbsoluteTime,//short time = fast and direct, long time = launch high in the air, negative time = wrong way
+	},
+	TargetPointSpeed{//launch at a fixed speed and land at a target point
+		target_point:Planar64Vec3,
+		speed:Planar64,//if speed is too low this will fail to reach the target.  The closest-passing trajectory will be chosen instead
+		trajectory_choice:TrajectoryChoice,
+	},
+	Velocity(Planar64Vec3),//SetVelocity
+}
+impl SetTrajectory{
+	pub const fn is_absolute(&self)->bool{
+		match self{
+			SetTrajectory::AirTime(_)
+			|SetTrajectory::Height(_)
+			|SetTrajectory::DotVelocity{direction:_,dot:_}=>false,
+			SetTrajectory::TargetPointTime{target_point:_,time:_}
+			|SetTrajectory::TargetPointSpeed{target_point:_,speed:_,trajectory_choice:_}
+			|SetTrajectory::Velocity(_)=>true,
+		}
+	}
+}
+// enum TrapCondition{
+// 	FasterThan(Planar64),
+// 	SlowerThan(Planar64),
+// 	InRange(Planar64,Planar64),
+// 	OutsideRange(Planar64,Planar64),
+// }
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub struct Wormhole{
+	//destination does not need to be another wormhole
+	//this defines a one way portal to a destination model transform
+	//two of these can create a two way wormhole
+	pub destination_model:model::ModelId,
+	//(position,angles)*=origin.transform.inverse()*destination.transform
+}
+//attributes listed in order of handling
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
+pub struct GeneralAttributes{
+	pub booster:Option<Booster>,
+	pub trajectory:Option<SetTrajectory>,
+	pub wormhole:Option<Wormhole>,
+	pub accelerator:Option<Accelerator>,
+}
+impl GeneralAttributes{
+	pub const fn any(&self)->bool{
+		self.booster.is_some()
+		||self.trajectory.is_some()
+		||self.wormhole.is_some()
+		||self.accelerator.is_some()
+	}
+	pub fn is_wrcp(&self)->bool{
+		self.trajectory.as_ref().map_or(false,|t|t.is_absolute())
+		/*
+		&&match &self.teleport_behaviour{
+			Some(TeleportBehaviour::StageElement(
+				StageElement{
+					mode_id,
+					stage_id:_,
+					force:true,
+					behaviour:StageElementBehaviour::Trigger|StageElementBehaviour::Teleport
+				}
+			))=>current_mode_id==*mode_id,
+			_=>false,
+		}
+		*/
+	}
+}
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
+pub struct ContactingAttributes{
+	//friction?
+	pub contact_behaviour:Option<ContactingBehaviour>,
+}
+impl ContactingAttributes{
+	pub const fn any(&self)->bool{
+		self.contact_behaviour.is_some()
+	}
+}
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
+pub struct IntersectingAttributes{
+	pub water:Option<IntersectingWater>,
+}
+impl IntersectingAttributes{
+	pub const fn any(&self)->bool{
+		self.water.is_some()
+	}
+}
+#[derive(Clone,Copy,id::Id,Hash,Eq,PartialEq)]
+pub struct CollisionAttributesId(u32);
+#[derive(Clone,Default,Hash,Eq,PartialEq)]
+pub struct ContactAttributes{
+	pub contacting:ContactingAttributes,
+	pub general:GeneralAttributes,
+}
+#[derive(Clone,Default,Hash,Eq,PartialEq)]
+pub struct IntersectAttributes{
+	pub intersecting:IntersectingAttributes,
+	pub general:GeneralAttributes,
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
+pub enum CollisionAttributes{
+	Decoration,//visual only
+	Contact(ContactAttributes),//track whether you are contacting the object
+	Intersect(IntersectAttributes),//track whether you are intersecting the object
+}
+impl CollisionAttributes{
+	pub fn contact_default()->Self{
+		Self::Contact(ContactAttributes::default())
+	}
+}

lib/common/src/gameplay_modes.rs

@@ -0,0 +1,332 @@
+use std::collections::{HashSet,HashMap};
+use crate::model::ModelId;
+use crate::gameplay_style;
+use crate::updatable::Updatable;
+
+#[derive(Clone)]
+pub struct StageElement{
+	stage_id:StageId,//which stage spawn to send to
+	force:bool,//allow setting to lower spawn id i.e. 7->3
+	behaviour:StageElementBehaviour,
+	jump_limit:Option<u8>,
+}
+impl StageElement{
+	#[inline]
+	pub const fn new(stage_id:StageId,force:bool,behaviour:StageElementBehaviour,jump_limit:Option<u8>)->Self{
+		Self{
+			stage_id,
+			force,
+			behaviour,
+			jump_limit,
+		}
+	}
+	#[inline]
+	pub const fn stage_id(&self)->StageId{
+		self.stage_id
+	}
+	#[inline]
+	pub const fn force(&self)->bool{
+		self.force
+	}
+	#[inline]
+	pub const fn behaviour(&self)->StageElementBehaviour{
+		self.behaviour
+	}
+	#[inline]
+	pub const fn jump_limit(&self)->Option<u8>{
+		self.jump_limit
+	}
+}
+
+#[derive(Clone,Copy,Hash,Eq,PartialEq)]
+pub enum StageElementBehaviour{
+	SpawnAt,//must be standing on top to get effect. except cancollide false
+	Trigger,
+	Teleport,
+	Platform,
+	//Check(point) acts like a trigger if you haven't hit all the checkpoints on previous stages yet.
+	//Note that all stage elements act like this, this is just the isolated behaviour.
+	Check,
+	Checkpoint,//this is a combined behaviour for Ordered & Unordered in case a model is used multiple times or for both.
+}
+
+#[derive(Clone,Copy,Debug,Hash,id::Id,Eq,PartialEq)]
+pub struct CheckpointId(u32);
+impl CheckpointId{
+	pub const FIRST:Self=Self(0);
+}
+#[derive(Clone,Copy,Debug,Hash,id::Id,Eq,PartialEq,Ord,PartialOrd)]
+pub struct StageId(u32);
+impl StageId{
+	pub const FIRST:Self=Self(0);
+}
+#[derive(Clone)]
+pub struct Stage{
+	spawn:ModelId,
+	//open world support lol
+	ordered_checkpoints_count:u32,
+	unordered_checkpoints_count:u32,
+	//currently loaded checkpoint models
+	ordered_checkpoints:HashMap<CheckpointId,ModelId>,
+	unordered_checkpoints:HashSet<ModelId>,
+}
+impl Stage{
+	pub fn new(
+		spawn:ModelId,
+		ordered_checkpoints_count:u32,
+		unordered_checkpoints_count:u32,
+		ordered_checkpoints:HashMap<CheckpointId,ModelId>,
+		unordered_checkpoints:HashSet<ModelId>,
+	)->Self{
+		Self{
+			spawn,
+			ordered_checkpoints_count,
+			unordered_checkpoints_count,
+			ordered_checkpoints,
+			unordered_checkpoints,
+		}
+	}
+	pub fn empty(spawn:ModelId)->Self{
+		Self{
+			spawn,
+			ordered_checkpoints_count:0,
+			unordered_checkpoints_count:0,
+			ordered_checkpoints:HashMap::new(),
+			unordered_checkpoints:HashSet::new(),
+		}
+	}
+	#[inline]
+	pub const fn spawn(&self)->ModelId{
+		self.spawn
+	}
+	#[inline]
+	pub const fn ordered_checkpoints_count(&self)->u32{
+		self.ordered_checkpoints_count
+	}
+	#[inline]
+	pub const fn unordered_checkpoints_count(&self)->u32{
+		self.unordered_checkpoints_count
+	}
+	pub fn into_inner(self)->(HashMap<CheckpointId,ModelId>,HashSet<ModelId>){
+		(self.ordered_checkpoints,self.unordered_checkpoints)
+	}
+	/// Returns true if the stage has no checkpoints.
+	#[inline]
+	pub const fn is_empty(&self)->bool{
+		self.is_complete(0,0)
+	}
+	#[inline]
+	pub const fn is_complete(&self,ordered_checkpoints_count:u32,unordered_checkpoints_count:u32)->bool{
+		self.ordered_checkpoints_count==ordered_checkpoints_count&&self.unordered_checkpoints_count==unordered_checkpoints_count
+	}
+	#[inline]
+	pub fn is_next_ordered_checkpoint(&self,next_ordered_checkpoint_id:CheckpointId,model_id:ModelId)->bool{
+		self.ordered_checkpoints.get(&next_ordered_checkpoint_id).is_some_and(|&next_checkpoint|model_id==next_checkpoint)
+	}
+	#[inline]
+	pub fn is_unordered_checkpoint(&self,model_id:ModelId)->bool{
+		self.unordered_checkpoints.contains(&model_id)
+	}
+}
+#[derive(Default)]
+pub struct StageUpdate{
+	//other behaviour models of this stage can have
+	ordered_checkpoints:HashMap<CheckpointId,ModelId>,
+	unordered_checkpoints:HashSet<ModelId>,
+}
+impl Updatable<StageUpdate> for Stage{
+	fn update(&mut self,update:StageUpdate){
+		self.ordered_checkpoints.extend(update.ordered_checkpoints);
+		self.unordered_checkpoints.extend(update.unordered_checkpoints);
+	}
+}
+
+#[derive(Clone,Copy,Hash,Eq,PartialEq)]
+pub enum Zone{
+	Start,
+	Finish,
+	Anticheat,
+}
+#[derive(Clone,Copy,Debug,Hash,id::Id,Eq,PartialEq,Ord,PartialOrd)]
+pub struct ModeId(u32);
+impl ModeId{
+	pub const MAIN:Self=Self(0);
+	pub const BONUS:Self=Self(1);
+}
+#[derive(Clone)]
+pub struct Mode{
+	style:gameplay_style::StyleModifiers,
+	start:ModelId,//when you press reset you go here
+	zones:HashMap<ModelId,Zone>,
+	stages:Vec<Stage>,//when you load the map you go to stages[0].spawn
+	//mutually exlusive stage element behaviour
+	elements:HashMap<ModelId,StageElement>,
+}
+impl Mode{
+	pub fn new(
+		style:gameplay_style::StyleModifiers,
+		start:ModelId,
+		zones:HashMap<ModelId,Zone>,
+		stages:Vec<Stage>,
+		elements:HashMap<ModelId,StageElement>,
+	)->Self{
+		Self{
+			style,
+			start,
+			zones,
+			stages,
+			elements,
+		}
+	}
+	pub fn empty(style:gameplay_style::StyleModifiers,start:ModelId)->Self{
+		Self{
+			style,
+			start,
+			zones:HashMap::new(),
+			stages:Vec::new(),
+			elements:HashMap::new(),
+		}
+	}
+	pub fn into_inner(self)->(
+		gameplay_style::StyleModifiers,
+		ModelId,
+		HashMap<ModelId,Zone>,
+		Vec<Stage>,
+		HashMap<ModelId,StageElement>,
+	){
+		(
+			self.style,
+			self.start,
+			self.zones,
+			self.stages,
+			self.elements,
+		)
+	}
+	pub const fn get_start(&self)->ModelId{
+		self.start
+	}
+	pub const fn get_style(&self)->&gameplay_style::StyleModifiers{
+		&self.style
+	}
+	pub fn push_stage(&mut self,stage:Stage){
+		self.stages.push(stage)
+	}
+	pub fn get_stage_mut(&mut self,stage:StageId)->Option<&mut Stage>{
+		self.stages.get_mut(stage.0 as usize)
+	}
+	pub fn get_spawn_model_id(&self,stage:StageId)->Option<ModelId>{
+		self.stages.get(stage.0 as usize).map(|s|s.spawn)
+	}
+	pub fn get_zone(&self,model_id:ModelId)->Option<&Zone>{
+		self.zones.get(&model_id)
+	}
+	pub fn get_stage(&self,stage_id:StageId)->Option<&Stage>{
+		self.stages.get(stage_id.0 as usize)
+	}
+	pub fn get_element(&self,model_id:ModelId)->Option<&StageElement>{
+		self.elements.get(&model_id)
+	}
+	//TODO: put this in the SNF
+	pub fn denormalize_data(&mut self){
+		//expand and index normalized data
+		self.zones.insert(self.start,Zone::Start);
+		for (stage_id,stage) in self.stages.iter().enumerate(){
+			self.elements.insert(stage.spawn,StageElement{
+				stage_id:StageId(stage_id as u32),
+				force:false,
+				behaviour:StageElementBehaviour::SpawnAt,
+				jump_limit:None,
+			});
+			for (_,&model) in &stage.ordered_checkpoints{
+				self.elements.insert(model,StageElement{
+					stage_id:StageId(stage_id as u32),
+					force:false,
+					behaviour:StageElementBehaviour::Checkpoint,
+					jump_limit:None,
+				});
+			}
+			for &model in &stage.unordered_checkpoints{
+				self.elements.insert(model,StageElement{
+					stage_id:StageId(stage_id as u32),
+					force:false,
+					behaviour:StageElementBehaviour::Checkpoint,
+					jump_limit:None,
+				});
+			}
+		}
+	}
+}
+//this would be nice as a macro
+#[derive(Default)]
+pub struct ModeUpdate{
+	zones:HashMap<ModelId,Zone>,
+	stages:HashMap<StageId,StageUpdate>,
+	//mutually exlusive stage element behaviour
+	elements:HashMap<ModelId,StageElement>,
+}
+impl Updatable<ModeUpdate> for Mode{
+	fn update(&mut self,update:ModeUpdate){
+		self.zones.extend(update.zones);
+		for (stage,stage_update) in update.stages{
+			if let Some(stage)=self.stages.get_mut(stage.0 as usize){
+				stage.update(stage_update);
+			}
+		}
+		self.elements.extend(update.elements);
+	}
+}
+impl ModeUpdate{
+	pub fn zone(model_id:ModelId,zone:Zone)->Self{
+		let mut mu=Self::default();
+		mu.zones.insert(model_id,zone);
+		mu
+	}
+	pub fn stage(stage_id:StageId,stage_update:StageUpdate)->Self{
+		let mut mu=Self::default();
+		mu.stages.insert(stage_id,stage_update);
+		mu
+	}
+	pub fn element(model_id:ModelId,element:StageElement)->Self{
+		let mut mu=Self::default();
+		mu.elements.insert(model_id,element);
+		mu
+	}
+	pub fn map_stage_element_ids<F:Fn(StageId)->StageId>(&mut self,f:F){
+		for (_,stage_element) in self.elements.iter_mut(){
+			stage_element.stage_id=f(stage_element.stage_id);
+		}
+	}
+}
+
+#[derive(Default,Clone)]
+pub struct Modes{
+	pub modes:Vec<Mode>,
+}
+impl Modes{
+	pub const fn new(modes:Vec<Mode>)->Self{
+		Self{
+			modes,
+		}
+	}
+	pub fn into_inner(self)->Vec<Mode>{
+		self.modes
+	}
+	pub fn push_mode(&mut self,mode:Mode){
+		self.modes.push(mode)
+	}
+	pub fn get_mode(&self,mode:ModeId)->Option<&Mode>{
+		self.modes.get(mode.0 as usize)
+	}
+}
+pub struct ModesUpdate{
+	modes:HashMap<ModeId,ModeUpdate>,
+}
+impl Updatable<ModesUpdate> for Modes{
+	fn update(&mut self,update:ModesUpdate){
+		for (mode,mode_update) in update.modes{
+			if let Some(mode)=self.modes.get_mut(mode.0 as usize){
+				mode.update(mode_update);
+			}
+		}
+	}
+}

lib/common/src/gameplay_style.rs

@@ -0,0 +1,612 @@
+const VALVE_SCALE:Planar64=Planar64::raw(1<<28);// 1/16
+
+use crate::integer::{int,vec3::int as int3,AbsoluteTime,Ratio64,Planar64,Planar64Vec3};
+use crate::controls_bitflag::Controls;
+use crate::physics::Time as PhysicsTime;
+
+#[derive(Clone,Debug)]
+pub struct StyleModifiers{
+	//controls which are allowed to pass into gameplay (usually all)
+	pub controls_mask:Controls,
+	//controls which are masked from control state (e.g. !jump in scroll style)
+	pub controls_mask_state:Controls,
+	//strafing
+	pub strafe:Option<StrafeSettings>,
+	//player gets a controllable rocket force
+	pub rocket:Option<PropulsionSettings>,
+	//flying
+	//pub move_type:MoveType::Fly(FlySettings)
+	//MoveType::Physics(PhysicsSettings) -> PhysicsSettings (strafe,rocket,jump,walk,ladder,swim,gravity)
+	//jumping is allowed
+	pub jump:Option<JumpSettings>,
+	//standing & walking is allowed
+	pub walk:Option<WalkSettings>,
+	//laddering is allowed
+	pub ladder:Option<LadderSettings>,
+	//water propulsion
+	pub swim:Option<PropulsionSettings>,
+	//maximum slope before sloped surfaces become frictionless
+	pub gravity:Planar64Vec3,
+	//hitbox
+	pub hitbox:Hitbox,
+	//camera location relative to the center (0,0,0) of the hitbox
+	pub camera_offset:Planar64Vec3,
+	//unused
+	pub mass:Planar64,
+}
+impl std::default::Default for StyleModifiers{
+	fn default()->Self{
+		Self::roblox_bhop()
+	}
+}
+
+#[derive(Clone,Debug)]
+pub enum JumpCalculation{
+	Max,//Roblox: jumped_speed=max(velocity.boost(),velocity.jump())
+	BoostThenJump,//jumped_speed=velocity.boost().jump()
+	JumpThenBoost,//jumped_speed=velocity.jump().boost()
+}
+
+#[derive(Clone,Debug)]
+pub enum JumpImpulse{
+	Time(AbsoluteTime),//jump time is invariant across mass and gravity changes
+	Height(Planar64),//jump height is invariant across mass and gravity changes
+	Linear(Planar64),//jump velocity is invariant across mass and gravity changes
+	Energy(Planar64),// :)
+}
+//Jumping acts on dot(walks_state.normal,body.velocity)
+//Energy means it adds energy
+//Linear means it linearly adds on
+impl JumpImpulse{
+	pub fn jump(
+		&self,
+		velocity:Planar64Vec3,
+		jump_dir:Planar64Vec3,
+		gravity:&Planar64Vec3,
+		mass:Planar64,
+	)->Planar64Vec3{
+		match self{
+			&JumpImpulse::Time(time)=>velocity-(*gravity*time).map(|t|t.divide().fix_1()),
+			&JumpImpulse::Height(height)=>{
+				//height==-v.y*v.y/(2*g.y);
+				//use energy to determine max height
+				let gg=gravity.length_squared();
+				let g=gg.sqrt().fix_1();
+				let v_g=gravity.dot(velocity);
+				//do it backwards
+				let radicand=v_g*v_g+(g*height*2).fix_4();
+				velocity-(*gravity*(radicand.sqrt().fix_2()+v_g)/gg).divide().fix_1()
+			},
+			&JumpImpulse::Linear(jump_speed)=>velocity+(jump_dir*jump_speed/jump_dir.length()).divide().fix_1(),
+			&JumpImpulse::Energy(energy)=>{
+				//calculate energy
+				//let e=gravity.dot(velocity);
+				//add
+				//you get the idea
+				todo!()
+			},
+		}
+	}
+	//TODO: remove this and implement JumpCalculation properly
+	pub fn get_jump_deltav(&self,gravity:&Planar64Vec3,mass:Planar64)->Planar64{
+		//gravity.length() is actually the proper calculation because the jump is always opposite the gravity direction
+		match self{
+			&JumpImpulse::Time(time)=>(gravity.length().fix_1()*time/2).divide().fix_1(),
+			&JumpImpulse::Height(height)=>(gravity.length()*height*2).sqrt().fix_1(),
+			&JumpImpulse::Linear(deltav)=>deltav,
+			&JumpImpulse::Energy(energy)=>(energy.sqrt()*2/mass.sqrt()).divide().fix_1(),
+		}
+	}
+}
+
+#[derive(Clone,Debug)]
+pub struct JumpSettings{
+	//information used to calculate jump power
+	pub impulse:JumpImpulse,
+	//information used to calculate jump behaviour
+	pub calculation:JumpCalculation,
+	//limit the minimum jump power when combined with downwards momentum
+	//This is true in both roblox and source
+	pub limit_minimum:bool,
+}
+impl JumpSettings{
+	pub fn jumped_velocity(
+		&self,
+		style:&StyleModifiers,
+		jump_dir:Planar64Vec3,
+		rel_velocity:Planar64Vec3,
+		booster:Option<&crate::gameplay_attributes::Booster>,
+	)->Planar64Vec3{
+		let jump_speed=self.impulse.get_jump_deltav(&style.gravity,style.mass);
+		match (self.limit_minimum,&self.calculation){
+			(true,JumpCalculation::Max)=>{
+				//the roblox calculation
+				let boost_vel=match booster{
+					Some(booster)=>booster.boost(rel_velocity),
+					None=>rel_velocity,
+				};
+				let j=boost_vel.dot(jump_dir);
+				let js=jump_speed.fix_2();
+				if j<js{
+					//weak booster: just do a regular jump
+					boost_vel+jump_dir.with_length(js-j).divide().fix_1()
+				}else{
+					//activate booster normally, jump does nothing
+					boost_vel
+				}
+			},
+			(true,_)=>{
+				//the source calculation (?)
+				let boost_vel=match booster{
+					Some(booster)=>booster.boost(rel_velocity),
+					None=>rel_velocity,
+				};
+				let j=boost_vel.dot(jump_dir);
+				let js=jump_speed.fix_2();
+				if j<js{
+					//speed in direction of jump cannot be lower than amount
+					boost_vel+jump_dir.with_length(js-j).divide().fix_1()
+				}else{
+					//boost and jump add together
+					boost_vel+jump_dir.with_length(js).divide().fix_1()
+				}
+			}
+			(false,JumpCalculation::Max)=>{
+				//??? calculation
+				//max(boost_vel,jump_vel)
+				let boost_vel=match booster{
+					Some(booster)=>booster.boost(rel_velocity),
+					None=>rel_velocity,
+				};
+				let boost_dot=boost_vel.dot(jump_dir);
+				let js=jump_speed.fix_2();
+				if boost_dot<js{
+					//weak boost is extended to jump speed
+					boost_vel+jump_dir.with_length(js-boost_dot).divide().fix_1()
+				}else{
+					//activate booster normally, jump does nothing
+					boost_vel
+				}
+			},
+			//the strafe client calculation
+			(false,_)=>{
+				let boost_vel=match booster{
+					Some(booster)=>booster.boost(rel_velocity),
+					None=>rel_velocity,
+				};
+				boost_vel+jump_dir.with_length(jump_speed).divide().fix_1()
+			},
+		}
+	}
+}
+
+#[derive(Clone,Debug)]
+pub struct ControlsActivation{
+	//allowed keys
+	pub controls_mask:Controls,
+	//allow strafing only if any of the masked controls are held, eg W|S for shsw
+	pub controls_intersects:Controls,
+	//allow strafing only if all of the masked controls are held, eg W for hsw, w-only
+	pub controls_contains:Controls,
+	//Function(Box<dyn Fn(u32)->bool>),
+}
+impl ControlsActivation{
+	pub const fn mask(&self,controls:Controls)->Controls{
+		controls.intersection(self.controls_mask)
+	}
+	pub const fn activates(&self,controls:Controls)->bool{
+		(self.controls_intersects.is_empty()||controls.intersects(self.controls_intersects))
+		&&controls.contains(self.controls_contains)
+	}
+	pub const fn full_3d()->Self{
+		Self{
+			controls_mask:Controls::WASDQE,
+			controls_intersects:Controls::WASDQE,
+			controls_contains:Controls::empty(),
+		}
+	}
+	//classical styles
+	//Normal
+	pub const fn full_2d()->Self{
+		Self{
+			controls_mask:Controls::WASD,
+			controls_intersects:Controls::WASD,
+			controls_contains:Controls::empty(),
+		}
+	}
+	//Sideways
+	pub const fn sideways()->Self{
+		Self{
+			controls_mask:Controls::MoveForward.union(Controls::MoveBackward),
+			controls_intersects:Controls::MoveForward.union(Controls::MoveBackward),
+			controls_contains:Controls::empty(),
+		}
+	}
+	//Half-Sideways
+	pub const fn half_sideways()->Self{
+		Self{
+			controls_mask:Controls::MoveForward.union(Controls::MoveLeft).union(Controls::MoveRight),
+			controls_intersects:Controls::MoveLeft.union(Controls::MoveRight),
+			controls_contains:Controls::MoveForward,
+		}
+	}
+	//Surf Half-Sideways
+	pub const fn surf_half_sideways()->Self{
+		Self{
+			controls_mask:Controls::MoveForward.union(Controls::MoveBackward).union(Controls::MoveLeft).union(Controls::MoveRight),
+			controls_intersects:Controls::MoveForward.union(Controls::MoveBackward),
+			controls_contains:Controls::empty(),
+		}
+	}
+	//W-Only
+	pub const fn w_only()->Self{
+		Self{
+			controls_mask:Controls::MoveForward,
+			controls_intersects:Controls::empty(),
+			controls_contains:Controls::MoveForward,
+		}
+	}
+	//A-Only
+	pub const fn a_only()->Self{
+		Self{
+			controls_mask:Controls::MoveLeft,
+			controls_intersects:Controls::empty(),
+			controls_contains:Controls::MoveLeft,
+		}
+	}
+	//Backwards
+}
+
+#[derive(Clone,Debug)]
+pub struct StrafeSettings{
+	pub enable:ControlsActivation,
+	pub mv:Planar64,
+	pub air_accel_limit:Option<Planar64>,
+	pub tick_rate:Ratio64,
+}
+impl StrafeSettings{
+	pub fn tick_velocity(&self,velocity:Planar64Vec3,control_dir:Planar64Vec3)->Option<Planar64Vec3>{
+		let d=velocity.dot(control_dir);
+		let mv=self.mv.fix_2();
+		match d<mv{
+			true=>Some(velocity+(control_dir*self.air_accel_limit.map_or(mv-d,|limit|limit.fix_2().min(mv-d))).fix_1()),
+			false=>None,
+		}
+	}
+	pub fn next_tick(&self,time:PhysicsTime)->PhysicsTime{
+		PhysicsTime::from_nanos(self.tick_rate.rhs_div_int(self.tick_rate.mul_int(time.nanos())+1))
+	}
+	pub const fn activates(&self,controls:Controls)->bool{
+		self.enable.activates(controls)
+	}
+	pub const fn mask(&self,controls:Controls)->Controls{
+		self.enable.mask(controls)
+	}
+}
+
+#[derive(Clone,Debug)]
+pub struct PropulsionSettings{
+	pub magnitude:Planar64,
+}
+impl PropulsionSettings{
+	pub fn acceleration(&self,control_dir:Planar64Vec3)->Planar64Vec3{
+		(control_dir*self.magnitude).fix_1()
+	}
+}
+
+#[derive(Clone,Debug)]
+pub struct AccelerateSettings{
+	pub accel:Planar64,
+	pub topspeed:Planar64,
+}
+#[derive(Clone,Debug)]
+pub struct WalkSettings{
+	pub accelerate:AccelerateSettings,
+	pub static_friction:Planar64,
+	pub kinetic_friction:Planar64,
+	//if a surf slope angle does not exist, then everything is slippery and walking is impossible
+	pub surf_dot:Planar64,//surf_dot<n.dot(up)/n.length()
+}
+impl WalkSettings{
+	pub fn accel(&self,target_diff:Planar64Vec3,gravity:Planar64Vec3)->Planar64{
+		//TODO: fallible walk accel
+		let diff_len=target_diff.length().fix_1();
+		let friction=if diff_len<self.accelerate.topspeed{
+			self.static_friction
+		}else{
+			self.kinetic_friction
+		};
+		self.accelerate.accel.min((-gravity.y*friction).fix_1())
+	}
+	pub fn get_walk_target_velocity(&self,control_dir:Planar64Vec3,normal:Planar64Vec3)->Planar64Vec3{
+		if control_dir==crate::integer::vec3::ZERO{
+			return control_dir;
+		}
+		let nn=normal.length_squared();
+		let mm=control_dir.length_squared();
+		let nnmm=nn*mm;
+		let d=normal.dot(control_dir);
+		let dd=d*d;
+		if dd<nnmm{
+			let cr=normal.cross(control_dir);
+			if cr==crate::integer::vec3::ZERO_2{
+				crate::integer::vec3::ZERO
+			}else{
+				(cr.cross(normal)*self.accelerate.topspeed/((nn*(nnmm-dd)).sqrt())).divide().fix_1()
+			}
+		}else{
+			crate::integer::vec3::ZERO
+		}
+	}
+	pub fn is_slope_walkable(&self,normal:Planar64Vec3,up:Planar64Vec3)->bool{
+		//normal is not guaranteed to be unit length
+		let ny=normal.dot(up);
+		let h=normal.length().fix_1();
+		//remember this is a normal vector
+		ny.is_positive()&&h*self.surf_dot<ny
+	}
+}
+
+#[derive(Clone,Debug)]
+pub struct LadderSettings{
+	pub accelerate:AccelerateSettings,
+	//how close to pushing directly into/out of the ladder normal
+	//does your input need to be to redirect straight up/down the ladder
+	pub dot:Planar64,
+}
+impl LadderSettings{
+	pub const fn accel(&self,target_diff:Planar64Vec3,gravity:Planar64Vec3)->Planar64{
+		//TODO: fallible ladder accel
+		self.accelerate.accel
+	}
+	pub fn get_ladder_target_velocity(&self,mut control_dir:Planar64Vec3,normal:Planar64Vec3)->Planar64Vec3{
+		if control_dir==crate::integer::vec3::ZERO{
+			return control_dir;
+		}
+		let nn=normal.length_squared();
+		let mm=control_dir.length_squared();
+		let nnmm=nn*mm;
+		let d=normal.dot(control_dir);
+		let mut dd=d*d;
+		if (self.dot*self.dot*nnmm).fix_4()<dd{
+			if d.is_negative(){
+				control_dir=Planar64Vec3::new([Planar64::ZERO,mm.fix_1(),Planar64::ZERO]);
+			}else{
+				control_dir=Planar64Vec3::new([Planar64::ZERO,-mm.fix_1(),Planar64::ZERO]);
+			}
+			dd=(normal.y*normal.y).fix_4();
+		}
+		//n=d if you are standing on top of a ladder and press E.
+		//two fixes:
+		//- ladder movement is not allowed on walkable surfaces
+		//- fix the underlying issue
+		if dd<nnmm{
+			let cr=normal.cross(control_dir);
+			if cr==crate::integer::vec3::ZERO_2{
+				crate::integer::vec3::ZERO
+			}else{
+				(cr.cross(normal)*self.accelerate.topspeed/((nn*(nnmm-dd)).sqrt())).divide().fix_1()
+			}
+		}else{
+			crate::integer::vec3::ZERO
+		}
+	}
+}
+
+#[derive(Clone,Debug)]
+pub enum HitboxMesh{
+	Box,//source
+	Cylinder,//roblox
+	//Sphere,//roblox old physics
+	//Point,
+	//Line,
+	//DualCone,
+}
+
+#[derive(Clone,Debug)]
+pub struct Hitbox{
+	pub halfsize:Planar64Vec3,
+	pub mesh:HitboxMesh,
+}
+impl Hitbox{
+	pub fn roblox()->Self{
+		Self{
+			halfsize:int3(2,5,2)>>1,
+			mesh:HitboxMesh::Cylinder,
+		}
+	}
+	pub fn source()->Self{
+		Self{
+			halfsize:((int3(33,73,33)>>1)*VALVE_SCALE).fix_1(),
+			mesh:HitboxMesh::Box,
+		}
+	}
+}
+
+impl StyleModifiers{
+	pub const RIGHT_DIR:Planar64Vec3=crate::integer::vec3::X;
+	pub const UP_DIR:Planar64Vec3=crate::integer::vec3::Y;
+	pub const FORWARD_DIR:Planar64Vec3=crate::integer::vec3::NEG_Z;
+
+	pub fn neo()->Self{
+		Self{
+			controls_mask:Controls::all(),
+			controls_mask_state:Controls::all(),
+			strafe:Some(StrafeSettings{
+				enable:ControlsActivation::full_2d(),
+				air_accel_limit:None,
+				mv:int(3),
+				tick_rate:Ratio64::new(64,AbsoluteTime::ONE_SECOND.get() as u64).unwrap(),
+			}),
+			jump:Some(JumpSettings{
+				impulse:JumpImpulse::Energy(int(512)),
+				calculation:JumpCalculation::JumpThenBoost,
+				limit_minimum:false,
+			}),
+			gravity:int3(0,-80,0),
+			mass:int(1),
+			rocket:None,
+			walk:Some(WalkSettings{
+				accelerate:AccelerateSettings{
+					topspeed:int(16),
+					accel:int(80),
+				},
+				static_friction:int(2),
+				kinetic_friction:int(3),//unrealistic: kinetic friction is typically lower than static
+				surf_dot:int(3)/4,
+			}),
+			ladder:Some(LadderSettings{
+				accelerate:AccelerateSettings{
+					topspeed:int(16),
+					accel:int(160),
+				},
+				dot:(int(1)/2).sqrt(),
+			}),
+			swim:Some(PropulsionSettings{
+				magnitude:int(12),
+			}),
+			hitbox:Hitbox::roblox(),
+			camera_offset:int3(0,2,0),//4.5-2.5=2
+		}
+	}
+
+	pub fn roblox_bhop()->Self{
+		Self{
+			controls_mask:Controls::all(),
+			controls_mask_state:Controls::all(),
+			strafe:Some(StrafeSettings{
+				enable:ControlsActivation::full_2d(),
+				air_accel_limit:None,
+				mv:int(27)/10,
+				tick_rate:Ratio64::new(100,AbsoluteTime::ONE_SECOND.get() as u64).unwrap(),
+			}),
+			jump:Some(JumpSettings{
+				impulse:JumpImpulse::Time(AbsoluteTime::from_micros(715_588)),
+				calculation:JumpCalculation::Max,
+				limit_minimum:true,
+			}),
+			gravity:int3(0,-100,0),
+			mass:int(1),
+			rocket:None,
+			walk:Some(WalkSettings{
+				accelerate:AccelerateSettings{
+					topspeed:int(18),
+					accel:int(90),
+				},
+				static_friction:int(2),
+				kinetic_friction:int(3),//unrealistic: kinetic friction is typically lower than static
+				surf_dot:int(3)/4,// normal.y=0.75
+			}),
+			ladder:Some(LadderSettings{
+				accelerate:AccelerateSettings{
+					topspeed:int(18),
+					accel:int(180),
+				},
+				dot:(int(1)/2).sqrt(),
+			}),
+			swim:Some(PropulsionSettings{
+				magnitude:int(12),
+			}),
+			hitbox:Hitbox::roblox(),
+			camera_offset:int3(0,2,0),//4.5-2.5=2
+		}
+	}
+	pub fn roblox_surf()->Self{
+		Self{
+			gravity:int3(0,-50,0),
+			..Self::roblox_bhop()
+		}
+	}
+	pub fn roblox_rocket()->Self{
+		Self{
+			strafe:None,
+			rocket:Some(PropulsionSettings{
+				magnitude:int(200),
+			}),
+			..Self::roblox_bhop()
+		}
+	}
+
+	pub fn source_bhop()->Self{
+		Self{
+			controls_mask:Controls::all()-Controls::MoveUp-Controls::MoveDown,
+			controls_mask_state:Controls::all(),
+			strafe:Some(StrafeSettings{
+				enable:ControlsActivation::full_2d(),
+				air_accel_limit:Some(Planar64::raw(150<<28)*100),
+				mv:(Planar64::raw(30)*VALVE_SCALE).fix_1(),
+				tick_rate:Ratio64::new(100,AbsoluteTime::ONE_SECOND.get() as u64).unwrap(),
+			}),
+			jump:Some(JumpSettings{
+				impulse:JumpImpulse::Height((int(52)*VALVE_SCALE).fix_1()),
+				calculation:JumpCalculation::JumpThenBoost,
+				limit_minimum:true,
+			}),
+			gravity:(int3(0,-800,0)*VALVE_SCALE).fix_1(),
+			mass:int(1),
+			rocket:None,
+			walk:Some(WalkSettings{
+				accelerate:AccelerateSettings{
+					topspeed:int(18),//?
+					accel:int(90),//?
+				},
+				static_friction:int(2),//?
+				kinetic_friction:int(3),//?
+				surf_dot:int(3)/4,// normal.y=0.75
+			}),
+			ladder:Some(LadderSettings{
+				accelerate:AccelerateSettings{
+					topspeed:int(18),//?
+					accel:int(180),//?
+				},
+				dot:(int(1)/2).sqrt(),//?
+			}),
+			swim:Some(PropulsionSettings{
+				magnitude:int(12),//?
+			}),
+			hitbox:Hitbox::source(),
+			camera_offset:((int3(0,64,0)-(int3(0,73,0)>>1))*VALVE_SCALE).fix_1(),
+		}
+	}
+	pub fn source_surf()->Self{
+		Self{
+			controls_mask:Controls::all()-Controls::MoveUp-Controls::MoveDown,
+			controls_mask_state:Controls::all(),
+			strafe:Some(StrafeSettings{
+				enable:ControlsActivation::full_2d(),
+				air_accel_limit:Some((int(150)*66*VALVE_SCALE).fix_1()),
+				mv:(int(30)*VALVE_SCALE).fix_1(),
+				tick_rate:Ratio64::new(66,AbsoluteTime::ONE_SECOND.get() as u64).unwrap(),
+			}),
+			jump:Some(JumpSettings{
+				impulse:JumpImpulse::Height((int(52)*VALVE_SCALE).fix_1()),
+				calculation:JumpCalculation::JumpThenBoost,
+				limit_minimum:true,
+			}),
+			gravity:(int3(0,-800,0)*VALVE_SCALE).fix_1(),
+			mass:int(1),
+			rocket:None,
+			walk:Some(WalkSettings{
+				accelerate:AccelerateSettings{
+					topspeed:int(18),//?
+					accel:int(90),//?
+				},
+				static_friction:int(2),//?
+				kinetic_friction:int(3),//?
+				surf_dot:int(3)/4,// normal.y=0.75
+			}),
+			ladder:Some(LadderSettings{
+				accelerate:AccelerateSettings{
+					topspeed:int(18),//?
+					accel:int(180),//?
+				},
+				dot:(int(1)/2).sqrt(),//?
+			}),
+			swim:Some(PropulsionSettings{
+				magnitude:int(12),//?
+			}),
+			hitbox:Hitbox::source(),
+			camera_offset:((int3(0,64,0)-(int3(0,73,0)>>1))*VALVE_SCALE).fix_1(),
+		}
+	}
+}

