how

Cargo.toml

@@ -18,6 +18,8 @@ rbx_binary = "0.7.1"
 rbx_dom_weak = "2.5.0"
 rbx_reflection_database = "0.2.7"
 rbx_xml = "0.13.1"
+vbsp = "0.5.0"
+vmdl = "0.1.1"
 wgpu = "0.18.0"
 winit = { version = "0.29.2", features = ["rwh_05"] }
 

src/bvh.rs

@@ -72,9 +72,9 @@ fn generate_bvh_node(boxen:Vec<(usize,Aabb)>)->BvhNode{
 			sort_y.push((*i,center.y()));
 			sort_z.push((*i,center.z()));
 		}
-		sort_x.sort_by(|tup0,tup1|tup0.1.partial_cmp(&tup1.1).unwrap());
-		sort_y.sort_by(|tup0,tup1|tup0.1.partial_cmp(&tup1.1).unwrap());
-		sort_z.sort_by(|tup0,tup1|tup0.1.partial_cmp(&tup1.1).unwrap());
+		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;

src/face_crawler.rs

@@ -3,16 +3,13 @@ use crate::model_physics::{FEV,MeshQuery,DirectedEdge};
 use crate::integer::{Time,Planar64};
 use crate::zeroes::zeroes2;
 
-#[derive(Debug)]
-enum Transition<F,E:DirectedEdge,V>
-where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{
+enum Transition<F,E:DirectedEdge,V>{
 	Miss,
 	Next(FEV<F,E,V>,Time),
 	Hit(F,Time),
 }
 
-	fn next_transition<F:Copy+std::fmt::Debug,E:Copy+DirectedEdge+std::fmt::Debug,V:Copy+std::fmt::Debug>(fev:&FEV<F,E,V>,time:Time,mesh:&impl MeshQuery<F,E,V>,body:&Body,time_limit:Time)->Transition<F,E,V>
-	where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{
+	fn next_transition<F:Copy,E:Copy+DirectedEdge,V:Copy>(fev:&FEV<F,E,V>,time:Time,mesh:&impl MeshQuery<F,E,V>,body:&Body,time_limit:Time)->Transition<F,E,V>{
 		//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;
@@ -23,10 +20,10 @@ where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{
 				//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);
-				println!("Face n={} d={}",n,d);
+				//TODO: use higher precision d value?
+				//use the mesh transform translation instead of baking it into the d value.
 				for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
 					let t=body.time+Time::from(t);
-					println!("dt={} low={} upp={} into={}",t-body.time,time<=t,t<best_time,n.dot(body.extrapolated_velocity(t))<Planar64::ZERO);
 					if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
 						best_time=t;
 						best_transtition=Transition::Hit(face_id,t);
@@ -38,12 +35,9 @@ where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{
 					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());
-					let d=n.dot(mesh.vert(verts[0])+mesh.vert(verts[1]));
-					println!("Face Edge boundary_n={} boundary_d={}",n,d/2);
 					//WARNING: d is moved out of the *2 block because of adding two vertices!
-					for t in zeroes2(n.dot(body.position)*2-d,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					for t in zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))),n.dot(body.velocity)*2,n.dot(body.acceleration)){
 						let t=body.time+Time::from(t);
-						println!("dt={} low={} upp={} into={}",t-body.time,time<=t,t<best_time,n.dot(body.extrapolated_velocity(t))<Planar64::ZERO);
 						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
 							best_time=t;
 							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
@@ -57,17 +51,14 @@ where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{
 				//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 vert_sum=mesh.vert(edge_verts[0])+mesh.vert(edge_verts[1]);
+				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);
-					let d=n.dot(vert_sum);
-					println!("Edge Face={:?} boundary_n={} boundary_d={}",edge_face_id,n,d/2);
 					//WARNING yada yada d *2
-					for t in zeroes2((n.dot(body.position))*2-d,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					for t in zeroes2(n.dot(delta_pos),n.dot(body.velocity)*2,n.dot(body.acceleration)){
 						let t=body.time+Time::from(t);
-						println!("dt={} low={} upp={} into={}",t-body.time,time<=t,t<best_time,n.dot(body.extrapolated_velocity(t))<Planar64::ZERO);
 						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
 							best_time=t;
 							best_transtition=Transition::Next(FEV::<F,E,V>::Face(edge_face_id),t);
@@ -79,11 +70,8 @@ where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{
 				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));
-					let d=n.dot(mesh.vert(vert_id));
-					println!("Edge Vert boundary_n={} boundary_d={}",n,d);
-					for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					for t in zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
 						let t=body.time+Time::from(t);
-						println!("dt={} low={} upp={} into={}",t-body.time,time<=t,t<best_time,n.dot(body.extrapolated_velocity(t))<Planar64::ZERO);
 						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
 							best_time=t;
 							best_transtition=Transition::Next(FEV::<F,E,V>::Vert(vert_id),t);
@@ -98,11 +86,8 @@ where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{
 				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);
-					let d=n.dot(mesh.vert(vert_id));
-					println!("Vert Edge={:?} boundary_n={} boundary_d={}",directed_edge_id,n,d);
-					for t in zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					for t in zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
 						let t=body.time+Time::from(t);
-						println!("dt={} low={} upp={} into={}",t-body.time,time<=t,t<best_time,n.dot(body.extrapolated_velocity(t))<Planar64::ZERO);
 						if time<=t&&t<best_time&&n.dot(body.extrapolated_velocity(t))<Planar64::ZERO{
 							best_time=t;
 							best_transtition=Transition::Next(FEV::<F,E,V>::Edge(directed_edge_id.as_undirected()),t);
@@ -119,19 +104,9 @@ pub enum CrawlResult<F,E:DirectedEdge,V>{
 	Miss(FEV<F,E,V>),
 	Hit(F,Time),
 }
-pub fn crawl_fev<F:Copy+std::fmt::Debug,E:Copy+std::fmt::Debug+DirectedEdge,V:Copy+std::fmt::Debug>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,start_time:Time,time_limit:Time)->CrawlResult<F,E,V>
-where <E as DirectedEdge>::UndirectedEdge:std::fmt::Debug{	
+pub fn crawl_fev<F:Copy,E:Copy+DirectedEdge,V:Copy>(mut fev:FEV<F,E,V>,mesh:&impl MeshQuery<F,E,V>,relative_body:&Body,start_time:Time,time_limit:Time)->CrawlResult<F,E,V>{	
 	let mut time=start_time;
 	for _ in 0..20{
-		println!("@ fev={:?} time={}",fev,time);
-		match &fev{
-			&FEV::Face(face_id)=>{
-				let a=mesh.face_nd(face_id);
-				println!("face_n={}",a.0);
-			},
-			&FEV::Edge(edge_id)=>println!("edge_n={} verts={:?}",mesh.edge_n(edge_id),mesh.edge_verts(edge_id)),
-			&FEV::Vert(vert_id)=>println!("vert={}",mesh.vert(vert_id)),
-		}
 		match next_transition(&fev,time,mesh,relative_body,time_limit){
 			Transition::Miss=>return CrawlResult::Miss(fev),
 			Transition::Next(next_fev,next_time)=>(fev,time)=(next_fev,next_time),

