the macroer (we were so close to greatness)

why can't I make this into a function

Cargo.lock

@@ -331,6 +331,12 @@ dependencies = [
  "crossbeam-utils",
 ]
 
+[[package]]
+name = "configparser"
+version = "3.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5458d9d1a587efaf5091602c59d299696a3877a439c8f6d461a2d3cce11df87a"
+
 [[package]]
 name = "constant_time_eq"
 version = "0.3.0"
@@ -532,6 +538,12 @@ dependencies = [
  "simd-adler32",
 ]
 
+[[package]]
+name = "fixedbitset"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ce7134b9999ecaf8bcd65542e436736ef32ddca1b3e06094cb6ec5755203b80"
+
 [[package]]
 name = "flate2"
 version = "1.0.27"
@@ -611,6 +623,15 @@ dependencies = [
  "waker-fn",
 ]
 
+[[package]]
+name = "fxhash"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c31b6d751ae2c7f11320402d34e41349dd1016f8d5d45e48c4312bc8625af50c"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "generic-array"
 version = "0.14.7"
@@ -756,6 +777,16 @@ version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
 
+[[package]]
+name = "include_wgsl"
+version = "1.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57ac28436974a64aef47cbf8453e8f1a558b779177fe50b7e3c3774e2cb9ba47"
+dependencies = [
+ "naga 0.7.3",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "indexmap"
 version = "1.9.3"
@@ -1007,6 +1038,24 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "naga"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "806f448a7ce662ca79ef5484ef8f451a9b7c51b8166c95f5a667228b3825a6ca"
+dependencies = [
+ "bit-set",
+ "bitflags 1.3.2",
+ "codespan-reporting",
+ "fxhash",
+ "hexf-parse",
+ "indexmap 1.9.3",
+ "log",
+ "num-traits 0.2.16",
+ "spirv",
+ "thiserror",
+]
+
 [[package]]
 name = "naga"
 version = "0.13.0"
@@ -1020,6 +1069,7 @@ dependencies = [
  "indexmap 1.9.3",
  "log",
  "num-traits 0.2.16",
+ "petgraph",
  "rustc-hash",
  "spirv",
  "termcolor",
@@ -1276,6 +1326,16 @@ version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9b2a4787296e9989611394c33f193f676704af1686e70b8f8033ab5ba9a35a94"
 
+[[package]]
+name = "petgraph"
+version = "0.6.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e1d3afd2628e69da2be385eb6f2fd57c8ac7977ceeff6dc166ff1657b0e386a9"
+dependencies = [
+ "fixedbitset",
+ "indexmap 2.0.0",
+]
+
 [[package]]
 name = "pin-project-lite"
 version = "0.2.13"
@@ -1682,13 +1742,15 @@ checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
 
 [[package]]
 name = "strafe-client"
-version = "0.7.0"
+version = "0.8.0"
 dependencies = [
  "async-executor",
  "bytemuck",
+ "configparser",
  "ddsfile",
  "env_logger",
  "glam",
+ "include_wgsl",
  "lazy-regex",
  "log",
  "obj",
@@ -2020,7 +2082,7 @@ dependencies = [
  "cfg-if",
  "js-sys",
  "log",
- "naga",
+ "naga 0.13.0",
  "parking_lot",
  "profiling",
  "raw-window-handle",
@@ -2045,7 +2107,7 @@ dependencies = [
  "bitflags 2.4.0",
  "codespan-reporting",
  "log",
- "naga",
+ "naga 0.13.0",
  "parking_lot",
  "profiling",
  "raw-window-handle",
@@ -2082,7 +2144,7 @@ dependencies = [
  "libloading 0.8.0",
  "log",
  "metal",
- "naga",
+ "naga 0.13.0",
  "objc",
  "parking_lot",
  "profiling",

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "strafe-client"
-version = "0.7.0"
+version = "0.8.0"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
@@ -8,9 +8,11 @@ edition = "2021"
 [dependencies]
 async-executor = "1.5.1"
 bytemuck = { version = "1.13.1", features = ["derive"] }
+configparser = "3.0.2"
 ddsfile = "0.5.1"
 env_logger = "0.10.0"
 glam = "0.24.1"
+include_wgsl = { version = "1.1.1", features = ["spv-out"] }
 lazy-regex = "3.0.2"
 log = "0.4.20"
 obj = "0.10.2"
@@ -20,10 +22,10 @@ rbx_binary = "0.7.1"
 rbx_dom_weak = "2.5.0"
 rbx_reflection_database = "0.2.7"
 rbx_xml = "0.13.1"
-wgpu = "0.17.0"
+wgpu = { version = "0.17.0", features = ["spirv"] }
 winit = "0.28.6"
 
