move physics to its own thread

src/main.rs

@@ -44,14 +44,65 @@ pub struct GraphicsPipelines{
 	model: wgpu::RenderPipeline,
 }
 
+pub struct GraphicsCamera{
+	screen_size: glam::UVec2,
+	fov: glam::Vec2,//slope
+	//camera angles and such are extrapolated and passed in every time
+}
+
+#[inline]
+fn perspective_rh(fov_x_slope: f32, fov_y_slope: f32, z_near: f32, z_far: f32) -> glam::Mat4 {
+	//glam_assert!(z_near > 0.0 && z_far > 0.0);
+	let r = z_far / (z_near - z_far);
+	glam::Mat4::from_cols(
+		glam::Vec4::new(1.0/fov_x_slope, 0.0, 0.0, 0.0),
+		glam::Vec4::new(0.0, 1.0/fov_y_slope, 0.0, 0.0),
+		glam::Vec4::new(0.0, 0.0, r, -1.0),
+		glam::Vec4::new(0.0, 0.0, r * z_near, 0.0),
+	)
+}
+impl GraphicsCamera{
+	pub fn new(screen_size:glam::UVec2,fov_y:f32)->Self{
+		Self{
+			screen_size,
+			fov: glam::vec2(fov_y*(screen_size.x as f32)/(screen_size.y as f32),fov_y),
+		}
+	}
+	pub fn proj(&self)->glam::Mat4{
+		perspective_rh(self.fov.x, self.fov.y, 0.5, 2000.0)
+	}
+	pub fn view(&self,pos:glam::Vec3,angles:glam::Vec2)->glam::Mat4{
+		//f32 good enough for view matrix
+		glam::Mat4::from_translation(pos) * glam::Mat4::from_euler(glam::EulerRot::YXZ, angles.x, angles.y, 0f32)
+	}
+	pub fn set_screen_size(&mut self,screen_size:glam::UVec2){
+		self.screen_size=screen_size;
+		self.fov.x=self.fov.y*(screen_size.x as f32)/(screen_size.y as f32);
+	}
+
+	pub fn to_uniform_data(&self,(pos,angles): (glam::Vec3,glam::Vec2)) -> [f32; 16 * 3 + 4] {
+		let proj=self.proj();
+		let proj_inv = proj.inverse();
+		let view=self.view(pos,angles);
+		let view_inv = view.inverse();
+
+		let mut raw = [0f32; 16 * 3 + 4];
+		raw[..16].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj)[..]);
+		raw[16..32].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj_inv)[..]);
+		raw[32..48].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&view_inv)[..]);
+		raw[48..52].copy_from_slice(AsRef::<[f32; 4]>::as_ref(&view.col(3)));
+		raw
+	}
+}
+
 pub struct GraphicsState{
-	screen_size: (u32, u32),
 	pipelines: GraphicsPipelines,
 	bind_groups: GraphicsBindGroups,
 	bind_group_layouts: GraphicsBindGroupLayouts,
 	samplers: GraphicsSamplers,
-	temp_squid_texture_view: wgpu::TextureView,
+	camera:GraphicsCamera,
 	camera_buf: wgpu::Buffer,
+	temp_squid_texture_view: wgpu::TextureView,
 	models: Vec<ModelGraphics>,
 	depth_view: wgpu::TextureView,
 	staging_belt: wgpu::util::StagingBelt,
@@ -66,8 +117,9 @@ impl GraphicsState{
 pub struct GlobalState{
 	start_time: std::time::Instant,
 	manual_mouse_lock:bool,
+	mouse:physics::MouseState,
 	graphics:GraphicsState,
-	physics:physics::PhysicsState,
+	physics_thread:worker::Worker<TimedInstruction<InputInstruction>,physics::PhysicsOutputState>,
 }
 
 impl GlobalState{
@@ -95,77 +147,6 @@ impl GlobalState{
 		depth_texture.create_view(&wgpu::TextureViewDescriptor::default())
 	}
 