lib/common/src/instruction.rs

@@ -0,0 +1,82 @@
+use crate::integer::Time;
+
+#[derive(Clone,Debug)]
+pub struct TimedInstruction<I,T>{
+	pub time:Time<T>,
+	pub instruction:I,
+}
+impl<I,T> TimedInstruction<I,T>{
+	#[inline]
+	pub fn set_time<TimeInner>(self,new_time:Time<TimeInner>)->TimedInstruction<I,TimeInner>{
+		TimedInstruction{
+			time:new_time,
+			instruction:self.instruction,
+		}
+	}
+}
+
+/// Ensure all emitted instructions are processed before consuming external instructions
+pub trait InstructionEmitter<I>{
+	type TimeInner;
+	fn next_instruction(&self,time_limit:Time<Self::TimeInner>)->Option<TimedInstruction<I,Self::TimeInner>>;
+}
+/// Apply an atomic state update
+pub trait InstructionConsumer<I>{
+	type TimeInner;
+	fn process_instruction(&mut self,instruction:TimedInstruction<I,Self::TimeInner>);
+}
+/// If the object produces its own instructions, allow exhaustively feeding them back in
+pub trait InstructionFeedback<I,T>:InstructionEmitter<I,TimeInner=T>+InstructionConsumer<I,TimeInner=T>
+	where
+		Time<T>:Copy,
+{
+	#[inline]
+	fn process_exhaustive(&mut self,time_limit:Time<T>){
+		while let Some(instruction)=self.next_instruction(time_limit){
+			self.process_instruction(instruction);
+		}
+	}
+}
+impl<I,T,X> InstructionFeedback<I,T> for X
+	where
+		Time<T>:Copy,
+		X:InstructionEmitter<I,TimeInner=T>+InstructionConsumer<I,TimeInner=T>,
+{}
+
+//PROPER PRIVATE FIELDS!!!
+pub struct InstructionCollector<I,T>{
+	time:Time<T>,
+	instruction:Option<I>,
+}
+impl<I,T> InstructionCollector<I,T>
+	where Time<T>:Copy+PartialOrd,
+{
+	#[inline]
+	pub const fn new(time:Time<T>)->Self{
+		Self{
+			time,
+			instruction:None
+		}
+	}
+	#[inline]
+	pub const fn time(&self)->Time<T>{
+		self.time
+	}
+	#[inline]
+	pub fn collect(&mut self,instruction:Option<TimedInstruction<I,T>>){
+		if let Some(ins)=instruction{
+			if ins.time<self.time{
+				self.time=ins.time;
+				self.instruction=Some(ins.instruction);
+			}
+		}
+	}
+	#[inline]
+	pub fn take(self)->Option<TimedInstruction<I,T>>{
+		//STEAL INSTRUCTION AND DESTROY INSTRUCTIONCOLLECTOR
+		self.instruction.map(|instruction|TimedInstruction{
+			time:self.time,
+			instruction
+		})
+	}
+}