-[profile.release]
-lto = true
-strip = true
-codegen-units = 1
+#[profile.release]
+#lto = true
+#strip = true
+#codegen-units = 1

src/aabb.rs

@@ -0,0 +1,91 @@
+#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
+pub enum AabbFace{
+	Right,//+X
+	Top,
+	Back,
+	Left,
+	Bottom,
+	Front,
+}
+#[derive(Clone)]
+pub struct Aabb {
+	pub min: glam::Vec3,
+	pub max: glam::Vec3,
+}
+
+impl Default for Aabb {
+	fn default() -> Self {
+		Aabb::new()
+	}
+}
+
+impl Aabb {
+	const VERTEX_DATA: [glam::Vec3; 8] = [
+		glam::vec3(1., -1., -1.),
+		glam::vec3(1., 1., -1.),
+		glam::vec3(1., 1., 1.),
+		glam::vec3(1., -1., 1.),
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(-1., 1., 1.),
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(-1., -1., -1.),
+	];
+
+	pub fn new() -> Self {
+		Self {min: glam::Vec3::INFINITY,max: glam::Vec3::NEG_INFINITY}
+	}
+
+	pub fn grow(&mut self, point:glam::Vec3){
+		self.min=self.min.min(point);
+		self.max=self.max.max(point);
+	}
+	pub fn join(&mut self, aabb:&Aabb){
+		self.min=self.min.min(aabb.min);
+		self.max=self.max.max(aabb.max);
+	}
+	pub fn inflate(&mut self, hs:glam::Vec3){
+		self.min-=hs;
+		self.max+=hs;
+	}
+	pub fn intersects(&self,aabb:&Aabb)->bool{
+		(self.min.cmplt(aabb.max)&aabb.min.cmplt(self.max)).all()
+	}
+	pub fn normal(face:AabbFace) -> glam::Vec3 {
+		match face {
+			AabbFace::Right => glam::vec3(1.,0.,0.),
+			AabbFace::Top => glam::vec3(0.,1.,0.),
+			AabbFace::Back => glam::vec3(0.,0.,1.),
+			AabbFace::Left => glam::vec3(-1.,0.,0.),
+			AabbFace::Bottom => glam::vec3(0.,-1.,0.),
+			AabbFace::Front => glam::vec3(0.,0.,-1.),
+		}
+	}
+	pub fn unit_vertices() -> [glam::Vec3;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)->glam::Vec3{
+		return (self.min+self.max)/2.0
+	}
+	//probably use floats for area & volume because we don't care about precision
+	pub fn area_weight(&self)->f32{
+		let d=self.max-self.min;
+		d.x*d.y+d.y*d.z+d.z*d.x
+	}
+	pub fn volume(&self)->f32{
+		let d=self.max-self.min;
+		d.x*d.y*d.z
+	}
+}