-	fn generate_model_physics(&mut self,indexed_models:&model::IndexedModelInstances){
-		let mut starts=Vec::new();
-		let mut spawns=Vec::new();
-		let mut ordered_checkpoints=Vec::new();
-		let mut unordered_checkpoints=Vec::new();
-		for model in &indexed_models.models{
-			//make aabb and run vertices to get realistic bounds
-			for model_instance in &model.instances{
-				if let Some(model_physics)=physics::ModelPhysics::from_model(model,model_instance){
-					let model_id=self.physics.models.len() as u32;
-					self.physics.models.push(model_physics);
-					for attr in &model_instance.temp_indexing{
-						match attr{
-							model::TempIndexedAttributes::Start{mode_id}=>starts.push((*mode_id,model_id)),
-							model::TempIndexedAttributes::Spawn{mode_id,stage_id}=>spawns.push((*mode_id,model_id,*stage_id)),
-							model::TempIndexedAttributes::OrderedCheckpoint{mode_id,checkpoint_id}=>ordered_checkpoints.push((*mode_id,model_id,*checkpoint_id)),
-							model::TempIndexedAttributes::UnorderedCheckpoint{mode_id}=>unordered_checkpoints.push((*mode_id,model_id)),
-						}
-					}
-				}
-			}
-		}
-		//I don't wanna write structs for temporary structures
-		//this code builds ModeDescriptions from the unsorted lists at the top of the function
-		starts.sort_by_key(|tup|tup.0);
-		let mut eshmep=std::collections::HashMap::new();
-		let mut modedatas:Vec<(u32,Vec<(u32,u32)>,Vec<(u32,u32)>,Vec<u32>)>=starts.into_iter().enumerate().map(|(i,tup)|{
-			eshmep.insert(tup.0,i);
-			(tup.1,Vec::new(),Vec::new(),Vec::new())
-		}).collect();
-		for tup in spawns{
-			if let Some(mode_id)=eshmep.get(&tup.0){
-				if let Some(modedata)=modedatas.get_mut(*mode_id){
-					modedata.1.push((tup.2,tup.1));
-				}
-			}
-		}
-		for tup in ordered_checkpoints{
-			if let Some(mode_id)=eshmep.get(&tup.0){
-				if let Some(modedata)=modedatas.get_mut(*mode_id){
-					modedata.2.push((tup.2,tup.1));
-				}
-			}
-		}
-		for tup in unordered_checkpoints{
-			if let Some(mode_id)=eshmep.get(&tup.0){
-				if let Some(modedata)=modedatas.get_mut(*mode_id){
-					modedata.3.push(tup.1);
-				}
-			}
-		}
-		let num_modes=self.physics.modes.len();
-		for (mode_id,mode) in eshmep{
-			self.physics.mode_from_mode_id.insert(mode_id,num_modes+mode);
-		}
-		self.physics.modes.append(&mut modedatas.into_iter().map(|mut tup|{
-			tup.1.sort_by_key(|tup|tup.0);
-			tup.2.sort_by_key(|tup|tup.0);
-			let mut eshmep1=std::collections::HashMap::new();
-			let mut eshmep2=std::collections::HashMap::new();
-			model::ModeDescription{
-				start:tup.0,
-				spawns:tup.1.into_iter().enumerate().map(|(i,tup)|{eshmep1.insert(tup.0,i);tup.1}).collect(),
-				ordered_checkpoints:tup.2.into_iter().enumerate().map(|(i,tup)|{eshmep2.insert(tup.0,i);tup.1}).collect(),
-				unordered_checkpoints:tup.3,
-				spawn_from_stage_id:eshmep1,
-				ordered_checkpoint_from_checkpoint_id:eshmep2,
-			}
-		}).collect());
-		println!("Physics Objects: {}",self.physics.models.len());
-	}
 	fn generate_model_graphics(&mut self,device:&wgpu::Device,queue:&wgpu::Queue,indexed_models:model::IndexedModelInstances){
 		//generate texture view per texture
 
@@ -408,20 +389,6 @@ fn get_instances_buffer_data(instances:&[ModelGraphicsInstance]) -> Vec<f32> {
 	raw
 }
 
-fn to_uniform_data(camera: &physics::Camera, pos: glam::Vec3) -> [f32; 16 * 3 + 4] {
-	let proj=camera.proj();
-	let proj_inv = proj.inverse();
-	let view=camera.view(pos);
-	let view_inv = view.inverse();
-
-	let mut raw = [0f32; 16 * 3 + 4];
-	raw[..16].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj)[..]);
-	raw[16..32].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj_inv)[..]);
-	raw[32..48].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&view_inv)[..]);
-	raw[48..52].copy_from_slice(AsRef::<[f32; 4]>::as_ref(&view.col(3)));
-	raw
-}
-
 impl framework::Example for GlobalState {
 	fn optional_features() -> wgpu::Features {
 		wgpu::Features::TEXTURE_COMPRESSION_ASTC
@@ -582,25 +549,6 @@ impl framework::Example for GlobalState {
 			source: wgpu::ShaderSource::Wgsl(Cow::Borrowed(include_str!("shader.wgsl"))),
 		});
 
-		let physics = physics::PhysicsState {
-			spawn_point:glam::vec3(0.0,50.0,0.0),
-			body: physics::Body::with_pva(glam::vec3(0.0,50.0,0.0),glam::vec3(0.0,0.0,0.0),glam::vec3(0.0,-100.0,0.0)),
-			time: 0,
-			style:physics::StyleModifiers::default(),
-			grounded: false,
-			contacts: std::collections::HashMap::new(),
-			intersects: std::collections::HashMap::new(),
-			models: Vec::new(),
-			walk: physics::WalkState::new(),
-			camera: physics::Camera::from_offset(glam::vec3(0.0,4.5-2.5,0.0),(config.width as f32)/(config.height as f32)),
-			mouse_interpolation: physics::MouseInterpolationState::new(),
-			controls: 0,
-			world:physics::WorldState{},
-			game:physics::GameMechanicsState::default(),
-			modes:Vec::new(),
-			mode_from_mode_id:std::collections::HashMap::new(),
-		};
-
 		//load textures
 		let device_features = device.features();
 
@@ -795,7 +743,10 @@ impl framework::Example for GlobalState {
 			multiview: None,
 		});
 
-		let camera_uniforms = to_uniform_data(&physics.camera,physics.body.extrapolated_position(0));
+		let mut physics = physics::PhysicsState::default();
+
+		let camera=GraphicsCamera::new(glam::uvec2(config.width,config.height), 1.0);
+		let camera_uniforms = camera.to_uniform_data(physics.output().adjust_mouse(&physics.next_mouse));
 		let camera_buf = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
 			label: Some("Camera"),
 			contents: bytemuck::cast_slice(&camera_uniforms),
@@ -811,6 +762,7 @@ impl framework::Example for GlobalState {
 			],
 			label: Some("Camera"),
 		});
+
 		let skybox_texture_bind_group = device.create_bind_group(&wgpu::BindGroupDescriptor {
 			layout: &skybox_texture_bind_group_layout,
 			entries: &[
@@ -829,7 +781,6 @@ impl framework::Example for GlobalState {
 		let depth_view = Self::create_depth_texture(config, device);
 
 		let graphics=GraphicsState {
-			screen_size: (config.width,config.height),
 			pipelines:GraphicsPipelines{
 				skybox:sky_pipeline,
 				model:model_pipeline
@@ -838,6 +789,7 @@ impl framework::Example for GlobalState {
 				camera:camera_bind_group,
 				skybox_texture:skybox_texture_bind_group,
 			},
+			camera,
 			camera_buf,
 			models: Vec::new(),
 			depth_view,
@@ -847,20 +799,30 @@ impl framework::Example for GlobalState {
 			temp_squid_texture_view: squid_texture_view,
 		};
 