src/graphics.rs

@@ -152,11 +152,14 @@ impl GraphicsState{
 		let mut texture_loading_threads=Vec::new();
 		let num_textures=indexed_models.textures.len();
 		for (i,texture_id) in indexed_models.textures.into_iter().enumerate(){
-			if let Ok(mut file) = std::fs::File::open(std::path::Path::new(&format!("textures/{}.dds",texture_id))){
+			let path=std::path::PathBuf::from(format!("textures/{}.dds",texture_id));
+			if let Ok(mut file) = std::fs::File::open(path.clone()){
 				double_map.insert(i as u32, texture_loading_threads.len() as u32);
 				texture_loading_threads.push((texture_id,std::thread::spawn(move ||{
 					ddsfile::Dds::read(&mut file).unwrap()
 				})));
+			}else{
+				//println!("missing texture path={:?}",path);
 			}
 		}
 

src/integer.rs

@@ -105,23 +105,23 @@ impl Ratio64{
 			None
 		}else{
 			let d=gcd(num.unsigned_abs(),den);
-			Some(Self{num:num/d as i64,den:den/d})
+			Some(Self{num:num/(d as i64),den:den/d})
 		}
 	}
 	#[inline]
 	pub fn mul_int(&self,rhs:i64)->i64{
-		rhs*self.num/self.den as i64
+		rhs*self.num/(self.den as i64)
 	}
 	#[inline]
 	pub fn rhs_div_int(&self,rhs:i64)->i64{
-		rhs*self.den as i64/self.num
+		rhs*(self.den as i64)/self.num
 	}
 	#[inline]
 	pub 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,
+			num:num/(d as i64),
 			den:den/d,
 		}
 	}
@@ -209,8 +209,8 @@ impl TryFrom<f32> for Ratio64{
 			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=>Err(Self::Error::Subnormal),
-			std::num::FpCategory::Normal=>ratio64_from_mes(integer_decode_f32(value)),
+			std::num::FpCategory::Subnormal
+			|std::num::FpCategory::Normal=>ratio64_from_mes(integer_decode_f32(value)),
 		}
 	}
 }
@@ -222,8 +222,8 @@ impl TryFrom<f64> for Ratio64{
 			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=>Err(Self::Error::Subnormal),
-			std::num::FpCategory::Normal=>ratio64_from_mes(integer_decode_f64(value)),
+			std::num::FpCategory::Subnormal
+			|std::num::FpCategory::Normal=>ratio64_from_mes(integer_decode_f64(value)),
 		}
 	}
 }
@@ -234,7 +234,7 @@ impl std::ops::Mul<Ratio64> for 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,
+			num:num/(d as i64),
 			den:den/d,
 		}
 	}
@@ -411,7 +411,7 @@ impl TryFrom<[f32;3]> for Unit32Vec3{
 */
 