lib/common/src/integer.rs

@@ -0,0 +1,680 @@
+pub use fixed_wide::fixed::{Fixed,Fix};
+pub use ratio_ops::ratio::{Ratio,Divide};
+
+//integer units
+
+/// specific example of a "default" time type
+#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
+pub enum TimeInner{}
+pub type AbsoluteTime=Time<TimeInner>;
+
+#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
+pub struct Time<T>(i64,core::marker::PhantomData<T>);
+impl<T> Time<T>{
+	pub const MIN:Self=Self::raw(i64::MIN);
+	pub const MAX:Self=Self::raw(i64::MAX);
+	pub const ZERO:Self=Self::raw(0);
+	pub const EPSILON:Self=Self::raw(1);
+	pub const ONE_SECOND:Self=Self::raw(1_000_000_000);
+	pub const ONE_MILLISECOND:Self=Self::raw(1_000_000);
+	pub const ONE_MICROSECOND:Self=Self::raw(1_000);
+	pub const ONE_NANOSECOND:Self=Self::raw(1);
+	#[inline]
+	pub const fn raw(num:i64)->Self{
+		Self(num,core::marker::PhantomData)
+	}
+	#[inline]
+	pub const fn get(self)->i64{
+		self.0
+	}
+	#[inline]
+	pub const fn from_secs(num:i64)->Self{
+		Self::raw(Self::ONE_SECOND.0*num)
+	}
+	#[inline]
+	pub const fn from_millis(num:i64)->Self{
+		Self::raw(Self::ONE_MILLISECOND.0*num)
+	}
+	#[inline]
+	pub const fn from_micros(num:i64)->Self{
+		Self::raw(Self::ONE_MICROSECOND.0*num)
+	}
+	#[inline]
+	pub const fn from_nanos(num:i64)->Self{
+		Self::raw(Self::ONE_NANOSECOND.0*num)
+	}
+	//should I have checked subtraction? force all time variables to be positive?
+	#[inline]
+	pub const fn nanos(self)->i64{
+		self.0
+	}
+	#[inline]
+	pub const fn to_ratio(self)->Ratio<Planar64,Planar64>{
+		Ratio::new(Planar64::raw(self.0),Planar64::raw(1_000_000_000))
+	}
+	#[inline]
+	pub const fn coerce<U>(self)->Time<U>{
+		Time::raw(self.0)
+	}
+}
+impl<T> From<Planar64> for Time<T>{
+	#[inline]
+	fn from(value:Planar64)->Self{
+		Self::raw((value*Planar64::raw(1_000_000_000)).fix_1().to_raw())
+	}
+}
+impl<T,Num,Den,N1,T1> From<Ratio<Num,Den>> for Time<T>
+	where
+		Num:core::ops::Mul<Planar64,Output=N1>,
+		N1:Divide<Den,Output=T1>,
+		T1:Fix<Planar64>,
+{
+	#[inline]
+	fn from(value:Ratio<Num,Den>)->Self{
+		Self::raw((value*Planar64::raw(1_000_000_000)).divide().fix().to_raw())
+	}
+}
+impl<T> std::fmt::Display for Time<T>{
+	#[inline]
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{}s+{:09}ns",self.0/Self::ONE_SECOND.0,self.0%Self::ONE_SECOND.0)
+	}
+}
+impl<T> std::default::Default for Time<T>{
+	fn default()->Self{
+		Self::raw(0)
+	}
+}
+impl<T> std::ops::Neg for Time<T>{
+	type Output=Self;
+	#[inline]
+	fn neg(self)->Self::Output {
+		Self::raw(-self.0)
+	}
+}
+macro_rules! impl_time_additive_operator {
+	($trait:ty, $method:ident) => {
+		impl<T> $trait for Time<T>{
+			type Output=Self;
+			#[inline]
+			fn $method(self,rhs:Self)->Self::Output {
+				Self::raw(self.0.$method(rhs.0))
+			}
+		}
+	};
+}
+impl_time_additive_operator!(core::ops::Add,add);
+impl_time_additive_operator!(core::ops::Sub,sub);
+impl_time_additive_operator!(core::ops::Rem,rem);
+macro_rules! impl_time_additive_assign_operator {
+	($trait:ty, $method:ident) => {
+		impl<T> $trait for Time<T>{
+			#[inline]
+			fn $method(&mut self,rhs:Self){
+				self.0.$method(rhs.0)
+			}
+		}
+	};
+}
+impl_time_additive_assign_operator!(core::ops::AddAssign,add_assign);
+impl_time_additive_assign_operator!(core::ops::SubAssign,sub_assign);
+impl_time_additive_assign_operator!(core::ops::RemAssign,rem_assign);
+impl<T> std::ops::Mul for Time<T>{
+	type Output=Ratio<fixed_wide::fixed::Fixed<2,64>,fixed_wide::fixed::Fixed<2,64>>;
+	#[inline]
+	fn mul(self,rhs:Self)->Self::Output{
+		Ratio::new(Fixed::raw(self.0)*Fixed::raw(rhs.0),Fixed::raw_digit(1_000_000_000i64.pow(2)))
+	}
+}
+impl<T> std::ops::Div<i64> for Time<T>{
+	type Output=Self;
+	#[inline]
+	fn div(self,rhs:i64)->Self::Output{
+		Self::raw(self.0/rhs)
+	}
+}
+impl<T> std::ops::Mul<i64> for Time<T>{
+	type Output=Self;
+	#[inline]
+	fn mul(self,rhs:i64)->Self::Output{
+		Self::raw(self.0*rhs)
+	}
+}
+impl<T> core::ops::Mul<Time<T>> for Planar64{
+	type Output=Ratio<Fixed<2,64>,Planar64>;
+	fn mul(self,rhs:Time<T>)->Self::Output{
+		Ratio::new(self*Fixed::raw(rhs.0),Planar64::raw(1_000_000_000))
+	}
+}
+#[cfg(test)]
+mod test_time{
+	use super::*;
+	type Time=super::AbsoluteTime;
+	#[test]
+	fn time_from_planar64(){
+		let a:Time=Planar64::from(1).into();
+		assert_eq!(a,Time::ONE_SECOND);
+	}
+	#[test]
+	fn time_from_ratio(){
+		let a:Time=Ratio::new(Planar64::from(1),Planar64::from(1)).into();
+		assert_eq!(a,Time::ONE_SECOND);
+	}
+	#[test]
+	fn time_squared(){
+		let a=Time::from_secs(2);
+		assert_eq!(a*a,Ratio::new(Fixed::<2,64>::raw_digit(1_000_000_000i64.pow(2))*4,Fixed::<2,64>::raw_digit(1_000_000_000i64.pow(2))));
+	}
+	#[test]
+	fn time_times_planar64(){
+		let a=Time::from_secs(2);
+		let b=Planar64::from(2);
+		assert_eq!(b*a,Ratio::new(Fixed::<2,64>::raw_digit(1_000_000_000*(1<<32))<<2,Fixed::<1,32>::raw_digit(1_000_000_000)));
+	}
+}
+
+#[inline]
+const fn gcd(mut a:u64,mut b:u64)->u64{
+	while b!=0{
+		(a,b)=(b,a.rem_euclid(b));
+	};
+	a
+}
+#[derive(Clone,Copy,Debug,Hash)]
+pub struct Ratio64{
+	num:i64,
+	den:u64,
+}
+impl Ratio64{
+	pub const ZERO:Self=Ratio64{num:0,den:1};
+	pub const ONE:Self=Ratio64{num:1,den:1};
+	#[inline]
+	pub const fn new(num:i64,den:u64)->Option<Ratio64>{
+		if den==0{
+			None
+		}else{
+			let d=gcd(num.unsigned_abs(),den);
+			Some(Self{num:num/(d as i64),den:den/d})
+		}
+	}
+	#[inline]
+	pub const fn num(self)->i64{
+		self.num
+	}
+	#[inline]
+	pub const fn den(self)->u64{
+		self.den
+	}
+	#[inline]
+	pub const fn mul_int(&self,rhs:i64)->i64{
+		rhs*self.num/(self.den as i64)
+	}
+	#[inline]
+	pub const fn rhs_div_int(&self,rhs:i64)->i64{
+		rhs*(self.den as i64)/self.num
+	}
+	#[inline]
+	pub const fn mul_ref(&self,rhs:&Ratio64)->Ratio64{
+		let (num,den)=(self.num*rhs.num,self.den*rhs.den);
+		let d=gcd(num.unsigned_abs(),den);
+		Self{
+			num:num/(d as i64),
+			den:den/d,
+		}
+	}
+}
+//from num_traits crate
+#[inline]
+fn integer_decode_f32(f: f32) -> (u64, i16, i8) {
+	let bits: u32 = f.to_bits();
+	let sign: i8 = if bits >> 31 == 0 { 1 } else { -1 };
+	let mut exponent: i16 = ((bits >> 23) & 0xff) as i16;
+	let mantissa = if exponent == 0 {
+		(bits & 0x7fffff) << 1
+	} else {
+		(bits & 0x7fffff) | 0x800000
+	};
+	// Exponent bias + mantissa shift
+	exponent -= 127 + 23;
+	(mantissa as u64, exponent, sign)
+}
+#[inline]
+fn integer_decode_f64(f: f64) -> (u64, i16, i8) {
+	let bits: u64 = f.to_bits();
+	let sign: i8 = if bits >> 63 == 0 { 1 } else { -1 };
+	let mut exponent: i16 = ((bits >> 52) & 0x7ff) as i16;
+	let mantissa = if exponent == 0 {
+		(bits & 0xfffffffffffff) << 1
+	} else {
+		(bits & 0xfffffffffffff) | 0x10000000000000
+	};
+	// Exponent bias + mantissa shift
+	exponent -= 1023 + 52;
+	(mantissa, exponent, sign)
+}
+#[derive(Debug)]
+pub enum Ratio64TryFromFloatError{
+	Nan,
+	Infinite,
+	Subnormal,
+	HighlyNegativeExponent(i16),
+	HighlyPositiveExponent(i16),
+}
+const MAX_DENOMINATOR:u128=u64::MAX as u128;
+#[inline]
+fn ratio64_from_mes((m,e,s):(u64,i16,i8))->Result<Ratio64,Ratio64TryFromFloatError>{
+	if e< -127{
+		//this can also just be zero
+		Err(Ratio64TryFromFloatError::HighlyNegativeExponent(e))
+	}else if e< -63{
+		//approximate input ratio within denominator limit
+		let mut target_num=m as u128;
+		let mut target_den=1u128<<-e;
+
+		let mut num=1;
+		let mut den=0;
+		let mut prev_num=0;
+		let mut prev_den=1;
+
+		while target_den!=0{
+			let whole=target_num/target_den;
+			(target_num,target_den)=(target_den,target_num-whole*target_den);
+			let new_num=whole*num+prev_num;
+			let new_den=whole*den+prev_den;
+			if MAX_DENOMINATOR<new_den{
+				break;
+			}else{
+				(prev_num,prev_den)=(num,den);
+				(num,den)=(new_num,new_den);
+			}
+		}
+
+		Ok(Ratio64::new(num as i64,den as u64).unwrap())
+	}else if e<0{
+		Ok(Ratio64::new((m as i64)*(s as i64),1<<-e).unwrap())
+	}else if (64-m.leading_zeros() as i16)+e<64{
+		Ok(Ratio64::new((m as i64)*(s as i64)*(1<<e),1).unwrap())
+	}else{
+		Err(Ratio64TryFromFloatError::HighlyPositiveExponent(e))
+	}
+}
+impl TryFrom<f32> for Ratio64{
+	type Error=Ratio64TryFromFloatError;
+	#[inline]
+	fn try_from(value:f32)->Result<Self,Self::Error>{
+		match value.classify(){
+			std::num::FpCategory::Nan=>Err(Self::Error::Nan),
+			std::num::FpCategory::Infinite=>Err(Self::Error::Infinite),
+			std::num::FpCategory::Zero=>Ok(Self::ZERO),
+			std::num::FpCategory::Subnormal
+			|std::num::FpCategory::Normal=>ratio64_from_mes(integer_decode_f32(value)),
+		}
+	}
+}
+impl TryFrom<f64> for Ratio64{
+	type Error=Ratio64TryFromFloatError;
+	#[inline]
+	fn try_from(value:f64)->Result<Self,Self::Error>{
+		match value.classify(){
+			std::num::FpCategory::Nan=>Err(Self::Error::Nan),
+			std::num::FpCategory::Infinite=>Err(Self::Error::Infinite),
+			std::num::FpCategory::Zero=>Ok(Self::ZERO),
+			std::num::FpCategory::Subnormal
+			|std::num::FpCategory::Normal=>ratio64_from_mes(integer_decode_f64(value)),
+		}
+	}
+}
+impl std::ops::Mul<Ratio64> for Ratio64{
+	type Output=Ratio64;
+	#[inline]
+	fn mul(self,rhs:Ratio64)->Self::Output{
+		let (num,den)=(self.num*rhs.num,self.den*rhs.den);
+		let d=gcd(num.unsigned_abs(),den);
+		Self{
+			num:num/(d as i64),
+			den:den/d,
+		}
+	}
+}
+impl std::ops::Mul<i64> for Ratio64{
+	type Output=Ratio64;
+	#[inline]
+	fn mul(self,rhs:i64)->Self::Output {
+		Self{
+			num:self.num*rhs,
+			den:self.den,
+		}
+	}
+}
+impl std::ops::Div<u64> for Ratio64{
+	type Output=Ratio64;
+	#[inline]
+	fn div(self,rhs:u64)->Self::Output {
+		Self{
+			num:self.num,
+			den:self.den*rhs,
+		}
+	}
+}
+#[derive(Clone,Copy,Debug,Hash)]
+pub struct Ratio64Vec2{
+	pub x:Ratio64,
+	pub y:Ratio64,
+}
+impl Ratio64Vec2{
+	pub const ONE:Self=Self{x:Ratio64::ONE,y:Ratio64::ONE};
+	#[inline]
+	pub const fn new(x:Ratio64,y:Ratio64)->Self{
+		Self{x,y}
+	}
+	#[inline]
+	pub const fn mul_int(&self,rhs:glam::I64Vec2)->glam::I64Vec2{
+		glam::i64vec2(
+			self.x.mul_int(rhs.x),
+			self.y.mul_int(rhs.y),
+		)
+	}
+}
+impl std::ops::Mul<i64> for Ratio64Vec2{
+	type Output=Ratio64Vec2;
+	#[inline]
+	fn mul(self,rhs:i64)->Self::Output {
+		Self{
+			x:self.x*rhs,
+			y:self.y*rhs,
+		}
+	}
+}
+
+///[-pi,pi) = [-2^31,2^31-1]
+#[derive(Clone,Copy,Hash)]
+pub struct Angle32(i32);
+impl Angle32{
+	const ANGLE32_TO_FLOAT64_RADIANS:f64=std::f64::consts::PI/((1i64<<31) as f64);
+	pub const FRAC_PI_2:Self=Self(1<<30);
+	pub const NEG_FRAC_PI_2:Self=Self(-1<<30);
+	pub const PI:Self=Self(-1<<31);
+	#[inline]
+	pub const fn wrap_from_i64(theta:i64)->Self{
+		//take lower bits
+		//note: this was checked on compiler explorer and compiles to 1 instruction!
+		Self(i32::from_ne_bytes(((theta&((1<<32)-1)) as u32).to_ne_bytes()))
+	}
+	#[inline]
+	pub fn clamp_from_i64(theta:i64)->Self{
+		//the assembly is a bit confusing for this, I thought it was checking the same thing twice
+		//but it's just checking and then overwriting the value for both upper and lower bounds.
+		Self(theta.clamp(i32::MIN as i64,i32::MAX as i64) as i32)
+	}
+	#[inline]
+	pub const fn get(&self)->i32{
+		self.0
+	}
+	/// Clamps the value towards the midpoint of the range.
+	/// Note that theta_min can be larger than theta_max and it will wrap clamp the other way around
+	#[inline]
+	pub fn clamp(&self,theta_min:Self,theta_max:Self)->Self{
+		//((max-min as u32)/2 as i32)+min
+		let midpoint=((
+			(theta_max.0 as u32)
+			.wrapping_sub(theta_min.0 as u32)
+			/2
+		) as i32)//(u32::MAX/2) as i32 ALWAYS works
+		.wrapping_add(theta_min.0);
+		//(theta-mid).clamp(max-mid,min-mid)+mid
+		Self(
+			self.0.wrapping_sub(midpoint)
+			.max(theta_min.0.wrapping_sub(midpoint))
+			.min(theta_max.0.wrapping_sub(midpoint))
+			.wrapping_add(midpoint)
+		)
+	}
+	#[inline]
+	pub fn cos_sin(&self)->(Planar64,Planar64){
+		/*
+		//cordic
+		let a=self.0 as u32;
+		//initialize based on the quadrant
+		let (mut x,mut y)=match (a&(1<<31)!=0,a&(1<<30)!=0){
+			(false,false)=>( 1i64<<32, 0i64    ),//TR
+			(false,true )=>( 0i64    , 1i64<<32),//TL
+			(true ,false)=>(-1i64<<32, 0i64    ),//BL
+			(true ,true )=>( 0i64    ,-1i64<<32),//BR
+		};
+		println!("x={} y={}",Planar64::raw(x),Planar64::raw(y));
+		for i in 0..30{
+			if a&(1<<(29-i))!=0{
+				(x,y)=(x-(y>>i),y+(x>>i));
+			}
+			println!("i={i} t={} x={} y={}",(a&(1<<(29-i))!=0) as u8,Planar64::raw(x),Planar64::raw(y));
+		}
+		//don't forget the gain
+		(Planar64::raw(x),Planar64::raw(y))
+		*/
+		let (s,c)=(self.0 as f64*Self::ANGLE32_TO_FLOAT64_RADIANS).sin_cos();
+		(Planar64::raw((c*((1u64<<32) as f64)) as i64),Planar64::raw((s*((1u64<<32) as f64)) as i64))
+	}
+}
+impl Into<f32> for Angle32{
+	#[inline]
+	fn into(self)->f32{
+		(self.0 as f64*Self::ANGLE32_TO_FLOAT64_RADIANS) as f32
+	}
+}
+impl std::ops::Neg for Angle32{
+	type Output=Angle32;
+	#[inline]
+	fn neg(self)->Self::Output{
+		Angle32(self.0.wrapping_neg())
+	}
+}
+impl std::ops::Add<Angle32> for Angle32{
+	type Output=Angle32;
+	#[inline]
+	fn add(self,rhs:Self)->Self::Output {
+		Angle32(self.0.wrapping_add(rhs.0))
+	}
+}
+impl std::ops::Sub<Angle32> for Angle32{
+	type Output=Angle32;
+	#[inline]
+	fn sub(self,rhs:Self)->Self::Output {
+		Angle32(self.0.wrapping_sub(rhs.0))
+	}
+}
+impl std::ops::Mul<i32> for Angle32{
+	type Output=Angle32;
+	#[inline]
+	fn mul(self,rhs:i32)->Self::Output {
+		Angle32(self.0.wrapping_mul(rhs))
+	}
+}
+impl std::ops::Mul<Angle32> for Angle32{
+	type Output=Angle32;
+	#[inline]
+	fn mul(self,rhs:Self)->Self::Output {
+		Angle32(self.0.wrapping_mul(rhs.0))
+	}
+}
+#[test]
+fn angle_sin_cos(){
+	fn close_enough(lhs:Planar64,rhs:Planar64)->bool{
+		(lhs-rhs).abs()<Planar64::EPSILON*4
+	}
+	fn test_angle(f:f64){
+		let a=Angle32((f/Angle32::ANGLE32_TO_FLOAT64_RADIANS) as i32);
+		println!("a={:#034b}",a.0);
+		let (c,s)=a.cos_sin();
+		let h=(s*s+c*c).sqrt();
+		println!("cordic s={} c={}",(s/h).divide(),(c/h).divide());
+		let (fs,fc)=f.sin_cos();
+		println!("float s={} c={}",fs,fc);
+		assert!(close_enough((c/h).divide().fix_1(),Planar64::raw((fc*((1u64<<32) as f64)) as i64)));
+		assert!(close_enough((s/h).divide().fix_1(),Planar64::raw((fs*((1u64<<32) as f64)) as i64)));
+	}
+	test_angle(1.0);
+	test_angle(std::f64::consts::PI/4.0);
+	test_angle(std::f64::consts::PI/8.0);
+}
+
+/* Unit type unused for now, may revive it for map files
+///[-1.0,1.0] = [-2^30,2^30]
+pub struct Unit32(i32);
+impl Unit32{
+	#[inline]
+	pub fn as_planar64(&self) -> Planar64{
+		Planar64(4*(self.0 as i64))
+	}
+}
+const UNIT32_ONE_FLOAT64=((1<<30) as f64);
+///[-1.0,1.0] = [-2^30,2^30]
+pub struct Unit32Vec3(glam::IVec3);
+impl TryFrom<[f32;3]> for Unit32Vec3{
+	type Error=Unit32TryFromFloatError;
+	fn try_from(value:[f32;3])->Result<Self,Self::Error>{
+		Ok(Self(glam::ivec3(
+			Unit32::try_from(Planar64::try_from(value[0])?)?.0,
+			Unit32::try_from(Planar64::try_from(value[1])?)?.0,
+			Unit32::try_from(Planar64::try_from(value[2])?)?.0,
+		)))
+	}
+}
+*/
+
+pub type Planar64TryFromFloatError=fixed_wide::fixed::FixedFromFloatError;
+pub type Planar64=fixed_wide::types::I32F32;
+pub type Planar64Vec3=linear_ops::types::Vector3<Planar64>;
+pub type Planar64Mat3=linear_ops::types::Matrix3<Planar64>;
+pub mod vec3{
+	use super::*;
+	pub use linear_ops::types::Vector3;
+	pub const MIN:Planar64Vec3=Planar64Vec3::new([Planar64::MIN;3]);
+	pub const MAX:Planar64Vec3=Planar64Vec3::new([Planar64::MAX;3]);
+	pub const ZERO:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO;3]);
+	pub const ZERO_2:linear_ops::types::Vector3<Fixed::<2,64>>=linear_ops::types::Vector3::new([Fixed::<2,64>::ZERO;3]);
+	pub const X:Planar64Vec3=Planar64Vec3::new([Planar64::ONE,Planar64::ZERO,Planar64::ZERO]);
+	pub const Y:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::ONE,Planar64::ZERO]);
+	pub const Z:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::ZERO,Planar64::ONE]);
+	pub const ONE:Planar64Vec3=Planar64Vec3::new([Planar64::ONE,Planar64::ONE,Planar64::ONE]);
+	pub const NEG_X:Planar64Vec3=Planar64Vec3::new([Planar64::NEG_ONE,Planar64::ZERO,Planar64::ZERO]);
+	pub const NEG_Y:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::NEG_ONE,Planar64::ZERO]);
+	pub const NEG_Z:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::ZERO,Planar64::NEG_ONE]);
+	pub const NEG_ONE:Planar64Vec3=Planar64Vec3::new([Planar64::NEG_ONE,Planar64::NEG_ONE,Planar64::NEG_ONE]);
+	#[inline]
+	pub const fn int(x:i32,y:i32,z:i32)->Planar64Vec3{
+		Planar64Vec3::new([Planar64::raw((x as i64)<<32),Planar64::raw((y as i64)<<32),Planar64::raw((z as i64)<<32)])
+	}
+	#[inline]
+	pub fn raw_array(array:[i64;3])->Planar64Vec3{
+		Planar64Vec3::new(array.map(Planar64::raw))
+	}
+	#[inline]
+	pub fn raw_xyz(x:i64,y:i64,z:i64)->Planar64Vec3{
+		Planar64Vec3::new([Planar64::raw(x),Planar64::raw(y),Planar64::raw(z)])
+	}
+	#[inline]
+	pub fn try_from_f32_array([x,y,z]:[f32;3])->Result<Planar64Vec3,Planar64TryFromFloatError>{
+		Ok(Planar64Vec3::new([
+			try_from_f32(x)?,
+			try_from_f32(y)?,
+			try_from_f32(z)?,
+		]))
+	}
+}
+
+#[inline]
+pub fn int(value:i32)->Planar64{
+	Planar64::from(value)
+}
+#[inline]
+pub fn try_from_f32(value:f32)->Result<Planar64,Planar64TryFromFloatError>{
+	let result:Result<Planar64,_>=value.try_into();
+	match result{
+		Ok(ok)=>Ok(ok),
+		Err(e)=>e.underflow_to_zero(),
+	}
+}
+pub mod mat3{
+	use super::*;
+	pub use linear_ops::types::Matrix3;
+	#[inline]
+	pub const fn identity()->Planar64Mat3{
+		Planar64Mat3::new([
+			[Planar64::ONE,Planar64::ZERO,Planar64::ZERO],
+			[Planar64::ZERO,Planar64::ONE,Planar64::ZERO],
+			[Planar64::ZERO,Planar64::ZERO,Planar64::ONE],
+		])
+	}
+	#[inline]
+	pub fn from_diagonal(diag:Planar64Vec3)->Planar64Mat3{
+		Planar64Mat3::new([
+			[diag.x,Planar64::ZERO,Planar64::ZERO],
+			[Planar64::ZERO,diag.y,Planar64::ZERO],
+			[Planar64::ZERO,Planar64::ZERO,diag.z],
+		])
+	}
+	#[inline]
+	pub fn from_rotation_yx(x:Angle32,y:Angle32)->Planar64Mat3{
+		let (xc,xs)=x.cos_sin();
+		let (yc,ys)=y.cos_sin();
+		Planar64Mat3::from_cols([
+			Planar64Vec3::new([xc,Planar64::ZERO,-xs]),
+			Planar64Vec3::new([(xs*ys).fix_1(),yc,(xc*ys).fix_1()]),
+			Planar64Vec3::new([(xs*yc).fix_1(),-ys,(xc*yc).fix_1()]),
+		])
+	}
+	#[inline]
+	pub fn from_rotation_y(y:Angle32)->Planar64Mat3{
+		let (c,s)=y.cos_sin();
+		Planar64Mat3::from_cols([
+			Planar64Vec3::new([c,Planar64::ZERO,-s]),
+			vec3::Y,
+			Planar64Vec3::new([s,Planar64::ZERO,c]),
+		])
+	}
+	#[inline]
+	pub fn try_from_f32_array_2d([x_axis,y_axis,z_axis]:[[f32;3];3])->Result<Planar64Mat3,Planar64TryFromFloatError>{
+		Ok(Planar64Mat3::new([
+			vec3::try_from_f32_array(x_axis)?.to_array(),
+			vec3::try_from_f32_array(y_axis)?.to_array(),
+			vec3::try_from_f32_array(z_axis)?.to_array(),
+		]))
+	}
+}
+
+#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
+pub struct Planar64Affine3{
+	pub matrix3:Planar64Mat3,//includes scale above 1
+	pub translation:Planar64Vec3,
+}
+impl Planar64Affine3{
+	#[inline]
+	pub const fn new(matrix3:Planar64Mat3,translation:Planar64Vec3)->Self{
+		Self{matrix3,translation}
+	}
+	#[inline]
+	pub fn transform_point3(&self,point:Planar64Vec3)->vec3::Vector3<Fixed<2,64>>{
+		self.translation.fix_2()+self.matrix3*point
+	}
+}
+impl Into<glam::Mat4> for Planar64Affine3{
+	#[inline]
+	fn into(self)->glam::Mat4{
+		let matrix3=self.matrix3.to_array().map(|row|row.map(Into::<f32>::into));
+		let translation=self.translation.to_array().map(Into::<f32>::into);
+		glam::Mat4::from_cols_array(&[
+			matrix3[0][0],matrix3[0][1],matrix3[0][2],0.0,
+			matrix3[1][0],matrix3[1][1],matrix3[1][2],0.0,
+			matrix3[2][0],matrix3[2][1],matrix3[2][2],0.0,
+			translation[0],translation[1],translation[2],1.0
+		])
+	}
+}
+
+#[test]
+fn test_sqrt(){
+	let r=int(400);
+	assert_eq!(r,Planar64::raw(1717986918400));
+	let s=r.sqrt();
+	assert_eq!(s,Planar64::raw(85899345920));
+}

lib/common/src/lib.rs

@@ -0,0 +1,16 @@
+pub mod bvh;
+pub mod map;
+pub mod run;
+pub mod aabb;
+pub mod model;
+pub mod mouse;
+pub mod timer;
+pub mod integer;
+pub mod physics;
+pub mod session;
+pub mod updatable;
+pub mod instruction;
+pub mod gameplay_attributes;
+pub mod gameplay_modes;
+pub mod gameplay_style;
+pub mod controls_bitflag;

lib/common/src/map.rs

@@ -0,0 +1,14 @@
+use crate::model;
+use crate::gameplay_modes;
+use crate::gameplay_attributes;
+//this is a temporary struct to try to get the code running again
+//TODO: use snf::map::Region to update the data in physics and graphics instead of this
+pub struct CompleteMap{
+	pub modes:gameplay_modes::Modes,
+	pub attributes:Vec<gameplay_attributes::CollisionAttributes>,
+	pub meshes:Vec<model::Mesh>,
+	pub models:Vec<model::Model>,
+	//RenderPattern
+	pub textures:Vec<Vec<u8>>,
+	pub render_configs:Vec<model::RenderConfig>,
+}

lib/common/src/model.rs

@@ -0,0 +1,133 @@
+use crate::integer::{Planar64Vec3,Planar64Affine3};
+use crate::gameplay_attributes;
+
+pub type TextureCoordinate=glam::Vec2;
+pub type Color4=glam::Vec4;
+#[derive(Clone,Copy,Hash,id::Id,PartialEq,Eq)]
+pub struct PositionId(u32);
+#[derive(Clone,Copy,Hash,id::Id,PartialEq,Eq)]
+pub struct TextureCoordinateId(u32);
+#[derive(Clone,Copy,Hash,id::Id,PartialEq,Eq)]
+pub struct NormalId(u32);
+#[derive(Clone,Copy,Hash,id::Id,PartialEq,Eq)]
+pub struct ColorId(u32);
+#[derive(Clone,Hash,PartialEq,Eq)]
+pub struct IndexedVertex{
+	pub pos:PositionId,
+	pub tex:TextureCoordinateId,
+	pub normal:NormalId,
+	pub color:ColorId,
+}
+#[derive(Clone,Copy,Hash,id::Id,PartialEq,Eq)]
+pub struct VertexId(u32);
+pub type IndexedVertexList=Vec<VertexId>;
+pub trait PolygonIter{
+	fn polys(&self)->impl Iterator<Item=&[VertexId]>;
+}
+pub trait MapVertexId{
+	fn map_vertex_id<F:Fn(VertexId)->VertexId>(self,f:F)->Self;
+}
+#[derive(Clone)]
+pub struct PolygonList(Vec<IndexedVertexList>);
+impl PolygonList{
+	pub const fn new(list:Vec<IndexedVertexList>)->Self{
+		Self(list)
+	}
+	pub fn extend<T:IntoIterator<Item=IndexedVertexList>>(&mut self,iter:T){
+		self.0.extend(iter);
+	}
+}
+impl PolygonIter for PolygonList{
+	fn polys(&self)->impl Iterator<Item=&[VertexId]>{
+		self.0.iter().map(|poly|poly.as_slice())
+	}
+}
+impl MapVertexId for PolygonList{
+	fn map_vertex_id<F:Fn(VertexId)->VertexId>(self,f:F)->Self{
+		Self(self.0.into_iter().map(|ivl|ivl.into_iter().map(&f).collect()).collect())
+	}
+}
+// pub struct TriangleStrip(IndexedVertexList);
+// impl PolygonIter for TriangleStrip{
+// 	fn polys(&self)->impl Iterator<Item=&[VertexId]>{
+// 		self.0.vertices.windows(3).enumerate().map(|(i,s)|if i&0!=0{return s.iter().rev()}else{return s.iter()})
+// 	}
+// }
+#[derive(Clone,Copy,Hash,id::Id,PartialEq,Eq)]
+pub struct PolygonGroupId(u32);
+#[derive(Clone)]
+pub enum PolygonGroup{
+	PolygonList(PolygonList),
+	//TriangleStrip(TriangleStrip),
+}
+impl PolygonIter for PolygonGroup{
+	fn polys(&self)->impl Iterator<Item=&[VertexId]>{
+		match self{
+			PolygonGroup::PolygonList(list)=>list.polys(),
+			//PolygonGroup::TriangleStrip(strip)=>strip.polys(),
+		}
+	}
+}
+impl MapVertexId for PolygonGroup{
+	fn map_vertex_id<F:Fn(VertexId)->VertexId>(self,f:F)->Self{
+		match self{
+			PolygonGroup::PolygonList(polys)=>Self::PolygonList(polys.map_vertex_id(f)),
+		}
+	}
+}
+/// Ah yes, a group of things to render at the same time
+#[derive(Clone,Copy,Debug,Hash,id::Id,Eq,PartialEq)]
+pub struct TextureId(u32);
+#[derive(Clone,Copy,Hash,id::Id,Eq,PartialEq)]
+pub struct RenderConfigId(u32);
+#[derive(Clone,Copy,Default)]
+pub struct RenderConfig{
+	pub texture:Option<TextureId>,
+}
+impl RenderConfig{
+	pub const fn texture(texture:TextureId)->Self{
+		Self{
+			texture:Some(texture),
+		}
+	}
+}
+#[derive(Clone)]
+pub struct IndexedGraphicsGroup{
+	//Render pattern material/texture/shader/flat color
+	pub render:RenderConfigId,
+	pub groups:Vec<PolygonGroupId>,
+}
+#[derive(Clone,Default)]
+pub struct IndexedPhysicsGroup{
+	//the polygons in this group are guaranteed to make a closed convex shape
+	pub groups:Vec<PolygonGroupId>,
+}
+//This is a superset of PhysicsModel and GraphicsModel
+#[derive(Clone,Copy,Debug,Hash,id::Id,Eq,PartialEq)]
+pub struct MeshId(u32);
+#[derive(Clone)]
+pub struct Mesh{
+	pub unique_pos:Vec<Planar64Vec3>,//Unit32Vec3
+	pub unique_normal:Vec<Planar64Vec3>,//Unit32Vec3
+	pub unique_tex:Vec<TextureCoordinate>,
+	pub unique_color:Vec<Color4>,
+	pub unique_vertices:Vec<IndexedVertex>,
+	//polygon groups are constant texture AND convexity slices
+	//note that this may need to be changed to be a list of individual faces
+	//for submeshes to work since face ids need to be consistent across submeshes
+	//so face == polygon_groups[face_id]
+	pub polygon_groups:Vec<PolygonGroup>,
+	//graphics indexed (by texture)
+	pub graphics_groups:Vec<IndexedGraphicsGroup>,
+	//physics indexed (by convexity)
+	pub physics_groups:Vec<IndexedPhysicsGroup>,
+}
+
+#[derive(Debug,Clone,Copy,Hash,id::Id,Eq,PartialEq)]
+pub struct ModelId(u32);
+pub struct Model{
+	pub mesh:MeshId,
+	pub attributes:gameplay_attributes::CollisionAttributesId,
+	pub color:Color4,//transparency is in here
+	pub transform:Planar64Affine3,
+}

lib/common/src/mouse.rs

@@ -0,0 +1,28 @@
+use crate::integer::Time;
+
+#[derive(Clone,Debug)]
+pub struct MouseState<T>{
+	pub pos:glam::IVec2,
+	pub time:Time<T>,
+}
+impl<T> Default for MouseState<T>{
+	fn default()->Self{
+		Self{
+			time:Time::ZERO,
+			pos:glam::IVec2::ZERO,
+		}
+	}
+}
+impl<T> MouseState<T>
+	where Time<T>:Copy,
+{
+	pub fn lerp(&self,target:&MouseState<T>,time:Time<T>)->glam::IVec2{
+		let m0=self.pos.as_i64vec2();
+		let m1=target.pos.as_i64vec2();
+		//these are deltas
+		let t1t=(target.time-time).nanos();
+		let tt0=(time-self.time).nanos();
+		let dt=(target.time-self.time).nanos();
+		((m0*t1t+m1*tt0)/dt).as_ivec2()
+	}
+}

lib/common/src/physics.rs

@@ -0,0 +1,56 @@
+use crate::mouse::MouseState;
+use crate::gameplay_modes::{ModeId,StageId};
+
+#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
+pub enum TimeInner{}
+pub type Time=crate::integer::Time<TimeInner>;
+
+#[derive(Clone,Debug)]
+pub enum Instruction{
+	Mouse(MouseInstruction),
+	SetControl(SetControlInstruction),
+	Mode(ModeInstruction),
+	Misc(MiscInstruction),
+	/// Idle: there were no input events, but the simulation is safe to advance to this timestep
+	Idle,
+}
+impl Instruction{
+	pub const IDLE:Self=Self::Idle;
+}
+#[derive(Clone,Debug)]
+pub enum MouseInstruction{
+	/// Replace the entire interpolation state to avoid dividing by zero when replacing twice
+	ReplaceMouse{
+		m0:MouseState<TimeInner>,
+		m1:MouseState<TimeInner>,
+	},
+	SetNextMouse(MouseState<TimeInner>),
+}
+#[derive(Clone,Debug)]
+pub enum SetControlInstruction{
+	SetMoveRight(bool),
+	SetMoveUp(bool),
+	SetMoveBack(bool),
+	SetMoveLeft(bool),
+	SetMoveDown(bool),
+	SetMoveForward(bool),
+	SetJump(bool),
+	SetZoom(bool),
+}
+#[derive(Clone,Debug)]
+pub enum ModeInstruction{
+	/// Reset: fully replace the physics state.
+	/// This forgets all inputs and settings which need to be reapplied.
+	Reset,
+	/// Restart: Teleport to the start zone.
+	/// This runs when you press R or teleport to a bonus
+	Restart(ModeId),
+	/// Spawn: Teleport to a specific mode's spawn
+	/// This runs when the map loads to put you at the map lobby
+	Spawn(ModeId,StageId),
+}
+#[derive(Clone,Debug)]
+pub enum MiscInstruction{
+	PracticeFly,
+	SetSensitivity(crate::integer::Ratio64Vec2),
+}