src/bvh.rs

@@ -0,0 +1,107 @@
+use crate::aabb::Aabb;
+
+//da algaritum
+//lista boxens
+//sort by {minx,maxx,miny,maxy,minz,maxz} (6 lists)
+//find the sets that minimizes the sum of surface areas
+//splitting is done when the minimum split sum of surface areas is larger than the node's own surface area
+
+//start with bisection into octrees because a bad bvh is still 1000x better than no bvh
+//sort the centerpoints on each axis (3 lists)
+//bv is put into octant based on whether it is upper or lower in each list
+#[derive(Default)]
+pub struct BvhNode{
+	children:Vec<Self>,
+	models:Vec<u32>,
+	aabb:Aabb,
+}
+
+impl BvhNode{
+	pub fn the_tester<F:FnMut(u32)>(&self,aabb:&Aabb,f:&mut F){
+		for &model in &self.models{
+			f(model);
+		}
+		for child in &self.children{
+			if aabb.intersects(&child.aabb){
+				child.the_tester(aabb,f);
+			}
+		}
+	}
+}
+
+pub fn generate_bvh(boxen:Vec<Aabb>)->BvhNode{
+	generate_bvh_node(boxen.into_iter().enumerate().collect())
+}
+
+fn generate_bvh_node(boxen:Vec<(usize,Aabb)>)->BvhNode{
+	let n=boxen.len();
+	if n<20{
+		let mut aabb=Aabb::new();
+		let models=boxen.into_iter().map(|b|{aabb.join(&b.1);b.0 as u32}).collect();
+		BvhNode{
+			children:Vec::new(),
+			models,
+			aabb,
+		}
+	}else{
+		let mut octant=std::collections::HashMap::with_capacity(n);//this ids which octant the boxen is put in
+		let mut sort_x=Vec::with_capacity(n);
+		let mut sort_y=Vec::with_capacity(n);
+		let mut sort_z=Vec::with_capacity(n);
+		for (i,aabb) in boxen.iter(){
+			let center=aabb.center();
+			octant.insert(*i,0);
+			sort_x.push((*i,center.x));
+			sort_y.push((*i,center.y));
+			sort_z.push((*i,center.z));
+		}
+		sort_x.sort_by(|tup0,tup1|tup0.1.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());
+		let h=n/2;
+		let median_x=sort_x[h].1;
+		let median_y=sort_y[h].1;
+		let median_z=sort_z[h].1;
+		for (i,c) in sort_x{
+			if median_x<c{
+				octant.insert(i,octant[&i]+1<<0);
+			}
+		}
+		for (i,c) in sort_y{
+			if median_y<c{
+				octant.insert(i,octant[&i]+1<<1);
+			}
+		}
+		for (i,c) in sort_z{
+			if median_z<c{
+				octant.insert(i,octant[&i]+1<<2);
+			}
+		}
+		//generate lists for unique octant values
+		let mut list_list=Vec::with_capacity(8);
+		let mut octant_list=Vec::with_capacity(8);
+		for (i,aabb) in boxen.into_iter(){
+			let octant_id=octant[&i];
+			let list_id=if let Some(list_id)=octant_list.iter().position(|&id|id==octant_id){
+				list_id
+			}else{
+				let list_id=list_list.len();
+				octant_list.push(octant_id);
+				list_list.push(Vec::new());
+				list_id
+			};
+			list_list[list_id].push((i,aabb));
+		}
+		let mut aabb=Aabb::new();
+		let children=list_list.into_iter().map(|b|{
+			let node=generate_bvh_node(b);
+			aabb.join(&node.aabb);
+			node
+		}).collect();
+		BvhNode{
+			children,
+			models:Vec::new(),
+			aabb,
+		}
+	}
+}

src/instruction.rs

@@ -1,11 +1,11 @@
 #[derive(Debug)]
 pub struct TimedInstruction<I> {
-	pub time: crate::body::TIME,
+	pub time: crate::physics::TIME,
 	pub instruction: I,
 }
 
 pub trait InstructionEmitter<I> {
-	fn next_instruction(&self, time_limit:crate::body::TIME) -> Option<TimedInstruction<I>>;
+	fn next_instruction(&self, time_limit:crate::physics::TIME) -> Option<TimedInstruction<I>>;
 }
 pub trait InstructionConsumer<I> {
 	fn process_instruction(&mut self, instruction:TimedInstruction<I>);
@@ -13,11 +13,11 @@ pub trait InstructionConsumer<I> {
 
 //PROPER PRIVATE FIELDS!!!
 pub struct InstructionCollector<I> {
-	time: crate::body::TIME,
+	time: crate::physics::TIME,
 	instruction: Option<I>,
 }
 impl<I> InstructionCollector<I> {
-	pub fn new(time:crate::body::TIME) -> Self {
+	pub fn new(time:crate::physics::TIME) -> Self {
 		Self{
 			time,
 			instruction:None

