fix big wrong

src/aabb.rs

@@ -1,14 +1,5 @@
 use crate::integer::Planar64Vec3;
 
-#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
-pub enum AabbFace{
-	Right,//+X
-	Top,
-	Back,
-	Left,
-	Bottom,
-	Front,
-}
 #[derive(Clone)]
 pub struct Aabb{
 	pub min:Planar64Vec3,
@@ -22,17 +13,6 @@ impl Default for Aabb {
 }
 
 impl Aabb{
-	const VERTEX_DATA:[Planar64Vec3;8]=[
-		Planar64Vec3::int( 1,-1,-1),
-		Planar64Vec3::int( 1, 1,-1),
-		Planar64Vec3::int( 1, 1, 1),
-		Planar64Vec3::int( 1,-1, 1),
-		Planar64Vec3::int(-1,-1, 1),
-		Planar64Vec3::int(-1, 1, 1),
-		Planar64Vec3::int(-1, 1,-1),
-		Planar64Vec3::int(-1,-1,-1),
-	];
-
 	pub fn grow(&mut self,point:Planar64Vec3){
 		self.min=self.min.min(point);
 		self.max=self.max.max(point);
@@ -48,32 +28,6 @@ impl Aabb{
 	pub fn intersects(&self,aabb:&Aabb)->bool{
 		(self.min.cmplt(aabb.max)&aabb.min.cmplt(self.max)).all()
 	}
-	pub fn normal(face:AabbFace)->Planar64Vec3{
-		match face {
-			AabbFace::Right=>Planar64Vec3::int(1,0,0),
-			AabbFace::Top=>Planar64Vec3::int(0,1,0),
-			AabbFace::Back=>Planar64Vec3::int(0,0,1),
-			AabbFace::Left=>Planar64Vec3::int(-1,0,0),
-			AabbFace::Bottom=>Planar64Vec3::int(0,-1,0),
-			AabbFace::Front=>Planar64Vec3::int(0,0,-1),
-		}
-	}
-	pub fn unit_vertices()->[Planar64Vec3;8] {
-		return Self::VERTEX_DATA;
-	}
-	// pub fn face(&self,face:AabbFace)->Aabb {
-	// 	let mut aabb=self.clone();
-	// 	//in this implementation face = worldspace aabb face
-	// 	match face {
-	// 		AabbFace::Right => aabb.min.x=aabb.max.x,
-	// 		AabbFace::Top => aabb.min.y=aabb.max.y,
-	// 		AabbFace::Back => aabb.min.z=aabb.max.z,
-	// 		AabbFace::Left => aabb.max.x=aabb.min.x,
-	// 		AabbFace::Bottom => aabb.max.y=aabb.min.y,
-	// 		AabbFace::Front => aabb.max.z=aabb.min.z,
-	// 	}
-	// 	return aabb;
-	// }
 	pub fn center(&self)->Planar64Vec3{
 		return self.min.midpoint(self.max)
 	}

src/face_crawler.rs

@@ -0,0 +1,126 @@
+use crate::physics::Body;
+use crate::model_physics::{FEV,MeshQuery};
+use crate::integer::{Time,Planar64,Planar64Vec3};
+use crate::zeroes::zeroes2;
+
+struct State<FEV>{
+	fev:FEV,
+	time:Time,
+}
+
+enum Transition<F,E,V>{
+	Miss,
+	Next(FEV<F,E,V>,Time),
+	Hit(F,Time),
+}
+
+impl<F:Copy,E:Copy,V:Copy> State<FEV<F,E,V>>{
+	fn next_transition(&self,mesh:&impl MeshQuery<F,E,V>,body:&Body,time_limit:Time)->Transition<F,E,V>{
+		//conflicting derivative means it crosses in the wrong direction.
+		//if the transition time is equal to an already tested transition, do not replace the current best.
+		let mut best_time=time_limit;
+		let mut best_transtition=Transition::Miss;
+		match &self.fev{
+			&FEV::<F,E,V>::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);
+				for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					let t=body.time+Time::from(t);
+					if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+						best_time=t;
+						best_transtition=Transition::Hit(face_id,t);
+					}
+				}
+				//test each edge collision time, ignoring roots with zero or conflicting derivative
+				for &(edge_id,test_face_id) in mesh.face_edges(face_id).iter(){
+					let edge_n=mesh.edge_n(edge_id);
+					let n=n.cross(edge_n);
+					//picking a vert randomly is terrible
+					let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0]));
+					for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(edge_id),t);
+							break;
+						}
+					}
+				}
+				//if none:
+			},
+			&FEV::<F,E,V>::Edge(edge_id)=>{
+				//test each face collision time, ignoring roots with zero or conflicting derivative
+				let edge_n=mesh.edge_n(edge_id);
+				for &test_face_id in mesh.edge_faces(edge_id).iter(){
+					let face_n=mesh.face_nd(test_face_id).0;
+					let n=edge_n.cross(face_n);
+					let d=n.dot(mesh.vert(mesh.edge_verts(edge_id)[0]));
+					for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Face(test_face_id),t);
+							break;
+						}
+					}
+				}
+				//test each vertex collision time, ignoring roots with zero or conflicting derivative
+				let n=mesh.edge_n(edge_id);
+				for &vert_id in mesh.edge_verts(edge_id).iter(){
+					let d=n.dot(mesh.vert(vert_id));
+					for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t);
+							break;
+						}
+					}
+				}
+				//if none:
+			},
+			&FEV::<F,E,V>::Vert(vert_id)=>{
+				//test each edge collision time, ignoring roots with zero or conflicting derivative
+				for &edge_id in mesh.vert_edges(vert_id).iter(){
+					let n=mesh.edge_n(edge_id);
+					let d=n.dot(mesh.vert(vert_id));
+					for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+						let t=body.time+Time::from(t);
+						if self.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+							best_time=t;
+							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(edge_id),t);
+							break;
+						}
+					}
+				}
+				//if none:
+			},
+		}
+		best_transtition
+	}
+}
+
+pub fn predict_collision<F:Copy,E:Copy,V:Copy>(mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,time_limit:Time)->Option<(F,Time)>{
+	let mut state=State{
+		fev:mesh.closest_fev(relative_body.position),
+		time:relative_body.time,
+	};
+	//it would be possible to write down the point of closest approach...
+	loop{
+		match state.next_transition(mesh,relative_body,time_limit){
+			Transition::Miss=>return None,
+			Transition::Next(fev,time)=>(state.fev,state.time)=(fev,time),
+			Transition::Hit(face,time)=>return Some((face,time)),
+		}
+	}
+}
+
+pub fn predict_collision_end<F:Copy,E:Copy,V:Copy>(mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,time_limit:Time,ignore_face_id:F)->Option<(F,Time)>{
+	//imagine the mesh without the collision face
+	//no algorithm needed, there is only one state and three cases (Face,Edge,None)
+	//determine when it passes an edge ("sliding off" case) or if it leaves the surface directly
+	//the state can be constructed from the ContactCollision directly
+	None
+}

src/instruction.rs

@@ -25,7 +25,10 @@ impl<I> InstructionCollector<I>{
 			instruction:None
 		}
 	}
-
+	#[inline]
+	pub fn time(&self)->Time{
+		self.time
+	}
 	pub fn collect(&mut self,instruction:Option<TimedInstruction<I>>){
 		match instruction{
 			Some(unwrap_instruction)=>{