lib/common/src/run.rs

@@ -0,0 +1,119 @@
+use crate::timer::{TimerFixed,Realtime,Paused,Unpaused};
+
+use crate::physics::{TimeInner as PhysicsTimeInner,Time as PhysicsTime};
+
+#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
+pub enum TimeInner{}
+pub type Time=crate::integer::Time<TimeInner>;
+
+#[derive(Clone,Copy,Debug)]
+pub enum FlagReason{
+	Anticheat,
+	StyleChange,
+	Clock,
+	Pause,
+	Flying,
+	Gravity,
+	Timescale,
+	TimeTravel,
+	Teleport,
+}
+impl ToString for FlagReason{
+	fn to_string(&self)->String{
+		self.as_ref().to_owned()
+	}
+}
+impl AsRef<str> for FlagReason{
+	fn as_ref(&self)->&str{
+		match self{
+			FlagReason::Anticheat=>"Passed through anticheat zone.",
+			FlagReason::StyleChange=>"Changed style.",
+			FlagReason::Clock=>"Incorrect clock.  (This can be caused by internet hiccups)",
+			FlagReason::Pause=>"Pausing is not allowed in this style.",
+			FlagReason::Flying=>"Flying is not allowed in this style.",
+			FlagReason::Gravity=>"Gravity modification is not allowed in this style.",
+			FlagReason::Timescale=>"Timescale is not allowed in this style.",
+			FlagReason::TimeTravel=>"Time travel is not allowed in this style.",
+			FlagReason::Teleport=>"Illegal teleport.",
+		}
+	}
+}
+
+#[derive(Debug)]
+pub enum Error{
+	NotStarted,
+	AlreadyStarted,
+	AlreadyFinished,
+}
+impl std::fmt::Display for Error{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{self:?}")
+	}
+}
+impl std::error::Error for Error{}
+
+#[derive(Clone,Copy,Debug)]
+enum RunState{
+	Created,
+	Started{timer:TimerFixed<Realtime<PhysicsTimeInner,TimeInner>,Unpaused>},
+	Finished{timer:TimerFixed<Realtime<PhysicsTimeInner,TimeInner>,Paused>},
+}
+
+#[derive(Clone,Copy,Debug)]
+pub struct Run{
+	state:RunState,
+	flagged:Option<FlagReason>,
+}
+
+impl Run{
+	pub fn new()->Self{
+		Self{
+			state:RunState::Created,
+			flagged:None,
+		}
+	}
+	pub fn time(&self,time:PhysicsTime)->Time{
+		match &self.state{
+			RunState::Created=>Time::ZERO,
+			RunState::Started{timer}=>timer.time(time),
+			RunState::Finished{timer}=>timer.time(),
+		}
+	}
+	pub fn start(&mut self,time:PhysicsTime)->Result<(),Error>{
+		match &self.state{
+			RunState::Created=>{
+				self.state=RunState::Started{
+					timer:TimerFixed::new(time,Time::ZERO),
+				};
+				Ok(())
+			},
+			RunState::Started{..}=>Err(Error::AlreadyStarted),
+			RunState::Finished{..}=>Err(Error::AlreadyFinished),
+		}
+	}
+	pub fn finish(&mut self,time:PhysicsTime)->Result<(),Error>{
+		//this uses Copy
+		match &self.state{
+			RunState::Created=>Err(Error::NotStarted),
+			RunState::Started{timer}=>{
+				self.state=RunState::Finished{
+					timer:timer.into_paused(time),
+				};
+				Ok(())
+			},
+			RunState::Finished{..}=>Err(Error::AlreadyFinished),
+		}
+	}
+	pub fn flag(&mut self,flag_reason:FlagReason){
+		//don't replace the first reason the run was flagged
+		if self.flagged.is_none(){
+			self.flagged=Some(flag_reason);
+		}
+	}
+	pub fn get_finish_time(&self)->Option<Time>{
+		match &self.state{
+			RunState::Finished{timer}=>Some(timer.time()),
+			_=>None,
+		}
+	}
+}

lib/common/src/session.rs

@@ -0,0 +1,3 @@
+#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
+pub enum TimeInner{}
+pub type Time=crate::integer::Time<TimeInner>;

lib/common/src/timer.rs

@@ -0,0 +1,363 @@
+use crate::integer::{Time,Ratio64};
+
+#[derive(Clone,Copy,Debug)]
+pub struct Paused;
+#[derive(Clone,Copy,Debug)]
+pub struct Unpaused;
+
+pub trait PauseState:Copy+std::fmt::Debug{
+	const IS_PAUSED:bool;
+	fn new()->Self;
+}
+impl PauseState for Paused{
+	const IS_PAUSED:bool=true;
+	fn new()->Self{
+		Self
+	}
+}
+impl PauseState for Unpaused{
+	const IS_PAUSED:bool=false;
+	fn new()->Self{
+		Self
+	}
+}
+
+#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
+enum Inner{}
+type InnerTime=Time<Inner>;
+
+#[derive(Clone,Copy,Debug)]
+pub struct Realtime<In,Out>{
+	offset:InnerTime,
+	_in:core::marker::PhantomData<In>,
+	_out:core::marker::PhantomData<Out>,
+}
+impl<In,Out> Realtime<In,Out>{
+	pub const fn new(offset:InnerTime)->Self{
+		Self{
+			offset,
+			_in:core::marker::PhantomData,
+			_out:core::marker::PhantomData,
+		}
+	}
+}
+
+#[derive(Clone,Copy,Debug)]
+pub struct Scaled<In,Out>{
+	scale:Ratio64,
+	offset:InnerTime,
+	_in:core::marker::PhantomData<In>,
+	_out:core::marker::PhantomData<Out>,
+}
+impl<In,Out> Scaled<In,Out>
+	where Time<In>:Copy,
+{
+	pub const fn new(scale:Ratio64,offset:InnerTime)->Self{
+		Self{
+			scale,
+			offset,
+			_in:core::marker::PhantomData,
+			_out:core::marker::PhantomData,
+		}
+	}
+	const fn with_scale(scale:Ratio64)->Self{
+		Self::new(scale,InnerTime::ZERO)
+	}
+	const fn scale(&self,time:Time<In>)->InnerTime{
+		InnerTime::raw(self.scale.mul_int(time.get()))
+	}
+	const fn get_scale(&self)->Ratio64{
+		self.scale
+	}
+	fn set_scale(&mut self,time:Time<In>,new_scale:Ratio64){
+		let new_time=self.get_time(time);
+		self.scale=new_scale;
+		self.set_time(time,new_time);
+	}
+}
+
+pub trait TimerState{
+	type In;
+	type Out;
+	fn identity()->Self;
+	fn get_time(&self,time:Time<Self::In>)->Time<Self::Out>;
+	fn set_time(&mut self,time:Time<Self::In>,new_time:Time<Self::Out>);
+	fn get_offset(&self)->InnerTime;
+	fn set_offset(&mut self,offset:InnerTime);
+}
+impl<In,Out> TimerState for Realtime<In,Out>{
+	type In=In;
+	type Out=Out;
+	fn identity()->Self{
+		Self::new(InnerTime::ZERO)
+	}
+	fn get_time(&self,time:Time<In>)->Time<Out>{
+		time.coerce()+self.offset.coerce()
+	}
+	fn set_time(&mut self,time:Time<In>,new_time:Time<Out>){
+		self.offset=new_time.coerce()-time.coerce();
+	}
+	fn get_offset(&self)->InnerTime{
+		self.offset
+	}
+	fn set_offset(&mut self,offset:InnerTime){
+		self.offset=offset;
+	}
+}
+impl<In,Out> TimerState for Scaled<In,Out>
+	where Time<In>:Copy,
+{
+	type In=In;
+	type Out=Out;
+	fn identity()->Self{
+		Self::new(Ratio64::ONE,InnerTime::ZERO)
+	}
+	fn get_time(&self,time:Time<In>)->Time<Out>{
+		(self.scale(time)+self.offset).coerce()
+	}
+	fn set_time(&mut self,time:Time<In>,new_time:Time<Out>){
+		self.offset=new_time.coerce()-self.scale(time);
+	}
+	fn get_offset(&self)->InnerTime{
+		self.offset
+	}
+	fn set_offset(&mut self,offset:InnerTime){
+		self.offset=offset;
+	}
+}
+
+#[derive(Clone,Copy,Debug)]
+pub struct TimerFixed<T:TimerState,P:PauseState>{
+	state:T,
+	_paused:P,
+}
+
+//scaled timer methods are generic across PauseState
+impl<P:PauseState,In,Out> TimerFixed<Scaled<In,Out>,P>
+	where Time<In>:Copy,
+{
+	pub fn scaled(time:Time<In>,new_time:Time<Out>,scale:Ratio64)->Self{
+		let mut timer=Self{
+			state:Scaled::with_scale(scale),
+			_paused:P::new(),
+		};
+		timer.set_time(time,new_time);
+		timer
+	}
+	pub const fn get_scale(&self)->Ratio64{
+		self.state.get_scale()
+	}
+	pub fn set_scale(&mut self,time:Time<In>,new_scale:Ratio64){
+		self.state.set_scale(time,new_scale)
+	}
+}
+
+//pause and unpause is generic across TimerState
+impl<T:TimerState> TimerFixed<T,Paused>
+	where Time<T::In>:Copy,
+{
+	pub fn into_unpaused(self,time:Time<T::In>)->TimerFixed<T,Unpaused>{
+		let new_time=self.time();
+		let mut timer=TimerFixed{
+			state:self.state,
+			_paused:Unpaused,
+		};
+		timer.set_time(time,new_time);
+		timer
+	}
+	pub fn time(&self)->Time<T::Out>{
+		self.state.get_offset().coerce()
+	}
+}
+impl<T:TimerState> TimerFixed<T,Unpaused>
+	where Time<T::In>:Copy,
+{
+	pub fn into_paused(self,time:Time<T::In>)->TimerFixed<T,Paused>{
+		let new_time=self.time(time);
+		let mut timer=TimerFixed{
+			state:self.state,
+			_paused:Paused,
+		};
+		timer.set_time(time,new_time);
+		timer
+	}
+	pub fn time(&self,time:Time<T::In>)->Time<T::Out>{
+		self.state.get_time(time)
+	}
+}
+
+//the new constructor and time queries are generic across both
+impl<T:TimerState,P:PauseState> TimerFixed<T,P>{
+	pub fn new(time:Time<T::In>,new_time:Time<T::Out>)->Self{
+		let mut timer=Self{
+			state:T::identity(),
+			_paused:P::new(),
+		};
+		timer.set_time(time,new_time);
+		timer
+	}
+	pub fn from_state(state:T)->Self{
+		Self{
+			state,
+			_paused:P::new(),
+		}
+	}
+	pub fn into_state(self)->T{
+		self.state
+	}
+	pub fn set_time(&mut self,time:Time<T::In>,new_time:Time<T::Out>){
+		match P::IS_PAUSED{
+			true=>self.state.set_offset(new_time.coerce()),
+			false=>self.state.set_time(time,new_time),
+		}
+	}
+}
+
+#[derive(Debug)]
+pub enum Error{
+	AlreadyPaused,
+	AlreadyUnpaused,
+}
+impl std::fmt::Display for Error{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{self:?}")
+	}
+}
+impl std::error::Error for Error{}
+
+//wrapper type which holds type state internally
+#[derive(Clone,Debug)]
+pub enum Timer<T:TimerState>{
+	Paused(TimerFixed<T,Paused>),
+	Unpaused(TimerFixed<T,Unpaused>),
+}
+impl<T:TimerState> Timer<T>
+	where
+		T:Copy,
+		Time<T::In>:Copy,
+{
+	pub fn from_state(state:T,paused:bool)->Self{
+		match paused{
+			true=>Self::Paused(TimerFixed::from_state(state)),
+			false=>Self::Unpaused(TimerFixed::from_state(state)),
+		}
+	}
+	pub fn into_state(self)->(T,bool){
+		match self{
+			Self::Paused(timer)=>(timer.into_state(),true),
+			Self::Unpaused(timer)=>(timer.into_state(),false),
+		}
+	}
+	pub fn paused(time:Time<T::In>,new_time:Time<T::Out>)->Self{
+		Self::Paused(TimerFixed::new(time,new_time))
+	}
+	pub fn unpaused(time:Time<T::In>,new_time:Time<T::Out>)->Self{
+		Self::Unpaused(TimerFixed::new(time,new_time))
+	}
+	pub fn time(&self,time:Time<T::In>)->Time<T::Out>{
+		match self{
+			Self::Paused(timer)=>timer.time(),
+			Self::Unpaused(timer)=>timer.time(time),
+		}
+	}
+	pub fn set_time(&mut self,time:Time<T::In>,new_time:Time<T::Out>){
+		match self{
+			Self::Paused(timer)=>timer.set_time(time,new_time),
+			Self::Unpaused(timer)=>timer.set_time(time,new_time),
+		}
+	}
+	pub fn pause(&mut self,time:Time<T::In>)->Result<(),Error>{
+		*self=match *self{
+			Self::Paused(_)=>return Err(Error::AlreadyPaused),
+			Self::Unpaused(timer)=>Self::Paused(timer.into_paused(time)),
+		};
+		Ok(())
+	}
+	pub fn unpause(&mut self,time:Time<T::In>)->Result<(),Error>{
+		*self=match *self{
+			Self::Paused(timer)=>Self::Unpaused(timer.into_unpaused(time)),
+			Self::Unpaused(_)=>return Err(Error::AlreadyUnpaused),
+		};
+		Ok(())
+	}
+	pub fn is_paused(&self)->bool{
+		match self{
+			Self::Paused(_)=>true,
+			Self::Unpaused(_)=>false,
+		}
+	}
+	pub fn set_paused(&mut self,time:Time<T::In>,paused:bool)->Result<(),Error>{
+		match paused{
+			true=>self.pause(time),
+			false=>self.unpause(time),
+		}
+	}
+}
+//scaled timer methods are generic across PauseState
+impl<In,Out> Timer<Scaled<In,Out>>
+	where Time<In>:Copy,
+{
+	pub const fn get_scale(&self)->Ratio64{
+		match self{
+			Self::Paused(timer)=>timer.get_scale(),
+			Self::Unpaused(timer)=>timer.get_scale(),
+		}
+	}
+	pub fn set_scale(&mut self,time:Time<In>,new_scale:Ratio64){
+		match self{
+			Self::Paused(timer)=>timer.set_scale(time,new_scale),
+			Self::Unpaused(timer)=>timer.set_scale(time,new_scale),
+		}
+	}
+}
+
+#[cfg(test)]
+mod test{
+	use super::*;
+	macro_rules! sec {
+		($s: expr) => {
+			Time::from_secs($s)
+		};
+	}
+
+	#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
+	enum Parent{}
+	#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
+	enum Calculated{}
+	#[test]
+	fn test_timerfixed_scaled(){
+		//create a paused timer that reads 0s
+		let timer=TimerFixed::<Scaled<Parent,Calculated>,Paused>::from_state(Scaled::new(0.5f32.try_into().unwrap(),sec!(0)));
+		//the paused timer at 1 second should read 0s
+		assert_eq!(timer.time(),sec!(0));
+
+		//unpause it after one second
+		let timer=timer.into_unpaused(sec!(1));
+		//the timer at 6 seconds should read 2.5s
+		assert_eq!(timer.time(sec!(6)),Time::from_millis(2500));
+
+		//pause the timer after 11 seconds
+		let timer=timer.into_paused(sec!(11));
+		//the paused timer at 20 seconds should read 5s
+		assert_eq!(timer.time(),sec!(5));
+	}
+	#[test]
+	fn test_timer()->Result<(),Error>{
+		//create a paused timer that reads 0s
+		let mut timer=Timer::<Realtime<Parent,Calculated>>::paused(sec!(0),sec!(0));
+		//the paused timer at 1 second should read 0s
+		assert_eq!(timer.time(sec!(1)),sec!(0));
+
+		//unpause it after one second
+		timer.unpause(sec!(1))?;
+		//the timer at 6 seconds should read 5s
+		assert_eq!(timer.time(sec!(6)),sec!(5));
+
+		//pause the timer after 11 seconds
+		timer.pause(sec!(11))?;
+		//the paused timer at 20 seconds should read 10s
+		assert_eq!(timer.time(sec!(20)),sec!(10));
+
+		Ok(())
+	}
+}

lib/common/src/updatable.rs

@@ -0,0 +1,56 @@
+pub trait Updatable<Updater>{
+	fn update(&mut self,update:Updater);
+}
+#[derive(Clone,Copy,Hash,Eq,PartialEq)]
+struct InnerId(u32);
+#[derive(Clone)]
+struct Inner{
+	id:InnerId,
+	enabled:bool,
+}
+#[derive(Clone,Copy,Hash,Eq,PartialEq)]
+struct OuterId(u32);
+struct Outer{
+	id:OuterId,
+	inners:std::collections::HashMap<InnerId,Inner>,
+}
+
+enum Update<I,U>{
+	Insert(I),
+	Update(U),
+	Remove
+}
+
+struct InnerUpdate{
+	//#[updatable(Update)]
+	enabled:Option<bool>,
+}
+struct OuterUpdate{
+	//#[updatable(Insert,Update,Remove)]
+	inners:std::collections::HashMap<InnerId,Update<Inner,InnerUpdate>>,
+	//#[updatable(Update)]
+	//inners:std::collections::HashMap<InnerId,InnerUpdate>,
+}
+impl Updatable<InnerUpdate> for Inner{
+	fn update(&mut self,update:InnerUpdate){
+		if let Some(enabled)=update.enabled{
+			self.enabled=enabled;
+		}
+	}
+}
+impl Updatable<OuterUpdate> for Outer{
+	fn update(&mut self,update:OuterUpdate){
+		for (id,up) in update.inners{
+			match up{
+				Update::Insert(new_inner)=>self.inners.insert(id,new_inner),
+				Update::Update(inner_update)=>self.inners.get_mut(&id).map(|inner|{
+					let old=inner.clone();
+					inner.update(inner_update);
+					old
+				}),
+				Update::Remove=>self.inners.remove(&id),
+			};
+		}
+	}
+}
+//*/

lib/deferred_loader/.gitignore

@@ -0,0 +1 @@
+/target

lib/deferred_loader/Cargo.toml

@@ -0,0 +1,21 @@
+[package]
+name = "strafesnet_deferred_loader"
+version = "0.4.1"
+edition = "2021"
+repository = "https://git.itzana.me/StrafesNET/strafe-project"
+license = "MIT OR Apache-2.0"
+description = "Acquire IDs for objects before loading them in bulk."
+authors = ["Rhys Lloyd <krakow20@gmail.com>"]
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[features]
+default = ["legacy"]
+legacy = ["dep:url","dep:vbsp"]
+#roblox = ["dep:lazy-regex"]
+#source = ["dep:vbsp"]
+
+[dependencies]
+strafesnet_common = { path = "../common", registry = "strafesnet" }
+url = { version = "2.5.2", optional = true }
+vbsp = { version = "0.6.0", optional = true }

lib/deferred_loader/LICENSE-APACHE

@@ -0,0 +1,176 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
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+   and distribution as defined by Sections 1 through 9 of this document.
+
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+
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+   direction or management of such entity, whether by contract or
+   otherwise, or (ii) ownership of fifty percent (50%) or more of the
+   outstanding shares, or (iii) beneficial ownership of such entity.
+
+   "You" (or "Your") shall mean an individual or Legal Entity
+   exercising permissions granted by this License.
+
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+
+   "Object" form shall mean any form resulting from mechanical
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+
+   "Work" shall mean the work of authorship, whether in Source or
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+
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+2. Grant of Copyright License. Subject to the terms and conditions of
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+   the conditions stated in this License.
+
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+
+6. Trademarks. This License does not grant permission to use the trade
+   names, trademarks, service marks, or product names of the Licensor,
+   except as required for reasonable and customary use in describing the
+   origin of the Work and reproducing the content of the NOTICE file.
+
+7. Disclaimer of Warranty. Unless required by applicable law or
+   agreed to in writing, Licensor provides the Work (and each
+   Contributor provides its Contributions) on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+   implied, including, without limitation, any warranties or conditions
+   of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+   PARTICULAR PURPOSE. You are solely responsible for determining the
+   appropriateness of using or redistributing the Work and assume any
+   risks associated with Your exercise of permissions under this License.
+
+8. Limitation of Liability. In no event and under no legal theory,
+   whether in tort (including negligence), contract, or otherwise,
+   unless required by applicable law (such as deliberate and grossly
+   negligent acts) or agreed to in writing, shall any Contributor be
+   liable to You for damages, including any direct, indirect, special,
+   incidental, or consequential damages of any character arising as a
+   result of this License or out of the use or inability to use the
+   Work (including but not limited to damages for loss of goodwill,
+   work stoppage, computer failure or malfunction, or any and all
+   other commercial damages or losses), even if such Contributor
+   has been advised of the possibility of such damages.
+
+9. Accepting Warranty or Additional Liability. While redistributing
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+   on Your own behalf and on Your sole responsibility, not on behalf
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+   incurred by, or claims asserted against, such Contributor by reason
+   of your accepting any such warranty or additional liability.
+
+END OF TERMS AND CONDITIONS

lib/deferred_loader/LICENSE-MIT

@@ -0,0 +1,23 @@
+Permission is hereby granted, free of charge, to any
+person obtaining a copy of this software and associated
+documentation files (the "Software"), to deal in the
+Software without restriction, including without
+limitation the rights to use, copy, modify, merge,
+publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software
+is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice
+shall be included in all copies or substantial portions
+of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF
+ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
+SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
+IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

lib/deferred_loader/README.md

@@ -0,0 +1,19 @@
+Texture Loader
+==============
+
+## Texture loader, designed to be used in conjunction with rbx_loader, bsp_loader or Strafe Client
+
+#### License
+
+<sup>
+Licensed under either of <a href="LICENSE-APACHE">Apache License, Version
+2.0</a> or <a href="LICENSE-MIT">MIT license</a> at your option.
+</sup>
+
+<br>
+
+<sub>
+Unless you explicitly state otherwise, any contribution intentionally submitted
+for inclusion in this crate by you, as defined in the Apache-2.0 license, shall
+be dual licensed as above, without any additional terms or conditions.
+</sub>

lib/deferred_loader/src/lib.rs

@@ -0,0 +1,34 @@
+#[cfg(feature="legacy")]
+mod roblox_legacy;
+#[cfg(feature="legacy")]
+mod source_legacy;
+#[cfg(feature="roblox")]
+mod roblox;
+#[cfg(feature="source")]
+mod source;
+
+#[cfg(any(feature="roblox",feature="legacy"))]
+pub mod rbxassetid;
+
+pub mod texture;
+#[cfg(any(feature="source",feature="legacy"))]
+pub mod valve_mesh;
+#[cfg(any(feature="roblox",feature="legacy"))]
+pub mod roblox_mesh;
+
+#[cfg(feature="legacy")]
+pub fn roblox_legacy()->roblox_legacy::Loader{
+	roblox_legacy::Loader::new()
+}
+#[cfg(feature="legacy")]
+pub fn source_legacy()->source_legacy::Loader{
+	source_legacy::Loader::new()
+}
+#[cfg(feature="roblox")]
+pub fn roblox()->roblox::Loader{
+	roblox::Loader::new()
+}
+#[cfg(feature="source")]
+pub fn source()->source::Loader{
+	source::Loader::new()
+}

lib/deferred_loader/src/rbxassetid.rs

@@ -0,0 +1,48 @@
+#[derive(Hash,Eq,PartialEq)]
+pub struct RobloxAssetId(pub u64);
+#[derive(Debug)]
+#[allow(dead_code)]
+pub struct StringWithError{
+	string:String,
+	error:RobloxAssetIdParseErr,
+}
+impl std::fmt::Display for StringWithError{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{self:?}")
+	}
+}
+impl std::error::Error for StringWithError{}
+impl StringWithError{
+	const fn new(
+		string:String,
+		error:RobloxAssetIdParseErr,
+	)->Self{
+		Self{string,error}
+	}
+}
+#[derive(Debug)]
+pub enum RobloxAssetIdParseErr{
+	Url(url::ParseError),
+	UnknownScheme,
+	ParseInt(std::num::ParseIntError),
+	MissingAssetId,
+}
+impl std::str::FromStr for RobloxAssetId{
+	type Err=StringWithError;
+	fn from_str(s:&str)->Result<Self,Self::Err>{
+		let url=url::Url::parse(s).map_err(|e|StringWithError::new(s.to_owned(),RobloxAssetIdParseErr::Url(e)))?;
+		let parsed_asset_id=match url.scheme(){
+			"rbxassetid"=>url.domain().ok_or_else(||StringWithError::new(s.to_owned(),RobloxAssetIdParseErr::MissingAssetId))?.parse(),
+			"http"|"https"=>{
+				let (_,asset_id)=url.query_pairs()
+				.find(|(id,_)|match id.as_ref(){
+					"ID"|"id"|"Id"|"iD"=>true,
+					_=>false,
+				}).ok_or_else(||StringWithError::new(s.to_owned(),RobloxAssetIdParseErr::MissingAssetId))?;
+				asset_id.parse()
+			},
+			_=>Err(StringWithError::new(s.to_owned(),RobloxAssetIdParseErr::UnknownScheme))?,
+		};
+		Ok(Self(parsed_asset_id.map_err(|e|StringWithError::new(s.to_owned(),RobloxAssetIdParseErr::ParseInt(e)))?))
+	}
+}

lib/deferred_loader/src/roblox_legacy.rs

@@ -0,0 +1,112 @@
+use std::io::Read;
+use std::collections::HashMap;
+use crate::roblox_mesh;
+use crate::texture::{RenderConfigs,Texture};
+use strafesnet_common::model::{MeshId,RenderConfig,RenderConfigId,TextureId};
+use crate::rbxassetid::RobloxAssetId;
+
+#[derive(Default)]
+pub struct RenderConfigLoader{
+	texture_count:u32,
+	render_configs:Vec<RenderConfig>,
+	render_config_id_from_asset_id:HashMap<Option<RobloxAssetId>,RenderConfigId>,
+}
+
+impl RenderConfigLoader{
+	pub fn acquire_render_config_id(&mut self,name:Option<&str>)->RenderConfigId{
+		let render_id=RenderConfigId::new(self.render_config_id_from_asset_id.len() as u32);
+		let index=name.and_then(|name|{
+			match name.parse::<RobloxAssetId>(){
+				Ok(asset_id)=>Some(asset_id),
+				Err(e)=>{
+					println!("Failed to parse AssetId: {e}");
+					None
+				},
+			}
+		});
+		*self.render_config_id_from_asset_id.entry(index).or_insert_with(||{
+			//create the render config.
+			let render_config=if name.is_some(){
+				let render_config=RenderConfig::texture(TextureId::new(self.texture_count));
+				self.texture_count+=1;
+				render_config
+			}else{
+				RenderConfig::default()
+			};
+			self.render_configs.push(render_config);
+			render_id
+		})
+	}
+}
+
+#[derive(Default)]
+pub struct MeshLoader{
+	mesh_id_from_asset_id:HashMap<Option<RobloxAssetId>,MeshId>,
+}
+
+impl MeshLoader{
+	pub fn acquire_mesh_id(&mut self,name:&str)->MeshId{
+		let mesh_id=MeshId::new(self.mesh_id_from_asset_id.len() as u32);
+		let index=match name.parse::<RobloxAssetId>(){
+			Ok(asset_id)=>Some(asset_id),
+			Err(e)=>{
+				println!("Failed to parse AssetId: {e}");
+				None
+			},
+		};
+		*self.mesh_id_from_asset_id.entry(index).or_insert(mesh_id)
+	}
+	pub fn load_meshes(&mut self)->Result<roblox_mesh::Meshes,std::io::Error>{
+		let mut mesh_data=vec![None;self.mesh_id_from_asset_id.len()];
+		for (asset_id_option,mesh_id) in &self.mesh_id_from_asset_id{
+			if let Some(asset_id)=asset_id_option{
+				if let Ok(mut file)=std::fs::File::open(format!("meshes/{}",asset_id.0)){
+					//TODO: parallel
+					let mut data=Vec::<u8>::new();
+					file.read_to_end(&mut data)?;
+					mesh_data[mesh_id.get() as usize]=Some(roblox_mesh::RobloxMeshData::new(data));
+				}else{
+					println!("[roblox_legacy] no mesh name={}",asset_id.0);
+				}
+			}
+		}
+		Ok(roblox_mesh::Meshes::new(mesh_data))
+	}
+}
+
+pub struct Loader{
+	render_config_loader:RenderConfigLoader,
+	mesh_loader:MeshLoader,
+}
+impl Loader{
+	pub fn new()->Self{
+		Self{
+			render_config_loader:RenderConfigLoader::default(),
+			mesh_loader:MeshLoader::default(),
+		}
+	}
+	pub fn get_inner_mut(&mut self)->(&mut RenderConfigLoader,&mut MeshLoader){
+		(&mut self.render_config_loader,&mut self.mesh_loader)
+	}
+	pub fn into_render_configs(mut self)->Result<RenderConfigs,std::io::Error>{
+		let mut sorted_textures=vec![None;self.render_config_loader.texture_count as usize];
+		for (asset_id_option,render_config_id) in self.render_config_loader.render_config_id_from_asset_id{
+			let render_config=self.render_config_loader.render_configs.get_mut(render_config_id.get() as usize).unwrap();
+			if let (Some(asset_id),Some(texture_id))=(asset_id_option,render_config.texture){
+				if let Ok(mut file)=std::fs::File::open(format!("textures/{}.dds",asset_id.0)){
+					//TODO: parallel
+					let mut data=Vec::<u8>::new();
+					file.read_to_end(&mut data)?;
+					sorted_textures[texture_id.get() as usize]=Some(Texture::ImageDDS(data));
+				}else{
+					//texture failed to load
+					render_config.texture=None;
+				}
+			}
+		}
+		Ok(RenderConfigs::new(
+			sorted_textures,
+			self.render_config_loader.render_configs,
+		))
+	}
+}