src/load_roblox.rs

@@ -34,11 +34,12 @@ fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3,force_intersect
 	let mut general=crate::model::GameMechanicAttributes::default();
 	let mut intersecting=crate::model::IntersectingAttributes::default();
 	let mut contacting=crate::model::ContactingAttributes::default();
+	let mut force_can_collide=can_collide;
 	match name{
 		//"Water"=>intersecting.water=Some(crate::model::IntersectingWater{density:1.0,drag:1.0}),
-		"Accelerator"=>intersecting.accelerator=Some(crate::model::IntersectingAccelerator{acceleration:velocity}),
-		"MapFinish"=>general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Finish}),
-		"MapAnticheat"=>general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Anitcheat}),
+		"Accelerator"=>{force_can_collide=false;intersecting.accelerator=Some(crate::model::IntersectingAccelerator{acceleration: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})},
 		"Platform"=>general.stage_element=Some(crate::model::GameMechanicStageElement{
 			mode_id:0,
 			stage_id:0,
@@ -57,14 +58,15 @@ fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3,force_intersect
 					},
 					behaviour:match &captures[2]{
 						"Spawn"|"SpawnAt"=>crate::model::StageElementBehaviour::SpawnAt,
-						"Trigger"=>crate::model::StageElementBehaviour::Trigger,
-						"Teleport"=>crate::model::StageElementBehaviour::Teleport,
+						"Trigger"=>{force_can_collide=false;crate::model::StageElementBehaviour::Trigger},
+						"Teleport"=>{force_can_collide=false;crate::model::StageElementBehaviour::Teleport},
 						"Platform"=>crate::model::StageElementBehaviour::Platform,
 						_=>panic!("regex1[2] messed up bad"),
 					}
 				})
 			}else if let Some(captures)=lazy_regex::regex!(r"^Bonus(Finish|Anticheat)(\d+)$")
 			.captures(other){
+				force_can_collide=false;
 				match &captures[1]{
 					"Finish"=>general.zone=Some(crate::model::GameMechanicZone{mode_id:captures[2].parse::<u32>().unwrap(),behaviour:crate::model::ZoneBehaviour::Finish}),
 					"Anticheat"=>general.zone=Some(crate::model::GameMechanicZone{mode_id:captures[2].parse::<u32>().unwrap(),behaviour:crate::model::ZoneBehaviour::Anitcheat}),
@@ -77,7 +79,7 @@ fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3,force_intersect
 	if velocity!=glam::Vec3::ZERO{
 		general.booster=Some(crate::model::GameMechanicBooster{velocity});
 	}
-	match can_collide{
+	match force_can_collide{
 		true=>{
 			match name{
 				//"Bounce"=>(),
@@ -176,7 +178,7 @@ impl RobloxFaceTextureDescription{
 }
 type RobloxPartDescription=[Option<RobloxFaceTextureDescription>;6];
 type RobloxWedgeDescription=[Option<RobloxFaceTextureDescription>;5];
-type RobloxCornerWedgeDescription=[Option<RobloxFaceTextureDescription>;4];
+type RobloxCornerWedgeDescription=[Option<RobloxFaceTextureDescription>;5];
 #[derive(Clone,Eq,Hash,PartialEq)]
 enum RobloxBasePartDescription{
 	Sphere,
@@ -309,9 +311,7 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 								};
 								let normal_id=normalid.to_u32();
 								if normal_id<6{
-									let mut roblox_texture_transform=RobloxTextureTransform::default();
-									let mut roblox_texture_color=glam::Vec4::ONE;
-									if decal.class=="Texture"{
+									let (roblox_texture_color,roblox_texture_transform)=if decal.class=="Texture"{
 										//generate tranform
 										if let (
 												Some(rbx_dom_weak::types::Variant::Float32(ox)),
@@ -334,13 +334,19 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 												5=>(size.x,size.y),//front
 												_=>panic!("unreachable"),
 											};
-											roblox_texture_transform=RobloxTextureTransform{
-												offset_u:*ox/(*sx),offset_v:*oy/(*sy),
-												scale_u:size_u/(*sx),scale_v:size_v/(*sy),
-											};
-											roblox_texture_color=glam::vec4(decal_color3.r,decal_color3.g,decal_color3.b,1.0-*decal_transparency);
+											(
+												glam::vec4(decal_color3.r,decal_color3.g,decal_color3.b,1.0-*decal_transparency),
+												RobloxTextureTransform{
+													offset_u:*ox/(*sx),offset_v:*oy/(*sy),
+													scale_u:size_u/(*sx),scale_v:size_v/(*sy),
+												}
+											)
+										}else{
+											(glam::Vec4::ONE,RobloxTextureTransform::default())
 										}
-									}
+									}else{
+										(glam::Vec4::ONE,RobloxTextureTransform::default())
+									};
 									part_texture_description[normal_id as usize]=Some(RobloxFaceTextureDescription{
 										texture:texture_id,
 										color:roblox_texture_color,
@@ -374,9 +380,11 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 						f3,//Cube::Left->Wedge::Left
 						f4,//Cube::Bottom->Wedge::Bottom
 					]),
+					//TODO: fix Left+Back texture coordinates to match roblox when not overwridden by Top
 					primitives::Primitives::CornerWedge=>RobloxBasePartDescription::CornerWedge([
 						f0,//Cube::Right->CornerWedge::Right
-						f1,//Cube::Top->CornerWedge::Top
+						if f2.is_some(){f2}else{f1.clone()},//Cube::Back|Cube::Top->CornerWedge::TopBack
+						if f3.is_some(){f3}else{f1},//Cube::Left|Cube::Top->CornerWedge::TopLeft
 						f4,//Cube::Bottom->CornerWedge::Bottom
 						f5,//Cube::Front->CornerWedge::Front
 					]),
@@ -435,10 +443,11 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 							for (face_id,roblox_face_description) in cornerwedge_texture_description.iter().enumerate(){
 								cornerwedge_face_description.insert(
 								match face_id{
-									0=>primitives::CornerWedgeFace::Top,
-									1=>primitives::CornerWedgeFace::Right,
-									2=>primitives::CornerWedgeFace::Bottom,
-									3=>primitives::CornerWedgeFace::Front,
+									0=>primitives::CornerWedgeFace::Right,
+									1=>primitives::CornerWedgeFace::TopBack,
+									2=>primitives::CornerWedgeFace::TopLeft,
+									3=>primitives::CornerWedgeFace::Bottom,
+									4=>primitives::CornerWedgeFace::Front,
 									_=>panic!("unreachable"),
 								},
 								match roblox_face_description{