src/integer.rs

@@ -1,5 +1,5 @@
 //integer units
-#[derive(Clone,Copy,Hash,PartialEq,PartialOrd,Debug)]
+#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)]
 pub struct Time(i64);
 impl Time{
 	pub const ZERO:Self=Self(0);
@@ -414,6 +414,7 @@ pub struct Planar64(i64);
 impl Planar64{
 	pub const ZERO:Self=Self(0);
 	pub const ONE:Self=Self(1<<32);
+	pub const MAX:Self=Self(i64::MAX);
 	#[inline]
 	pub const fn int(num:i32)->Self{
 		Self(Self::ONE.0*num as i64)
@@ -426,9 +427,14 @@ impl Planar64{
 	pub const fn get(&self)->i64{
 		self.0
 	}
+	#[inline]
 	pub fn sqrt(&self)->Self{
 		Planar64(unsafe{(((self.0 as i128)<<32) as f64).sqrt().to_int_unchecked()})
 	}
+	#[inline]
+	pub const fn signum_i64(&self)->i64{
+		((self.0&(1<<63)!=0) as i64)*2-1
+	}
 }
 const PLANAR64_ONE_FLOAT32:f32=(1u64<<32) as f32;
 const PLANAR64_CONVERT_TO_FLOAT32:f32=1.0/PLANAR64_ONE_FLOAT32;
@@ -518,6 +524,12 @@ impl std::ops::Add<Planar64> for Planar64{
 		Planar64(self.0+rhs.0)
 	}
 }
+impl std::ops::AddAssign<Planar64> for Planar64{
+	#[inline]
+	fn add_assign(&mut self,rhs:Self){
+		*self=*self+rhs;
+	}
+}
 impl std::ops::Sub<Planar64> for Planar64{
 	type Output=Planar64;
 	#[inline]
@@ -582,6 +594,10 @@ impl Planar64Vec3{
 	pub const MIN:Self=Planar64Vec3(glam::I64Vec3::MIN);
 	pub const MAX:Self=Planar64Vec3(glam::I64Vec3::MAX);
 	#[inline]
+	pub const fn new(x:Planar64,y:Planar64,z:Planar64)->Self{
+		Self(glam::i64vec3(x.0,y.0,z.0))
+	}
+	#[inline]
 	pub const fn int(x:i32,y:i32,z:i32)->Self{
 		Self(glam::i64vec3((x as i64)<<32,(y as i64)<<32,(z as i64)<<32))
 	}
@@ -634,6 +650,26 @@ impl Planar64Vec3{
 		)>>32) as i64)
 	}
 	#[inline]
+	pub fn dot128(&self,rhs:Self)->i128{
+		(self.0.x as i128)*(rhs.0.x as i128)+
+		(self.0.y as i128)*(rhs.0.y as i128)+
+		(self.0.z as i128)*(rhs.0.z as i128)
+	}
+	#[inline]
+	pub fn cross(&self,rhs:Self)->Planar64Vec3{
+		Planar64Vec3(glam::i64vec3(
+			(((self.0.y as i128)*(rhs.0.z as i128)-(self.0.z as i128)*(rhs.0.y as i128))>>32) as i64,
+			(((self.0.z as i128)*(rhs.0.x as i128)-(self.0.x as i128)*(rhs.0.z as i128))>>32) as i64,
+			(((self.0.x as i128)*(rhs.0.y as i128)-(self.0.y as i128)*(rhs.0.x as i128))>>32) as i64,
+		))
+	}
+	#[inline]
+	pub fn walkable(&self,slope:Planar64,up:Self)->bool{
+		let y=self.dot(up);
+		let x=self.cross(up).length();
+		x*slope<y
+	}
+	#[inline]
 	pub fn length(&self)->Planar64{
 		let radicand=(self.0.x as i128)*(self.0.x as i128)+(self.0.y as i128)*(self.0.y as i128)+(self.0.z as i128)*(self.0.z as i128);
 		Planar64(unsafe{(radicand as f64).sqrt().to_int_unchecked()})
@@ -781,7 +817,7 @@ impl std::ops::Div<i64> for Planar64Vec3{
 }
 
 ///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy)]
+#[derive(Clone,Copy,Hash,Eq,PartialEq)]
 pub struct Planar64Mat3{
 	x_axis:Planar64Vec3,
 	y_axis:Planar64Vec3,
@@ -853,6 +889,41 @@ impl Planar64Mat3{
 			Planar64Vec3(glam::i64vec3(s,0,c)),
 		)
 	}
+	#[inline]
+	pub const fn inverse(&self)->Self{
+		let det=(
+			-self.x_axis.0.z as i128*self.y_axis.0.y as i128*self.z_axis.0.x as i128
+			+self.x_axis.0.y as i128*self.y_axis.0.z as i128*self.z_axis.0.x as i128
+			+self.x_axis.0.z as i128*self.y_axis.0.x as i128*self.z_axis.0.y as i128
+			-self.x_axis.0.x as i128*self.y_axis.0.z as i128*self.z_axis.0.y as i128
+			-self.x_axis.0.y as i128*self.y_axis.0.x as i128*self.z_axis.0.z as i128
+			+self.x_axis.0.x as i128*self.y_axis.0.y as i128*self.z_axis.0.z as i128
+			)>>32;
+		Self{
+			x_axis:Planar64Vec3::raw((((-(self.y_axis.0.z as i128*self.z_axis.0.y as i128)+self.y_axis.0.y as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((self.x_axis.0.z as i128*self.z_axis.0.y as i128-self.x_axis.0.y as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((-(self.x_axis.0.z as i128*self.y_axis.0.y as i128)+self.x_axis.0.y as i128*self.y_axis.0.z as i128)<<32)/det) as i64),
+			y_axis:Planar64Vec3::raw((((self.y_axis.0.z as i128*self.z_axis.0.x as i128-self.y_axis.0.x as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((-(self.x_axis.0.z as i128*self.z_axis.0.x as i128)+self.x_axis.0.x as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((self.x_axis.0.z as i128*self.y_axis.0.x as i128-self.x_axis.0.x as i128*self.y_axis.0.z as i128)<<32)/det) as i64),
+			z_axis:Planar64Vec3::raw((((-(self.y_axis.0.y as i128*self.z_axis.0.x as i128)+self.y_axis.0.x as i128*self.z_axis.0.y as i128)<<32)/det) as i64,(((self.x_axis.0.y as i128*self.z_axis.0.x as i128-self.x_axis.0.x as i128*self.z_axis.0.y as i128)<<32)/det) as i64,(((-(self.x_axis.0.y as i128*self.y_axis.0.x as i128)+self.x_axis.0.x as i128*self.y_axis.0.y as i128)<<32)/det) as i64),
+		}
+	}
+	#[inline]
+	pub const fn transpose(&self)->Self{
+		Self{
+			x_axis:Planar64Vec3::raw(self.x_axis.0.x,self.y_axis.0.x,self.z_axis.0.x),
+			y_axis:Planar64Vec3::raw(self.x_axis.0.y,self.y_axis.0.y,self.z_axis.0.y),
+			z_axis:Planar64Vec3::raw(self.x_axis.0.z,self.y_axis.0.z,self.z_axis.0.z),
+		}
+	}
+	#[inline]
+	pub const fn determinant(&self)->Planar64{
+		Planar64(((
+			-self.x_axis.0.z as i128*self.y_axis.0.y as i128*self.z_axis.0.x as i128
+			+self.x_axis.0.y as i128*self.y_axis.0.z as i128*self.z_axis.0.x as i128
+			+self.x_axis.0.z as i128*self.y_axis.0.x as i128*self.z_axis.0.y as i128
+			-self.x_axis.0.x as i128*self.y_axis.0.z as i128*self.z_axis.0.y as i128
+			-self.x_axis.0.y as i128*self.y_axis.0.x as i128*self.z_axis.0.z as i128
+			+self.x_axis.0.x as i128*self.y_axis.0.y as i128*self.z_axis.0.z as i128
+		)>>64) as i64)
+	}
 }
 impl Into<glam::Mat3> for Planar64Mat3{
 	#[inline]
@@ -897,7 +968,7 @@ impl std::ops::Div<i64> for Planar64Mat3{
 }
 