-		let mut state=GlobalState{
-			start_time:Instant::now(),
-			manual_mouse_lock:false,
-			graphics,
-			physics,
-		};
-
 		let indexed_model_instances=model::IndexedModelInstances{
 			textures:Vec::new(),
 			models:indexed_models,
 			spawn_point:glam::Vec3::Y*50.0,
 			modes:Vec::new(),
 		};
-		state.generate_model_physics(&indexed_model_instances);
+
+		//how to multithread
+
+		//1. build
+		physics.generate_models(&indexed_model_instances);
+
+		//2. move
+		let physics_thread=physics.into_worker();
+
+		//3. forget
+
+		let mut state=GlobalState{
+			start_time:Instant::now(),
+			manual_mouse_lock:false,
+			mouse:physics::MouseState::default(),
+			graphics,
+			physics_thread,
+		};
 		state.generate_model_graphics(&device,&queue,indexed_model_instances);
 
 		let args:Vec<String>=std::env::args().collect();
@@ -911,18 +873,20 @@ impl framework::Example for GlobalState {
 				}{
 					let spawn_point=indexed_model_instances.spawn_point;
 					//if generate_indexed_models succeeds, clear the previous ones
-					self.physics.clear();
 					self.graphics.clear();
-					self.physics.game.stage_id=0;
+
-					self.physics.spawn_point=spawn_point;
+					let mut physics=physics::PhysicsState::default();
-					self.generate_model_physics(&indexed_model_instances);
+					physics.game.stage_id=0;
+					physics.spawn_point=spawn_point;
+					physics.process_instruction(instruction::TimedInstruction{
+						time:physics.time,
+						instruction: PhysicsInstruction::Input(physics::PhysicsInputInstruction::Reset),
+					});
+					physics.generate_models(&indexed_model_instances);
+					self.physics_thread=physics.into_worker();
+
 					self.generate_model_graphics(device,queue,indexed_model_instances);
 					//manual reset
-					let time=self.physics.time;
-					instruction::InstructionConsumer::process_instruction(&mut self.physics, instruction::TimedInstruction{
-						time,
-						instruction: PhysicsInstruction::Input(InputInstruction::Reset),
-					});
 				}else{
 					println!("No modeldatas were generated");
 				}
@@ -983,7 +947,7 @@ impl framework::Example for GlobalState {
 					15=>{//Tab
 						if s{
 							self.manual_mouse_lock=false;
-							match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.screen_size.0 as f32/2.0, self.graphics.screen_size.1 as f32/2.0)){
+							match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.camera.screen_size.x as f32/2.0, self.graphics.camera.screen_size.y as f32/2.0)){
 								Ok(())=>(),
 								Err(e)=>println!("Could not set cursor position: {:?}",e),
 							}
@@ -1012,18 +976,17 @@ impl framework::Example for GlobalState {
 					},
 					_ => {println!("scancode {}",keycode);None},
 				}{
-					self.physics.run(time);
+					self.physics_thread.send(TimedInstruction{
-					self.physics.process_instruction(TimedInstruction{
 						time,
-						instruction:PhysicsInstruction::Input(input_instruction),
+						instruction:input_instruction,
-					})
+					}).unwrap();
 				}
 			},
 			winit::event::DeviceEvent::MouseMotion {
 			    delta,//these (f64,f64) are integers on my machine
 			} => {
 				if self.manual_mouse_lock{
-					match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.screen_size.0 as f32/2.0, self.graphics.screen_size.1 as f32/2.0)){
+					match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.camera.screen_size.x as f32/2.0, self.graphics.camera.screen_size.y as f32/2.0)){
 						Ok(())=>(),
 						Err(e)=>println!("Could not set cursor position: {:?}",e),
 					}
@@ -1031,21 +994,22 @@ impl framework::Example for GlobalState {
 				//do not step the physics because the mouse polling rate is higher than the physics can run.
 				//essentially the previous input will be overwritten until a true step runs
 				//which is fine because they run all the time.
-				self.physics.process_instruction(TimedInstruction{
+				let delta=glam::ivec2(delta.0 as i32,delta.1 as i32);
+				self.mouse.pos+=delta;
+				self.physics_thread.send(TimedInstruction{
 					time,
-					instruction:PhysicsInstruction::Input(InputInstruction::MoveMouse(glam::ivec2(delta.0 as i32,delta.1 as i32))),
+					instruction:InputInstruction::MoveMouse(self.mouse.pos),
-				})
+				}).unwrap();
 			},
 			winit::event::DeviceEvent::MouseWheel {
 			    delta,
 			} => {
 				println!("mousewheel {:?}",delta);
 				if false{//self.physics.style.use_scroll{
-					self.physics.run(time);
+					self.physics_thread.send(TimedInstruction{
-					self.physics.process_instruction(TimedInstruction{
 						time,
-						instruction:PhysicsInstruction::Input(InputInstruction::Jump(true)),//activates the immediate jump path, but the style modifier prevents controls&CONTROL_JUMP bit from being set to auto jump
+						instruction:InputInstruction::Jump(true),//activates the immediate jump path, but the style modifier prevents controls&CONTROL_JUMP bit from being set to auto jump
-					})
+					}).unwrap();
 				}
 			}
 			_=>(),
@@ -1059,8 +1023,7 @@ impl framework::Example for GlobalState {
 		_queue: &wgpu::Queue,
 	) {
 		self.graphics.depth_view = Self::create_depth_texture(config, device);
-		self.graphics.screen_size = (config.width, config.height);
+		self.graphics.camera.set_screen_size(glam::uvec2(config.width, config.height));
-		self.physics.camera.set_fov_aspect(1.0,(config.width as f32)/(config.height as f32));
 	}
 