src/main.rs

@@ -1,17 +1,20 @@
 use std::{borrow::Cow, time::Instant};
 use wgpu::{util::DeviceExt, AstcBlock, AstcChannel};
 use model::{Vertex,ModelInstance,ModelGraphicsInstance};
-use body::{InputInstruction, PhysicsInstruction};
+use physics::{InputInstruction, PhysicsInstruction};
 use instruction::{TimedInstruction, InstructionConsumer};
 
-mod body;
+mod bvh;
+mod aabb;
 mod model;
 mod zeroes;
+mod worker;
+mod physics;
+mod settings;
 mod framework;
 mod primitives;
 mod instruction;
 mod load_roblox;
-mod worker;
 
 struct Entity {
 	index_count: u32,
@@ -44,14 +47,61 @@ 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:glam::Vec2)->Self{
+		Self{
+			screen_size,
+			fov,
+		}
+	}
+	pub fn proj(&self)->glam::Mat4{
+		perspective_rh(self.fov.x, self.fov.y, 0.5, 2000.0)
+	}
+	pub fn world(&self,pos:glam::Vec3,angles:glam::Vec2)->glam::Mat4{
+		//f32 good enough for view matrix
+		glam::Mat4::from_translation(pos) * glam::Mat4::from_euler(glam::EulerRot::YXZ, angles.x, angles.y, 0f32)
+	}
+
+	pub fn to_uniform_data(&self,(pos,angles): (glam::Vec3,glam::Vec2)) -> [f32; 16 * 4] {
+		let proj=self.proj();
+		let proj_inv = proj.inverse();
+		let view_inv=self.world(pos,angles);
+		let view=view_inv.inverse();
+
+		let mut raw = [0f32; 16 * 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)[..]);
+		raw[48..64].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&view_inv)[..]);
+		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,
@@ -61,13 +111,18 @@ impl GraphicsState{
 	pub fn clear(&mut self){
 		self.models.clear();
 	}
+	pub fn load_user_settings(&mut self,user_settings:&settings::UserSettings){
+		self.camera.fov=user_settings.calculate_fov(1.0,&self.camera.screen_size).as_vec2();
+	}
 }
 
 pub struct GlobalState{
 	start_time: std::time::Instant,
 	manual_mouse_lock:bool,
+	mouse:physics::MouseState,
+	user_settings:settings::UserSettings,
 	graphics:GraphicsState,
-	physics:body::PhysicsState,
+	physics_thread:worker::CompatWorker<TimedInstruction<InputInstruction>,physics::PhysicsOutputState,Box<dyn FnMut(TimedInstruction<InputInstruction>)->physics::PhysicsOutputState>>,
 }
 
 impl GlobalState{
@@ -95,77 +150,6 @@ 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)=body::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
 