 ///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy,Default)]
+#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
 pub struct Planar64Affine3{
 	pub matrix3:Planar64Mat3,//includes scale above 1
 	pub translation:Planar64Vec3,

src/load_roblox.rs

@@ -45,14 +45,19 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
 		"Water"=>{
 			force_can_collide=false;
 			//TODO: read stupid CustomPhysicalProperties
-			intersecting.water=Some(crate::model::IntersectingWater{density:Planar64::ONE,viscosity:Planar64::ONE/10,current:velocity});
+			intersecting.water=Some(crate::model::IntersectingWater{density:Planar64::ONE,viscosity:Planar64::ONE/10,velocity});
 		},
 		"Accelerator"=>{
 			//although the new game supports collidable accelerators, this is a roblox compatability map loader
 			force_can_collide=false;
 			general.accelerator=Some(crate::model::GameMechanicAccelerator{acceleration:velocity});
 		},
-		"UnorderedCheckpoint"=>general.checkpoint=Some(crate::model::GameMechanicCheckpoint::Unordered{mode_id:0}),
+		// "UnorderedCheckpoint"=>general.teleport_behaviour=Some(crate::model::TeleportBehaviour::StageElement(crate::model::GameMechanicStageElement{
+		// 	mode_id:0,
+		// 	stage_id:0,
+		// 	force:false,
+		// 	behaviour:crate::model::StageElementBehaviour::Unordered
+		// })),
 		"SetVelocity"=>general.trajectory=Some(crate::model::GameMechanicSetTrajectory::Velocity(velocity)),
 		"MapFinish"=>{force_can_collide=false;general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Finish})},
 		"MapAnticheat"=>{force_can_collide=false;general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Anitcheat})},
@@ -111,13 +116,14 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
 					"WormholeIn"=>general.teleport_behaviour=Some(crate::model::TeleportBehaviour::Wormhole(crate::model::GameMechanicWormhole{destination_model_id:captures[2].parse::<u32>().unwrap()})),
 					_=>panic!("regex3[1] messed up bad"),
 				}
-			}else if let Some(captures)=lazy_regex::regex!(r"^(OrderedCheckpoint)(\d+)$")
-			.captures(other){
-				match &captures[1]{
-					"OrderedCheckpoint"=>general.checkpoint=Some(crate::model::GameMechanicCheckpoint::Ordered{mode_id:0,checkpoint_id:captures[2].parse::<u32>().unwrap()}),
-					_=>panic!("regex3[1] messed up bad"),
-				}
 			}
+			// else if let Some(captures)=lazy_regex::regex!(r"^(OrderedCheckpoint)(\d+)$")
+			// .captures(other){
+			// 	match &captures[1]{
+			// 		"OrderedCheckpoint"=>general.checkpoint=Some(crate::model::GameMechanicCheckpoint::Ordered{mode_id:0,checkpoint_id:captures[2].parse::<u32>().unwrap()}),
+			// 		_=>panic!("regex3[1] messed up bad"),
+			// 	}
+			// }
 		}
 	}
 	//need some way to skip this

src/main.rs

@@ -12,7 +12,9 @@ mod settings;
 mod primitives;
 mod instruction;
 mod load_roblox;
+mod face_crawler;
 mod compat_worker;
+mod model_physics;
 mod model_graphics;
 mod physics_worker;
 mod graphics_worker;

src/model.rs

@@ -83,73 +83,78 @@ pub enum TempIndexedAttributes{
 }
 
 //you have this effect while in contact
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct ContactingLadder{
 	pub sticky:bool
 }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub enum ContactingBehaviour{
-    Surf,
-    Ladder(ContactingLadder),
-    Elastic(u32),//[1/2^32,1] 0=None (elasticity+1)/2^32
+	Surf,
+	Cling,//usable as a zipline, or other weird and wonderful things
+	Ladder(ContactingLadder),
+	Elastic(u32),//[1/2^32,1] 0=None (elasticity+1)/2^32
 }
 //you have this effect while intersecting
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct IntersectingWater{
 	pub viscosity:Planar64,
 	pub density:Planar64,
-	pub current:Planar64Vec3,
+	pub velocity:Planar64Vec3,
 }
 //All models can be given these attributes
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct GameMechanicAccelerator{
 	pub acceleration:Planar64Vec3
 }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub enum GameMechanicBooster{
 	Affine(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
 }
-#[derive(Clone)]
-pub enum GameMechanicCheckpoint{
-	Ordered{
-		mode_id:u32,
-		checkpoint_id:u32,
-	},
-	Unordered{
-		mode_id:u32,
-	},
-}
-#[derive(Clone)]
+#[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)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub enum GameMechanicSetTrajectory{
+	//Speed-type SetTrajectory
 	AirTime(Time),//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:Time,//short time = fast and direct, long time = launch high in the air, negative time = wrong way
 	},
-	TrajectoryTargetPoint{//launch at a fixed speed and land at a target point
+	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
-	DotVelocity{direction:Planar64Vec3,dot:Planar64},//set your velocity in a specific direction without touching other directions
 }
-#[derive(Clone)]
+impl GameMechanicSetTrajectory{
+	fn is_velocity(&self)->bool{
+		match self{
+			GameMechanicSetTrajectory::AirTime(_)
+			|GameMechanicSetTrajectory::Height(_)
+			|GameMechanicSetTrajectory::DotVelocity{direction:_,dot:_}=>false,
+			GameMechanicSetTrajectory::TargetPointTime{target_point:_,time:_}
+			|GameMechanicSetTrajectory::TargetPointSpeed{target_point:_,speed:_,trajectory_choice:_}
+			|GameMechanicSetTrajectory::Velocity(_)=>true,
+		}
+	}
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub enum ZoneBehaviour{
 	//Start is indexed
 	//Checkpoints are indexed
 	Finish,
 	Anitcheat,
 }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct GameMechanicZone{
 	pub mode_id:u32,
 	pub behaviour:ZoneBehaviour,
@@ -160,31 +165,36 @@ pub struct GameMechanicZone{
 // 	InRange(Planar64,Planar64),
 // 	OutsideRange(Planar64,Planar64),
 // }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub enum StageElementBehaviour{
- 	//Spawn,//The behaviour of stepping on a spawn setting the spawnid
- 	SpawnAt,
- 	Trigger,
- 	Teleport,
- 	Platform,
- 	//Acts like a trigger if you haven't hit all the checkpoints.
- 	Checkpoint{
- 		//if this is 2 you must have hit OrderedCheckpoint(0) OrderedCheckpoint(1) OrderedCheckpoint(2) to pass
- 		ordered_checkpoint_id:Option<u32>,
- 		//if this is 2 you must have hit at least 2 UnorderedCheckpoints to pass
- 		unordered_checkpoint_count:u32,
- 	},
- 	JumpLimit(u32),
- 	//Speedtrap(TrapCondition),//Acts as a trigger with a speed condition
+	//Spawn,//The behaviour of stepping on a spawn setting the spawnid
+	SpawnAt,//must be standing on top to get effect. except cancollide false
+	Trigger,
+	Teleport,
+	Platform,
+	//Checkpoint acts like a trigger if you haven't hit all the checkpoints yet.
+	//Note that all stage elements act like this for the next stage.
+	Checkpoint,
+	//OrderedCheckpoint. You must pass through all of these in ascending order.
+	//If you hit them out of order it acts like a trigger.
+	//Do not support backtracking at all for now.
+	Ordered{
+		checkpoint_id:u32,
+	},
+	//UnorderedCheckpoint. You must pass through all of these in any order.
+	Unordered,
+	//If you get reset by a jump limit
+	JumpLimit(u32),
+	//Speedtrap(TrapCondition),//Acts as a trigger with a speed condition
 }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct GameMechanicStageElement{
 	pub mode_id:u32,
 	pub stage_id:u32,//which spawn to send to
 	pub force:bool,//allow setting to lower spawn id i.e. 7->3
 	pub behaviour:StageElementBehaviour
 }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub struct GameMechanicWormhole{
 	//destination does not need to be another wormhole
 	//this defines a one way portal to a destination model transform
@@ -192,17 +202,16 @@ pub struct GameMechanicWormhole{
 	pub destination_model_id:u32,
 	//(position,angles)*=origin.transform.inverse()*destination.transform
 }
-#[derive(Clone)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 pub enum TeleportBehaviour{
 	StageElement(GameMechanicStageElement),
 	Wormhole(GameMechanicWormhole),
 }
 //attributes listed in order of handling
-#[derive(Default,Clone)]
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
 pub struct GameMechanicAttributes{
 	pub zone:Option<GameMechanicZone>,
 	pub booster:Option<GameMechanicBooster>,
-	pub checkpoint:Option<GameMechanicCheckpoint>,
 	pub trajectory:Option<GameMechanicSetTrajectory>,
 	pub teleport_behaviour:Option<TeleportBehaviour>,
 	pub accelerator:Option<GameMechanicAccelerator>,
@@ -211,13 +220,26 @@ impl GameMechanicAttributes{
 	pub fn any(&self)->bool{
 		self.zone.is_some()
 		||self.booster.is_some()
-		||self.checkpoint.is_some()
 		||self.trajectory.is_some()
 		||self.teleport_behaviour.is_some()
 		||self.accelerator.is_some()
 	}
+	pub fn is_wrcp(&self,current_mode_id:u32)->bool{
+		self.trajectory.as_ref().map_or(false,|t|t.is_velocity())
+		&&match &self.teleport_behaviour{
+			Some(TeleportBehaviour::StageElement(
+				GameMechanicStageElement{
+					mode_id,
+					stage_id:_,
+					force:true,
+					behaviour:StageElementBehaviour::Trigger|StageElementBehaviour::Teleport
+				}
+			))=>current_mode_id==*mode_id,
+			_=>false,
+		}
+	}
 }
-#[derive(Default,Clone)]
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
 pub struct ContactingAttributes{
 	//friction?
 	pub contact_behaviour:Option<ContactingBehaviour>,
@@ -227,7 +249,7 @@ impl ContactingAttributes{
 		self.contact_behaviour.is_some()
 	}
 }
-#[derive(Default,Clone)]
+#[derive(Default,Clone,Hash,Eq,PartialEq)]
 pub struct IntersectingAttributes{
 	pub water:Option<IntersectingWater>,
 }
@@ -237,6 +259,7 @@ impl IntersectingAttributes{
 	}
 }
 //Spawn(u32) NO! spawns are indexed in the map header instead of marked with attibutes
+//TODO: deduplicate attributes
 pub enum CollisionAttributes{
 	Decoration,//visual only
 	Contact{//track whether you are contacting the object