 	fn render(
@@ -1070,15 +1033,20 @@ impl framework::Example for GlobalState {
 		queue: &wgpu::Queue,
 		_spawner: &framework::Spawner,
 	) {
+		//ideally this would be scheduled to execute and finish right before the render.
 		let time=self.start_time.elapsed().as_nanos() as i64;
-
+		self.physics_thread.send(TimedInstruction{
-		self.physics.run(time);
+			time,
+			instruction:InputInstruction::Idle,
+		}).unwrap();
+		//update time lol
+		self.mouse.time=time;
 
 		let mut encoder =
 			device.create_command_encoder(&wgpu::CommandEncoderDescriptor { label: None });
 
 		// update rotation
-		let camera_uniforms = to_uniform_data(&self.physics.camera,self.physics.body.extrapolated_position(time));
+		let camera_uniforms = self.graphics.camera.to_uniform_data(self.physics_thread.grab_clone().adjust_mouse(&self.mouse));
 		self.graphics.staging_belt
 			.write_buffer(
 				&mut encoder,

src/physics.rs

@@ -13,7 +13,22 @@ pub enum PhysicsInstruction {
 	// 	bool,//true = Force
 	// )
 	//InputInstructions conditionally activate RefreshWalkTarget (by doing what SetWalkTargetVelocity used to do and then flagging it)
-	Input(InputInstruction),
+	Input(PhysicsInputInstruction),
+}
+#[derive(Debug)]
+pub enum PhysicsInputInstruction {
+	ReplaceMouse(MouseState,MouseState),
+	SetNextMouse(MouseState),
+	SetMoveForward(bool),
+	SetMoveLeft(bool),
+	SetMoveBack(bool),
+	SetMoveRight(bool),
+	SetMoveUp(bool),
+	SetMoveDown(bool),
+	SetJump(bool),
+	SetZoom(bool),
+	Reset,
+	Idle,
 }
 #[derive(Debug)]
 pub enum InputInstruction {
@@ -32,7 +47,7 @@ pub enum InputInstruction {
 		//for interpolation / networking / playback reasons, most playback heads will always want
 		//to be 1 instruction ahead to generate the next state for interpolation.
 }
-#[derive(Clone,Debug)]
+#[derive(Clone)]
 pub struct Body {
 	position: glam::Vec3,//I64 where 2^32 = 1 u
 	velocity: glam::Vec3,//I64 where 2^32 = 1 u/s
@@ -91,51 +106,31 @@ impl crate::instruction::InstructionConsumer<InputInstruction> for InputState{
 }
 */
 
-enum MouseInterpolation {
-	First,//just checks the last value
-	Lerp,//lerps between
-}
-
 //hey dumbass just use a delta
-pub struct MouseInterpolationState {
+#[derive(Clone,Debug)]
-	interpolation: MouseInterpolation,
+pub struct MouseState {
-	time0: TIME,
+	pub pos: glam::IVec2,
-	time1: TIME,
+	pub time: TIME,
-	mouse0: glam::IVec2,
-	mouse1: glam::IVec2,
 }
-
+impl Default for MouseState{
-impl MouseInterpolationState {
+	fn default() -> Self {
-	pub fn new() -> Self {
 		Self {
-			interpolation:MouseInterpolation::First,
+			time:0,
-			time0:0,
+			pos:glam::IVec2::ZERO,
-			time1:1,//ONE NANOSECOND!!!! avoid divide by zero
-			mouse0:glam::IVec2::ZERO,
-			mouse1:glam::IVec2::ZERO,
 		}
 	}
-	pub fn move_mouse(&mut self,time:TIME,delta:glam::IVec2){
-		self.time0=self.time1;
-		self.mouse0=self.mouse1;
-		self.time1=time;
-		self.mouse1=self.mouse1+delta;
 }
-	pub fn interpolated_position(&self,time:TIME) -> glam::IVec2 {
+impl MouseState {
-		match self.interpolation {
+	pub fn lerp(&self,target:&MouseState,time:TIME)->glam::IVec2 {
-			MouseInterpolation::First => self.mouse0,
+		let m0=self.pos.as_i64vec2();
-			MouseInterpolation::Lerp => {
+		let m1=target.pos.as_i64vec2();
-				let m0=self.mouse0.as_i64vec2();
-				let m1=self.mouse1.as_i64vec2();
 		//these are deltas
-				let t1t=(self.time1-time) as i64;
+		let t1t=(target.time-time) as i64;
-				let tt0=(time-self.time0) as i64;
+		let tt0=(time-self.time) as i64;
-				let dt=(self.time1-self.time0) as i64;
+		let dt=(target.time-self.time) as i64;
 		((m0*t1t+m1*tt0)/dt).as_ivec2()
 	}
 }
-	}
-}
 
 pub enum WalkEnum{
 	Reached,
@@ -156,15 +151,14 @@ impl WalkState {
 	}
 }
 
-// Note: we use the Y=up coordinate space in this example.
+#[derive(Clone)]
-pub struct Camera {
+pub struct PhysicsCamera {
 	offset: glam::Vec3,
 	angles: glam::DVec2,//YAW AND THEN PITCH
 	//punch: glam::Vec3,
 	//punch_velocity: glam::Vec3,
-	fov: glam::Vec2,//slope
 	sensitivity: glam::DVec2,
-	time: TIME,
+	mouse:MouseState,
 }
 