@@ -243,7 +227,7 @@ impl GlobalState{
 				}else{
 					Some(ModelGraphicsInstance{
 						transform: glam::Mat4::from(instance.transform),
-						normal_transform: glam::Mat4::from(instance.transform.inverse()).transpose(),
+						normal_transform: glam::Mat3::from(instance.transform.matrix3.inverse().transpose()),
 						color: instance.color,
 					})
 				}
@@ -252,7 +236,7 @@ impl GlobalState{
 			let id=unique_texture_models.len();
 			let mut unique_textures=Vec::new();
 			for group in model.groups.into_iter(){
-				//ignore zero coppy optimization for now
+				//ignore zero copy optimization for now
 				let texture_index=if let Some(texture_index)=unique_textures.iter().position(|&texture|texture==group.texture){
 					texture_index
 				}else{
@@ -282,9 +266,9 @@ impl GlobalState{
 			let mut vertices = Vec::new();
 			let mut index_from_vertex = std::collections::HashMap::new();//::<IndexedVertex,usize>
 			let mut entities = Vec::new();
-			//TODO: combine groups using the same render pattern
-			for group in model.groups {
+			//this mut be combined in a more complex way if the models use different render patterns per group
 				let mut indices = Vec::new();
+			for group in model.groups {
 				for poly in group.polys {
 					for end_index in 2..poly.vertices.len() {
 						for &index in &[0, end_index - 1, end_index] {
@@ -306,8 +290,8 @@ impl GlobalState{
 						}
 					}
 				}
-				entities.push(indices);
 			}
+				entities.push(indices);
 			models.push(model::ModelSingleTexture{
 				instances:model.instances,
 				vertices,
@@ -391,7 +375,7 @@ impl GlobalState{
 	}
 }
 
-const MODEL_BUFFER_SIZE:usize=4*4 + 4*4 + 4;//let size=std::mem::size_of::<ModelInstance>();
+const MODEL_BUFFER_SIZE:usize=4*4 + 12 + 4;//let size=std::mem::size_of::<ModelInstance>();
 const MODEL_BUFFER_SIZE_BYTES:usize=MODEL_BUFFER_SIZE*4;
 fn get_instances_buffer_data(instances:&[ModelGraphicsInstance]) -> Vec<f32> {
 	let mut raw = Vec::with_capacity(MODEL_BUFFER_SIZE*instances.len());
@@ -400,7 +384,12 @@ fn get_instances_buffer_data(instances:&[ModelGraphicsInstance]) -> Vec<f32> {
     	//model transform
     	raw.extend_from_slice(&AsRef::<[f32; 4*4]>::as_ref(&mi.transform)[..]);
     	//normal transform
-    	raw.extend_from_slice(&AsRef::<[f32; 4*4]>::as_ref(&mi.normal_transform)[..]);
+    	raw.extend_from_slice(AsRef::<[f32; 3]>::as_ref(&mi.normal_transform.x_axis));
+    	raw.extend_from_slice(&[0.0]);
+    	raw.extend_from_slice(AsRef::<[f32; 3]>::as_ref(&mi.normal_transform.y_axis));
+    	raw.extend_from_slice(&[0.0]);
+    	raw.extend_from_slice(AsRef::<[f32; 3]>::as_ref(&mi.normal_transform.z_axis));
+    	raw.extend_from_slice(&[0.0]);
     	//color
     	raw.extend_from_slice(AsRef::<[f32; 4]>::as_ref(&mi.color));
     	raw.append(&mut v);
@@ -408,20 +397,6 @@ fn get_instances_buffer_data(instances:&[ModelGraphicsInstance]) -> Vec<f32> {
 	raw
 }
 