src/model_physics.rs

@@ -1 +1,766 @@
-//
+use crate::integer::{Planar64,Planar64Vec3};
+use std::borrow::{Borrow,Cow};
+
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub struct VertId(usize);
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub struct EdgeId(usize);
+impl EdgeId{
+	fn as_directed_edge_id(&self,parity:bool)->DirectedEdgeId{
+		DirectedEdgeId(self.0|((parity as usize)<<(usize::BITS-1)))
+	}
+}
+/// DirectedEdgeId refers to an EdgeId when undirected.
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub struct DirectedEdgeId(usize);
+impl DirectedEdgeId{
+	fn as_edge_id(&self)->EdgeId{
+		EdgeId(self.0&!(1<<(usize::BITS-1)))
+	}
+	fn signum(&self)->isize{
+		((self.0&(1<<(usize::BITS-1))!=0) as isize)*2-1
+	}
+}
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub struct FaceId(usize);
+
+//Vertex <-> Edge <-> Face -> Collide
+pub enum FEV<F,E,V>{
+	Face(F),
+	Edge(E),
+	Vert(V),
+}
+
+//use Unit32 #[repr(C)] for map files
+struct Face{
+	normal:Planar64Vec3,
+	dot:Planar64,
+}
+impl Face{
+	fn nd(&self)->(Planar64Vec3,Planar64){
+		(self.normal,self.dot)
+	}
+}
+struct Vert(Planar64Vec3);
+struct FaceRefs{
+	edges:Vec<(EdgeId,FaceId)>,
+	//verts:Vec<VertId>,
+}
+struct EdgeRefs{
+	faces:[FaceId;2],//left, right
+	verts:[VertId;2],//bottom, top
+}
+struct VertRefs{
+	faces:Vec<FaceId>,
+	edges:Vec<DirectedEdgeId>,
+}
+pub struct PhysicsMesh{
+	faces:Vec<Face>,
+	verts:Vec<Vert>,
+	face_topology:Vec<FaceRefs>,
+	edge_topology:Vec<EdgeRefs>,
+	vert_topology:Vec<VertRefs>,
+}
+
+#[derive(Default,Clone)]
+struct VertRefGuy{
+	edges:std::collections::HashSet<DirectedEdgeId>,
+	faces:std::collections::HashSet<FaceId>,
+}
+#[derive(Clone,Hash,Eq,PartialEq)]
+struct EdgeIdGuy([VertId;2]);
+impl EdgeIdGuy{
+	fn new(v0:VertId,v1:VertId)->(Self,bool){
+		(if v0.0<v1.0{
+			Self([v0,v1])
+		}else{
+			Self([v1,v0])
+		},v0.0<v1.0)
+	}
+}
+struct EdgeRefGuy([FaceId;2]);
+impl EdgeRefGuy{
+	fn new()->Self{
+		Self([FaceId(0);2])
+	}
+	fn push(&mut self,i:usize,face_id:FaceId){
+		self.0[i]=face_id;
+	}
+}
+struct FaceRefGuy(Vec<EdgeId>);
+#[derive(Default)]
+struct EdgePool{
+	edge_guys:Vec<(EdgeIdGuy,EdgeRefGuy)>,
+	edge_id_from_guy:std::collections::HashMap<EdgeIdGuy,usize>,
+}
+impl EdgePool{
+	fn push(&mut self,edge_id_guy:EdgeIdGuy)->(&mut EdgeRefGuy,EdgeId){
+		let edge_id=if let Some(&edge_id)=self.edge_id_from_guy.get(&edge_id_guy){
+			edge_id
+		}else{
+			let edge_id=self.edge_guys.len();
+			self.edge_guys.push((edge_id_guy.clone(),EdgeRefGuy::new()));
+			self.edge_id_from_guy.insert(edge_id_guy,edge_id);
+			edge_id
+		};
+		(&mut unsafe{self.edge_guys.get_unchecked_mut(edge_id)}.1,EdgeId(edge_id))
+	}
+}
+impl From<&crate::model::IndexedModel> for PhysicsMesh{
+	fn from(indexed_model:&crate::model::IndexedModel)->Self{
+		let verts=indexed_model.unique_pos.iter().map(|v|Vert(v.clone())).collect();
+		let mut vert_ref_guys=vec![VertRefGuy::default();indexed_model.unique_pos.len()];
+		let mut edge_pool=EdgePool::default();
+		let mut face_i=0;
+		let mut faces=Vec::new();
+		let mut face_ref_guys=Vec::new();
+		for group in indexed_model.groups.iter(){for poly in group.polys.iter(){
+			let face_id=FaceId(face_i);
+			//one face per poly
+			let mut normal=Planar64Vec3::ZERO;
+			let len=poly.vertices.len();
+			let face_edges=poly.vertices.iter().enumerate().map(|(i,&vert_id)|{
+				let vert0_id=indexed_model.unique_vertices[vert_id as usize].pos as usize;
+				let vert1_id=indexed_model.unique_vertices[poly.vertices[(i+1)%len] as usize].pos as usize;
+				//https://www.khronos.org/opengl/wiki/Calculating_a_Surface_Normal (Newell's Method)
+				let v0=indexed_model.unique_pos[vert0_id];
+				let v1=indexed_model.unique_pos[vert1_id];
+				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()),
+				);
+				//get/create edge and push face into it
+				let (edge_id_guy,is_sorted)=EdgeIdGuy::new(VertId(vert0_id),VertId(vert1_id));
+				let (edge_ref_guy,edge_id)=edge_pool.push(edge_id_guy);
+				//polygon vertices as assumed to be listed clockwise
+				//populate the edge face on the left or right depending on how the edge vertices got sorted
+				edge_ref_guy.push(is_sorted as usize,face_id);
+				//index edges & face into vertices
+				{
+					let vert_ref_guy=unsafe{vert_ref_guys.get_unchecked_mut(vert0_id)};
+					vert_ref_guy.edges.insert(edge_id.as_directed_edge_id(!is_sorted));
+					vert_ref_guy.faces.insert(face_id);
+					unsafe{vert_ref_guys.get_unchecked_mut(vert1_id)}.edges.insert(edge_id.as_directed_edge_id(is_sorted));
+				}
+				//return edge_id
+				edge_id
+			}).collect();
+			//choose precision loss randomly idk
+			normal=normal/len as i64;
+			let mut dot=Planar64::ZERO;
+			for &v in poly.vertices.iter(){
+				dot+=normal.dot(indexed_model.unique_pos[indexed_model.unique_vertices[v as usize].pos as usize]);
+			}
+			faces.push(Face{normal,dot:dot/len as i64});
+			face_ref_guys.push(FaceRefGuy(face_edges));
+			face_i+=1;
+		}}
+		//conceivably faces, edges, and vertices exist now
+		Self{
+			faces,
+			verts,
+			face_topology:face_ref_guys.into_iter().enumerate().map(|(i,face_ref_guy)|{
+				let face_id=FaceId(i);
+				FaceRefs{edges:face_ref_guy.0.into_iter().map(|edge_id|{
+					//get the edge face that's not this face
+					let edge_faces=&edge_pool.edge_guys[edge_id.0].1.0;
+					if edge_faces[0]==face_id{
+						(edge_id,edge_faces[1])
+					}else if edge_faces[1]==face_id{
+						(edge_id,edge_faces[0])
+					}else{
+						panic!("edge does not contain face edge_faces={:?} face={:?}",edge_faces,face_id)
+					}
+				}).collect()}
+			}).collect(),
+			edge_topology:edge_pool.edge_guys.into_iter().map(|(edge_id_guy,edge_ref_guy)|
+				EdgeRefs{faces:edge_ref_guy.0,verts:edge_id_guy.0}
+			).collect(),
+			vert_topology:vert_ref_guys.into_iter().map(|vert_ref_guy|
+				VertRefs{
+					edges:vert_ref_guy.edges.into_iter().collect(),
+					faces:vert_ref_guy.faces.into_iter().collect(),
+				}
+			).collect(),
+		}
+	}
+}
+
+pub trait MeshQuery<FACE:Clone,EDGE:Clone,VERT:Clone>{
+	fn closest_fev(&self,point:Planar64Vec3)->FEV<FACE,EDGE,VERT>;
+	fn edge_n(&self,edge_id:EDGE)->Planar64Vec3{
+		let verts=self.edge_verts(edge_id);
+		self.vert(verts[1].clone())-self.vert(verts[0].clone())
+	}
+	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,FACE)>>;
+	fn edge_faces(&self,edge_id:EDGE)->Cow<[FACE;2]>;
+	fn edge_verts(&self,edge_id:EDGE)->Cow<[VERT;2]>;
+	fn vert_edges(&self,vert_id:VERT)->Cow<Vec<EDGE>>;
+	fn vert_faces(&self,vert_id:VERT)->Cow<Vec<FACE>>;
+}
+impl PhysicsMesh{