 ///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy,Debug,Hash,Eq,Ord,PartialEq,PartialOrd)]
+#[derive(Clone,Copy,Hash,Eq,Ord,PartialEq,PartialOrd)]
 pub struct Planar64(i64);
 impl Planar64{
 	pub const ZERO:Self=Self(0);
@@ -451,7 +451,7 @@ impl Into<f32> for Planar64{
 impl From<Ratio64> for Planar64{
 	#[inline]
 	fn from(ratio:Ratio64)->Self{
-		Self((((ratio.num as i128)<<32)/ratio.den as i128) as i64)
+		Self((((ratio.num as i128)<<32)/(ratio.den as i128)) as i64)
 	}
 }
 #[derive(Debug)]
@@ -459,26 +459,8 @@ pub enum Planar64TryFromFloatError{
 	Nan,
 	Infinite,
 	Subnormal,
-	HighlyNegativeExponent(i16),
-	HighlyPositiveExponent(i16),
-}
-#[inline]
-fn planar64_from_mes((m,e,s):(u64,i16,i8))->Result<Planar64,Planar64TryFromFloatError>{
-	let e32=e+32;
-	if e32<0&&(m>>-e32)==0{//shifting m will underflow to 0
-		Ok(Planar64::ZERO)
-		// println!("m{} e{} s{}",m,e,s);
-		// println!("f={}",(m as f64)*(2.0f64.powf(e as f64))*(s as f64));
-		// Err(Planar64TryFromFloatError::HighlyNegativeExponent(e))
-	}else if (64-m.leading_zeros() as i16)+e32<64{//shifting m will not overflow
-		if e32<0{
-			Ok(Planar64((m as i64)*(s as i64)>>-e32))
-		}else{
-			Ok(Planar64((m as i64)*(s as i64)<<e32))
-		}
-	}else{//if shifting m will overflow (prev check failed)
-		Err(Planar64TryFromFloatError::HighlyPositiveExponent(e))
-	}
+	HighlyNegativeExponent,
+	HighlyPositiveExponent,
 }
 impl TryFrom<f32> for Planar64{
 	type Error=Planar64TryFromFloatError;
@@ -488,8 +470,15 @@ impl TryFrom<f32> for Planar64{
 			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=>Err(Self::Error::Subnormal),
-			std::num::FpCategory::Normal=>planar64_from_mes(integer_decode_f32(value)),
+			std::num::FpCategory::Subnormal
+			|std::num::FpCategory::Normal=>{
+				let planar=value*PLANAR64_ONE_FLOAT32;
+				if planar<(i64::MIN as f32)||(i64::MAX as f32)<planar{
+					Err(Self::Error::HighlyPositiveExponent)
+				}else{
+					Ok(Planar64(unsafe{planar.to_int_unchecked()}))
+				}
+			}
 		}
 	}
 }
@@ -501,8 +490,15 @@ impl TryFrom<f64> for Planar64{
 			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=>Err(Self::Error::Subnormal),
-			std::num::FpCategory::Normal=>planar64_from_mes(integer_decode_f64(value)),
+			std::num::FpCategory::Subnormal
+			|std::num::FpCategory::Normal=>{
+				let planar=value*PLANAR64_ONE_FLOAT64;
+				if planar<(i64::MIN as f64)||(i64::MAX as f64)<planar{
+					Err(Self::Error::HighlyPositiveExponent)
+				}else{
+					Ok(Planar64(unsafe{planar.to_int_unchecked()}))
+				}
+			}
 		}
 	}
 }
@@ -572,7 +568,7 @@ impl std::ops::Div<Planar64> for Planar64{
 	type Output=Planar64;
 	#[inline]
 	fn div(self, rhs: Planar64) -> Self::Output {
-		Planar64((((self.0 as i128)<<32)/rhs.0 as i128) as i64)
+		Planar64((((self.0 as i128)<<32)/(rhs.0 as i128)) as i64)
 	}
 }
 // impl PartialOrd<i64> for Planar64{
@@ -583,7 +579,7 @@ impl std::ops::Div<Planar64> for Planar64{
 
 
 ///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy,Debug,Default,Hash,Eq,PartialEq)]
+#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
 pub struct Planar64Vec3(glam::I64Vec3);
 impl Planar64Vec3{
 	pub const ZERO:Self=Planar64Vec3(glam::I64Vec3::ZERO);
@@ -807,6 +803,17 @@ impl std::ops::Mul<Time> for Planar64Vec3{
 		))
 	}
 }
+impl std::ops::Div<Planar64> for Planar64Vec3{
+	type Output=Planar64Vec3;
+	#[inline]
+	fn div(self,rhs:Planar64)->Self::Output{
+		Planar64Vec3(glam::i64vec3(
+			(((self.0.x as i128)<<32)/(rhs.0 as i128)) as i64,
+			(((self.0.y as i128)<<32)/(rhs.0 as i128)) as i64,
+			(((self.0.z as i128)<<32)/(rhs.0 as i128)) as i64,
+		))
+	}
+}
 impl std::ops::Div<i64> for Planar64Vec3{
 	type Output=Planar64Vec3;
 	#[inline]