 #[inline]
@@ -176,45 +170,22 @@ fn mat3_from_rotation_y_f64(angle: f64) -> glam::Mat3 {
 		glam::Vec3::new(sina as f32, 0.0, cosa as f32),
 	)
 }
-#[inline]
+impl PhysicsCamera {
-fn perspective_rh(fov_x_slope: f32, fov_y_slope: f32, z_near: f32, z_far: f32) -> glam::Mat4 {
+	pub fn from_offset(offset:glam::Vec3) -> Self {
-	//glam_assert!(z_near > 0.0 && z_far > 0.0);
-	let r = z_far / (z_near - z_far);
-	glam::Mat4::from_cols(
-		glam::Vec4::new(1.0/fov_x_slope, 0.0, 0.0, 0.0),
-		glam::Vec4::new(0.0, 1.0/fov_y_slope, 0.0, 0.0),
-		glam::Vec4::new(0.0, 0.0, r, -1.0),
-		glam::Vec4::new(0.0, 0.0, r * z_near, 0.0),
-	)
-}
-impl Camera {
-	pub fn from_offset(offset:glam::Vec3,aspect:f32) -> Self {
 		Self{
 			offset,
 			angles: glam::DVec2::ZERO,
-			fov: glam::vec2(aspect,1.0),
 			sensitivity: glam::dvec2(1.0/16384.0,1.0/16384.0),
-			time: 0,
+			mouse:MouseState{pos:glam::IVec2::ZERO,time:-1},//escape initialization hell divide by zero
 		}
 	}
-	fn simulate_move_angles(&self, delta: glam::IVec2) -> glam::DVec2 {
+	pub fn simulate_move_angles(&self, mouse_pos: glam::IVec2) -> glam::DVec2 {
-		let mut a=self.angles-self.sensitivity*delta.as_dvec2();
+		let mut a=self.angles-self.sensitivity*(mouse_pos-self.mouse.pos).as_dvec2();
 		a.y=a.y.clamp(-std::f64::consts::FRAC_PI_2, std::f64::consts::FRAC_PI_2);
 		return a
 	}
-	fn simulate_move_rotation_y(&self, delta_x: i32) -> glam::Mat3 {
+	fn simulate_move_rotation_y(&self, mouse_pos_x: i32) -> glam::Mat3 {
-		mat3_from_rotation_y_f64(self.angles.x-self.sensitivity.x*(delta_x as f64))
+		mat3_from_rotation_y_f64(self.angles.x-self.sensitivity.x*((mouse_pos_x-self.mouse.pos.x) as f64))
-	}
-	pub fn proj(&self)->glam::Mat4{
-		perspective_rh(self.fov.x, self.fov.y, 0.5, 2000.0)
-	}
-	pub fn view(&self,pos:glam::Vec3)->glam::Mat4{
-		//f32 good enough for view matrix
-		glam::Mat4::from_translation(pos+self.offset) * glam::Mat4::from_euler(glam::EulerRot::YXZ, self.angles.x as f32, self.angles.y as f32, 0f32)
-	}
-	pub fn set_fov_aspect(&mut self,fov:f32,aspect:f32){
-		self.fov.x=fov*aspect;
-		self.fov.y=fov;
 	}
 }
 
@@ -275,7 +246,7 @@ impl StyleModifiers{
 	const UP_DIR:glam::Vec3 = glam::Vec3::Y;
 
 	fn get_control(&self,control:u32,controls:u32)->bool{
-		controls&self.controls_mask&control!=0
+		controls&self.controls_mask&control==control
 	}
 
 	fn get_control_dir(&self,controls:u32)->glam::Vec3{
@@ -319,8 +290,8 @@ pub struct PhysicsState{
 	pub intersects:std::collections::HashMap::<u32,RelativeCollision>,
 	//pub intersections: Vec<ModelId>,
 	//camera must exist in state because wormholes modify the camera, also camera punch
-	pub camera:Camera,
+	pub camera:PhysicsCamera,
-	pub mouse_interpolation:MouseInterpolationState,
+	pub next_mouse:MouseState,//Where is the mouse headed next
 	pub controls:u32,
 	pub walk:WalkState,
 	pub grounded:bool,
@@ -333,6 +304,16 @@ pub struct PhysicsState{
 	//This is not the same as Reset which teleports you to Spawn0
 	pub spawn_point:glam::Vec3,
 }
+#[derive(Clone)]
+pub struct PhysicsOutputState{
+	camera:PhysicsCamera,
+	body:Body,
+}
+impl PhysicsOutputState{
+	pub fn adjust_mouse(&self,mouse:&MouseState)->(glam::Vec3,glam::Vec2){
+		(self.body.extrapolated_position(mouse.time)+self.camera.offset,self.camera.simulate_move_angles(mouse.pos).as_vec2())
+	}
+}
 
 #[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
 pub enum AabbFace{
@@ -554,6 +535,29 @@ impl Body {
 	}
 }
 