+	pub fn verts<'a>(&'a self)->impl Iterator<Item=Planar64Vec3>+'a{
+		self.verts.iter().map(|Vert(pos)|*pos)
+	}
+	pub fn brute(&self,body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(FaceId,crate::integer::Time)>{
+		//check each face
+		let mut best_time=time_limit;
+		let mut best_face=None;
+		for (i,face) in self.faces.iter().enumerate(){
+			let face_id=FaceId(i);
+			let (n,d)=face.nd();
+			for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+				let t=body.time+crate::integer::Time::from(t);
+				if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+					let p=body.extrapolated_position(t);
+					if self.face_edges(face_id).iter().all(|&(_,face_id)|{
+						let (n,d)=self.face_nd(face_id);
+						n.dot(p)<=d
+					}){
+						best_time=t;
+						best_face=Some(face_id);
+					}
+				}
+			}
+		}
+		best_face.map(|f|(f,best_time))
+	}
+	fn vert_directed_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
+		Cow::Borrowed(&self.vert_topology[vert_id.0].edges)
+	}
+	fn directed_edge_n(&self,directed_edge_id:DirectedEdgeId)->Planar64Vec3{
+		let verts=self.edge_verts(directed_edge_id.as_edge_id());
+		(self.vert(verts[1].clone())-self.vert(verts[0].clone()))*(directed_edge_id.signum() as i64)
+	}
+}
+impl MeshQuery<FaceId,EdgeId,VertId> for PhysicsMesh{
+	fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{
+		//TODO: put some genius code right here
+
+		//brute force for now
+		let mut best_distance_squared=Planar64::MAX;
+		//make something up as default ret
+		//hopefully empty meshes don't make their way through here
+		let mut best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(0));
+		//check each vert
+		for (i,v) in self.verts.iter().enumerate(){
+			let d=(v.0-point).dot(v.0-point);
+			if d<best_distance_squared{
+				best_distance_squared=d;
+				best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(i));
+			}
+		}
+		//check each edge
+		for (i,e) in self.edge_topology.iter().enumerate(){
+			let v0=self.vert(e.verts[0]);
+			let v1=self.vert(e.verts[1]);
+			let n=v1-v0;
+			//n.cross(point-v0)=sin(t)*n*dis
+			let d=n.dot(point-v0);
+			if d<n.dot(v1)&&n.dot(v0)<d{
+				let c=n.cross(point-v0);
+				let edge_distance_squared=c.dot(c)/n.dot(n);
+				if edge_distance_squared<best_distance_squared{
+					best_distance_squared=edge_distance_squared;
+					best_fev=FEV::<FaceId,EdgeId,VertId>::Edge(EdgeId(i));
+				}
+			}
+		}
+		let face_dots:Vec<Planar64>=self.faces.iter().map(|f|f.normal.dot(point)).collect();
+		//check each face
+		for (i,f) in self.face_topology.iter().enumerate(){
+			if face_dots[i]<best_distance_squared&&f.edges.iter().all(|&(_,face_id)|face_dots[face_id.0]<=Planar64::ZERO){
+				best_distance_squared=face_dots[i];
+				best_fev=FEV::<FaceId,EdgeId,VertId>::Face(FaceId(i));
+			}
+		}
+		best_fev
+	}
+	fn face_nd(&self,face_id:FaceId)->(Planar64Vec3,Planar64){
+		(self.faces[face_id.0].normal,self.faces[face_id.0].dot)
+	}
+	//ideally I never calculate the vertex position, but I have to for the graphical meshes...
+	fn vert(&self,vert_id:VertId)->Planar64Vec3{
+		self.verts[vert_id.0].0
+	}
+	fn face_edges(&self,face_id:FaceId)->Cow<Vec<(EdgeId,FaceId)>>{
+		Cow::Borrowed(&self.face_topology[face_id.0].edges)
+	}
+	fn edge_faces(&self,edge_id:EdgeId)->Cow<[FaceId;2]>{
+		Cow::Borrowed(&self.edge_topology[edge_id.0].faces)
+	}
+	fn edge_verts(&self,edge_id:EdgeId)->Cow<[VertId;2]>{
+		Cow::Borrowed(&self.edge_topology[edge_id.0].verts)
+	}
+	fn vert_edges(&self,vert_id:VertId)->Cow<Vec<EdgeId>>{
+		//not poggers
+		Cow::Owned(self.vert_topology[vert_id.0].edges.iter().map(|directed_edge_id|directed_edge_id.as_edge_id()).collect())
+	}
+	fn vert_faces(&self,vert_id:VertId)->Cow<Vec<FaceId>>{
+		Cow::Borrowed(&self.vert_topology[vert_id.0].faces)
+	}
+}
+
+pub struct TransformedMesh<'a>{
+	mesh:&'a PhysicsMesh,
+	transform:&'a crate::integer::Planar64Affine3,
+	normal_transform:&'a crate::integer::Planar64Mat3,
+}
+impl TransformedMesh<'_>{
+	pub fn new<'a>(
+		mesh:&'a PhysicsMesh,
+		transform:&'a crate::integer::Planar64Affine3,
+		normal_transform:&'a crate::integer::Planar64Mat3,
+		)->TransformedMesh<'a>{
+		TransformedMesh{
+			mesh,
+			transform,
+			normal_transform,
+		}
+	}
+	pub fn brute_in(&self,body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(FaceId,crate::integer::Time)>{
+		//check each face
+		let mut best_time=time_limit;
+		let mut best_face=None;
+		for i in 0..self.mesh.faces.len(){
+			let face_id=FaceId(i);
+			let (n,d)=self.face_nd(face_id);
+			for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+				let t=body.time+crate::integer::Time::from(t);
+				if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
+					let p=body.extrapolated_position(t);
+					if self.face_edges(face_id).iter().all(|&(_,face_id)|{
+						let (n,d)=self.face_nd(face_id);
+						n.dot(p)<=d
+					}){
+						best_time=t;
+						best_face=Some(face_id);
+					}
+				}
+			}
+		}
+		best_face.map(|f|(f,best_time))
+	}
+	pub fn brute_out(&self,body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(FaceId,crate::integer::Time)>{
+		//check each face
+		let mut best_time=time_limit;
+		let mut best_face=None;
+		for i in 0..self.mesh.faces.len(){
+			let face_id=FaceId(i);
+			let (n,d)=self.face_nd(face_id);
+			for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+				let t=body.time+crate::integer::Time::from(t);
+				if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))>Planar64::ZERO{
+					let p=body.extrapolated_position(t);
+					if self.face_edges(face_id).iter().all(|&(_,test_face_id)|{
+						let (n,d)=self.face_nd(test_face_id);
+						n.dot(p)<=d
+					}){
+						best_time=t;
+						best_face=Some(face_id);
+					}
+				}
+			}
+		}
+		best_face.map(|f|(f,best_time))
+	}
+	pub fn brute_out_face(&self,body:&crate::physics::Body,time_limit:crate::integer::Time,face_id:FaceId)->Option<(FaceId,crate::integer::Time)>{
+		//check each face
+		let mut best_time=time_limit;
+		let mut best_face=None;
+		for &(_,test_face_id) in self.mesh.face_edges(face_id).iter(){
+			let (n,d)=self.face_nd(test_face_id);
+			for t in crate::zeroes::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+				let t=body.time+crate::integer::Time::from(t);
+				if body.time<t&&t<best_time&&n.dot(body.extrapolated_velocity(t))>Planar64::ZERO{
+					best_time=t;
+					best_face=Some(test_face_id);
+				}
+			}
+		}
+		best_face.map(|f|(f,best_time))
+	}
+	#[inline]
+	fn vert_directed_edges(&self,vert_id:VertId)->Cow<Vec<DirectedEdgeId>>{
+		self.mesh.vert_directed_edges(vert_id)
+	}