lib/deferred_loader/src/roblox_mesh.rs

@@ -0,0 +1,30 @@
+use strafesnet_common::model::MeshId;
+
+#[derive(Clone)]
+pub struct RobloxMeshData(Vec<u8>);
+impl RobloxMeshData{
+	pub(crate) fn new(data:Vec<u8>)->Self{
+		Self(data)
+	}
+	pub fn get(self)->Vec<u8>{
+		self.0
+	}
+}
+pub struct Meshes{
+	meshes:Vec<Option<RobloxMeshData>>,
+}
+impl Meshes{
+	pub(crate) const fn new(meshes:Vec<Option<RobloxMeshData>>)->Self{
+		Self{
+			meshes,
+		}
+	}
+	pub fn get_texture(&self,texture_id:MeshId)->Option<&RobloxMeshData>{
+		self.meshes.get(texture_id.get() as usize)?.as_ref()
+	}
+	pub fn into_iter(self)->impl Iterator<Item=(MeshId,RobloxMeshData)>{
+		self.meshes.into_iter().enumerate().filter_map(|(mesh_id,maybe_mesh)|
+			maybe_mesh.map(|mesh|(MeshId::new(mesh_id as u32),mesh))
+		)
+	}
+}

lib/deferred_loader/src/source_legacy.rs

@@ -0,0 +1,102 @@
+use std::io::Read;
+use std::collections::HashMap;
+use crate::valve_mesh;
+use crate::texture::{Texture,RenderConfigs};
+use strafesnet_common::model::{MeshId,TextureId,RenderConfig,RenderConfigId};
+
+pub struct RenderConfigLoader{
+	texture_count:u32,
+	render_configs:Vec<RenderConfig>,
+	texture_paths:HashMap<Option<Box<str>>,RenderConfigId>,
+}
+impl RenderConfigLoader{
+	pub fn acquire_render_config_id(&mut self,name:Option<&str>)->RenderConfigId{
+		let render_id=RenderConfigId::new(self.texture_paths.len() as u32);
+		*self.texture_paths.entry(name.map(Into::into)).or_insert_with(||{
+			//create the render config.
+			let render_config=if name.is_some(){
+				let render_config=RenderConfig::texture(TextureId::new(self.texture_count));
+				self.texture_count+=1;
+				render_config
+			}else{
+				RenderConfig::default()
+			};
+			self.render_configs.push(render_config);
+			render_id
+		})
+	}
+}
+pub struct MeshLoader{
+	mesh_paths:HashMap<Box<str>,MeshId>,
+}
+impl MeshLoader{
+	pub fn acquire_mesh_id(&mut self,name:&str)->MeshId{
+		let mesh_id=MeshId::new(self.mesh_paths.len() as u32);
+		*self.mesh_paths.entry(name.into()).or_insert(mesh_id)
+	}
+	//load_meshes should look like load_textures
+	pub fn load_meshes(&mut self,bsp:&vbsp::Bsp)->valve_mesh::Meshes{
+		let mut mesh_data=vec![None;self.mesh_paths.len()];
+		for (mesh_path,mesh_id) in &self.mesh_paths{
+			let mesh_path_lower=mesh_path.to_lowercase();
+			//.mdl, .vvd, .dx90.vtx
+			let path=std::path::PathBuf::from(mesh_path_lower.as_str());
+			let mut vvd_path=path.clone();
+			let mut vtx_path=path.clone();
+			vvd_path.set_extension("vvd");
+			vtx_path.set_extension("dx90.vtx");
+			match (bsp.pack.get(mesh_path_lower.as_str()),bsp.pack.get(vvd_path.as_os_str().to_str().unwrap()),bsp.pack.get(vtx_path.as_os_str().to_str().unwrap())){
+				(Ok(Some(mdl_file)),Ok(Some(vvd_file)),Ok(Some(vtx_file)))=>{
+					mesh_data[mesh_id.get() as usize]=Some(valve_mesh::ModelData{
+						mdl:valve_mesh::MdlData::new(mdl_file),
+						vtx:valve_mesh::VtxData::new(vtx_file),
+						vvd:valve_mesh::VvdData::new(vvd_file),
+					});
+				},
+				_=>println!("no model name={}",mesh_path),
+			}
+		}
+		valve_mesh::Meshes::new(mesh_data)
+	}
+}
+
+pub struct Loader{
+	render_config_loader:RenderConfigLoader,
+	mesh_loader:MeshLoader,
+}
+impl Loader{
+	pub fn new()->Self{
+		Self{
+			render_config_loader:RenderConfigLoader{
+				texture_count:0,
+				texture_paths:HashMap::new(),
+				render_configs:Vec::new(),
+			},
+			mesh_loader:MeshLoader{mesh_paths:HashMap::new()},
+		}
+	}
+	pub fn get_inner_mut(&mut self)->(&mut RenderConfigLoader,&mut MeshLoader){
+		(&mut self.render_config_loader,&mut self.mesh_loader)
+	}
+	pub fn into_render_configs(mut self)->Result<RenderConfigs,std::io::Error>{
+		let mut sorted_textures=vec![None;self.render_config_loader.texture_count as usize];
+		for (texture_path,render_config_id) in self.render_config_loader.texture_paths{
+			let render_config=self.render_config_loader.render_configs.get_mut(render_config_id.get() as usize).unwrap();
+			if let (Some(texture_path),Some(texture_id))=(texture_path,render_config.texture){
+				if let Ok(mut file)=std::fs::File::open(format!("textures/{}.dds",texture_path)){
+					//TODO: parallel
+					let mut data=Vec::<u8>::new();
+					file.read_to_end(&mut data)?;
+					sorted_textures[texture_id.get() as usize]=Some(Texture::ImageDDS(data));
+				}else{
+					//texture failed to load
+					render_config.texture=None;
+				}
+			}
+		}
+		Ok(RenderConfigs::new(
+			sorted_textures,
+			self.render_config_loader.render_configs,
+		))
+	}
+}

lib/deferred_loader/src/texture.rs

@@ -0,0 +1,39 @@
+use strafesnet_common::model::{TextureId,RenderConfigId,RenderConfig};
+
+#[derive(Clone)]
+pub enum Texture{
+	ImageDDS(Vec<u8>),
+}
+impl AsRef<[u8]> for Texture{
+	fn as_ref(&self)->&[u8]{
+		match self{
+			Texture::ImageDDS(data)=>data.as_ref(),
+		}
+	}
+}
+
+pub struct RenderConfigs{
+	textures:Vec<Option<Texture>>,
+	render_configs:Vec<RenderConfig>,
+}
+impl RenderConfigs{
+	pub(crate) const fn new(textures:Vec<Option<Texture>>,render_configs:Vec<RenderConfig>)->Self{
+		Self{
+			textures,
+			render_configs,
+		}
+	}
+	pub fn consume(self)->(
+		impl Iterator<Item=(TextureId,Texture)>,
+		impl Iterator<Item=(RenderConfigId,RenderConfig)>
+	){
+		(
+			self.textures.into_iter().enumerate().filter_map(|(texture_id,maybe_texture)|
+				maybe_texture.map(|texture|(TextureId::new(texture_id as u32),texture))
+			),
+			self.render_configs.into_iter().enumerate().map(|(render_id,render)|
+				(RenderConfigId::new(render_id as u32),render)
+			),
+		)
+	}
+}

lib/deferred_loader/src/valve_mesh.rs

@@ -0,0 +1,60 @@
+use strafesnet_common::model::MeshId;
+
+//duplicate this code for now
+#[derive(Clone)]
+pub struct MdlData(Vec<u8>);
+impl MdlData{
+	pub const fn new(value:Vec<u8>)->Self{
+		Self(value)
+	}
+	pub fn get(self)->Vec<u8>{
+		self.0
+	}
+}
+#[derive(Clone)]
+pub struct VtxData(Vec<u8>);
+impl VtxData{
+	pub const fn new(value:Vec<u8>)->Self{
+		Self(value)
+	}
+	pub fn get(self)->Vec<u8>{
+		self.0
+	}
+}
+#[derive(Clone)]
+pub struct VvdData(Vec<u8>);
+impl VvdData{
+	pub const fn new(value:Vec<u8>)->Self{
+		Self(value)
+	}
+	pub fn get(self)->Vec<u8>{
+		self.0
+	}
+}
+
+#[derive(Clone)]
+pub struct ModelData{
+	pub mdl:MdlData,
+	pub vtx:VtxData,
+	pub vvd:VvdData,
+}
+
+//meshes is more prone to failure
+pub struct Meshes{
+	meshes:Vec<Option<ModelData>>,
+}
+impl Meshes{
+	pub(crate) const fn new(meshes:Vec<Option<ModelData>>)->Self{
+		Self{
+			meshes,
+		}
+	}
+	pub fn get_texture(&self,texture_id:MeshId)->Option<&ModelData>{
+		self.meshes.get(texture_id.get() as usize)?.as_ref()
+	}
+	pub fn into_iter(self)->impl Iterator<Item=(MeshId,ModelData)>{
+		self.meshes.into_iter().enumerate().filter_map(|(mesh_id,maybe_mesh)|
+			maybe_mesh.map(|mesh|(MeshId::new(mesh_id as u32),mesh))
+		)
+	}
+}

lib/fixed_wide/.gitignore

@@ -0,0 +1 @@
+/target

lib/fixed_wide/Cargo.toml

@@ -0,0 +1,20 @@
+[package]
+name = "fixed_wide"
+version = "0.1.1"
+edition = "2021"
+repository = "https://git.itzana.me/StrafesNET/strafe-project"
+license = "MIT OR Apache-2.0"
+description = "Fixed point numbers with optional widening Mul operator."
+authors = ["Rhys Lloyd <krakow20@gmail.com>"]
+
+[features]
+default=[]
+deferred-division=["dep:ratio_ops"]
+wide-mul=[]
+zeroes=["dep:arrayvec"]
+
+[dependencies]
+bnum = "0.12.0"
+arrayvec = { version = "0.7.6", optional = true }
+paste = "1.0.15"
+ratio_ops = { path = "../ratio_ops", registry = "strafesnet", optional = true }

lib/fixed_wide/LICENSE-APACHE

@@ -0,0 +1,176 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+   "License" shall mean the terms and conditions for use, reproduction,
+   and distribution as defined by Sections 1 through 9 of this document.
+
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+   the copyright owner that is granting the License.
+
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+   other entities that control, are controlled by, or are under common
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+   direction or management of such entity, whether by contract or
+   otherwise, or (ii) ownership of fifty percent (50%) or more of the
+   outstanding shares, or (iii) beneficial ownership of such entity.
+
+   "You" (or "Your") shall mean an individual or Legal Entity
+   exercising permissions granted by this License.
+
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+   including but not limited to software source code, documentation
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+
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+   not limited to compiled object code, generated documentation,
+   and conversions to other media types.
+
+   "Work" shall mean the work of authorship, whether in Source or
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+
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+   may provide additional or different license terms and conditions
+   for use, reproduction, or distribution of Your modifications, or
+   for any such Derivative Works as a whole, provided Your use,
+   reproduction, and distribution of the Work otherwise complies with
+   the conditions stated in this License.
+
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+
+6. Trademarks. This License does not grant permission to use the trade
+   names, trademarks, service marks, or product names of the Licensor,
+   except as required for reasonable and customary use in describing the
+   origin of the Work and reproducing the content of the NOTICE file.
+
+7. Disclaimer of Warranty. Unless required by applicable law or
+   agreed to in writing, Licensor provides the Work (and each
+   Contributor provides its Contributions) on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+   implied, including, without limitation, any warranties or conditions
+   of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+   PARTICULAR PURPOSE. You are solely responsible for determining the
+   appropriateness of using or redistributing the Work and assume any
+   risks associated with Your exercise of permissions under this License.
+
+8. Limitation of Liability. In no event and under no legal theory,
+   whether in tort (including negligence), contract, or otherwise,
+   unless required by applicable law (such as deliberate and grossly
+   negligent acts) or agreed to in writing, shall any Contributor be
+   liable to You for damages, including any direct, indirect, special,
+   incidental, or consequential damages of any character arising as a
+   result of this License or out of the use or inability to use the
+   Work (including but not limited to damages for loss of goodwill,
+   work stoppage, computer failure or malfunction, or any and all
+   other commercial damages or losses), even if such Contributor
+   has been advised of the possibility of such damages.
+
+9. Accepting Warranty or Additional Liability. While redistributing
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+   on Your own behalf and on Your sole responsibility, not on behalf
+   of any other Contributor, and only if You agree to indemnify,
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+   incurred by, or claims asserted against, such Contributor by reason
+   of your accepting any such warranty or additional liability.
+
+END OF TERMS AND CONDITIONS

lib/fixed_wide/LICENSE-MIT

@@ -0,0 +1,23 @@
+Permission is hereby granted, free of charge, to any
+person obtaining a copy of this software and associated
+documentation files (the "Software"), to deal in the
+Software without restriction, including without
+limitation the rights to use, copy, modify, merge,
+publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software
+is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice
+shall be included in all copies or substantial portions
+of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF
+ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
+SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
+IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