+impl Default for PhysicsState{
+	fn default() -> Self {
+ 		Self{
+			spawn_point:glam::vec3(0.0,50.0,0.0),
+			body: Body::with_pva(glam::vec3(0.0,50.0,0.0),glam::vec3(0.0,0.0,0.0),glam::vec3(0.0,-100.0,0.0)),
+			time: 0,
+			style:StyleModifiers::default(),
+			grounded: false,
+			contacts: std::collections::HashMap::new(),
+			intersects: std::collections::HashMap::new(),
+			models: Vec::new(),
+			walk: WalkState::new(),
+			camera: PhysicsCamera::from_offset(glam::vec3(0.0,4.5-2.5,0.0)),
+			next_mouse: MouseState::default(),
+			controls: 0,
+			world:WorldState{},
+			game:GameMechanicsState::default(),
+			modes:Vec::new(),
+			mode_from_mode_id:std::collections::HashMap::new(),
+		}
+	}
+}
+
 impl PhysicsState {
 	pub fn clear(&mut self){
 		self.models.clear();
@@ -561,6 +565,173 @@ impl PhysicsState {
 		self.contacts.clear();
 		self.intersects.clear();
 	}
+
+	pub fn into_worker(mut self)->crate::worker::Worker<TimedInstruction<InputInstruction>,PhysicsOutputState>{
+		let mut mouse_blocking=true;
+		let mut last_mouse_time=self.next_mouse.time;
+		let mut timeline=std::collections::VecDeque::new();
+		crate::worker::Worker::new(self.output(),move |ins:TimedInstruction<InputInstruction>|{
+			if if let Some(phys_input)=match ins.instruction{
+				InputInstruction::MoveMouse(m)=>{
+					if mouse_blocking{
+						//tell the game state which is living in the past about its future
+						timeline.push_front(TimedInstruction{
+							time:last_mouse_time,
+							instruction:PhysicsInputInstruction::SetNextMouse(MouseState{time:ins.time,pos:m}),
+						});
+					}else{
+						//mouse has just started moving again after being still for longer than 10ms.
+						//replace the entire mouse interpolation state to avoid an intermediate state with identical m0.t m1.t timestamps which will divide by zero
+						timeline.push_front(TimedInstruction{
+							time:last_mouse_time,
+							instruction:PhysicsInputInstruction::ReplaceMouse(
+								MouseState{time:last_mouse_time,pos:self.next_mouse.pos},
+								MouseState{time:ins.time,pos:m}
+							),
+						});
+						//delay physics execution until we have an interpolation target
+						mouse_blocking=true;
+					}
+					last_mouse_time=ins.time;
+					None
+				},
+				InputInstruction::MoveForward(s)=>Some(PhysicsInputInstruction::SetMoveForward(s)),
+				InputInstruction::MoveLeft(s)=>Some(PhysicsInputInstruction::SetMoveLeft(s)),
+				InputInstruction::MoveBack(s)=>Some(PhysicsInputInstruction::SetMoveBack(s)),
+				InputInstruction::MoveRight(s)=>Some(PhysicsInputInstruction::SetMoveRight(s)),
+				InputInstruction::MoveUp(s)=>Some(PhysicsInputInstruction::SetMoveUp(s)),
+				InputInstruction::MoveDown(s)=>Some(PhysicsInputInstruction::SetMoveDown(s)),
+				InputInstruction::Jump(s)=>Some(PhysicsInputInstruction::SetJump(s)),
+				InputInstruction::Zoom(s)=>Some(PhysicsInputInstruction::SetZoom(s)),
+				InputInstruction::Reset=>Some(PhysicsInputInstruction::Reset),
+				InputInstruction::Idle=>Some(PhysicsInputInstruction::Idle),
+			}{
+				//non-mouse event
+				timeline.push_back(TimedInstruction{
+					time:ins.time,
+					instruction:phys_input,
+				});
+				
+				if mouse_blocking{
+					//assume the mouse has stopped moving after 10ms.
+					//shitty mice are 125Hz which is 8ms so this should cover that.
+					//setting this to 100us still doesn't print even though it's 10x lower than the polling rate,
+					//so mouse events are probably not handled separately from drawing and fire right before it :(
+					if 10_000_000<ins.time-self.next_mouse.time{
+						//push an event to extrapolate no movement from
+						timeline.push_front(TimedInstruction{
+							time:last_mouse_time,
+							instruction:PhysicsInputInstruction::SetNextMouse(MouseState{time:ins.time,pos:self.next_mouse.pos}),
+						});
+						last_mouse_time=ins.time;
+						//stop blocking. the mouse is not moving so the physics does not need to live in the past and wait for interpolation targets.
+						mouse_blocking=false;
+						true
+					}else{
+						false
+					}
+				}else{
+					//keep this up to date so that it can be used as a known-timestamp
+					//that the mouse was not moving when the mouse starts moving again
+					last_mouse_time=ins.time;
+					true
+				}
+			}else{
+				//mouse event
+				true
+			}{
+				//empty queue
+				while let Some(instruction)=timeline.pop_front(){
+					self.run(instruction.time);
+					self.process_instruction(TimedInstruction{
+						time:instruction.time,
+						instruction:PhysicsInstruction::Input(instruction.instruction),
+					});
+				}
+			}
+			self.output()
+		})
+	}
+
+	pub fn output(&self)->PhysicsOutputState{
+		PhysicsOutputState{
+			body:self.body.clone(),
+			camera:self.camera.clone(),
+		}
+	}
+
+	pub fn generate_models(&mut self,indexed_models:&crate::model::IndexedModelInstances){
+		let mut starts=Vec::new();
+		let mut spawns=Vec::new();
+		let mut ordered_checkpoints=Vec::new();
+		let mut unordered_checkpoints=Vec::new();
+		for model in &indexed_models.models{
+			//make aabb and run vertices to get realistic bounds
+			for model_instance in &model.instances{
+				if let Some(model_physics)=ModelPhysics::from_model(model,model_instance){
+					let model_id=self.models.len() as u32;
+					self.models.push(model_physics);
+					for attr in &model_instance.temp_indexing{
+						match attr{
+							crate::model::TempIndexedAttributes::Start{mode_id}=>starts.push((*mode_id,model_id)),
+							crate::model::TempIndexedAttributes::Spawn{mode_id,stage_id}=>spawns.push((*mode_id,model_id,*stage_id)),
+							crate::model::TempIndexedAttributes::OrderedCheckpoint{mode_id,checkpoint_id}=>ordered_checkpoints.push((*mode_id,model_id,*checkpoint_id)),
+							crate::model::TempIndexedAttributes::UnorderedCheckpoint{mode_id}=>unordered_checkpoints.push((*mode_id,model_id)),
+						}
+					}
+				}
+			}
+		}
+		//I don't wanna write structs for temporary structures
+		//this code builds ModeDescriptions from the unsorted lists at the top of the function
+		starts.sort_by_key(|tup|tup.0);
+		let mut eshmep=std::collections::HashMap::new();
+		let mut modedatas:Vec<(u32,Vec<(u32,u32)>,Vec<(u32,u32)>,Vec<u32>)>=starts.into_iter().enumerate().map(|(i,tup)|{
+			eshmep.insert(tup.0,i);
+			(tup.1,Vec::new(),Vec::new(),Vec::new())
+		}).collect();
+		for tup in spawns{
+			if let Some(mode_id)=eshmep.get(&tup.0){
+				if let Some(modedata)=modedatas.get_mut(*mode_id){
+					modedata.1.push((tup.2,tup.1));
+				}
+			}
+		}
+		for tup in ordered_checkpoints{
+			if let Some(mode_id)=eshmep.get(&tup.0){
+				if let Some(modedata)=modedatas.get_mut(*mode_id){
+					modedata.2.push((tup.2,tup.1));
+				}
+			}
+		}
+		for tup in unordered_checkpoints{
+			if let Some(mode_id)=eshmep.get(&tup.0){
+				if let Some(modedata)=modedatas.get_mut(*mode_id){
+					modedata.3.push(tup.1);
+				}
+			}
+		}
+		let num_modes=self.modes.len();
+		for (mode_id,mode) in eshmep{