src/load_bsp.rs

@@ -0,0 +1,235 @@
+const VALVE_SCALE:f32=1.0/16.0;
+fn valve_transform(v:[f32;3])->crate::integer::Planar64Vec3{
+	crate::integer::Planar64Vec3::try_from([v[0]*VALVE_SCALE,v[2]*VALVE_SCALE,-v[1]*VALVE_SCALE]).unwrap()
+}
+pub fn generate_indexed_models<R:std::io::Read+std::io::Seek>(input:&mut R)->Result<crate::model::IndexedModelInstances,vbsp::BspError>{
+	let mut s=Vec::new();
+
+	match input.read_to_end(&mut s){
+		Ok(_)=>(),
+		Err(e)=>println!("load_bsp::generate_indexed_models read_to_end failed: {:?}",e),
+	}
+
+	match vbsp::Bsp::read(s.as_slice()){
+		Ok(bsp)=>{
+			let mut spawn_point=crate::integer::Planar64Vec3::ZERO;
+
+			let vertices: Vec<_> = bsp
+				.vertices
+				.iter()
+				.map(|vertex|<[f32;3]>::from(vertex.position))
+				.collect();
+
+			let mut name_from_texture_id=Vec::new();
+			let mut texture_id_from_name=std::collections::HashMap::new();
+
+			let mut models=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 groups=world_model.faces()
+				.filter(|face| face.is_visible())//TODO: look at this
+				.map(|face|{
+					let face_texture=face.texture();
+					let face_texture_data=face_texture.texture_data();
+					let (texture_u,texture_v)=(glam::Vec3A::from_slice(&face_texture.texture_transforms_u[0..3]),glam::Vec3A::from_slice(&face_texture.texture_transforms_v[0..3]));
+					let texture_offset=glam::vec2(face_texture.texture_transforms_u[3],face_texture.texture_transforms_v[3]);
+					let texture_size=glam::vec2(face_texture_data.width as f32,face_texture_data.height as f32);
+
+					//texture
+					let texture_id=if let Some(&texture_id)=texture_id_from_name.get(face_texture_data.name()){
+						texture_id
+					}else{
+						let texture_id=name_from_texture_id.len() as u32;
+						texture_id_from_name.insert(face_texture_data.name().to_string(),texture_id);
+						name_from_texture_id.push(face_texture_data.name().to_string());
+						texture_id
+					};
+
+					//normal
+					let normal=face.normal();
+					let normal_idx=spam_normal.len() as u32;
+					spam_normal.push(valve_transform(<[f32;3]>::from(normal)));
+					let mut vertices:Vec<u32>=face.vertex_indexes().map(|vertex_index|{
+						let pos=glam::Vec3A::from_array(vertices[vertex_index as usize]);
+						let pos_idx=spam_pos.len();
+						spam_pos.push(valve_transform(vertices[vertex_index as usize]));
+
+						//calculate texture coordinates
+						let tex=(glam::vec2(pos.dot(texture_u),pos.dot(texture_v))+texture_offset)/texture_size;
+						let tex_idx=spam_tex.len() as u32;
+						spam_tex.push(tex);
+
+						let i=spam_vertices.len() as u32;
+						spam_vertices.push(crate::model::IndexedVertex{
+							pos: pos_idx as u32,
+							tex: tex_idx as u32,
+							normal: normal_idx,
+							color: 0,
+						});
+						i
+					}).collect();
+					vertices.reverse();
+					crate::model::IndexedGroup{
+						texture:Some(texture_id),
+						polys:vec![crate::model::IndexedPolygon{vertices}],
+					}
+				}).collect();
+				crate::model::IndexedModel{
+					unique_pos:spam_pos,
+					unique_tex:spam_tex,
+					unique_normal:spam_normal,
+					unique_color:vec![glam::Vec4::ONE],
+					unique_vertices:spam_vertices,
+					groups,
+					instances:vec![crate::model::ModelInstance{
+						attributes:crate::model::CollisionAttributes::Decoration,
+						transform:crate::integer::Planar64Affine3::new(
+							crate::integer::Planar64Mat3::default(),
+							valve_transform(<[f32;3]>::from(world_model.origin))
+						),
+						..Default::default()
+					}],
+				}
+			}).collect();
+
+			//dedupe prop models
+			let mut model_dedupe=std::collections::HashSet::new();
+			for prop in bsp.static_props(){
+				model_dedupe.insert(prop.model());
+			}
+
+			//generate unique meshes
+			let mut model_map=std::collections::HashMap::with_capacity(model_dedupe.len());
+			let mut prop_models=Vec::new();
+			for model_name in model_dedupe{
+				let model_name_lower=model_name.to_lowercase();
+				//.mdl, .vvd, .dx90.vtx
+				let mut path=std::path::PathBuf::from(model_name_lower.as_str());
+				let file_name=std::path::PathBuf::from(path.file_stem().unwrap());
+				path.pop();
+				path.push(file_name);
+				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(model_name_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)))=>{
+						match (vmdl::mdl::Mdl::read(mdl_file.as_ref()),vmdl::vvd::Vvd::read(vvd_file.as_ref()),vmdl::vtx::Vtx::read(vtx_file.as_ref())){
+							(Ok(mdl),Ok(vvd),Ok(vtx))=>{
+								let model=vmdl::Model::from_parts(mdl,vtx,vvd);
+								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(<[f32;3]>::from(vertex.position)));
+									spam_normal.push(valve_transform(<[f32;3]>::from(vertex.normal)));
+									spam_tex.push(glam::Vec2::from_array(vertex.texture_coordinates));
+									spam_vertices.push(crate::model::IndexedVertex{
+										pos:i as u32,
+										tex:i as u32,
+										normal:i as u32,
+										color:0,
+									});
+								}
+
+								let model_id=prop_models.len();
+								model_map.insert(model_name,model_id);
+								prop_models.push(crate::model::IndexedModel{
+									unique_pos:spam_pos,
+									unique_normal:spam_normal,
+									unique_tex:spam_tex,
+									unique_color:vec![glam::Vec4::ONE],
+									unique_vertices:spam_vertices,
+									groups:model.meshes().map(|mesh|{
+										let texture=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);
+											let texture_location=path.as_os_str().to_str().unwrap();
+											let texture_id=if let Some(&texture_id)=texture_id_from_name.get(texture_location){
+												texture_id
+											}else{
+												println!("texture! {}",texture_location);
+												let texture_id=name_from_texture_id.len() as u32;
+												texture_id_from_name.insert(texture_location.to_string(),texture_id);
+												name_from_texture_id.push(texture_location.to_string());
+												texture_id
+											};
+											Some(texture_id)
+										}else{
+											None
+										};
+
+										crate::model::IndexedGroup{
+											texture,
+											polys:{
+												//looking at the code, it would seem that the strips are pre-deindexed into triangle lists when calling this function
+												mesh.vertex_strip_indices().map(|strip|{
+													strip.collect::<Vec<usize>>().chunks(3).map(|tri|{
+														crate::model::IndexedPolygon{vertices:vec![tri[0] as u32,tri[1] as u32,tri[2] as u32]}
+													}).collect::<Vec<crate::model::IndexedPolygon>>()
+												}).flatten().collect()
+											},
+										}
+									}).collect(),
+									instances:Vec::new(),
+								});
+							},
+							_=>println!("model_name={} error",model_name),
+						}
+					},
+					_=>println!("no model name={}",model_name),
+				}
+			}
+
+			//generate model instances
+			for prop in bsp.static_props(){
+				let placement=prop.as_prop_placement();
+				if let Some(&model_index)=model_map.get(placement.model){
+					prop_models[model_index].instances.push(crate::model::ModelInstance{
+						transform:crate::integer::Planar64Affine3::new(
+							crate::integer::Planar64Mat3::try_from(
+								glam::Mat3A::from_diagonal(glam::Vec3::splat(placement.scale))
+								//TODO: figure this out
+								*glam::Mat3A::from_quat(glam::Quat::from_xyzw(
+									placement.rotation.v.x,//b
+									placement.rotation.v.y,//c
+									placement.rotation.v.z,//d
+									placement.rotation.s,//a
+								))
+							).unwrap(),
+							valve_transform(<[f32;3]>::from(placement.origin)),
+						),
+						attributes:crate::model::CollisionAttributes::Decoration,
+						..Default::default()
+					});
+				}else{
+					//println!("model not found {}",placement.model);
+				}
+			}
+
+			//actually add the prop models
+			prop_models.append(&mut models);
+
+			Ok(crate::model::IndexedModelInstances{
+				textures:name_from_texture_id,
+				models:prop_models,
+				spawn_point,
+				modes:Vec::new(),
+			})
+		},
+		Err(e)=>{
+			println!("rotten {:?}",e);
+			Err(e)
+		},
+	}
+}