+	#[inline]
+	fn directed_edge_n(&self,directed_edge_id:DirectedEdgeId)->Planar64Vec3{
+		self.mesh.directed_edge_n(directed_edge_id)
+	}
+}
+impl MeshQuery<FaceId,EdgeId,VertId> for TransformedMesh<'_>{
+	fn closest_fev(&self,point:Planar64Vec3)->FEV<FaceId,EdgeId,VertId>{
+		//TODO: put some genius code right here
+
+		//brute force for now
+		let mut best_distance_squared=Planar64::MAX;
+		//make something up as default ret
+		//hopefully empty meshes don't make their way through here
+		let mut best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(0));
+		//check each vert
+		for i in 0..self.mesh.verts.len(){
+			let v=self.vert(VertId(i));
+			let d=(v-point).dot(v-point);
+			if d<best_distance_squared{
+				best_distance_squared=d;
+				best_fev=FEV::<FaceId,EdgeId,VertId>::Vert(VertId(i));
+			}
+		}
+		//check each edge
+		for (i,e) in self.mesh.edge_topology.iter().enumerate(){
+			let v0=self.vert(e.verts[0]);
+			let v1=self.vert(e.verts[1]);
+			let n=v1-v0;
+			//n.cross(point-v0)=sin(t)*n*dis
+			let d=n.dot(point-v0);
+			if d<n.dot(v1)&&n.dot(v0)<d{
+				let c=n.cross(point-v0);
+				let edge_distance_squared=c.dot(c)/n.dot(n);
+				if edge_distance_squared<best_distance_squared{
+					best_distance_squared=edge_distance_squared;
+					best_fev=FEV::<FaceId,EdgeId,VertId>::Edge(EdgeId(i));
+				}
+			}
+		}
+		let face_dots:Vec<Planar64>=self.mesh.faces.iter().map(|f|(*self.normal_transform*f.normal).dot(point)).collect();
+		//check each face
+		for (i,f) in self.mesh.face_topology.iter().enumerate(){
+			if face_dots[i]<best_distance_squared&&f.edges.iter().all(|&(_,face_id)|face_dots[face_id.0]<=Planar64::ZERO){
+				best_distance_squared=face_dots[i];
+				best_fev=FEV::<FaceId,EdgeId,VertId>::Face(FaceId(i));
+			}
+		}
+		best_fev
+	}
+	fn face_nd(&self,face_id:FaceId)->(Planar64Vec3,Planar64){
+		let (n,d)=self.mesh.face_nd(face_id);
+		let transformed_n=*self.normal_transform*n;
+		let transformed_d=Planar64::raw(((transformed_n.dot128(self.transform.matrix3*(n*d))<<32)/n.dot128(n)) as i64)+transformed_n.dot(self.transform.translation);
+		(transformed_n,transformed_d)
+	}
+	fn vert(&self,vert_id:VertId)->Planar64Vec3{
+		self.transform.transform_point3(self.mesh.vert(vert_id))
+	}
+	#[inline]
+	fn face_edges(&self,face_id:FaceId)->Cow<Vec<(EdgeId,FaceId)>>{
+		self.mesh.face_edges(face_id)
+	}
+	#[inline]
+	fn edge_faces(&self,edge_id:EdgeId)->Cow<[FaceId;2]>{
+		self.mesh.edge_faces(edge_id)
+	}
+	#[inline]
+	fn edge_verts(&self,edge_id:EdgeId)->Cow<[VertId;2]>{
+		self.mesh.edge_verts(edge_id)
+	}
+	#[inline]
+	fn vert_edges(&self,vert_id:VertId)->Cow<Vec<EdgeId>>{
+		self.mesh.vert_edges(vert_id)
+	}
+	#[inline]
+	fn vert_faces(&self,vert_id:VertId)->Cow<Vec<FaceId>>{
+		self.mesh.vert_faces(vert_id)
+	}
+}
+
+//Note that a face on a minkowski mesh refers to a pair of fevs on the meshes it's summed from
+//(face,vertex)
+//(edge,edge)
+//(vertex,face)
+#[derive(Clone,Copy)]
+enum MinkowskiVert{
+	VertVert(VertId,VertId),
+}
+#[derive(Clone,Copy)]
+enum MinkowskiEdge{
+	VertEdge(VertId,EdgeId),
+	EdgeVert(EdgeId,VertId),
+}
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub enum MinkowskiFace{
+	VertFace(VertId,FaceId),
+	EdgeEdge(EdgeId,EdgeId),
+	FaceVert(FaceId,VertId),
+}
+
+pub struct MinkowskiMesh<'a>{
+	mesh0:&'a TransformedMesh<'a>,
+	mesh1:&'a TransformedMesh<'a>,
+}
+
+impl MinkowskiMesh<'_>{
+	pub fn minkowski_sum<'a>(mesh0:&'a TransformedMesh,mesh1:&'a TransformedMesh)->MinkowskiMesh<'a>{
+		MinkowskiMesh{
+			mesh0,
+			mesh1,
+		}
+	}
+}
+impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
+	fn closest_fev(&self,point:Planar64Vec3)->FEV<MinkowskiFace,MinkowskiEdge,MinkowskiVert>{
+		//put some genius code right here
+		todo!()
+	}
+	fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){
+		match face_id{
+			MinkowskiFace::VertFace(v0,f1)=>{
+				let (n,d)=self.mesh1.face_nd(f1);
+				(-n,d-n.dot(self.mesh0.vert(v0)))
+			},
+			MinkowskiFace::EdgeEdge(e0,e1)=>{
+				let edge0_n=self.mesh0.edge_n(e0);
+				let edge1_n=self.mesh1.edge_n(e1);
+				let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).borrow();
+				let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).borrow();
+				let n=edge0_n.cross(edge1_n);
+				let e0d=n.dot(self.mesh0.vert(e0v0)+self.mesh0.vert(e0v1));
+				let e1d=n.dot(self.mesh0.vert(e1v0)+self.mesh0.vert(e1v1));
+				let sign=e0d.signum_i64();
+				(n*(sign*2),(e0d-e1d)*sign)
+			},
+			MinkowskiFace::FaceVert(f0,v1)=>{
+				let (n,d)=self.mesh0.face_nd(f0);
+				(n,d+n.dot(self.mesh1.vert(v1)))
+			},
+		}
+	}
+	fn vert(&self,vert_id:MinkowskiVert)->Planar64Vec3{
+		match vert_id{
+			MinkowskiVert::VertVert(v0,v1)=>{
+				self.mesh0.vert(v0)-self.mesh1.vert(v1)
+			},
+		}
+	}
+	fn face_edges(&self,face_id:MinkowskiFace)->Cow<Vec<(MinkowskiEdge,MinkowskiFace)>>{
+		match face_id{
+			MinkowskiFace::VertFace(v0,f1)=>{
+				let face1_n=self.mesh1.face_nd(f1).0;
+				Cow::Owned(self.mesh1.face_edges(f1).iter().map(|&(edge_id1,edge_face_id1)|{
+					//same as above
+					(MinkowskiEdge::VertEdge(v0,edge_id1),{
+						let mut best_edge=None;
+						let mut best_d=Planar64::MAX;
+						let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
+						let v0e=self.mesh0.vert_directed_edges(v0);
+						for &directed_edge_id0 in v0e.iter(){
+							let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
+							if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
+								let d=face1_n.dot(edge0_n);
+								if d<best_d{
+									best_d=d;
+									best_edge=Some(directed_edge_id0);
+								}
+							}
+						}
+						best_edge.map_or(
+							MinkowskiFace::VertFace(v0,edge_face_id1),
+							|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_edge_id(),edge_id1)
+						)
+					})
+				}).collect())
+			},
+			MinkowskiFace::EdgeEdge(e0,e1)=>{
+				let e0v=self.mesh0.edge_verts(e0);
+				let e0f=self.mesh0.edge_faces(e0);
+				let edge0_n=self.mesh0.edge_n(e0);
+				let e1v=self.mesh1.edge_verts(e1);
+				let e1f=self.mesh1.edge_faces(e1);
+				let edge1_n=self.mesh1.edge_n(e1);
+				//populate algorithm variables based on known parity
+				//I don't like that this arbitrarily picks a face to test against!
+				let (e0v0_face_id1,e0v1_face_id1)=if edge0_n.dot(self.mesh1.face_nd(e1f[0]).0)<=Planar64::ZERO{
+					(e1f[1],e1f[0])
+				}else{
+					(e1f[0],e1f[1])
+				};
+				let [r0,r1]=[(e0v[0],e0v0_face_id1),(e0v[1],e0v1_face_id1)].map(|(vert_id0,edge_face_id1)|{
+					(MinkowskiEdge::VertEdge(vert_id0,e1),{
+						let mut best_edge=None;