lib/fixed_wide/src/fixed.rs

@@ -0,0 +1,829 @@
+use bnum::{BInt,cast::As};
+
+#[derive(Clone,Copy,Debug,Default,Hash,PartialEq,Eq,PartialOrd,Ord)]
+/// A Fixed point number for which multiply operations widen the bits in the output. (when the wide-mul feature is enabled)
+/// N is the number of u64s to use
+/// F is the number of fractional bits (always N*32 lol)
+pub struct Fixed<const N:usize,const F:usize>{
+	pub(crate)bits:BInt<{N}>,
+}
+
+impl<const N:usize,const F:usize> Fixed<N,F>{
+	pub const MAX:Self=Self::from_bits(BInt::<N>::MAX);
+	pub const MIN:Self=Self::from_bits(BInt::<N>::MIN);
+	pub const ZERO:Self=Self::from_bits(BInt::<N>::ZERO);
+	pub const EPSILON:Self=Self::from_bits(BInt::<N>::ONE);
+	pub const NEG_EPSILON:Self=Self::from_bits(BInt::<N>::NEG_ONE);
+	pub const ONE:Self=Self::from_bits(BInt::<N>::ONE.shl(F as u32));
+	pub const TWO:Self=Self::from_bits(BInt::<N>::TWO.shl(F as u32));
+	pub const HALF:Self=Self::from_bits(BInt::<N>::ONE.shl(F as u32-1));
+	pub const NEG_ONE:Self=Self::from_bits(BInt::<N>::NEG_ONE.shl(F as u32));
+	pub const NEG_TWO:Self=Self::from_bits(BInt::<N>::NEG_TWO.shl(F as u32));
+	pub const NEG_HALF:Self=Self::from_bits(BInt::<N>::NEG_ONE.shl(F as u32-1));
+}
+impl<const N:usize,const F:usize> Fixed<N,F>{
+	#[inline]
+	pub const fn from_bits(bits:BInt::<N>)->Self{
+		Self{
+			bits,
+		}
+	}
+	#[inline]
+	pub const fn to_bits(self)->BInt<N>{
+		self.bits
+	}
+	#[inline]
+	pub const fn raw_digit(value:i64)->Self{
+		let mut digits=[0u64;N];
+		digits[0]=value.abs() as u64;
+		//sign bit
+		digits[N-1]|=(value&i64::MIN) as u64;
+		Self::from_bits(BInt::from_bits(bnum::BUint::from_digits(digits)))
+	}
+	#[inline]
+	pub const fn is_zero(self)->bool{
+		self.bits.is_zero()
+	}
+	#[inline]
+	pub const fn is_negative(self)->bool{
+		self.bits.is_negative()
+	}
+	#[inline]
+	pub const fn is_positive(self)->bool{
+		self.bits.is_positive()
+	}
+	#[inline]
+	pub const fn abs(self)->Self{
+		Self::from_bits(self.bits.abs())
+	}
+}
+impl<const F:usize> Fixed<1,F>{
+	/// My old code called this function everywhere so let's provide it
+	#[inline]
+	pub const fn raw(value:i64)->Self{
+		Self::from_bits(BInt::from_bits(bnum::BUint::from_digit(value as u64)))
+	}
+	#[inline]
+	pub const fn to_raw(self)->i64{
+		let &[digit]=self.to_bits().to_bits().digits();
+		digit as i64
+	}
+}
+
+macro_rules! impl_from {
+	($($from:ty),*)=>{
+		$(
+		impl<const N:usize,const F:usize> From<$from> for Fixed<N,F>{
+			#[inline]
+			fn from(value:$from)->Self{
+				Self::from_bits(BInt::<{N}>::from(value)<<F as u32)
+			}
+		}
+		)*
+	};
+}
+impl_from!(
+	u8,u16,u32,u64,u128,usize,
+	i8,i16,i32,i64,i128,isize
+);
+
+impl<const N:usize,const F:usize,T> PartialEq<T> for Fixed<N,F>
+where
+		T:Copy,
+		BInt::<N>:From<T>,
+{
+	#[inline]
+	fn eq(&self,&other:&T)->bool{
+		self.bits.eq(&other.into())
+	}
+}
+
+impl<const N:usize,const F:usize,T> PartialOrd<T> for Fixed<N,F>
+	where
+		T:Copy,
+		BInt::<N>:From<T>,
+{
+	#[inline]
+	fn partial_cmp(&self,&other:&T)->Option<std::cmp::Ordering>{
+		self.bits.partial_cmp(&other.into())
+	}
+}
+
+impl<const N:usize,const F:usize> std::ops::Neg for Fixed<N,F>{
+	type Output=Self;
+	#[inline]
+	fn neg(self)->Self{
+		Self::from_bits(self.bits.neg())
+	}
+}
+impl<const N:usize,const F:usize> std::iter::Sum for Fixed<N,F>{
+	#[inline]
+	fn sum<I:Iterator<Item=Self>>(iter:I)->Self{
+		let mut sum=Self::ZERO;
+		for elem in iter{
+			sum+=elem;
+		}
+		sum
+	}
+}
+
+const fn signed_shift(lhs:u64,rhs:i32)->u64{
+	if rhs.is_negative(){
+		lhs>>-rhs
+	}else{
+		lhs<<rhs
+	}
+}
+macro_rules! impl_into_float {
+	( $output: ty, $unsigned:ty, $exponent_bits:expr, $mantissa_bits:expr ) => {
+		impl<const N:usize,const F:usize> Into<$output> for Fixed<N,F>{
+			#[inline]
+			fn into(self)->$output{
+				const DIGIT_SHIFT:u32=6;//Log2[64]
+				// SBBB BBBB
+				// 1001 1110 0000 0000
+				let sign=if self.bits.is_negative(){(1 as $unsigned)<<(<$unsigned>::BITS-1)}else{0};
+				let unsigned=self.bits.unsigned_abs();
+				let most_significant_bit=unsigned.bits();
+				let exp=if unsigned.is_zero(){
+					0
+				}else{
+					let msb=most_significant_bit as $unsigned;
+					let _127=((1 as $unsigned)<<($exponent_bits-1))-1;
+					let msb_offset=msb+_127-1-F as $unsigned;
+					msb_offset<<($mantissa_bits-1)
+				};
+				let digits=unsigned.digits();
+				let digit_index=most_significant_bit.saturating_sub(1)>>DIGIT_SHIFT;
+				let digit=digits[digit_index as usize];
+				//How many bits does the mantissa take from this digit
+				let take_bits=most_significant_bit-(digit_index<<DIGIT_SHIFT);
+				let rest_of_mantissa=$mantissa_bits as i32-(take_bits as i32);
+				let mut unmasked_mant=signed_shift(digit,rest_of_mantissa) as $unsigned;
+				if 0<rest_of_mantissa&&digit_index!=0{
+					//take the next digit down and shove some of its bits onto the bottom of the mantissa
+					let digit=digits[digit_index as usize-1];
+					let take_bits=most_significant_bit-((digit_index-1)<<DIGIT_SHIFT);
+					let rest_of_mantissa=$mantissa_bits as i32-(take_bits as i32);
+					let unmasked_mant2=signed_shift(digit,rest_of_mantissa) as $unsigned;
+					unmasked_mant|=unmasked_mant2;
+				}
+				let mant=unmasked_mant&((1 as $unsigned)<<($mantissa_bits-1))-1;
+				let bits=sign|exp|mant;
+				<$output>::from_bits(bits)
+			}
+		}
+	}
+}
+impl_into_float!(f32,u32,8,24);
+impl_into_float!(f64,u64,11,53);
+
+#[inline]
+fn integer_decode_f32(f: f32) -> (u64, i16, bool) {
+	let bits: u32 = f.to_bits();
+	let sign: bool = bits & (1<<31) != 0;
+	let mut exponent: i16 = ((bits >> 23) & 0xff) as i16;
+	let mantissa = if exponent == 0 {
+		(bits & 0x7fffff) << 1
+	} else {
+		(bits & 0x7fffff) | 0x800000
+	};
+	// Exponent bias + mantissa shift
+	exponent -= 127 + 23;
+	(mantissa as u64, exponent, sign)
+}
+#[inline]
+fn integer_decode_f64(f: f64) -> (u64, i16, bool) {
+	let bits: u64 = f.to_bits();
+	let sign: bool = bits & (1u64<<63) != 0;
+	let mut exponent: i16 = ((bits >> 52) & 0x7ff) as i16;
+	let mantissa = if exponent == 0 {
+		(bits & 0xfffffffffffff) << 1
+	} else {
+		(bits & 0xfffffffffffff) | 0x10000000000000
+	};
+	// Exponent bias + mantissa shift
+	exponent -= 1023 + 52;
+	(mantissa, exponent, sign)
+}
+#[derive(Debug,Eq,PartialEq)]
+pub enum FixedFromFloatError{
+	Nan,
+	Infinite,
+	Overflow,
+	Underflow,
+}
+impl FixedFromFloatError{
+	pub fn underflow_to_zero<const N:usize,const F:usize>(self)->Result<Fixed<N,F>,Self>{
+		match self{
+			FixedFromFloatError::Underflow=>Ok(Fixed::ZERO),
+			_=>Err(self),
+		}
+	}
+}
+macro_rules! impl_from_float {
+	( $decode:ident, $input: ty, $mantissa_bits:expr ) => {
+		impl<const N:usize,const F:usize> TryFrom<$input> for Fixed<N,F>{
+			type Error=FixedFromFloatError;
+			#[inline]
+			fn try_from(value:$input)->Result<Self,Self::Error>{
+				const DIGIT_SHIFT:u32=6;
+				match value.classify(){
+					std::num::FpCategory::Nan=>Err(FixedFromFloatError::Nan),
+					std::num::FpCategory::Infinite=>Err(FixedFromFloatError::Infinite),
+					std::num::FpCategory::Zero=>Ok(Self::ZERO),
+					std::num::FpCategory::Subnormal
+					|std::num::FpCategory::Normal
+					=>{
+						let (m,e,s)=$decode(value);
+						let mut digits=[0u64;N];
+						let most_significant_bit=e as i32+$mantissa_bits as i32+F as i32;
+						if most_significant_bit<0{
+							return Err(FixedFromFloatError::Underflow);
+						}
+						let digit_index=most_significant_bit>>DIGIT_SHIFT;
+						let digit=digits.get_mut(digit_index as usize).ok_or(FixedFromFloatError::Overflow)?;
+						let take_bits=most_significant_bit-(digit_index<<DIGIT_SHIFT);
+						let rest_of_mantissa=-($mantissa_bits as i32-(take_bits as i32));
+						*digit=signed_shift(m,rest_of_mantissa);
+						if rest_of_mantissa<0&&digit_index!=0{
+							//we don't care if some float bits are partially truncated
+							if let Some(digit)=digits.get_mut((digit_index-1) as usize){
+								let take_bits=most_significant_bit-((digit_index-1)<<DIGIT_SHIFT);
+								let rest_of_mantissa=-($mantissa_bits as i32-(take_bits as i32));
+								*digit=signed_shift(m,rest_of_mantissa);
+							}
+						}
+						let bits=BInt::from_bits(bnum::BUint::from_digits(digits));
+						Ok(if s{
+							Self::from_bits(bits.overflowing_neg().0)
+						}else{
+							Self::from_bits(bits)
+						})
+					},
+				}
+			}
+		}
+	}
+}
+impl_from_float!(integer_decode_f32,f32,24);
+impl_from_float!(integer_decode_f64,f64,53);
+
+impl<const N:usize,const F:usize> core::fmt::Display for Fixed<N,F>{
+	#[inline]
+	fn fmt(&self,f:&mut core::fmt::Formatter)->Result<(),core::fmt::Error>{
+		let float:f32=(*self).into();
+		core::write!(f,"{:.3}",float)
+	}
+}
+
+macro_rules! impl_additive_operator {
+	( $struct: ident, $trait: ident, $method: ident, $output: ty ) => {
+		impl<const N:usize,const F:usize> $struct<N,F>{
+			#[inline]
+			pub const fn $method(self, other: Self) -> Self {
+				Self::from_bits(self.bits.$method(other.bits))
+			}
+		}
+		impl<const N:usize,const F:usize> core::ops::$trait for $struct<N,F>{
+			type Output = $output;
+			#[inline]
+			fn $method(self, other: Self) -> Self::Output {
+				self.$method(other)
+			}
+		}
+		impl<const N:usize,const F:usize,U> core::ops::$trait<U> for $struct<N,F>
+			where
+				BInt::<N>:From<U>,
+		{
+			type Output = $output;
+			#[inline]
+			fn $method(self, other: U) -> Self::Output {
+				Self::from_bits(self.bits.$method(BInt::<N>::from(other).shl(F as u32)))
+			}
+		}
+	};
+}
+macro_rules! impl_additive_assign_operator {
+	( $struct: ident, $trait: ident, $method: ident ) => {
+		impl<const N:usize,const F:usize> core::ops::$trait for $struct<N,F>{
+			#[inline]
+			fn $method(&mut self, other: Self) {
+				self.bits.$method(other.bits);
+			}
+		}
+		impl<const N:usize,const F:usize,U> core::ops::$trait<U> for $struct<N,F>
+		where
+				BInt::<N>:From<U>,
+		{
+			#[inline]
+			fn $method(&mut self, other: U) {
+				self.bits.$method(BInt::<N>::from(other).shl(F as u32));
+			}
+		}
+	};
+}
+
+// Impl arithmetic pperators
+impl_additive_assign_operator!( Fixed, AddAssign, add_assign );
+impl_additive_operator!( Fixed, Add, add, Self );
+impl_additive_assign_operator!( Fixed, SubAssign, sub_assign );
+impl_additive_operator!( Fixed, Sub, sub, Self );
+impl_additive_assign_operator!( Fixed, RemAssign, rem_assign );
+impl_additive_operator!( Fixed, Rem, rem, Self );
+
+// Impl bitwise operators
+impl_additive_assign_operator!( Fixed, BitAndAssign, bitand_assign );
+impl_additive_operator!( Fixed, BitAnd, bitand, Self );
+impl_additive_assign_operator!( Fixed, BitOrAssign, bitor_assign );
+impl_additive_operator!( Fixed, BitOr, bitor, Self );
+impl_additive_assign_operator!( Fixed, BitXorAssign, bitxor_assign );
+impl_additive_operator!( Fixed, BitXor, bitxor, Self );
+
+// non-wide operators.  The result is the same width as the inputs.
+
+// This macro is not used in the default configuration.
+#[allow(unused_macros)]
+macro_rules! impl_multiplicative_operator_not_const_generic {
+	( ($struct: ident, $trait: ident, $method: ident, $output: ty ), $width:expr ) => {
+		impl<const F:usize> core::ops::$trait for $struct<$width,F>{
+			type Output = $output;
+			#[inline]
+			fn $method(self, other: Self) -> Self::Output {
+				paste::item!{
+				self.[<fixed_ $method>](other)
+				}
+			}
+		}
+	};
+}
+macro_rules! impl_multiplicative_assign_operator_not_const_generic {
+	( ($struct: ident, $trait: ident, $method: ident, $non_assign_method: ident ), $width:expr ) => {
+		impl<const F:usize> core::ops::$trait for $struct<$width,F>{
+			#[inline]
+			fn $method(&mut self, other: Self) {
+				paste::item!{
+				*self=self.[<fixed_ $non_assign_method>](other);
+				}
+			}
+		}
+	};
+}
+
+macro_rules! impl_multiply_operator_not_const_generic {
+	( ($struct: ident, $trait: ident, $method: ident, $output: ty ), $width:expr ) => {
+		impl<const F:usize> $struct<$width,F>{
+			paste::item!{
+			#[inline]
+			pub fn [<fixed_ $method>](self, rhs: Self) -> Self {
+				let (low,high)=self.bits.unsigned_abs().widening_mul(rhs.bits.unsigned_abs());
+				let out:BInt::<{$width*2}>=unsafe{core::mem::transmute([low,high])};
+				if self.is_negative()==rhs.is_negative(){
+					Self::from_bits(out.shr(F as u32).as_())
+				}else{
+					-Self::from_bits(out.shr(F as u32).as_())
+				}
+			}
+			}
+		}
+		#[cfg(not(feature="wide-mul"))]
+		impl_multiplicative_operator_not_const_generic!(($struct, $trait, $method, $output ), $width);
+		#[cfg(feature="deferred-division")]
+		impl ratio_ops::ratio::Divide<i64> for Fixed<$width,{$width*32}>{
+			type Output=Self;
+			#[inline]
+			fn divide(self, other: i64)->Self::Output{
+				Self::from_bits(self.bits.div_euclid(BInt::from(other)))
+			}
+		}
+	}
+}
+macro_rules! impl_divide_operator_not_const_generic {
+	( ($struct: ident, $trait: ident, $method: ident, $output: ty ), $width:expr ) => {
+		impl<const F:usize> $struct<$width,F>{
+			paste::item!{
+			#[inline]
+			pub fn [<fixed_ $method>](self,other:Self)->Self{
+				//this only needs to be $width+F as u32/64+1 but MUH CONST GENERICS!!!!!
+				let lhs=self.bits.as_::<BInt::<{$width*2}>>().shl(F as u32);
+				let rhs=other.bits.as_::<BInt::<{$width*2}>>();
+				Self::from_bits(lhs.div_euclid(rhs).as_())
+			}
+			}
+		}
+		#[cfg(all(not(feature="wide-mul"),not(feature="deferred-division")))]
+		impl_multiplicative_operator_not_const_generic!(($struct, $trait, $method, $output ), $width);
+		#[cfg(all(not(feature="wide-mul"),feature="deferred-division"))]
+		impl<const F:usize> ratio_ops::ratio::Divide for $struct<$width,F>{
+			type Output = $output;
+			#[inline]
+			fn divide(self, other: Self) -> Self::Output {
+				paste::item!{
+				self.[<fixed_ $method>](other)
+				}
+			}
+		}
+	};
+}
+
+macro_rules! impl_multiplicative_operator {
+	( $struct: ident, $trait: ident, $method: ident, $inner_method: ident, $output: ty ) => {
+		impl<const N:usize,const F:usize,U> core::ops::$trait<U> for $struct<N,F>
+			where
+				BInt::<N>:From<U>+core::ops::$trait,
+		{
+			type Output = $output;
+			#[inline]
+			fn $method(self,other:U)->Self::Output{
+				Self::from_bits(self.bits.$inner_method(BInt::<N>::from(other)))
+			}
+		}
+	};
+}
+macro_rules! impl_multiplicative_assign_operator {
+	( $struct: ident, $trait: ident, $method: ident, $not_assign_method: ident ) => {
+		impl<const N:usize,const F:usize,U> core::ops::$trait<U> for $struct<N,F>
+			where
+				BInt::<N>:From<U>+core::ops::$trait,
+		{
+			#[inline]
+			fn $method(&mut self,other:U){
+				self.bits=self.bits.$not_assign_method(BInt::<N>::from(other));
+			}
+		}
+	};
+}
+
+macro_rules! macro_repeated{
+	(
+		$macro:ident,
+		$any:tt,
+		$($repeated:tt),*
+	)=>{
+		$(
+			$macro!($any, $repeated);
+		)*
+	};
+}
+
+macro_rules! macro_16 {
+	( $macro: ident, $any:tt ) => {
+		macro_repeated!($macro,$any,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16);
+	}
+}
+
+macro_16!( impl_multiplicative_assign_operator_not_const_generic, (Fixed, MulAssign, mul_assign, mul) );
+macro_16!( impl_multiply_operator_not_const_generic, (Fixed, Mul, mul, Self) );
+macro_16!( impl_multiplicative_assign_operator_not_const_generic, (Fixed, DivAssign, div_assign, div) );
+macro_16!( impl_divide_operator_not_const_generic, (Fixed, Div, div, Self) );
+impl_multiplicative_assign_operator!( Fixed, MulAssign, mul_assign, mul );
+impl_multiplicative_operator!( Fixed, Mul, mul, mul, Self );
+impl_multiplicative_assign_operator!( Fixed, DivAssign, div_assign, div_euclid );
+impl_multiplicative_operator!( Fixed, Div, div, div_euclid, Self );
+#[cfg(feature="deferred-division")]
+impl<const LHS_N:usize,const LHS_F:usize,const RHS_N:usize,const RHS_F:usize> core::ops::Div<Fixed<RHS_N,RHS_F>> for Fixed<LHS_N,LHS_F>{
+	type Output=ratio_ops::ratio::Ratio<Fixed<LHS_N,LHS_F>,Fixed<RHS_N,RHS_F>>;
+	#[inline]
+	fn div(self, other: Fixed<RHS_N,RHS_F>)->Self::Output{
+		ratio_ops::ratio::Ratio::new(self,other)
+	}
+}
+#[cfg(feature="deferred-division")]
+impl<const N:usize,const F:usize> ratio_ops::ratio::Parity for Fixed<N,F>{
+	fn parity(&self)->bool{
+		self.is_negative()
+	}
+}
+macro_rules! impl_shift_operator {
+	( $struct: ident, $trait: ident, $method: ident, $output: ty ) => {
+		impl<const N:usize,const F:usize> core::ops::$trait<u32> for $struct<N,F>{
+			type Output = $output;
+			#[inline]
+			fn $method(self, other: u32) -> Self::Output {
+				Self::from_bits(self.bits.$method(other))
+			}
+		}
+	};
+}
+macro_rules! impl_shift_assign_operator {
+	( $struct: ident, $trait: ident, $method: ident ) => {
+		impl<const N:usize,const F:usize> core::ops::$trait<u32> for $struct<N,F>{
+			#[inline]
+			fn $method(&mut self, other: u32) {
+				self.bits.$method(other);
+			}
+		}
+	};
+}
+impl_shift_assign_operator!( Fixed, ShlAssign, shl_assign );
+impl_shift_operator!( Fixed, Shl, shl, Self );
+impl_shift_assign_operator!( Fixed, ShrAssign, shr_assign );
+impl_shift_operator!( Fixed, Shr, shr, Self );
+
+// wide operators.  The result width is the sum of the input widths, i.e. none of the multiplication
+
+#[allow(unused_macros)]
+macro_rules! impl_wide_operators{
+	($lhs:expr,$rhs:expr)=>{
+		impl core::ops::Mul<Fixed<$rhs,{$rhs*32}>> for Fixed<$lhs,{$lhs*32}>{
+			type Output=Fixed<{$lhs+$rhs},{($lhs+$rhs)*32}>;
+			#[inline]
+			fn mul(self, other: Fixed<$rhs,{$rhs*32}>)->Self::Output{
+				paste::item!{
+				self.[<wide_mul_ $lhs _ $rhs>](other)
+				}
+			}
+		}
+		#[cfg(not(feature="deferred-division"))]
+		impl core::ops::Div<Fixed<$rhs,{$rhs*32}>> for Fixed<$lhs,{$lhs*32}>{
+			type Output=Fixed<{$lhs+$rhs},{($lhs+$rhs)*32}>;
+			#[inline]
+			fn div(self, other: Fixed<$rhs,{$rhs*32}>)->Self::Output{
+				paste::item!{
+				self.[<wide_div_ $lhs _ $rhs>](other)
+				}
+			}
+		}
+		#[cfg(feature="deferred-division")]
+		impl ratio_ops::ratio::Divide<Fixed<$rhs,{$rhs*32}>> for Fixed<$lhs,{$lhs*32}>{
+			type Output=Fixed<{$lhs+$rhs},{($lhs+$rhs)*32}>;
+			#[inline]
+			fn divide(self, other: Fixed<$rhs,{$rhs*32}>)->Self::Output{
+				paste::item!{
+				self.[<wide_div_ $lhs _ $rhs>](other)
+				}
+			}
+		}
+	}
+}
+
+// WIDE MUL: multiply into a wider type
+// let a = I32F32::ONE;
+// let b:I64F64 = a.wide_mul(a);
+macro_rules! impl_wide_not_const_generic{
+	(
+		(),
+		($lhs:expr,$rhs:expr)
+	)=>{
+		impl Fixed<$lhs,{$lhs*32}>
+		{
+			paste::item!{
+				#[inline]
+				pub fn [<wide_mul_ $lhs _ $rhs>](self,rhs:Fixed<$rhs,{$rhs*32}>)->Fixed<{$lhs+$rhs},{($lhs+$rhs)*32}>{
+					let lhs=self.bits.as_::<BInt<{$lhs+$rhs}>>();
+					let rhs=rhs.bits.as_::<BInt<{$lhs+$rhs}>>();
+					Fixed::from_bits(lhs*rhs)
+				}
+				/// This operation cannot represent the fraction exactly,
+				/// but it shapes the output to have precision for the
+				/// largest and smallest possible fractions.
+				#[inline]
+				pub fn [<wide_div_ $lhs _ $rhs>](self,rhs:Fixed<$rhs,{$rhs*32}>)->Fixed<{$lhs+$rhs},{($lhs+$rhs)*32}>{
+					// (lhs/2^LHS_FRAC)/(rhs/2^RHS_FRAC)
+					let lhs=self.bits.as_::<BInt<{$lhs+$rhs}>>().shl($rhs*64);
+					let rhs=rhs.bits.as_::<BInt<{$lhs+$rhs}>>();
+					Fixed::from_bits(lhs/rhs)
+				}
+			}
+		}
+		#[cfg(feature="wide-mul")]
+		impl_wide_operators!($lhs,$rhs);
+	};
+}
+macro_rules! impl_wide_same_size_not_const_generic{
+	(
+		(),
+		$width:expr
+	)=>{
+		impl Fixed<$width,{$width*32}>
+		{
+			paste::item!{
+				#[inline]
+				pub fn [<wide_mul_ $width _ $width>](self,rhs:Fixed<$width,{$width*32}>)->Fixed<{$width*2},{$width*2*32}>{
+					let (low,high)=self.bits.unsigned_abs().widening_mul(rhs.bits.unsigned_abs());
+					let out:BInt::<{$width*2}>=unsafe{core::mem::transmute([low,high])};
+					if self.is_negative()==rhs.is_negative(){
+						Fixed::from_bits(out)
+					}else{
+						// Normal neg is the cheapest negation operation
+						// And the inputs cannot reach the point where it matters
+						Fixed::from_bits(out.neg())
+					}
+				}
+				/// This operation cannot represent the fraction exactly,
+				/// but it shapes the output to have precision for the
+				/// largest and smallest possible fractions.
+				#[inline]
+				pub fn [<wide_div_ $width _ $width>](self,rhs:Fixed<$width,{$width*32}>)->Fixed<{$width*2},{$width*2*32}>{
+					// (lhs/2^LHS_FRAC)/(rhs/2^RHS_FRAC)
+					let lhs=self.bits.as_::<BInt<{$width*2}>>().shl($width*64);
+					let rhs=rhs.bits.as_::<BInt<{$width*2}>>();
+					Fixed::from_bits(lhs/rhs)
+				}
+			}
+		}
+		#[cfg(feature="wide-mul")]
+		impl_wide_operators!($width,$width);
+	};
+}
+
+//const generics sidestepped wahoo
+macro_repeated!(
+	impl_wide_not_const_generic,(),
+	      (2,1),(3,1),(4,1),(5,1),(6,1),(7,1),(8,1),(9,1),(10,1),(11,1),(12,1),(13,1),(14,1),(15,1),
+	(1,2),      (3,2),(4,2),(5,2),(6,2),(7,2),(8,2),(9,2),(10,2),(11,2),(12,2),(13,2),(14,2),
+	(1,3),(2,3),      (4,3),(5,3),(6,3),(7,3),(8,3),(9,3),(10,3),(11,3),(12,3),(13,3),
+	(1,4),(2,4),(3,4),      (5,4),(6,4),(7,4),(8,4),(9,4),(10,4),(11,4),(12,4),
+	(1,5),(2,5),(3,5),(4,5),      (6,5),(7,5),(8,5),(9,5),(10,5),(11,5),
+	(1,6),(2,6),(3,6),(4,6),(5,6),      (7,6),(8,6),(9,6),(10,6),
+	(1,7),(2,7),(3,7),(4,7),(5,7),(6,7),      (8,7),(9,7),
+	(1,8),(2,8),(3,8),(4,8),(5,8),(6,8),(7,8),      (9,8),
+	(1,9),(2,9),(3,9),(4,9),(5,9),(6,9),(7,9),
+	(1,10),(2,10),(3,10),(4,10),(5,10),(6,10),
+	(1,11),(2,11),(3,11),(4,11),(5,11),
+	(1,12),(2,12),(3,12),(4,12),
+	(1,13),(2,13),(3,13),
+	(1,14),(2,14),
+	(1,15)
+);
+macro_repeated!(
+	impl_wide_same_size_not_const_generic,(),
+	1,2,3,4,5,6,7,8
+);
+
+pub trait Fix<Out>{
+	fn fix(self)->Out;
+}
+
+macro_rules! impl_fix_rhs_lt_lhs_not_const_generic{
+	(
+		(),
+		($lhs:expr,$rhs:expr)
+	)=>{
+		impl Fixed<$lhs,{$lhs*32}>
+		{
+			paste::item!{
+				#[inline]
+				pub fn [<fix_ $rhs>](self)->Fixed<$rhs,{$rhs*32}>{
+					Fixed::from_bits(bnum::cast::As::as_::<BInt::<$rhs>>(self.bits.shr(($lhs-$rhs)*32)))
+				}
+			}
+		}
+		impl Fix<Fixed<$rhs,{$rhs*32}>> for Fixed<$lhs,{$lhs*32}>{
+			fn fix(self)->Fixed<$rhs,{$rhs*32}>{
+				paste::item!{
+				self.[<fix_ $rhs>]()
+				}
+			}
+		}
+	}
+}
+macro_rules! impl_fix_lhs_lt_rhs_not_const_generic{
+	(
+		(),
+		($lhs:expr,$rhs:expr)
+	)=>{
+		impl Fixed<$lhs,{$lhs*32}>
+		{
+			paste::item!{
+				#[inline]
+				pub fn [<fix_ $rhs>](self)->Fixed<$rhs,{$rhs*32}>{
+					Fixed::from_bits(bnum::cast::As::as_::<BInt::<$rhs>>(self.bits).shl(($rhs-$lhs)*32))
+				}
+			}
+		}
+		impl Fix<Fixed<$rhs,{$rhs*32}>> for Fixed<$lhs,{$lhs*32}>{
+			fn fix(self)->Fixed<$rhs,{$rhs*32}>{
+				paste::item!{
+				self.[<fix_ $rhs>]()
+				}
+			}
+		}
+	}
+}
+macro_rules! impl_fix_lhs_eq_rhs_not_const_generic{
+	(
+		(),
+		($lhs:expr,$rhs:expr)
+	)=>{
+		impl Fixed<$lhs,{$lhs*32}>
+		{
+			paste::item!{
+				#[inline]
+				pub fn [<fix_ $rhs>](self)->Fixed<$rhs,{$rhs*32}>{
+					self
+				}
+			}
+		}
+		impl Fix<Fixed<$rhs,{$rhs*32}>> for Fixed<$lhs,{$lhs*32}>{
+			fn fix(self)->Fixed<$rhs,{$rhs*32}>{
+				paste::item!{
+				self.[<fix_ $rhs>]()
+				}
+			}
+		}
+	}
+}
+
+// I LOVE NOT BEING ABLE TO USE CONST GENERICS
+
+macro_repeated!(
+	impl_fix_rhs_lt_lhs_not_const_generic,(),
+	(2,1),(3,1),(4,1),(5,1),(6,1),(7,1),(8,1),(9,1),(10,1),(11,1),(12,1),(13,1),(14,1),(15,1),(16,1),(17,1),
+	(3,2),(4,2),(5,2),(6,2),(7,2),(8,2),(9,2),(10,2),(11,2),(12,2),(13,2),(14,2),(15,2),(16,2),
+	(4,3),(5,3),(6,3),(7,3),(8,3),(9,3),(10,3),(11,3),(12,3),(13,3),(14,3),(15,3),(16,3),
+	(5,4),(6,4),(7,4),(8,4),(9,4),(10,4),(11,4),(12,4),(13,4),(14,4),(15,4),(16,4),
+	(6,5),(7,5),(8,5),(9,5),(10,5),(11,5),(12,5),(13,5),(14,5),(15,5),(16,5),
+	(7,6),(8,6),(9,6),(10,6),(11,6),(12,6),(13,6),(14,6),(15,6),(16,6),
+	(8,7),(9,7),(10,7),(11,7),(12,7),(13,7),(14,7),(15,7),(16,7),
+	(9,8),(10,8),(11,8),(12,8),(13,8),(14,8),(15,8),(16,8),
+	(10,9),(11,9),(12,9),(13,9),(14,9),(15,9),(16,9),
+	(11,10),(12,10),(13,10),(14,10),(15,10),(16,10),
+	(12,11),(13,11),(14,11),(15,11),(16,11),
+	(13,12),(14,12),(15,12),(16,12),
+	(14,13),(15,13),(16,13),
+	(15,14),(16,14),
+	(16,15)
+);
+macro_repeated!(
+	impl_fix_lhs_lt_rhs_not_const_generic,(),
+	(1,2),
+	(1,3),(2,3),
+	(1,4),(2,4),(3,4),
+	(1,5),(2,5),(3,5),(4,5),
+	(1,6),(2,6),(3,6),(4,6),(5,6),
+	(1,7),(2,7),(3,7),(4,7),(5,7),(6,7),
+	(1,8),(2,8),(3,8),(4,8),(5,8),(6,8),(7,8),
+	(1,9),(2,9),(3,9),(4,9),(5,9),(6,9),(7,9),(8,9),
+	(1,10),(2,10),(3,10),(4,10),(5,10),(6,10),(7,10),(8,10),(9,10),
+	(1,11),(2,11),(3,11),(4,11),(5,11),(6,11),(7,11),(8,11),(9,11),(10,11),
+	(1,12),(2,12),(3,12),(4,12),(5,12),(6,12),(7,12),(8,12),(9,12),(10,12),(11,12),
+	(1,13),(2,13),(3,13),(4,13),(5,13),(6,13),(7,13),(8,13),(9,13),(10,13),(11,13),(12,13),
+	(1,14),(2,14),(3,14),(4,14),(5,14),(6,14),(7,14),(8,14),(9,14),(10,14),(11,14),(12,14),(13,14),
+	(1,15),(2,15),(3,15),(4,15),(5,15),(6,15),(7,15),(8,15),(9,15),(10,15),(11,15),(12,15),(13,15),(14,15),
+	(1,16),(2,16),(3,16),(4,16),(5,16),(6,16),(7,16),(8,16),(9,16),(10,16),(11,16),(12,16),(13,16),(14,16),(15,16)
+);
+macro_repeated!(
+	impl_fix_lhs_eq_rhs_not_const_generic,(),
+	(1,1),(2,2),(3,3),(4,4),(5,5),(6,6),(7,7),(8,8),(9,9),(10,10),(11,11),(12,12),(13,13),(14,14),(15,15),(16,16)
+);
+
+macro_rules! impl_not_const_generic{
+	($n:expr,$_2n:expr)=>{
+		impl Fixed<$n,{$n*32}>{
+			paste::item!{
+			#[inline]
+			pub fn sqrt_unchecked(self)->Self{
+				//1<<max_shift must be the minimum power of two which when squared is greater than self
+				//calculating max_shift:
+				//1. count "used" bits to the left of the decimal, not including the sign bit (so -1)
+				//2. divide by 2 via >>1 (sqrt-ish)
+				//3. add on fractional offset
+				//Voila
+				let used_bits=self.bits.bits() as i32-1-($n*32) as i32;
+				let max_shift=((used_bits>>1)+($n*32) as i32) as u32;
+				let mut result=Self::ZERO;
+
+				//resize self to match the wide mul output
+				let wide_self=self.[<fix_ $_2n>]();
+				//descend down the bits and check if flipping each bit would push the square over the input value
+				for shift in (0..=max_shift).rev(){
+					let new_result={
+						let mut bits=result.to_bits().to_bits();
+						bits.set_bit(shift,true);
+						Self::from_bits(BInt::from_bits(bits))
+					};
+					if new_result.[<wide_mul_ $n _ $n>](new_result)<=wide_self{
+						result=new_result;
+					}
+				}
+				result
+			}
+			}
+			#[inline]
+			pub fn sqrt(self)->Self{
+				if self<Self::ZERO{
+					panic!("Square root less than zero")
+				}else{
+					self.sqrt_unchecked()
+				}
+			}
+			#[inline]
+			pub fn sqrt_checked(self)->Option<Self>{
+				if self<Self::ZERO{
+					None
+				}else{
+					Some(self.sqrt_unchecked())
+				}
+			}
+		}
+	}
+}
+impl_not_const_generic!(1,2);
+impl_not_const_generic!(2,4);
+impl_not_const_generic!(3,6);
+impl_not_const_generic!(4,8);
+impl_not_const_generic!(5,10);
+impl_not_const_generic!(6,12);
+impl_not_const_generic!(7,14);
+impl_not_const_generic!(8,16);

lib/fixed_wide/src/lib.rs

@@ -0,0 +1,8 @@
+pub mod fixed;
+pub mod types;
+
+#[cfg(feature="zeroes")]
+pub mod zeroes;
+
+#[cfg(test)]
+mod tests;