src/load_roblox.rs

@@ -14,12 +14,15 @@ fn class_is_a(class: &str, superclass: &str) -> bool {
 	return false
 }
 fn recursive_collect_superclass(objects: &mut std::vec::Vec<rbx_dom_weak::types::Ref>,dom: &rbx_dom_weak::WeakDom, instance: &rbx_dom_weak::Instance, superclass: &str){
-	for &referent in instance.children() {
-		if let Some(c) = dom.get_by_ref(referent) {
-			if class_is_a(c.class.as_str(), superclass) {
-				objects.push(c.referent());//copy ref
+	let mut stack=vec![instance];
+	while let Some(item)=stack.pop(){
+		for &referent in item.children(){
+			if let Some(c)=dom.get_by_ref(referent){
+				if class_is_a(c.class.as_str(),superclass){
+					objects.push(c.referent());//copy ref
+				}
+				stack.push(c);
 			}
-			recursive_collect_superclass(objects,dom,c,superclass);
 		}
 	}
 }
@@ -262,6 +265,18 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 			{
 				let model_transform=planar64_affine3_from_roblox(cf,size);
 
+				if model_transform.matrix3.determinant()==Planar64::ZERO{
+					let mut parent_ref=object.parent();
+					let mut full_path=object.name.clone();
+					while let Some(parent)=dom.get_by_ref(parent_ref){
+						full_path=format!("{}.{}",parent.name,full_path);
+						parent_ref=parent.parent();
+					}
+					println!("Zero determinant CFrame at location {}",full_path);
+					println!("matrix3:{}",model_transform.matrix3);
+					continue;
+				}
+
 				//push TempIndexedAttributes
 				let mut force_intersecting=false;
 				let mut temp_indexing_attributes=Vec::new();

src/main.rs

@@ -11,6 +11,7 @@ mod graphics;
 mod settings;
 mod primitives;
 mod instruction;
+mod load_bsp;
 mod load_roblox;
 mod face_crawler;
 mod compat_worker;
@@ -46,7 +47,7 @@ fn load_file(path: std::path::PathBuf)->Option<model::IndexedModelInstances>{
 						},
 					}
 				},
-				//b"VBSP"=>Some(load_bsp::generate_indexed_models(input)),
+				b"VBSP"=>load_bsp::generate_indexed_models(&mut input).ok(),
 				//b"SNFM"=>Some(sniffer::generate_indexed_models(input)),
 				//b"SNFB"=>Some(sniffer::load_bot(input)),
 				other=>{

src/model.rs

@@ -259,7 +259,6 @@ 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

@@ -40,7 +40,6 @@ impl DirectedEdge for DirectedEdgeId{
 pub struct FaceId(usize);
 
 //Vertex <-> Edge <-> Face -> Collide
-#[derive(Debug)]
 pub enum FEV<F,E:DirectedEdge,V>{
 	Face(F),
 	Edge(E::UndirectedEdge),
@@ -48,12 +47,10 @@ pub enum FEV<F,E:DirectedEdge,V>{
 }
 