+						let mut best_d=Planar64::MAX;
+						let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
+						let v0e=self.mesh0.vert_directed_edges(vert_id0);
+						for &directed_edge_id0 in v0e.iter(){
+							let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
+							if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
+								//I think face_id1 == edge_face_id1 in this case
+								let d=edge_face1_n.dot(edge0_n);
+								if d<best_d{
+									best_d=d;
+									best_edge=Some(directed_edge_id0);
+								}
+							}
+						}
+						best_edge.map_or(
+							MinkowskiFace::VertFace(vert_id0,edge_face_id1),
+							|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_edge_id(),e1)
+						)
+					})
+				});
+				let (e1v0_face_id0,e1v1_face_id0)=if edge1_n.dot(self.mesh0.face_nd(e0f[0]).0)<=Planar64::ZERO{
+					(e0f[1],e0f[0])
+				}else{
+					(e0f[0],e0f[1])
+				};
+				let [r2,r3]=[(e1v0_face_id0,e1v[0]),(e1v1_face_id0,e1v[1])].map(|(edge_face_id0,vert_id1)|{
+					(MinkowskiEdge::EdgeVert(e0,vert_id1),{
+						let mut best_edge=None;
+						let mut best_d=Planar64::MAX;
+						let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
+						let v1e=self.mesh1.vert_directed_edges(vert_id1);
+						for &directed_edge_id1 in v1e.iter(){
+							let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
+							if edge_face0_n.dot(edge1_n)<Planar64::ZERO{
+								let d=edge_face0_n.dot(edge1_n);
+								if d<best_d{
+									best_d=d;
+									best_edge=Some(directed_edge_id1);
+								}
+							}
+						}
+						best_edge.map_or(
+							MinkowskiFace::FaceVert(edge_face_id0,vert_id1),
+							|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_edge_id())
+						)
+					})
+				});
+				//could sort this if ordered edges are needed
+				Cow::Owned(vec![r0,r1,r2,r3])
+			},
+			MinkowskiFace::FaceVert(f0,v1)=>{
+				let face0_n=self.mesh0.face_nd(f0).0;
+				Cow::Owned(self.mesh0.face_edges(f0).iter().map(|&(edge_id0,edge_face_id0)|{
+					//compare v1 edges
+					//candidate edges have negative dot with edge_face_id0 normal
+					//choose the edge with the smallest edgedir dot with f0 normal
+					//MinkowskiFace::EdgeEdge(edge_id0,edge_id1)
+					//if there is no candidate edges
+					//MinkowskiFace::FaceVert(edge_face_id0,v1)
+					(MinkowskiEdge::EdgeVert(edge_id0,v1),{
+						let mut best_edge=None;
+						let mut best_d=Planar64::MAX;
+						let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
+						let v1e=self.mesh1.vert_directed_edges(v1);
+						for &directed_edge_id1 in v1e.iter(){
+							let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
+							if edge_face0_n.dot(edge1_n)<Planar64::ZERO{
+								let d=face0_n.dot(edge1_n);
+								if d<best_d{
+									best_d=d;
+									best_edge=Some(directed_edge_id1);
+								}
+							}
+						}
+						best_edge.map_or(
+							MinkowskiFace::FaceVert(edge_face_id0,v1),
+							|directed_edge_id1|MinkowskiFace::EdgeEdge(edge_id0,directed_edge_id1.as_edge_id())
+						)
+					})
+				}).collect())
+			},
+		}
+	}
+	fn edge_faces(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiFace;2]>{
+		match edge_id{
+			MinkowskiEdge::VertEdge(v0,e1)=>{
+				let e1f=self.mesh1.edge_faces(e1);
+				Cow::Owned([(e1f[0],e1f[1]),(e1f[1],e1f[0])].map(|(edge_face_id1,other_edge_face_id1)|{
+					let mut best_edge=None;
+					let mut best_d=Planar64::MAX;
+					let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
+					let other_edge_face1_n=self.mesh1.face_nd(other_edge_face_id1).0;
+					let v0e=self.mesh0.vert_directed_edges(v0);
+					for &directed_edge_id0 in v0e.iter(){
+						let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
+						if edge_face1_n.dot(edge0_n)<Planar64::ZERO{
+							let d=other_edge_face1_n.dot(edge0_n);
+							if d<best_d{
+								best_d=d;
+								best_edge=Some(directed_edge_id0);
+							}
+						}
+					}
+					best_edge.map_or(
+						MinkowskiFace::VertFace(v0,edge_face_id1),
+						|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_edge_id(),e1)
+					)
+				}))
+			},
+			MinkowskiEdge::EdgeVert(e0,v1)=>{
+				let e0f=self.mesh0.edge_faces(e0);
+				Cow::Owned([(e0f[0],e0f[1]),(e0f[1],e0f[0])].map(|(edge_face_id0,other_edge_face_id0)|{
+					let mut best_edge=None;
+					let mut best_d=Planar64::MAX;
+					let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
+					let other_edge_face0_n=self.mesh0.face_nd(other_edge_face_id0).0;
+					let v1e=self.mesh1.vert_directed_edges(v1);
+					for &directed_edge_id1 in v1e.iter(){
+						let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
+						if edge_face0_n.dot(edge1_n)<Planar64::ZERO{
+							let d=other_edge_face0_n.dot(edge1_n);
+							if d<best_d{
+								best_d=d;
+								best_edge=Some(directed_edge_id1);
+							}
+						}
+					}
+					best_edge.map_or(
+						MinkowskiFace::FaceVert(edge_face_id0,v1),
+						|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_edge_id())
+					)
+				}))
+			},
+		}
+	}
+	fn edge_verts(&self,edge_id:MinkowskiEdge)->Cow<[MinkowskiVert;2]>{
+		match edge_id{
+			MinkowskiEdge::VertEdge(v0,e1)=>{
+				Cow::Owned(self.mesh1.edge_verts(e1).map(|vert_id1|{
+					MinkowskiVert::VertVert(v0,vert_id1)
+				}))
+			},
+			MinkowskiEdge::EdgeVert(e0,v1)=>{
+				Cow::Owned(self.mesh0.edge_verts(e0).map(|vert_id0|{
+					MinkowskiVert::VertVert(vert_id0,v1)
+				}))
+			},
+		}
+	}
+	fn vert_edges(&self,vert_id:MinkowskiVert)->Cow<Vec<MinkowskiEdge>>{
+		match vert_id{
+			MinkowskiVert::VertVert(v0,v1)=>{
+				let mut edges=Vec::new();
+				let v0e=self.mesh0.vert_directed_edges(v0);
+				let v1f=self.mesh1.vert_faces(v1);
+				for &directed_edge_id in v0e.iter(){
+					let n=self.mesh0.directed_edge_n(directed_edge_id);
+					if v1f.iter().all(|&face_id|n.dot(self.mesh1.face_nd(face_id).0)<Planar64::ZERO){
+						edges.push(MinkowskiEdge::EdgeVert(directed_edge_id.as_edge_id(),v1));
+					}
+				}
+				let v1e=self.mesh1.vert_directed_edges(v1);
+				let v0f=self.mesh0.vert_faces(v0);
+				for &directed_edge_id in v1e.iter(){
+					let n=self.mesh1.directed_edge_n(directed_edge_id);
+					if v0f.iter().all(|&face_id|n.dot(self.mesh0.face_nd(face_id).0)<Planar64::ZERO){
+						edges.push(MinkowskiEdge::VertEdge(v0,directed_edge_id.as_edge_id()));
+					}
+				}
+				Cow::Owned(edges)
+			},
+		}
+	}
+	fn vert_faces(&self,vert_id:MinkowskiVert)->Cow<Vec<MinkowskiFace>>{
+		todo!()
+	}
+}
+
+#[test]
+fn build_me_a_cube(){
+	let unit_cube=crate::primitives::unit_cube();
+	let mesh=PhysicsMesh::from(&unit_cube);
+	println!("mesh={:?}",mesh);
+}