+			self.mode_from_mode_id.insert(mode_id,num_modes+mode);
+		}
+		self.modes.append(&mut modedatas.into_iter().map(|mut tup|{
+			tup.1.sort_by_key(|tup|tup.0);
+			tup.2.sort_by_key(|tup|tup.0);
+			let mut eshmep1=std::collections::HashMap::new();
+			let mut eshmep2=std::collections::HashMap::new();
+			crate::model::ModeDescription{
+				start:tup.0,
+				spawns:tup.1.into_iter().enumerate().map(|(i,tup)|{eshmep1.insert(tup.0,i);tup.1}).collect(),
+				ordered_checkpoints:tup.2.into_iter().enumerate().map(|(i,tup)|{eshmep2.insert(tup.0,i);tup.1}).collect(),
+				unordered_checkpoints:tup.3,
+				spawn_from_stage_id:eshmep1,
+				ordered_checkpoint_from_checkpoint_id:eshmep2,
+			}
+		}).collect());
+		println!("Physics Objects: {}",self.models.len());
+	}
+
 	pub fn get_mode(&self,mode_id:u32)->Option<&crate::model::ModeDescription>{
 		if let Some(&mode)=self.mode_from_mode_id.get(&mode_id){
 			self.modes.get(mode)
@@ -1004,13 +1175,15 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsState {
 	fn process_instruction(&mut self, ins:TimedInstruction<PhysicsInstruction>) {
 		match &ins.instruction {
-			PhysicsInstruction::StrafeTick => (),
+			PhysicsInstruction::Input(PhysicsInputInstruction::Idle)
-			PhysicsInstruction::Input(InputInstruction::MoveMouse(_)) => (),
+			|PhysicsInstruction::Input(PhysicsInputInstruction::SetNextMouse(_))
+			|PhysicsInstruction::Input(PhysicsInputInstruction::ReplaceMouse(_,_))
+			|PhysicsInstruction::StrafeTick => (),
 			_=>println!("{}|{:?}",ins.time,ins.instruction),
 		}
 		//selectively update body
 		match &ins.instruction {
-			PhysicsInstruction::Input(InputInstruction::MoveMouse(_)) => (),//dodge time for mouse movement
+			//PhysicsInstruction::Input(InputInstruction::MoveMouse(_)) => (),//dodge time for mouse movement
 			PhysicsInstruction::Input(_)
 			|PhysicsInstruction::ReachWalkTargetVelocity
 			|PhysicsInstruction::CollisionStart(_)
@@ -1032,10 +1205,8 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 								_ => (),
 							},
 						}
-						match &general.booster{
+						//check ground
-							Some(booster)=>self.body.velocity+=booster.velocity,
+						self.contacts.insert(c.model,c);
-							None=>(),
-						}
 						match &general.stage_element{
 							Some(stage_element)=>{
 								if stage_element.force||self.game.stage_id<stage_element.stage_id{
@@ -1065,11 +1236,16 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 							},
 							None=>(),
 						}
-						//check ground
-						self.contacts.insert(c.model,c);
 						//flatten v
 						let mut v=self.body.velocity;
 						self.contact_constrain_velocity(&mut v);
+						match &general.booster{
+							Some(booster)=>{
+								v+=booster.velocity;
+								self.contact_constrain_velocity(&mut v);
+							},
+							None=>(),
+						}
 						self.body.velocity=v;
 						if self.grounded&&self.style.get_control(StyleModifiers::CONTROL_JUMP,self.controls){
 							self.jump();
@@ -1105,7 +1281,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 				}
 			},
 			PhysicsInstruction::StrafeTick => {
-				let camera_mat=self.camera.simulate_move_rotation_y(self.mouse_interpolation.interpolated_position(self.time).x-self.mouse_interpolation.mouse0.x);
+				let camera_mat=self.camera.simulate_move_rotation_y(self.camera.mouse.lerp(&self.next_mouse,self.time).x);
 				let control_dir=camera_mat*self.style.get_control_dir(self.controls);
 				let d=self.body.velocity.dot(control_dir);
 				if d<self.style.mv {
@@ -1128,28 +1304,32 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 				let mut refresh_walk_target=true;
 				let mut refresh_walk_target_velocity=true;
 				match input_instruction{
-					InputInstruction::MoveMouse(m) => {
+					PhysicsInputInstruction::SetNextMouse(m) => {
-						self.camera.angles=self.camera.simulate_move_angles(self.mouse_interpolation.mouse1-self.mouse_interpolation.mouse0);
+						self.camera.angles=self.camera.simulate_move_angles(self.next_mouse.pos);
-						self.mouse_interpolation.move_mouse(self.time,m);
+						(self.camera.mouse,self.next_mouse)=(self.next_mouse.clone(),m);
 					},
-					InputInstruction::MoveForward(s) => self.set_control(StyleModifiers::CONTROL_MOVEFORWARD,s),
+					PhysicsInputInstruction::ReplaceMouse(m0,m1) => {
-					InputInstruction::MoveLeft(s) => self.set_control(StyleModifiers::CONTROL_MOVELEFT,s),
+						self.camera.angles=self.camera.simulate_move_angles(m0.pos);
-					InputInstruction::MoveBack(s) => self.set_control(StyleModifiers::CONTROL_MOVEBACK,s),
+						(self.camera.mouse,self.next_mouse)=(m0,m1);
-					InputInstruction::MoveRight(s) => self.set_control(StyleModifiers::CONTROL_MOVERIGHT,s),
+					},
-					InputInstruction::MoveUp(s) => self.set_control(StyleModifiers::CONTROL_MOVEUP,s),
+					PhysicsInputInstruction::SetMoveForward(s) => self.set_control(StyleModifiers::CONTROL_MOVEFORWARD,s),
-					InputInstruction::MoveDown(s) => self.set_control(StyleModifiers::CONTROL_MOVEDOWN,s),
+					PhysicsInputInstruction::SetMoveLeft(s) => self.set_control(StyleModifiers::CONTROL_MOVELEFT,s),
-					InputInstruction::Jump(s) => {
+					PhysicsInputInstruction::SetMoveBack(s) => self.set_control(StyleModifiers::CONTROL_MOVEBACK,s),
+					PhysicsInputInstruction::SetMoveRight(s) => self.set_control(StyleModifiers::CONTROL_MOVERIGHT,s),
+					PhysicsInputInstruction::SetMoveUp(s) => self.set_control(StyleModifiers::CONTROL_MOVEUP,s),
+					PhysicsInputInstruction::SetMoveDown(s) => self.set_control(StyleModifiers::CONTROL_MOVEDOWN,s),
+					PhysicsInputInstruction::SetJump(s) => {
 						self.set_control(StyleModifiers::CONTROL_JUMP,s);
 						if self.grounded{
 							self.jump();
 						}
 						refresh_walk_target_velocity=false;
 					},
-					InputInstruction::Zoom(s) => {
+					PhysicsInputInstruction::SetZoom(s) => {
 						self.set_control(StyleModifiers::CONTROL_ZOOM,s);
 						refresh_walk_target=false;
 					},
-					InputInstruction::Reset => {
+					PhysicsInputInstruction::Reset => {
 						//temp
 						self.body.position=self.spawn_point;
 						self.body.velocity=glam::Vec3::ZERO;
@@ -1160,12 +1340,12 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						self.grounded=false;
 						refresh_walk_target=false;
 					},
-					InputInstruction::Idle => {refresh_walk_target=false;},//literally idle!
+					PhysicsInputInstruction::Idle => {refresh_walk_target=false;},//literally idle!
 				}
 				if refresh_walk_target{
 					//calculate walk target velocity
 					if refresh_walk_target_velocity{
-						let camera_mat=self.camera.simulate_move_rotation_y(self.mouse_interpolation.interpolated_position(self.time).x-self.mouse_interpolation.mouse0.x);
+						let camera_mat=self.camera.simulate_move_rotation_y(self.camera.mouse.lerp(&self.next_mouse,self.time).x);
 						let control_dir=camera_mat*self.style.get_control_dir(self.controls);
 						self.walk.target_velocity=self.style.walkspeed*control_dir;
 					}