 //use Unit32 #[repr(C)] for map files
-#[derive(Debug)]
 struct Face{
 	normal:Planar64Vec3,
 	dot:Planar64,
 }
-#[derive(Debug)]
 struct Vert(Planar64Vec3);
 pub trait MeshQuery<FACE:Clone,EDGE:Clone+DirectedEdge,VERT:Clone>{
 	fn edge_n(&self,edge_id:EDGE::UndirectedEdge)->Planar64Vec3{
@@ -72,22 +69,18 @@ pub trait MeshQuery<FACE:Clone,EDGE:Clone+DirectedEdge,VERT:Clone>{
 	fn vert_edges(&self,vert_id:VERT)->Cow<Vec<EDGE>>;
 	fn vert_faces(&self,vert_id:VERT)->Cow<Vec<FACE>>;
 }
-#[derive(Debug)]
 struct FaceRefs{
 	edges:Vec<DirectedEdgeId>,
 	//verts:Vec<VertId>,
 }
-#[derive(Debug)]
 struct EdgeRefs{
 	faces:[FaceId;2],//left, right
 	verts:[VertId;2],//bottom, top
 }
-#[derive(Debug)]
 struct VertRefs{
 	faces:Vec<FaceId>,
 	edges:Vec<DirectedEdgeId>,
 }
-#[derive(Debug)]
 pub struct PhysicsMesh{
 	faces:Vec<Face>,
 	verts:Vec<Vert>,
@@ -245,17 +238,20 @@ pub struct TransformedMesh<'a>{
 	mesh:&'a PhysicsMesh,
 	transform:&'a crate::integer::Planar64Affine3,
 	normal_transform:&'a crate::integer::Planar64Mat3,
+	transform_det:Planar64,
 }
 impl TransformedMesh<'_>{
 	pub fn new<'a>(
 		mesh:&'a PhysicsMesh,
 		transform:&'a crate::integer::Planar64Affine3,
 		normal_transform:&'a crate::integer::Planar64Mat3,
+		transform_det:Planar64,
 		)->TransformedMesh<'a>{
 		TransformedMesh{
 			mesh,
 			transform,
 			normal_transform,
+			transform_det,
 		}
 	}
 	fn farthest_vert(&self,dir:Planar64Vec3)->VertId{
@@ -276,8 +272,8 @@ impl MeshQuery<FaceId,DirectedEdgeId,VertId> for TransformedMesh<'_>{
 	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)
+		let transformed_d=d+transformed_n.dot(self.transform.translation)/self.transform_det;
+		(transformed_n/self.transform_det,transformed_d)
 	}
 	fn vert(&self,vert_id:VertId)->Planar64Vec3{
 		self.transform.transform_point3(self.mesh.vert(vert_id))
@@ -308,11 +304,11 @@ impl MeshQuery<FaceId,DirectedEdgeId,VertId> for TransformedMesh<'_>{
 //(face,vertex)
 //(edge,edge)
 //(vertex,face)
-#[derive(Clone,Copy,Debug)]
+#[derive(Clone,Copy)]
 pub enum MinkowskiVert{
 	VertVert(VertId,VertId),
 }
-#[derive(Clone,Copy,Debug)]
+#[derive(Clone,Copy)]
 pub enum MinkowskiEdge{
 	VertEdge(VertId,EdgeId),
 	EdgeVert(EdgeId,VertId),
@@ -327,7 +323,7 @@ impl UndirectedEdge for MinkowskiEdge{
 		}
 	}
 }
-#[derive(Clone,Copy,Debug)]
+#[derive(Clone,Copy)]
 pub enum MinkowskiDirectedEdge{
 	VertEdge(VertId,DirectedEdgeId),
 	EdgeVert(DirectedEdgeId,VertId),
@@ -348,7 +344,7 @@ impl DirectedEdge for MinkowskiDirectedEdge{
 		}
 	}
 }
-#[derive(Clone,Copy,Debug,Hash,Eq,PartialEq)]
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
 pub enum MinkowskiFace{
 	VertFace(VertId,FaceId),
 	EdgeEdge(EdgeId,EdgeId,bool),
@@ -388,12 +384,12 @@ impl MinkowskiMesh<'_>{
 		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
-			if infinity_dir.dot(edge_n)==Planar64::ZERO{
-				let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
-				//select opposite vertex
-				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);
+			let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
+			//select opposite vertex
+			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 crate::zeroes::zeroes1(edge_n.dot(diff),edge_n.dot(infinity_dir)).len()==0{
 				let distance_squared=diff.dot(diff);
 				if distance_squared<*best_distance_squared{
 					best_transition=Transition::Vert(test_vert_id);
@@ -409,9 +405,10 @@ impl MinkowskiMesh<'_>{
 		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
-			if infinity_dir.dot(edge_n)==Planar64::ZERO{
+			//check if time of collision is outside Time::MIN..Time::MAX
+			let d=edge_n.dot(diff);
+			if crate::zeroes::zeroes1(d,edge_n.dot(infinity_dir)).len()==0{
 				//test the edge
-				let d=diff.dot(edge_n);
 				let edge_nn=edge_n.dot(edge_n);
 				if Planar64::ZERO<=d&&d<=edge_nn{
 					let distance_squared={
@@ -441,7 +438,6 @@ 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>{
-		println!("infinity_fev dir={} point={}",infinity_dir,point);
 		//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
@@ -449,37 +445,21 @@ impl MinkowskiMesh<'_>{
 			//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::Edge(edge_id)=>{
-				println!("fix edge edge_id={:?}",edge_id);
-				match edge_id{
-					MinkowskiEdge::VertEdge(v0,e1)=>{
-						println!("v0={}",self.mesh0.vert(v0));
-						for face_id1 in self.mesh1.edge_faces(e1).iter(){
-							println!("e1 face_n={}",self.mesh1.face_nd(*face_id1).0);
-						}
-					},
-					MinkowskiEdge::EdgeVert(e0,v1)=>{
-						println!("v1={}",self.mesh1.vert(v1));
-						for face_id0 in self.mesh0.edge_faces(e0).iter(){
-							println!("e0 face_n={}",self.mesh0.face_nd(*face_id0).0);
-						}
-					},
-				}
 				//cross to face if the boundary is not crossable and we are on the wrong side
 				let edge_n=self.edge_n(edge_id);
-				println!("edge_n={}",edge_n);
-				let vert_sum={
+				// point is multiplied by two because vert_sum sums two vertices.
+				let delta_pos=point*2-{
 					let &[v0,v1]=self.edge_verts(edge_id).borrow();
 					self.vert(v0)+self.vert(v1)
 				};
 				for (i,&face_id) in self.edge_faces(edge_id).iter().enumerate(){
 					let face_n=self.face_nd(face_id).0;
-					println!("face_id={:?} face_n={}",face_id,face_n);
 					//edge-face boundary nd, n facing out of the face towards the edge
 					let boundary_n=face_n.cross(edge_n)*(i as i64*2-1);
-					let boundary_d=boundary_n.dot(vert_sum);
-					println!("dot={} boundary_n={} boundary_d={} point_d={}",infinity_dir.dot(boundary_n),boundary_n,boundary_d,point.dot(boundary_n)*2);
-					// point.dot(boundary_n) is multiplied by two because vert_sum sums two vertices.
-					if infinity_dir.dot(boundary_n)==Planar64::ZERO&&point.dot(boundary_n)*2<=boundary_d{
+					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&&crate::zeroes::zeroes1(boundary_d,boundary_n.dot(infinity_dir)*2).len()==0{
 						//both faces cannot pass this condition, return early if one does.
 						return FEV::<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert>::Face(face_id);
 					}
@@ -503,7 +483,6 @@ impl MinkowskiMesh<'_>{
 	}
 	pub fn predict_collision_in(&self,relative_body:&crate::physics::Body,time_limit:crate::integer::Time)->Option<(MinkowskiFace,crate::integer::Time)>{
 		self.closest_fev_not_inside(relative_body.clone()).map_or(None,|fev|{
-			println!("@@@BEGIN REAL CRAWL@@@");
 			//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,
@@ -625,6 +604,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 						let d=edge_face1_n.dot(edge0_n);
 						if d<Planar64::ZERO{
 							let edge0_nn=edge0_n.dot(edge0_n);
+							//divide by zero???
 							let dd=d*d/(edge_face1_nn*edge0_nn);
 							if best_d<dd{
 								best_d=dd;
@@ -761,4 +741,4 @@ fn build_me_a_cube(){
 	let unit_cube=crate::primitives::unit_cube();
 	let mesh=PhysicsMesh::from(&unit_cube);
 	//println!("mesh={:?}",mesh);
-}
+}