src/sweep.rs

@@ -1,8 +0,0 @@
-
-//something that implements body + hitbox + transform can predict collision
-impl crate::sweep::PredictCollision for Model {
-	fn predict_collision(&self,other:&Model) -> Option<crate::event::EventStruct> {
-		//math!
-		None
-	}
-}

src/worker.rs

@@ -177,8 +177,8 @@ impl<'a,Task:Send+'a> INWorker<'a,Task>{
 fn test_worker() {
 	println!("hiiiii");
 	// Create the worker thread
-	let worker=QRWorker::new(crate::physics::Body::with_pva(crate::integer::Planar64Vec3::ZERO,crate::integer::Planar64Vec3::ZERO,crate::integer::Planar64Vec3::ZERO),
-		|_|crate::physics::Body::with_pva(crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE)
+	let worker=QRWorker::new(crate::physics::Body::default(),
+		|_|crate::physics::Body::new(crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Planar64Vec3::ONE,crate::integer::Time::ZERO)
 	);
 
 	// Send tasks to the worker
@@ -194,7 +194,7 @@ fn test_worker() {
 	// sender.send("STOP".to_string()).unwrap();
 
 	// Sleep to allow the worker thread to finish processing
-	thread::sleep(std::time::Duration::from_secs(2));
+	thread::sleep(std::time::Duration::from_millis(10));
 
 	// Send a new task
 	let task = crate::instruction::TimedInstruction{
@@ -206,5 +206,5 @@ fn test_worker() {
 	println!("value={}",worker.grab_clone());
 
 	// wait long enough to see print from final task
-	thread::sleep(std::time::Duration::from_secs(1));
+	thread::sleep(std::time::Duration::from_millis(10));
 }

src/zeroes.rs

@@ -11,10 +11,12 @@ pub fn zeroes2(a0:Planar64,a1:Planar64,a2:Planar64) -> Vec<Planar64>{
 		//start with f64 sqrt
 		let planar_radicand=Planar64::raw(unsafe{(radicand as f64).sqrt().to_int_unchecked()});
 		//TODO: one or two newtons
-		if Planar64::ZERO<a2 {
-			return vec![(-a1-planar_radicand)/(a2*2),(-a1+planar_radicand)/(a2*2)];
-		} else {
-			return vec![(-a1+planar_radicand)/(a2*2),(-a1-planar_radicand)/(a2*2)];
+		//sort roots ascending and avoid taking the difference of large numbers
+		match (Planar64::ZERO<a2,Planar64::ZERO<a1){
+			(true, true )=>vec![(-a1-planar_radicand)/(a2*2),(a0*2)/(-a1-planar_radicand)],
+			(true, false)=>vec![(a0*2)/(-a1+planar_radicand),(-a1+planar_radicand)/(a2*2)],
+			(false,true )=>vec![(a0*2)/(-a1-planar_radicand),(-a1-planar_radicand)/(a2*2)],
+			(false,false)=>vec![(-a1+planar_radicand)/(a2*2),(a0*2)/(-a1+planar_radicand)],
 		}
 	} else if radicand==0 {
 		return vec![a1/(a2*-2)];