src/worker.rs

@@ -6,13 +6,13 @@ use parking_lot::Mutex;
 //The worker thread publishes the result of its work back to the worker object for every item in the work queue.
 //The physics (target use case) knows when it has not changed the body, so not updating the value is also an option.
 
-struct Worker<Task:Send,Value:Clone> {
+pub struct Worker<Task:Send,Value:Clone> {
 	sender: mpsc::Sender<Task>,
 	value:Arc<Mutex<Value>>,
 }
 
 impl<Task:Send+'static,Value:Clone+Send+'static> Worker<Task,Value> {
-	fn new<F:Fn(Task)->Value+Send+'static>(value:Value,f:F) -> Self {
+	pub fn new<F:FnMut(Task)->Value+Send+'static>(value:Value,mut f:F) -> Self {
 		let (sender, receiver) = mpsc::channel::<Task>();
 		let ret=Self {
 			sender,
@@ -23,8 +23,6 @@ impl<Task:Send+'static,Value:Clone+Send+'static> Worker<Task,Value> {
 			loop {
 				match receiver.recv() {
 					Ok(task) => {
-						println!("Worker got a task");
-						// Process the task
 						let v=f(task);//make sure function is evaluated before lock is acquired
 						*value.lock()=v;
 					}
@@ -38,11 +36,11 @@ impl<Task:Send+'static,Value:Clone+Send+'static> Worker<Task,Value> {
 		ret
 	}
 
-	fn send(&self,task:Task)->Result<(), mpsc::SendError<Task>>{
+	pub fn send(&self,task:Task)->Result<(), mpsc::SendError<Task>>{
 		self.sender.send(task)
 	}
 
-	fn grab_clone(&self)->Value{
+	pub fn grab_clone(&self)->Value{
 		self.value.lock().clone()
 	}
 }