lib/fixed_wide/src/tests.rs

@@ -0,0 +1,218 @@
+use crate::types::I32F32;
+use crate::types::I256F256;
+
+#[test]
+fn you_can_add_numbers(){
+	let a=I256F256::from((3i128*2).pow(4));
+	assert_eq!(a+a,I256F256::from((3i128*2).pow(4)*2));
+}
+
+#[test]
+fn to_f32(){
+	let a=I256F256::from(1)>>2;
+	let f:f32=a.into();
+	assert_eq!(f,0.25f32);
+	let f:f32=(-a).into();
+	assert_eq!(f,-0.25f32);
+	let a=I256F256::from(0);
+	let f:f32=(-a).into();
+	assert_eq!(f,0f32);
+	let a=I256F256::from(237946589723468975i64)<<16;
+	let f:f32=a.into();
+	assert_eq!(f,237946589723468975f32*2.0f32.powi(16));
+}
+
+#[test]
+fn to_f64(){
+	let a=I256F256::from(1)>>2;
+	let f:f64=a.into();
+	assert_eq!(f,0.25f64);
+	let f:f64=(-a).into();
+	assert_eq!(f,-0.25f64);
+	let a=I256F256::from(0);
+	let f:f64=(-a).into();
+	assert_eq!(f,0f64);
+	let a=I256F256::from(237946589723468975i64)<<16;
+	let f:f64=a.into();
+	assert_eq!(f,237946589723468975f64*2.0f64.powi(16));
+}
+
+#[test]
+fn from_f32(){
+	let a=I256F256::from(1)>>2;
+	let b:Result<I256F256,_>=0.25f32.try_into();
+	assert_eq!(b,Ok(a));
+	let a=I256F256::from(-1)>>2;
+	let b:Result<I256F256,_>=(-0.25f32).try_into();
+	assert_eq!(b,Ok(a));
+	let a=I256F256::from(0);
+	let b:Result<I256F256,_>=0.try_into();
+	assert_eq!(b,Ok(a));
+	let a=I256F256::from(0b101011110101001010101010000000000000000000000000000i64)<<16;
+	let b:Result<I256F256,_>=(0b101011110101001010101010000000000000000000000000000u64 as f32*2.0f32.powi(16)).try_into();
+	assert_eq!(b,Ok(a));
+	//I32F32::MAX into f32 is truncated into this value
+	let a=I32F32::raw(0b111111111111111111111111000000000000000000000000000000000000000i64);
+	let b:Result<I32F32,_>=Into::<f32>::into(I32F32::MAX).try_into();
+	assert_eq!(b,Ok(a));
+	//I32F32::MIN hits a special case since it's not representable as a positive signed integer
+	//TODO: don't return an overflow because this is technically possible
+	let a=I32F32::MIN;
+	let b:Result<I32F32,_>=Into::<f32>::into(I32F32::MIN).try_into();
+	assert_eq!(b,Err(crate::fixed::FixedFromFloatError::Overflow));
+	//16 is within the 24 bits of float precision
+	let b:Result<I32F32,_>=Into::<f32>::into(-I32F32::MIN.fix_2()).try_into();
+	assert_eq!(b,Err(crate::fixed::FixedFromFloatError::Overflow));
+	let b:Result<I32F32,_>=f32::MIN_POSITIVE.try_into();
+	assert_eq!(b,Err(crate::fixed::FixedFromFloatError::Underflow));
+	//test many cases
+	for i in 0..64{
+		let a=crate::fixed::Fixed::<2,64>::raw_digit(0b111111111111111111111111000000000000000000000000000000000000000i64)<<i;
+		let f:f32=a.into();
+		let b:Result<crate::fixed::Fixed<2,64>,_>=f.try_into();
+		assert_eq!(b,Ok(a));
+	}
+}
+
+#[test]
+fn from_f64(){
+	let a=I256F256::from(1)>>2;
+	let b:Result<I256F256,_>=0.25f64.try_into();
+	assert_eq!(b,Ok(a));
+	let a=I256F256::from(-1)>>2;
+	let b:Result<I256F256,_>=(-0.25f64).try_into();
+	assert_eq!(b,Ok(a));
+	let a=I256F256::from(0);
+	let b:Result<I256F256,_>=0.try_into();
+	assert_eq!(b,Ok(a));
+	let a=I256F256::from(0b101011110101001010101010000000000000000000000000000i64)<<16;
+	let b:Result<I256F256,_>=(0b101011110101001010101010000000000000000000000000000u64 as f64*2.0f64.powi(16)).try_into();
+	assert_eq!(b,Ok(a));
+}
+
+#[test]
+fn you_can_shr_numbers(){
+	let a=I32F32::from(4);
+	assert_eq!(a>>1,I32F32::from(2));
+}
+
+#[test]
+fn test_wide_mul(){
+	let a=I32F32::ONE;
+	let aa=a.wide_mul_1_1(a);
+	assert_eq!(aa,crate::types::I64F64::ONE);
+}
+
+#[test]
+fn test_wide_div(){
+	let a=I32F32::ONE*4;
+	let b=I32F32::ONE*2;
+	let wide_a=a.wide_mul_1_1(I32F32::ONE);
+	let wide_b=b.wide_mul_1_1(I32F32::ONE);
+	let ab=a.wide_div_1_1(b);
+	assert_eq!(ab,crate::types::I64F64::ONE*2);
+	let wab=wide_a.wide_div_2_1(b);
+	assert_eq!(wab,crate::fixed::Fixed::<3,96>::ONE*2);
+	let awb=a.wide_div_1_2(wide_b);
+	assert_eq!(awb,crate::fixed::Fixed::<3,96>::ONE*2);
+}
+
+#[test]
+fn test_wide_mul_repeated() {
+	let a=I32F32::from(2);
+	let b=I32F32::from(3);
+
+	let w1=a.wide_mul_1_1(b);
+	let w2=w1.wide_mul_2_2(w1);
+	let w3=w2.wide_mul_4_4(w2);
+
+	assert_eq!(w3,I256F256::from((3i128*2).pow(4)));
+}
+
+#[test]
+fn test_bint(){
+	let a=I32F32::ONE;
+	assert_eq!(a*2,I32F32::from(2));
+}
+
+#[test]
+fn test_fix(){
+	assert_eq!(I32F32::ONE.fix_8(),I256F256::ONE);
+	assert_eq!(I32F32::ONE,I256F256::ONE.fix_1());
+	assert_eq!(I32F32::NEG_ONE.fix_8(),I256F256::NEG_ONE);
+	assert_eq!(I32F32::NEG_ONE,I256F256::NEG_ONE.fix_1());
+}
+#[test]
+fn test_sqrt(){
+	let a=I32F32::ONE*4;
+	assert_eq!(a.sqrt(),I32F32::from(2));
+}
+#[test]
+fn test_sqrt_zero(){
+	let a=I32F32::ZERO;
+	assert_eq!(a.sqrt(),I32F32::ZERO);
+}
+#[test]
+fn test_sqrt_low(){
+	let a=I32F32::HALF;
+	let b=a.fixed_mul(a);
+	assert_eq!(b.sqrt(),a);
+}
+fn find_equiv_sqrt_via_f64(n:I32F32)->I32F32{
+	//GIMME THEM BITS BOY
+	let &[bits]=n.to_bits().to_bits().digits();
+	let ibits=bits as i64;
+	let f=(ibits as f64)/((1u64<<32) as f64);
+	let f_ans=f.sqrt();
+	let i=(f_ans*((1u64<<32) as f64)) as i64;
+	let r=I32F32::from_bits(bnum::BInt::<1>::from(i));
+	//mimic the behaviour of the algorithm,
+	//return the result if it truncates to the exact answer
+	if (r+I32F32::EPSILON).wide_mul_1_1(r+I32F32::EPSILON)==n.wide_mul_1_1(I32F32::ONE){
+		return r+I32F32::EPSILON;
+	}
+	if (r-I32F32::EPSILON).wide_mul_1_1(r-I32F32::EPSILON)==n.wide_mul_1_1(I32F32::ONE){
+		return r-I32F32::EPSILON;
+	}
+	return r;
+}
+fn test_exact(n:I32F32){
+	assert_eq!(n.sqrt(),find_equiv_sqrt_via_f64(n));
+}
+#[test]
+fn test_sqrt_exact(){
+	//43
+	for i in 0..((i64::MAX as f32).ln() as u32){
+		let n=I32F32::from_bits(bnum::BInt::<1>::from((i as f32).exp() as i64));
+		test_exact(n);
+	}
+}
+#[test]
+fn test_sqrt_max(){
+	let a=I32F32::MAX;
+	test_exact(a);
+}
+#[test]
+#[cfg(all(feature="zeroes",not(feature="deferred-division")))]
+fn test_zeroes_normal(){
+	// (x-1)*(x+1)
+	// x^2-1
+	let zeroes=I32F32::zeroes2(I32F32::NEG_ONE,I32F32::ZERO,I32F32::ONE);
+	assert_eq!(zeroes,arrayvec::ArrayVec::from_iter([I32F32::NEG_ONE,I32F32::ONE]));
+	let zeroes=I32F32::zeroes2(I32F32::NEG_ONE*3,I32F32::ONE*2,I32F32::ONE);
+	assert_eq!(zeroes,arrayvec::ArrayVec::from_iter([I32F32::NEG_ONE*3,I32F32::ONE]));
+}
+#[test]
+#[cfg(all(feature="zeroes",feature="deferred-division"))]
+fn test_zeroes_deferred_division(){
+	// (x-1)*(x+1)
+	// x^2-1
+	let zeroes=I32F32::zeroes2(I32F32::NEG_ONE,I32F32::ZERO,I32F32::ONE);
+	assert_eq!(
+		zeroes,
+		arrayvec::ArrayVec::from_iter([
+			ratio_ops::ratio::Ratio::new(I32F32::ONE*2,I32F32::NEG_ONE*2),
+			ratio_ops::ratio::Ratio::new(I32F32::ONE*2,I32F32::ONE*2),
+		])
+	);
+}

lib/fixed_wide/src/types.rs

@@ -0,0 +1,4 @@
+pub type I32F32=crate::fixed::Fixed<1,32>;
+pub type I64F64=crate::fixed::Fixed<2,64>;
+pub type I128F128=crate::fixed::Fixed<4,128>;
+pub type I256F256=crate::fixed::Fixed<8,256>;

lib/fixed_wide/src/zeroes.rs

@@ -0,0 +1,53 @@
+use crate::fixed::Fixed;
+
+use arrayvec::ArrayVec;
+use std::cmp::Ordering;
+macro_rules! impl_zeroes{
+	($n:expr)=>{
+		impl Fixed<$n,{$n*32}>{
+			#[inline]
+			pub fn zeroes2(a0:Self,a1:Self,a2:Self)->ArrayVec<<Self as core::ops::Div>::Output,2>{
+				let a2pos=match a2.cmp(&Self::ZERO){
+					Ordering::Greater=>true,
+					Ordering::Equal=>return ArrayVec::from_iter(Self::zeroes1(a0,a1).into_iter()),
+					Ordering::Less=>false,
+				};
+				let radicand=a1*a1-a2*a0*4;
+				match radicand.cmp(&<Self as core::ops::Mul>::Output::ZERO){
+					Ordering::Greater=>{
+						paste::item!{
+						let planar_radicand=radicand.sqrt().[<fix_ $n>]();
+						}
+						//sort roots ascending and avoid taking the difference of large numbers
+						let zeroes=match (a2pos,Self::ZERO<a1){
+							(true, true )=>[(-a1-planar_radicand)/(a2*2),(a0*2)/(-a1-planar_radicand)],
+							(true, false)=>[(a0*2)/(-a1+planar_radicand),(-a1+planar_radicand)/(a2*2)],
+							(false,true )=>[(a0*2)/(-a1-planar_radicand),(-a1-planar_radicand)/(a2*2)],
+							(false,false)=>[(-a1+planar_radicand)/(a2*2),(a0*2)/(-a1+planar_radicand)],
+						};
+						ArrayVec::from_iter(zeroes)
+					},
+					Ordering::Equal=>ArrayVec::from_iter([(a1)/(a2*-2)]),
+					Ordering::Less=>ArrayVec::new_const(),
+				}
+			}
+			#[inline]
+			pub fn zeroes1(a0:Self,a1:Self)->ArrayVec<<Self as core::ops::Div>::Output,1>{
+				if a1==Self::ZERO{
+					ArrayVec::new_const()
+				}else{
+					ArrayVec::from_iter([(-a0)/(a1)])
+				}
+			}
+		}
+	};
+}
+impl_zeroes!(1);
+impl_zeroes!(2);
+impl_zeroes!(3);
+impl_zeroes!(4);
+//sqrt doubles twice!
+//impl_zeroes!(5);
+//impl_zeroes!(6);
+//impl_zeroes!(7);
+//impl_zeroes!(8);

lib/linear_ops/.gitignore

@@ -0,0 +1 @@
+/target

lib/linear_ops/Cargo.toml

@@ -0,0 +1,22 @@
+[package]
+name = "linear_ops"
+version = "0.1.0"
+edition = "2021"
+repository = "https://git.itzana.me/StrafesNET/strafe-project"
+license = "MIT OR Apache-2.0"
+description = "Vector/Matrix operations using trait bounds."
+authors = ["Rhys Lloyd <krakow20@gmail.com>"]
+
+[features]
+default=["named-fields","fixed-wide"]
+named-fields=[]
+fixed-wide=["dep:fixed_wide","dep:paste"]
+deferred-division=["dep:ratio_ops"]
+
+[dependencies]
+ratio_ops = { path = "../ratio_ops", registry = "strafesnet", optional = true }
+fixed_wide = { path = "../fixed_wide", registry = "strafesnet", optional = true }
+paste = { version = "1.0.15", optional = true }
+
+[dev-dependencies]
+fixed_wide = { path = "../fixed_wide", registry = "strafesnet", features = ["wide-mul"] }

lib/linear_ops/LICENSE-APACHE

@@ -0,0 +1,176 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+   "License" shall mean the terms and conditions for use, reproduction,
+   and distribution as defined by Sections 1 through 9 of this document.
+
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+   the copyright owner that is granting the License.
+
+   "Legal Entity" shall mean the union of the acting entity and all
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+   direction or management of such entity, whether by contract or
+   otherwise, or (ii) ownership of fifty percent (50%) or more of the
+   outstanding shares, or (iii) beneficial ownership of such entity.
+
+   "You" (or "Your") shall mean an individual or Legal Entity
+   exercising permissions granted by this License.
+
+   "Source" form shall mean the preferred form for making modifications,
+   including but not limited to software source code, documentation
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+
+   "Object" form shall mean any form resulting from mechanical
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+
+   "Work" shall mean the work of authorship, whether in Source or
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+   the original version of the Work and any modifications or additions
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+2. Grant of Copyright License. Subject to the terms and conditions of
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+       Derivative Works a copy of this License; and
+
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+
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+
+   (d) If the Work includes a "NOTICE" text file as part of its
+       distribution, then any Derivative Works that You distribute must
+       include a readable copy of the attribution notices contained
+       within such NOTICE file, excluding those notices that do not
+       pertain to any part of the Derivative Works, in at least one
+       of the following places: within a NOTICE text file distributed
+       as part of the Derivative Works; within the Source form or
+       documentation, if provided along with the Derivative Works; or,
+       within a display generated by the Derivative Works, if and
+       wherever such third-party notices normally appear. The contents
+       of the NOTICE file are for informational purposes only and
+       do not modify the License. You may add Your own attribution
+       notices within Derivative Works that You distribute, alongside
+       or as an addendum to the NOTICE text from the Work, provided
+       that such additional attribution notices cannot be construed
+       as modifying the License.
+
+   You may add Your own copyright statement to Your modifications and
+   may provide additional or different license terms and conditions
+   for use, reproduction, or distribution of Your modifications, or
+   for any such Derivative Works as a whole, provided Your use,
+   reproduction, and distribution of the Work otherwise complies with
+   the conditions stated in this License.
+
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+
+6. Trademarks. This License does not grant permission to use the trade
+   names, trademarks, service marks, or product names of the Licensor,
+   except as required for reasonable and customary use in describing the
+   origin of the Work and reproducing the content of the NOTICE file.
+
+7. Disclaimer of Warranty. Unless required by applicable law or
+   agreed to in writing, Licensor provides the Work (and each
+   Contributor provides its Contributions) on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+   implied, including, without limitation, any warranties or conditions
+   of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+   PARTICULAR PURPOSE. You are solely responsible for determining the
+   appropriateness of using or redistributing the Work and assume any
+   risks associated with Your exercise of permissions under this License.
+
+8. Limitation of Liability. In no event and under no legal theory,
+   whether in tort (including negligence), contract, or otherwise,
+   unless required by applicable law (such as deliberate and grossly
+   negligent acts) or agreed to in writing, shall any Contributor be
+   liable to You for damages, including any direct, indirect, special,
+   incidental, or consequential damages of any character arising as a
+   result of this License or out of the use or inability to use the
+   Work (including but not limited to damages for loss of goodwill,
+   work stoppage, computer failure or malfunction, or any and all
+   other commercial damages or losses), even if such Contributor
+   has been advised of the possibility of such damages.
+
+9. Accepting Warranty or Additional Liability. While redistributing
+   the Work or Derivative Works thereof, You may choose to offer,
+   and charge a fee for, acceptance of support, warranty, indemnity,
+   or other liability obligations and/or rights consistent with this
+   License. However, in accepting such obligations, You may act only
+   on Your own behalf and on Your sole responsibility, not on behalf
+   of any other Contributor, and only if You agree to indemnify,
+   defend, and hold each Contributor harmless for any liability
+   incurred by, or claims asserted against, such Contributor by reason
+   of your accepting any such warranty or additional liability.
+
+END OF TERMS AND CONDITIONS

lib/linear_ops/LICENSE-MIT

@@ -0,0 +1,23 @@
+Permission is hereby granted, free of charge, to any
+person obtaining a copy of this software and associated
+documentation files (the "Software"), to deal in the
+Software without restriction, including without
+limitation the rights to use, copy, modify, merge,
+publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software
+is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice
+shall be included in all copies or substantial portions
+of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF
+ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
+SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
+IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

lib/linear_ops/src/lib.rs

@@ -0,0 +1,10 @@
+mod macros;
+pub mod types;
+pub mod vector;
+pub mod matrix;
+
+#[cfg(feature="named-fields")]
+mod named;
+
+#[cfg(test)]
+mod tests;

lib/linear_ops/src/macros/common.rs

@@ -0,0 +1 @@
+

lib/linear_ops/src/macros/fixed_wide.rs

@@ -0,0 +1,79 @@
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_fixed_wide_vector_not_const_generic {
+	(
+		(),
+		$n:expr
+	) => {
+		impl<const N:usize> Vector<N,fixed_wide::fixed::Fixed<$n,{$n*32}>>{
+			#[inline]
+			pub fn length(self)-><fixed_wide::fixed::Fixed::<$n,{$n*32}> as core::ops::Mul>::Output{
+				self.length_squared().sqrt_unchecked()
+			}
+			#[inline]
+			pub fn with_length<U,V>(self,length:U)-><Vector<N,V> as core::ops::Div<<fixed_wide::fixed::Fixed::<$n,{$n*32}> as core::ops::Mul>::Output>>::Output
+				where
+					fixed_wide::fixed::Fixed<$n,{$n*32}>:core::ops::Mul<U,Output=V>,
+					U:Copy,
+					V:core::ops::Div<<fixed_wide::fixed::Fixed::<$n,{$n*32}> as core::ops::Mul>::Output>,
+			{
+				self*length/self.length()
+			}
+		}
+	};
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! macro_4 {
+	( $macro: ident, $any:tt ) => {
+		$crate::macro_repeated!($macro,$any,1,2,3,4);
+	}
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_fixed_wide_vector {
+	() => {
+		$crate::macro_4!(impl_fixed_wide_vector_not_const_generic,());
+		// I LOVE NOT BEING ABLE TO USE CONST GENERICS
+		$crate::macro_repeated!(
+			impl_fix_not_const_generic,(),
+			(1,1),(2,1),(3,1),(4,1),(5,1),(6,1),(7,1),(8,1),(9,1),(10,1),(11,1),(12,1),(13,1),(14,1),(15,1),(16,1),
+			(1,2),(2,2),(3,2),(4,2),(5,2),(6,2),(7,2),(8,2),(9,2),(10,2),(11,2),(12,2),(13,2),(14,2),(15,2),(16,2),
+			(1,3),(2,3),(3,3),(4,3),(5,3),(6,3),(7,3),(8,3),(9,3),(10,3),(11,3),(12,3),(13,3),(14,3),(15,3),(16,3),
+			(1,4),(2,4),(3,4),(4,4),(5,4),(6,4),(7,4),(8,4),(9,4),(10,4),(11,4),(12,4),(13,4),(14,4),(15,4),(16,4),
+			(1,5),(2,5),(3,5),(4,5),(5,5),(6,5),(7,5),(8,5),(9,5),(10,5),(11,5),(12,5),(13,5),(14,5),(15,5),(16,5),
+			(1,6),(2,6),(3,6),(4,6),(5,6),(6,6),(7,6),(8,6),(9,6),(10,6),(11,6),(12,6),(13,6),(14,6),(15,6),(16,6),
+			(1,7),(2,7),(3,7),(4,7),(5,7),(6,7),(7,7),(8,7),(9,7),(10,7),(11,7),(12,7),(13,7),(14,7),(15,7),(16,7),
+			(1,8),(2,8),(3,8),(4,8),(5,8),(6,8),(7,8),(8,8),(9,8),(10,8),(11,8),(12,8),(13,8),(14,8),(15,8),(16,8),
+			(1,9),(2,9),(3,9),(4,9),(5,9),(6,9),(7,9),(8,9),(9,9),(10,9),(11,9),(12,9),(13,9),(14,9),(15,9),(16,9),
+			(1,10),(2,10),(3,10),(4,10),(5,10),(6,10),(7,10),(8,10),(9,10),(10,10),(11,10),(12,10),(13,10),(14,10),(15,10),(16,10),
+			(1,11),(2,11),(3,11),(4,11),(5,11),(6,11),(7,11),(8,11),(9,11),(10,11),(11,11),(12,11),(13,11),(14,11),(15,11),(16,11),
+			(1,12),(2,12),(3,12),(4,12),(5,12),(6,12),(7,12),(8,12),(9,12),(10,12),(11,12),(12,12),(13,12),(14,12),(15,12),(16,12),
+			(1,13),(2,13),(3,13),(4,13),(5,13),(6,13),(7,13),(8,13),(9,13),(10,13),(11,13),(12,13),(13,13),(14,13),(15,13),(16,13),
+			(1,14),(2,14),(3,14),(4,14),(5,14),(6,14),(7,14),(8,14),(9,14),(10,14),(11,14),(12,14),(13,14),(14,14),(15,14),(16,14),
+			(1,15),(2,15),(3,15),(4,15),(5,15),(6,15),(7,15),(8,15),(9,15),(10,15),(11,15),(12,15),(13,15),(14,15),(15,15),(16,15),
+			(1,16),(2,16),(3,16),(4,16),(5,16),(6,16),(7,16),(8,16),(9,16),(10,16),(11,16),(12,16),(13,16),(14,16),(15,16),(16,16)
+		);
+	};
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_fix_not_const_generic{
+	(
+		(),
+		($lhs:expr,$rhs:expr)
+	)=>{
+		impl<const N:usize> Vector<N,fixed_wide::fixed::Fixed<$lhs,{$lhs*32}>>
+		{
+			paste::item!{
+				#[inline]
+				pub fn [<fix_ $rhs>](self)->Vector<N,fixed_wide::fixed::Fixed<$rhs,{$rhs*32}>>{
+					self.map(|t|t.[<fix_ $rhs>]())
+				}
+			}
+		}
+	}
+}

lib/linear_ops/src/macros/matrix.rs

@@ -0,0 +1,272 @@
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_matrix {
+	() => {
+		impl<const X:usize,const Y:usize,T> Matrix<X,Y,T>{
+			#[inline(always)]
+			pub const fn new(array:[[T;Y];X])->Self{
+				Self{array}
+			}
+			#[inline(always)]
+			pub fn to_array(self)->[[T;Y];X]{
+				self.array
+			}
+			#[inline]
+			pub fn from_cols(cols:[Vector<Y,T>;X])->Self
+			{
+				Matrix::new(
+					cols.map(|col|col.array),
+				)
+			}
+			#[inline]
+			pub fn map<F,U>(self,f:F)->Matrix<X,Y,U>
+			where
+				F:Fn(T)->U
+			{
+				Matrix::new(
+					self.array.map(|inner|inner.map(&f)),
+				)
+			}
+			#[inline]
+			pub fn transpose(self)->Matrix<Y,X,T>{
+				//how did I think of this
+				let mut array_of_iterators=self.array.map(|axis|axis.into_iter());
+				Matrix::new(
+					core::array::from_fn(|_|
+						array_of_iterators.each_mut().map(|iter|
+							iter.next().unwrap()
+						)
+					)
+				)
+			}
+			#[inline]
+			// old (list of rows)    MatY<VecX>.MatX<VecZ> = MatY<VecZ>
+			// new (list of columns) MatX<VecY>.MatZ<VecX> = MatZ<VecY>
+			pub fn dot<const Z:usize,U,V>(self,rhs:Matrix<Z,X,U>)->Matrix<Z,Y,V>
+			where
+				T:core::ops::Mul<U,Output=V>+Copy,
+				V:core::iter::Sum,
+				U:Copy,
+			{
+				let mut array_of_iterators=self.array.map(|axis|axis.into_iter().cycle());
+				Matrix{
+					array:rhs.array.map(|rhs_axis|
+						core::array::from_fn(|_|
+							array_of_iterators
+								.iter_mut()
+								.zip(rhs_axis.iter())
+								.map(|(lhs_iter,&rhs_value)|
+									lhs_iter.next().unwrap()*rhs_value
+								).sum()
+						)
+					)
+				}
+			}
+			#[inline]
+			// MatX<VecY>.VecY = VecX
+			pub fn transform_vector<U,V>(self,rhs:Vector<X,U>)->Vector<Y,V>
+			where
+				T:core::ops::Mul<U,Output=V>,
+				V:core::iter::Sum,
+				U:Copy,
+			{
+				let mut array_of_iterators=self.array.map(|axis|axis.into_iter());
+				Vector::new(
+					core::array::from_fn(|_|
+						array_of_iterators
+							.iter_mut()
+							.zip(rhs.array.iter())
+							.map(|(lhs_iter,&rhs_value)|
+								lhs_iter.next().unwrap()*rhs_value
+							).sum()
+					)
+				)
+			}
+		}
+		impl<const X:usize,const Y:usize,T> Matrix<X,Y,T>
+		where
+			T:Copy
+		{
+			#[inline(always)]
+			pub const fn from_value(value:T)->Self{
+				Self::new([[value;Y];X])
+			}
+		}
+
+		impl<const X:usize,const Y:usize,T:Default> Default for Matrix<X,Y,T>{
+			#[inline]
+			fn default()->Self{
+				Self::new(
+					core::array::from_fn(|_|core::array::from_fn(|_|Default::default()))
+				)
+			}
+		}
+
+		impl<const X:usize,const Y:usize,T:core::fmt::Display> core::fmt::Display for Matrix<X,Y,T>{
+			#[inline]
+			fn fmt(&self,f:&mut core::fmt::Formatter)->Result<(),core::fmt::Error>{
+				for col in &self.array[0..X]{
+					core::write!(f,"\n")?;
+					for elem in &col[0..Y-1]{
+						core::write!(f,"{}, ",elem)?;
+					}
+					// assume we will be using matrices of size 1x1 or greater
+					core::write!(f,"{}",col.last().unwrap())?;
+				}
+				Ok(())
+			}
+		}
+
+		impl<const X:usize,const Y:usize,const Z:usize,T,U,V> core::ops::Mul<Matrix<Z,X,U>> for Matrix<X,Y,T>
+		where
+			T:core::ops::Mul<U,Output=V>+Copy,
+			V:core::iter::Sum,
+			U:Copy,
+		{
+			type Output=Matrix<Z,Y,V>;
+			#[inline]
+			fn mul(self,rhs:Matrix<Z,X,U>)->Self::Output{
+				self.dot(rhs)
+			}
+		}
+		impl<const X:usize,const Y:usize,T,U,V> core::ops::Mul<Vector<X,U>> for Matrix<X,Y,T>
+		where
+			T:core::ops::Mul<U,Output=V>,
+			V:core::iter::Sum,
+			U:Copy,
+		{
+			type Output=Vector<Y,V>;
+			#[inline]
+			fn mul(self,rhs:Vector<X,U>)->Self::Output{
+				self.transform_vector(rhs)
+			}
+		}
+		#[cfg(feature="deferred-division")]
+		$crate::impl_matrix_deferred_division!();
+	}
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_matrix_deferred_division {
+	() => {
+		impl<const X:usize,const Y:usize,T:ratio_ops::ratio::Divide<U,Output=V>,U:Copy,V> ratio_ops::ratio::Divide<U> for Matrix<X,Y,T>{
+			type Output=Matrix<X,Y,V>;
+			#[inline]
+			fn divide(self,rhs:U)->Self::Output{
+				self.map(|t|t.divide(rhs))
+			}
+		}
+		impl<const X:usize,const Y:usize,T,U> core::ops::Div<U> for Matrix<X,Y,T>{
+			type Output=ratio_ops::ratio::Ratio<Matrix<X,Y,T>,U>;
+			#[inline]
+			fn div(self,rhs:U)->Self::Output{
+				ratio_ops::ratio::Ratio::new(self,rhs)
+			}
+		}
+	}
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_matrix_extend {
+	( $x: expr, $y: expr ) => {
+		impl<T> Matrix<$x,$y,T>{
+			#[inline]
+			pub fn extend_column(self,value:Vector<$y,T>)->Matrix<{$x+1},$y,T>{
+				let mut iter=self.array.into_iter().chain(core::iter::once(value.array));
+				Matrix::new(
+					core::array::from_fn(|_|iter.next().unwrap()),
+				)
+			}
+			#[inline]
+			pub fn extend_row(self,value:Vector<$x,T>)->Matrix<$x,{$y+1},T>{
+				let mut iter_rows=value.array.into_iter();
+				Matrix::new(
+					self.array.map(|axis|{
+						let mut elements_iter=axis.into_iter().chain(core::iter::once(iter_rows.next().unwrap()));
+						core::array::from_fn(|_|elements_iter.next().unwrap())
+					})
+				)
+			}
+		}
+	}
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_matrix_named_fields_shape {
+	(
+		($struct_outer:ident, $size_outer: expr),
+		($size_inner: expr)
+	) => {
+		impl<T> core::ops::Deref for Matrix<$size_outer,$size_inner,T>{
+			type Target=$struct_outer<Vector<$size_inner,T>>;
+			#[inline]
+			fn deref(&self)->&Self::Target{
+				unsafe{core::mem::transmute(&self.array)}
+			}
+		}
+		impl<T> core::ops::DerefMut for Matrix<$size_outer,$size_inner,T>{
+			#[inline]
+			fn deref_mut(&mut self)->&mut Self::Target{
+				unsafe{core::mem::transmute(&mut self.array)}
+			}
+		}
+	}
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_matrix_named_fields_shape_shim {
+	(
+		($($vector_info:tt),+),
+		$matrix_info:tt
+	) => {
+		$crate::macro_repeated!(impl_matrix_named_fields_shape,$matrix_info,$($vector_info),+);
+	}
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_matrix_named_fields {
+	(
+		($($matrix_info:tt),+),
+		$vector_infos:tt
+	) => {
+		$crate::macro_repeated!(impl_matrix_named_fields_shape_shim,$vector_infos,$($matrix_info),+);
+	}
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_matrix_3x3 {
+	()=>{
+		impl<T,T2,T3> Matrix<3,3,T>
+		where
+			//cross
+			T:core::ops::Mul<T,Output=T2>+Copy,
+			T2:core::ops::Sub,
+			//dot
+			T:core::ops::Mul<<T2 as core::ops::Sub>::Output,Output=T3>,
+			T3:core::iter::Sum,
+		{
+			pub fn det(self)->T3{
+				self.x_axis.dot(self.y_axis.cross(self.z_axis))
+			}
+		}
+		impl<T,T2> Matrix<3,3,T>
+		where
+			T:core::ops::Mul<T,Output=T2>+Copy,
+			T2:core::ops::Sub,
+		{
+			pub fn adjugate(self)->Matrix<3,3,<T2 as core::ops::Sub>::Output>{
+				Matrix::new([
+					[self.y_axis.y*self.z_axis.z-self.y_axis.z*self.z_axis.y,self.x_axis.z*self.z_axis.y-self.x_axis.y*self.z_axis.z,self.x_axis.y*self.y_axis.z-self.x_axis.z*self.y_axis.y],
+					[self.y_axis.z*self.z_axis.x-self.y_axis.x*self.z_axis.z,self.x_axis.x*self.z_axis.z-self.x_axis.z*self.z_axis.x,self.x_axis.z*self.y_axis.x-self.x_axis.x*self.y_axis.z],
+					[self.y_axis.x*self.z_axis.y-self.y_axis.y*self.z_axis.x,self.x_axis.y*self.z_axis.x-self.x_axis.x*self.z_axis.y,self.x_axis.x*self.y_axis.y-self.x_axis.y*self.y_axis.x],
+				])
+			}
+		}
+	}
+}