src/physics.rs

@@ -202,6 +202,7 @@ impl PhysicsModels{
 			&self.meshes[self.models[model_id].mesh_id],
 			&self.models[model_id].transform,
 			&self.models[model_id].normal_transform,
+			self.models[model_id].transform_det,
 		)
 	}
 	fn model(&self,model_id:usize)->&PhysicsModel{
@@ -343,11 +344,11 @@ struct Hitbox{
 	mesh:PhysicsMesh,
 	transform:crate::integer::Planar64Affine3,
 	normal_transform:Planar64Mat3,
+	transform_det:Planar64,
 }
 impl Hitbox{
 	fn new(mesh:PhysicsMesh,transform:crate::integer::Planar64Affine3)->Self{
 		//calculate extents
-		let normal_transform=transform.matrix3.inverse_times_det().transpose();
 		let mut aabb=crate::aabb::Aabb::default();
 		for vert in mesh.verts(){
 			aabb.grow(transform.transform_point3(vert));
@@ -356,23 +357,28 @@ impl Hitbox{
 			halfsize:aabb.size()/2,
 			mesh,
 			transform,
-			normal_transform,
+			normal_transform:transform.matrix3.inverse_times_det().transpose(),
+			transform_det:transform.matrix3.determinant(),
 		}
 	}
 	fn from_mesh_scale(mesh:PhysicsMesh,scale:Planar64Vec3)->Self{
+		let matrix3=Planar64Mat3::from_diagonal(scale);
 		Self{
 			halfsize:scale,
 			mesh,
-			transform:crate::integer::Planar64Affine3::new(Planar64Mat3::from_diagonal(scale),Planar64Vec3::ZERO),
-			normal_transform:Planar64Mat3::from_diagonal(scale).inverse_times_det().transpose(),
+			normal_transform:matrix3.inverse_times_det().transpose(),
+			transform:crate::integer::Planar64Affine3::new(matrix3,Planar64Vec3::ZERO),
+			transform_det:matrix3.determinant(),//scale.x*scale.y*scale.z but whatever
 		}
 	}
 	fn from_mesh_scale_offset(mesh:PhysicsMesh,scale:Planar64Vec3,offset:Planar64Vec3)->Self{
+		let matrix3=Planar64Mat3::from_diagonal(scale);
 		Self{
 			halfsize:scale,
 			mesh,
-			transform:crate::integer::Planar64Affine3::new(Planar64Mat3::from_diagonal(scale),offset),
-			normal_transform:Planar64Mat3::from_diagonal(scale).inverse_times_det().transpose(),
+			normal_transform:matrix3.inverse_times_det().transpose(),
+			transform:crate::integer::Planar64Affine3::new(matrix3,offset),
+			transform_det:matrix3.determinant(),
 		}
 	}
 	fn roblox()->Self{
@@ -383,7 +389,7 @@ impl Hitbox{
 	}
 	#[inline]
 	fn transformed_mesh(&self)->TransformedMesh{
-		TransformedMesh::new(&self.mesh,&self.transform,&self.normal_transform)
+		TransformedMesh::new(&self.mesh,&self.transform,&self.normal_transform,self.transform_det)
 	}
 }
 
@@ -520,7 +526,7 @@ impl StyleModifiers{
 			controls_mask:!0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
 			strafe:Some(StrafeSettings{
 				enable:EnableStrafe::Always,
-				air_accel_limit:Some(Planar64::raw(150<<28)*66),
+				air_accel_limit:Some(Planar64::raw(150<<28)*100),
 				tick_rate:Ratio64::new(100,Time::ONE_SECOND.nanos() as u64).unwrap(),
 			}),
 			jump_impulse:JumpImpulse::FromHeight(Planar64::raw(52<<28)),
@@ -779,16 +785,17 @@ pub struct PhysicsModel{
 	attr_id:usize,
 	transform:crate::integer::Planar64Affine3,
 	normal_transform:crate::integer::Planar64Mat3,
+	transform_det:Planar64,
 }
 
 impl PhysicsModel{
 	pub fn new(mesh_id:usize,attr_id:usize,transform:crate::integer::Planar64Affine3)->Self{
-		let normal_transform=transform.matrix3.inverse_times_det().transpose();
 		Self{
 			mesh_id,
 			attr_id,
 			transform,
-			normal_transform,
+			normal_transform:transform.matrix3.inverse_times_det().transpose(),
+			transform_det:transform.matrix3.determinant(),
 		}
 	}
 }
@@ -956,7 +963,6 @@ impl TouchingState{
 			//detect model collision in reverse
 			let model_mesh=models.mesh(intersect.model_id);
 			let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,&style_mesh);
-			println!("### predict_collision_out id={} body={} time_limit={}",intersect.model_id,relative_body,collector.time());
 			collector.collect(minkowski.predict_collision_out(&relative_body,collector.time()).map(|(face,time)|{
 				TimedInstruction{
 					time,
@@ -1296,7 +1302,6 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 			//no checks are needed because of the time limits.
 			let model_mesh=self.models.mesh(id);
 			let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,&style_mesh);
-			println!("### predict_collision_in id={} body={} time_limit={}",id,relative_body,collector.time());
 			collector.collect(minkowski.predict_collision_in(&relative_body,collector.time())
 				//temp (?) code to avoid collision loops
 				.map_or(None,|(face,time)|if time==self.time{None}else{Some((face,time))})
@@ -1671,7 +1676,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 
 #[allow(dead_code)]
 fn test_collision_axis_aligned(relative_body:Body,expected_collision_time:Option<Time>){
-	let h0=Hitbox::from_mesh_scale(PhysicsMesh::from(&crate::primitives::unit_cube()),Planar64Vec3::int(256,1,256)/2);
+	let h0=Hitbox::from_mesh_scale(PhysicsMesh::from(&crate::primitives::unit_cube()),Planar64Vec3::int(5,1,5)/2);
 	let h1=Hitbox::roblox();
 	let hitbox_mesh=h1.transformed_mesh();
 	let platform_mesh=h0.transformed_mesh();
@@ -1684,9 +1689,9 @@ fn test_collision_rotated(relative_body:Body,expected_collision_time:Option<Time
 	let h0=Hitbox::new(PhysicsMesh::from(&crate::primitives::unit_cube()),
 		crate::integer::Planar64Affine3::new(
 			crate::integer::Planar64Mat3::from_cols(
-				Planar64Vec3::int(256,0,1)/2,
+				Planar64Vec3::int(5,0,1)/2,
 				Planar64Vec3::int(0,1,0)/2,
-				Planar64Vec3::int(-1,0,256)/2,
+				Planar64Vec3::int(-1,0,5)/2,
 			),
 			Planar64Vec3::ZERO,
 		)
@@ -1866,42 +1871,6 @@ fn test_collision_oblique(){
 	),Some(Time::from_secs(2)));
 }
 #[test]
-fn test_collision_oblique_north(){
-	test_collision(Body::new(
-		Planar64Vec3::int(0,4,0),
-		Planar64Vec3::int(0,-1,-1),
-		Planar64Vec3::int(0,-1,0),
-		Time::ZERO
-	),Some(Time::from_nanos(732050807)));
-}
-#[test]
-fn test_collision_oblique_east(){
-	test_collision(Body::new(
-		Planar64Vec3::int(0,4,0),
-		Planar64Vec3::int(1,-1,0),
-		Planar64Vec3::int(0,-1,0),
-		Time::ZERO
-	),Some(Time::from_nanos(732050807)));
-}
-#[test]
-fn test_collision_oblique_south(){
-	test_collision(Body::new(
-		Planar64Vec3::int(0,4,0),
-		Planar64Vec3::int(0,-1,1),
-		Planar64Vec3::int(0,-1,0),
-		Time::ZERO
-	),Some(Time::from_nanos(732050807)));
-}
-#[test]
-fn test_collision_oblique_west(){
-	test_collision(Body::new(
-		Planar64Vec3::int(0,4,0),
-		Planar64Vec3::int(-1,-1,0),
-		Planar64Vec3::int(0,-1,0),
-		Time::ZERO
-	),Some(Time::from_nanos(732050807)));
-}
-#[test]
 fn zoom_hit_nothing(){
 	test_collision(Body::new(
 		Planar64Vec3::int(0,10,0),
@@ -1918,4 +1887,4 @@ fn already_inside_hit_nothing(){
 		Planar64Vec3::int(0,1,0),
 		Time::ZERO
 	),None);
-}
+}

src/zeroes.rs

@@ -9,6 +9,7 @@ pub fn zeroes2(a0:Planar64,a1:Planar64,a2:Planar64) -> Vec<Planar64>{
 	let radicand=a1.get() as i128*a1.get() as i128-a2.get() as i128*a0.get() as i128*4;
 	if 0<radicand {
 		//start with f64 sqrt
+		//failure case: 2^63 < sqrt(2^127)
 		let planar_radicand=Planar64::raw(unsafe{(radicand as f64).sqrt().to_int_unchecked()});
 		//TODO: one or two newtons
 		//sort roots ascending and avoid taking the difference of large numbers
@@ -28,7 +29,12 @@ pub fn zeroes2(a0:Planar64,a1:Planar64,a2:Planar64) -> Vec<Planar64>{
 pub fn zeroes1(a0:Planar64,a1:Planar64) -> Vec<Planar64> {
 	if a1==Planar64::ZERO{
 		return vec![];
-	} else {
-		return vec![-a0/a1];
+	}else{
+		let q=((-a0.get() as i128)<<32)/(a1.get() as i128);
+		if i64::MIN as i128<=q&&q<=i64::MAX as i128{
+			return vec![Planar64::raw(q as i64)];
+		}else{
+			return vec![];
+		}
 	}
 }

tools/settings.conf

@@ -1,5 +1,4 @@
 [camera]
-sensitivity_x=49192
-#sensitivity_x=98384
+sensitivity_x=98384
 fov_y=1.0
 #fov_x_from_y_ratio=1.33333333333333333333333333333333