lib/linear_ops/src/macros/mod.rs

@@ -0,0 +1,20 @@
+pub mod common;
+pub mod vector;
+pub mod matrix;
+
+#[cfg(feature="fixed-wide")]
+pub mod fixed_wide;
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! macro_repeated{
+	(
+		$macro:ident,
+		$any:tt,
+		$($repeated:tt),*
+	)=>{
+		$(
+			$crate::$macro!($any, $repeated);
+		)*
+	};
+}

lib/linear_ops/src/macros/vector.rs

@@ -0,0 +1,357 @@
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_vector {
+	() => {
+		impl<const N:usize,T> Vector<N,T>{
+			#[inline(always)]
+			pub const fn new(array:[T;N])->Self{
+				Self{array}
+			}
+			#[inline(always)]
+			pub fn to_array(self)->[T;N]{
+				self.array
+			}
+			#[inline]
+			pub fn map<F,U>(self,f:F)->Vector<N,U>
+			where
+				F:Fn(T)->U
+			{
+				Vector::new(
+					self.array.map(f)
+				)
+			}
+			#[inline]
+			pub fn map_zip<F,U,V>(self,other:Vector<N,U>,f:F)->Vector<N,V>
+			where
+				F:Fn((T,U))->V,
+			{
+				let mut iter=self.array.into_iter().zip(other.array);
+				Vector::new(
+					core::array::from_fn(|_|f(iter.next().unwrap())),
+				)
+			}
+		}
+		impl<const N:usize,T:Copy> Vector<N,T>{
+			#[inline(always)]
+			pub const fn from_value(value:T)->Self{
+				Self::new([value;N])
+			}
+		}
+
+		impl<const N:usize,T:Default> Default for Vector<N,T>{
+			#[inline]
+			fn default()->Self{
+				Self::new(
+					core::array::from_fn(|_|Default::default())
+				)
+			}
+		}
+
+		impl<const N:usize,T:core::fmt::Display> core::fmt::Display for Vector<N,T>{
+			#[inline]
+			fn fmt(&self,f:&mut core::fmt::Formatter)->Result<(),core::fmt::Error>{
+				for elem in &self.array[0..N-1]{
+					core::write!(f,"{}, ",elem)?;
+				}
+				// assume we will be using vectors of length 1 or greater
+				core::write!(f,"{}",self.array.last().unwrap())
+			}
+		}
+
+		impl<const N:usize,T:Ord> Vector<N,T>{
+			#[inline]
+			pub fn min(self,rhs:Self)->Self{
+				self.map_zip(rhs,|(a,b)|a.min(b))
+			}
+			#[inline]
+			pub fn max(self,rhs:Self)->Self{
+				self.map_zip(rhs,|(a,b)|a.max(b))
+			}
+			#[inline]
+			pub fn cmp(self,rhs:Self)->Vector<N,core::cmp::Ordering>{
+				self.map_zip(rhs,|(a,b)|a.cmp(&b))
+			}
+			#[inline]
+			pub fn lt(self,rhs:Self)->Vector<N,bool>{
+				self.map_zip(rhs,|(a,b)|a.lt(&b))
+			}
+			#[inline]
+			pub fn gt(self,rhs:Self)->Vector<N,bool>{
+				self.map_zip(rhs,|(a,b)|a.gt(&b))
+			}
+			#[inline]
+			pub fn ge(self,rhs:Self)->Vector<N,bool>{
+				self.map_zip(rhs,|(a,b)|a.ge(&b))
+			}
+			#[inline]
+			pub fn le(self,rhs:Self)->Vector<N,bool>{
+				self.map_zip(rhs,|(a,b)|a.le(&b))
+			}
+		}
+
+		impl<const N:usize> Vector<N,bool>{
+			#[inline]
+			pub fn all(&self)->bool{
+				self.array==[true;N]
+			}
+			#[inline]
+			pub fn any(&self)->bool{
+				self.array!=[false;N]
+			}
+		}
+
+		impl<const N:usize,T:core::ops::Neg<Output=V>,V> core::ops::Neg for Vector<N,T>{
+			type Output=Vector<N,V>;
+			#[inline]
+			fn neg(self)->Self::Output{
+				Vector::new(
+					self.array.map(|t|-t)
+				)
+			}
+		}
+
+		impl<const N:usize,T> Vector<N,T>
+		{
+			#[inline]
+			pub fn dot<U,V>(self,rhs:Vector<N,U>)->V
+			where
+				T:core::ops::Mul<U,Output=V>,
+				V:core::iter::Sum,
+			{
+				self.array.into_iter().zip(rhs.array).map(|(a,b)|a*b).sum()
+			}
+		}
+
+		impl<const N:usize,T,V> Vector<N,T>
+		where
+			T:core::ops::Mul<Output=V>+Copy,
+			V:core::iter::Sum,
+		{
+			#[inline]
+			pub fn length_squared(self)->V{
+				self.array.into_iter().map(|t|t*t).sum()
+			}
+		}
+
+		// Impl arithmetic operators
+		$crate::impl_vector_assign_operator!(AddAssign, add_assign );
+		$crate::impl_vector_operator!(Add, add );
+		$crate::impl_vector_assign_operator!(SubAssign, sub_assign );
+		$crate::impl_vector_operator!(Sub, sub );
+		$crate::impl_vector_assign_operator!(RemAssign, rem_assign );
+		$crate::impl_vector_operator!(Rem, rem );
+
+		// mul and div are special, usually you multiply by a scalar
+		// and implementing both vec*vec and vec*scalar is conflicting implementations Q_Q
+		$crate::impl_vector_assign_operator_scalar!(MulAssign, mul_assign );
+		$crate::impl_vector_operator_scalar!(Mul, mul );
+		$crate::impl_vector_assign_operator_scalar!(DivAssign, div_assign );
+		#[cfg(not(feature="deferred-division"))]
+		$crate::impl_vector_operator_scalar!(Div, div );
+		#[cfg(feature="deferred-division")]
+		$crate::impl_vector_deferred_division!();
+
+		// Impl bitwise operators
+		$crate::impl_vector_assign_operator!(BitAndAssign, bitand_assign );
+		$crate::impl_vector_operator!(BitAnd, bitand );
+		$crate::impl_vector_assign_operator!(BitOrAssign, bitor_assign );
+		$crate::impl_vector_operator!(BitOr, bitor );
+		$crate::impl_vector_assign_operator!(BitXorAssign, bitxor_assign );
+		$crate::impl_vector_operator!(BitXor, bitxor );
+
+		// Impl shift operators
+		$crate::impl_vector_shift_assign_operator!(ShlAssign, shl_assign);
+		$crate::impl_vector_shift_operator!(Shl, shl);
+		$crate::impl_vector_shift_assign_operator!(ShrAssign, shr_assign);
+		$crate::impl_vector_shift_operator!(Shr, shr);
+
+		// dedicated methods for this type
+		#[cfg(feature="fixed-wide")]
+		$crate::impl_fixed_wide_vector!();
+	}
+}
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_vector_deferred_division {
+	() => {
+		impl<const N:usize,T:ratio_ops::ratio::Divide<U,Output=V>,U:Copy,V> ratio_ops::ratio::Divide<U> for Vector<N,T>{
+			type Output=Vector<N,V>;
+			#[inline]
+			fn divide(self,rhs:U)->Self::Output{
+				self.map(|t|t.divide(rhs))
+			}
+		}
+		impl<const N:usize,T,U> core::ops::Div<U> for Vector<N,T>{
+			type Output=ratio_ops::ratio::Ratio<Vector<N,T>,U>;
+			#[inline]
+			fn div(self,rhs:U)->Self::Output{
+				ratio_ops::ratio::Ratio::new(self,rhs)
+			}
+		}
+	}
+}
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_vector_operator_scalar {
+	($trait: ident, $method: ident ) => {
+		impl<const N:usize,T:core::ops::$trait<U,Output=V>,U:Copy,V> core::ops::$trait<U> for Vector<N,T>{
+			type Output=Vector<N,V>;
+			#[inline]
+			fn $method(self,rhs:U)->Self::Output{
+				self.map(|t|t.$method(rhs))
+			}
+		}
+	}
+}
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_vector_operator {
+	($trait: ident, $method: ident ) => {
+		impl<const N:usize,T:core::ops::$trait<U,Output=V>,U,V> core::ops::$trait<Vector<N,U>> for Vector<N,T>{
+			type Output=Vector<N,V>;
+			#[inline]
+			fn $method(self,rhs:Vector<N,U>)->Self::Output{
+				self.map_zip(rhs,|(a,b)|a.$method(b))
+			}
+		}
+		impl<const N:usize,T:core::ops::$trait<i64,Output=T>> core::ops::$trait<i64> for Vector<N,T>{
+			type Output=Self;
+			#[inline]
+			fn $method(self,rhs:i64)->Self::Output{
+				self.map(|t|t.$method(rhs))
+			}
+		}
+	}
+}
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_vector_assign_operator_scalar {
+	($trait: ident, $method: ident ) => {
+		impl<const N:usize,T:core::ops::$trait<U>,U:Copy> core::ops::$trait<U> for Vector<N,T>{
+			#[inline]
+			fn $method(&mut self,rhs:U){
+				self.array.iter_mut()
+					.for_each(|t|t.$method(rhs))
+			}
+		}
+	}
+}
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_vector_assign_operator {
+	($trait: ident, $method: ident ) => {
+		impl<const N:usize,T:core::ops::$trait<U>,U> core::ops::$trait<Vector<N,U>> for Vector<N,T>{
+			#[inline]
+			fn $method(&mut self,rhs:Vector<N,U>){
+				self.array.iter_mut().zip(rhs.array)
+					.for_each(|(a,b)|a.$method(b))
+			}
+		}
+		impl<const N:usize,T:core::ops::$trait<i64>> core::ops::$trait<i64> for Vector<N,T>{
+			#[inline]
+			fn $method(&mut self,rhs:i64){
+				self.array.iter_mut()
+					.for_each(|t|t.$method(rhs))
+			}
+		}
+	}
+}
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_vector_shift_operator {
+	($trait: ident, $method: ident ) => {
+		impl<const N:usize,T:core::ops::$trait<U,Output=V>,U,V> core::ops::$trait<Vector<N,U>> for Vector<N,T>{
+			type Output=Vector<N,V>;
+			#[inline]
+			fn $method(self,rhs:Vector<N,U>)->Self::Output{
+				self.map_zip(rhs,|(a,b)|a.$method(b))
+			}
+		}
+		impl<const N:usize,T:core::ops::$trait<u32,Output=V>,V> core::ops::$trait<u32> for Vector<N,T>{
+			type Output=Vector<N,V>;
+			#[inline]
+			fn $method(self,rhs:u32)->Self::Output{
+				self.map(|t|t.$method(rhs))
+			}
+		}
+	}
+}
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_vector_shift_assign_operator {
+	($trait: ident, $method: ident ) => {
+		impl<const N:usize,T:core::ops::$trait<U>,U> core::ops::$trait<Vector<N,U>> for Vector<N,T>{
+			#[inline]
+			fn $method(&mut self,rhs:Vector<N,U>){
+				self.array.iter_mut().zip(rhs.array)
+					.for_each(|(a,b)|a.$method(b))
+			}
+		}
+		impl<const N:usize,T:core::ops::$trait<u32>> core::ops::$trait<u32> for Vector<N,T>{
+			#[inline]
+			fn $method(&mut self,rhs:u32){
+				self.array.iter_mut()
+					.for_each(|t|t.$method(rhs))
+			}
+		}
+	}
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_vector_extend {
+	( $size: expr ) => {
+		impl<T> Vector<$size,T>{
+			#[inline]
+			pub fn extend(self,value:T)->Vector<{$size+1},T>{
+				let mut iter=self.array.into_iter().chain(core::iter::once(value));
+				Vector::new(
+					core::array::from_fn(|_|iter.next().unwrap()),
+				)
+			}
+		}
+	}
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_vector_named_fields {
+	( $struct:ident,  $size: expr ) => {
+		impl<T> core::ops::Deref for Vector<$size,T>{
+			type Target=$struct<T>;
+			#[inline]
+			fn deref(&self)->&Self::Target{
+				unsafe{core::mem::transmute(&self.array)}
+			}
+		}
+		impl<T> core::ops::DerefMut for Vector<$size,T>{
+			#[inline]
+			fn deref_mut(&mut self)->&mut Self::Target{
+				unsafe{core::mem::transmute(&mut self.array)}
+			}
+		}
+	}
+}
+
+#[doc(hidden)]
+#[macro_export(local_inner_macros)]
+macro_rules! impl_vector_3 {
+	()=>{
+		impl<T> Vector<3,T>
+		{
+			#[inline]
+			pub fn cross<U,V>(self,rhs:Vector<3,U>)->Vector<3,<V as core::ops::Sub>::Output>
+			where
+				T:core::ops::Mul<U,Output=V>+Copy,
+				U:Copy,
+				V:core::ops::Sub,
+			{
+				Vector::new([
+					self.y*rhs.z-self.z*rhs.y,
+					self.z*rhs.x-self.x*rhs.z,
+					self.x*rhs.y-self.y*rhs.x,
+				])
+			}
+		}
+	}
+}

lib/linear_ops/src/matrix.rs

@@ -0,0 +1,17 @@
+use crate::vector::Vector;
+
+#[derive(Clone,Copy,Debug,Hash,Eq,PartialEq)]
+pub struct Matrix<const X:usize,const Y:usize,T>{
+	pub(crate) array:[[T;Y];X],
+}
+
+crate::impl_matrix!();
+
+crate::impl_matrix_extend!(2,2);
+crate::impl_matrix_extend!(2,3);
+crate::impl_matrix_extend!(3,2);
+crate::impl_matrix_extend!(3,3);
+
+//Special case 3x3 matrix operations because I cba to write macros for the arbitrary cases
+#[cfg(feature="named-fields")]
+crate::impl_matrix_3x3!();

lib/linear_ops/src/named.rs

@@ -0,0 +1,59 @@
+use crate::vector::Vector;
+use crate::matrix::Matrix;
+
+#[repr(C)]
+pub struct Vector2<T> {
+	pub x: T,
+	pub y: T,
+}
+#[repr(C)]
+pub struct Vector3<T> {
+	pub x: T,
+	pub y: T,
+	pub z: T,
+}
+#[repr(C)]
+pub struct Vector4<T> {
+	pub x: T,
+	pub y: T,
+	pub z: T,
+	pub w: T,
+}
+
+crate::impl_vector_named_fields!(Vector2, 2);
+crate::impl_vector_named_fields!(Vector3, 3);
+crate::impl_vector_named_fields!(Vector4, 4);
+
+#[repr(C)]
+pub struct Matrix2<T> {
+	pub x_axis: T,
+	pub y_axis: T,
+}
+#[repr(C)]
+pub struct Matrix3<T> {
+	pub x_axis: T,
+	pub y_axis: T,
+	pub z_axis: T,
+}
+#[repr(C)]
+pub struct Matrix4<T> {
+	pub x_axis: T,
+	pub y_axis: T,
+	pub z_axis: T,
+	pub w_axis: T,
+}
+
+crate::impl_matrix_named_fields!(
+	//outer struct
+	(
+		(Matrix2, 2),
+		(Matrix3, 3),
+		(Matrix4, 4)
+	),
+	//inner struct
+	(
+		(2),
+		(3),
+		(4)
+	)
+);

lib/linear_ops/src/tests/fixed_wide.rs

@@ -0,0 +1,96 @@
+use crate::types::{Matrix3,Matrix3x2,Matrix3x4,Matrix4x2,Vector3};
+
+type Planar64=fixed_wide::types::I32F32;
+type Planar64Wide1=fixed_wide::types::I64F64;
+//type Planar64Wide2=fixed_wide::types::I128F128;
+type Planar64Wide3=fixed_wide::types::I256F256;
+
+#[test]
+fn wide_vec3(){
+	let v=Vector3::from_value(Planar64::from(3));
+	let v1=v*v.x;
+	let v2=v1*v1.y;
+	let v3=v2*v2.z;
+
+	assert_eq!(v3.array,Vector3::from_value(Planar64Wide3::from(3i128.pow(8))).array);
+}
+
+#[test]
+fn wide_vec3_dot(){
+	let v=Vector3::from_value(Planar64::from(3));
+	let v1=v*v.x;
+	let v2=v1*v1.y;
+	let v3=v2.dot(v2);
+
+	assert_eq!(v3,Planar64Wide3::from(3i128.pow(8)*3));
+}
+
+#[test]
+fn wide_vec3_length_squared(){
+	let v=Vector3::from_value(Planar64::from(3));
+	let v1=v*v.x;
+	let v2=v1*v1.y;
+	let v3=v2.length_squared();
+
+	assert_eq!(v3,Planar64Wide3::from(3i128.pow(8)*3));
+}
+
+#[test]
+fn wide_matrix_dot(){
+	let lhs=Matrix3x4::new([
+		[Planar64::from(1),Planar64::from(2),Planar64::from(3),Planar64::from(4)],
+		[Planar64::from(5),Planar64::from(6),Planar64::from(7),Planar64::from(8)],
+		[Planar64::from(9),Planar64::from(10),Planar64::from(11),Planar64::from(12)],
+	]).transpose();
+	let rhs=Matrix4x2::new([
+		[Planar64::from(1),Planar64::from(2)],
+		[Planar64::from(3),Planar64::from(4)],
+		[Planar64::from(5),Planar64::from(6)],
+		[Planar64::from(7),Planar64::from(8)],
+	]).transpose();
+	// Mat3<Vec4>.dot(Mat4<Vec2>) -> Mat3<Vec2>
+	let m_dot=lhs*rhs;
+	//In[1]:= {{1, 2, 3, 4}, {5, 6, 7, 8}, {9, 10, 11, 12}} . {{1, 2}, {3, 4}, {5, 6}, {7, 8}}
+	//Out[1]= {{50, 60}, {114, 140}, {178, 220}}
+	assert_eq!(
+		m_dot.array,
+		Matrix3x2::new([
+			[Planar64Wide1::from(50),Planar64Wide1::from(60)],
+			[Planar64Wide1::from(114),Planar64Wide1::from(140)],
+			[Planar64Wide1::from(178),Planar64Wide1::from(220)],
+		]).transpose().array
+	);
+}
+
+#[test]
+#[cfg(feature="named-fields")]
+fn wide_matrix_det(){
+	let m=Matrix3::new([
+		[Planar64::from(1),Planar64::from(2),Planar64::from(3)],
+		[Planar64::from(4),Planar64::from(5),Planar64::from(7)],
+		[Planar64::from(6),Planar64::from(8),Planar64::from(9)],
+	]);
+	// In[2]:= Det[{{1, 2, 3}, {4, 5, 7}, {6, 8, 9}}]
+	// Out[2]= 7
+	assert_eq!(m.det(),fixed_wide::fixed::Fixed::<3,96>::from(7));
+}
+
+#[test]
+#[cfg(feature="named-fields")]
+fn wide_matrix_adjugate(){
+	let m=Matrix3::new([
+		[Planar64::from(1),Planar64::from(2),Planar64::from(3)],
+		[Planar64::from(4),Planar64::from(5),Planar64::from(7)],
+		[Planar64::from(6),Planar64::from(8),Planar64::from(9)],
+	]);
+	// In[6]:= Adjugate[{{1, 2, 3}, {4, 5, 7}, {6, 8, 9}}]
+	// Out[6]= {{-11, 6, -1}, {6, -9, 5}, {2, 4, -3}}
+	assert_eq!(
+		m.adjugate().array,
+		Matrix3::new([
+			[Planar64Wide1::from(-11),Planar64Wide1::from(6),Planar64Wide1::from(-1)],
+			[Planar64Wide1::from(6),Planar64Wide1::from(-9),Planar64Wide1::from(5)],
+			[Planar64Wide1::from(2),Planar64Wide1::from(4),Planar64Wide1::from(-3)],
+		]).array
+	);
+}

lib/linear_ops/src/tests/mod.rs

@@ -0,0 +1,6 @@
+mod tests;
+
+#[cfg(feature="named-fields")]
+mod named;
+
+mod fixed_wide;

lib/linear_ops/src/tests/named.rs

@@ -0,0 +1,30 @@
+use crate::types::{Vector3,Matrix3};
+
+#[test]
+fn test_vector(){
+	let mut v=Vector3::new([1,2,3]);
+	assert_eq!(v.x,1);
+	assert_eq!(v.y,2);
+	assert_eq!(v.z,3);
+
+	v.x=5;
+	assert_eq!(v.x,5);
+
+	v.y*=v.x;
+	assert_eq!(v.y,10);
+}
+
+
+#[test]
+fn test_matrix(){
+	let mut v=Matrix3::from_value(2);
+	assert_eq!(v.x_axis.x,2);
+	assert_eq!(v.y_axis.y,2);
+	assert_eq!(v.z_axis.z,2);
+
+	v.x_axis.x=5;
+	assert_eq!(v.x_axis.x,5);
+
+	v.y_axis.z*=v.x_axis.x;
+	assert_eq!(v.y_axis.z,10);
+}

lib/linear_ops/src/tests/tests.rs

@@ -0,0 +1,59 @@
+use crate::types::{Vector2,Vector3,Matrix3x4,Matrix4x2,Matrix3x2,Matrix2x3};
+
+#[test]
+fn test_bool(){
+	assert_eq!(Vector3::new([false,false,false]).any(),false);
+	assert_eq!(Vector3::new([false,false,true]).any(),true);
+	assert_eq!(Vector3::new([false,false,true]).all(),false);
+	assert_eq!(Vector3::new([true,true,true]).all(),true);
+}
+
+#[test]
+fn test_length_squared(){
+	assert_eq!(Vector3::new([1,2,3]).length_squared(),14);
+}
+
+#[test]
+fn test_arithmetic(){
+	let a=Vector3::new([1,2,3]);
+	assert_eq!((a+a*2).array,Vector3::new([1*3,2*3,3*3]).array);
+}
+
+#[test]
+fn matrix_transform_vector(){
+	let m=Matrix2x3::new([
+		[1,2,3],
+		[4,5,6],
+	]).transpose();
+	let v=Vector3::new([1,2,3]);
+	let transformed=m*v;
+	assert_eq!(transformed.array,Vector2::new([14,32]).array);
+}
+
+#[test]
+fn matrix_dot(){
+	// All this code was written row major and I converted the lib to colum major
+	let rhs=Matrix4x2::new([
+								[  1.0,  2.0],
+								[  3.0,  4.0],
+								[  5.0,  6.0],
+								[  7.0,  8.0],
+	]).transpose();						 // |	  |		|
+	let lhs=Matrix3x4::new([ // |	  |		|
+		[1.0, 2.0, 3.0, 4.0],//	[ 50.0, 60.0],
+		[5.0, 6.0, 7.0, 8.0],//	[114.0,140.0],
+		[9.0,10.0,11.0,12.0],//	[178.0,220.0],
+	]).transpose();
+	// Mat3<Vec4>.dot(Mat4<Vec2>) -> Mat3<Vec2>
+	let m_dot=lhs*rhs;
+	//In[1]:= {{1, 2, 3, 4}, {5, 6, 7, 8}, {9, 10, 11, 12}} . {{1, 2}, {3, 4}, {5, 6}, {7, 8}}
+	//Out[1]= {{50, 60}, {114, 140}, {178, 220}}
+	assert_eq!(
+		m_dot.array,
+		Matrix3x2::new([
+			[50.0,60.0],
+			[114.0,140.0],
+			[178.0,220.0],
+		]).transpose().array
+	);
+}

lib/linear_ops/src/types.rs

@@ -0,0 +1,18 @@
+use crate::vector::Vector;
+use crate::matrix::Matrix;
+
+pub type Vector2<T>=Vector<2,T>;
+pub type Vector3<T>=Vector<3,T>;
+pub type Vector4<T>=Vector<4,T>;
+
+pub type Matrix2<T>=Matrix<2,2,T>;
+pub type Matrix2x3<T>=Matrix<2,3,T>;
+pub type Matrix2x4<T>=Matrix<2,4,T>;
+
+pub type Matrix3x2<T>=Matrix<3,2,T>;
+pub type Matrix3<T>=Matrix<3,3,T>;
+pub type Matrix3x4<T>=Matrix<3,4,T>;
+
+pub type Matrix4x2<T>=Matrix<4,2,T>;
+pub type Matrix4x3<T>=Matrix<4,3,T>;
+pub type Matrix4<T>=Matrix<4,4,T>;