-fn to_uniform_data(camera: &body::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
@@ -439,6 +414,8 @@ impl framework::Example for GlobalState {
 		device: &wgpu::Device,
 		queue: &wgpu::Queue,
 	) -> Self {
+		//wee
+		let user_settings=settings::read_user_settings();
 		let mut indexed_models = Vec::new();
 		indexed_models.append(&mut model::generate_indexed_model_list_from_obj(obj::ObjData::load_buf(&include_bytes!("../models/teslacyberv3.0.obj")[..]).unwrap(),*glam::Vec4::ONE.as_ref()));
 		indexed_models.push(primitives::unit_sphere());
@@ -579,28 +556,9 @@ impl framework::Example for GlobalState {
 		// Create the render pipeline
 		let shader = device.create_shader_module(wgpu::ShaderModuleDescriptor {
 			label: None,
-			source: wgpu::ShaderSource::Wgsl(Cow::Borrowed(include_str!("shader.wgsl"))),
+			source: wgpu::ShaderSource::SpirV(Cow::Borrowed(include_wgsl_to_spv!("shader.wgsl"))),
 		});
 
-		let physics = body::PhysicsState {
-			spawn_point:glam::vec3(0.0,50.0,0.0),
-			body: 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:body::StyleModifiers::default(),
-			grounded: false,
-			contacts: std::collections::HashMap::new(),
-			intersects: std::collections::HashMap::new(),
-			models: Vec::new(),
-			walk: body::WalkState::new(),
-			camera: body::Camera::from_offset(glam::vec3(0.0,4.5-2.5,0.0),(config.width as f32)/(config.height as f32)),
-			mouse_interpolation: body::MouseInterpolationState::new(),
-			controls: 0,
-			world:body::WorldState{},
-			game:body::GameMechanicsState::default(),
-			modes:Vec::new(),
-			mode_from_mode_id:std::collections::HashMap::new(),
-		};
-
 		//load textures
 		let device_features = device.features();
 
@@ -795,7 +753,14 @@ 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();
+
+		physics.load_user_settings(&user_settings);
+
+		let screen_size=glam::uvec2(config.width,config.height);
+
+		let camera=GraphicsCamera::new(screen_size,user_settings.calculate_fov(1.0,&screen_size).as_vec2());
+		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 +776,7 @@ 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: &[
@@ -828,8 +794,7 @@ impl framework::Example for GlobalState {
 
 		let depth_view = Self::create_depth_texture(config, device);
 
-		let graphics=GraphicsState {
-			screen_size: (config.width,config.height),
+		let mut graphics=GraphicsState {
 			pipelines:GraphicsPipelines{
 				skybox:sky_pipeline,
 				model:model_pipeline
@@ -838,6 +803,7 @@ impl framework::Example for GlobalState {
 				camera:camera_bind_group,
 				skybox_texture:skybox_texture_bind_group,
 			},
+			camera,
 			camera_buf,
 			models: Vec::new(),
 			depth_view,
@@ -847,12 +813,7 @@ 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,
-		};
+		graphics.load_user_settings(&user_settings);
 
 		let indexed_model_instances=model::IndexedModelInstances{
 			textures:Vec::new(),
@@ -860,7 +821,25 @@ impl framework::Example for GlobalState {
 			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(),
+			user_settings,
+			graphics,
+			physics_thread,
+		};
 		state.generate_model_graphics(&device,&queue,indexed_model_instances);
 
 		let args:Vec<String>=std::env::args().collect();
@@ -884,7 +863,6 @@ impl framework::Example for GlobalState {
 			//.snf = "SNMF"
 			//.snf = "SNBF"
 			if let (Ok(()),Ok(()))=(std::io::Read::read_exact(&mut input, &mut first_8),std::io::Seek::rewind(&mut input)){
-				//
 				if let Some(indexed_model_instances)={
 					match &first_8[0..4]{
 						b"<rob"=>{
@@ -911,21 +889,22 @@ 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.generate_model_physics(&indexed_model_instances);
+
+					let mut physics=physics::PhysicsState::default();
+					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.load_user_settings(&self.user_settings);
+					physics.generate_models(&indexed_model_instances);
+					self.physics_thread=physics.into_worker();
+
+					//graphics.load_user_settings(&self.user_settings);
 					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: body::PhysicsInstruction::SetSpawnPosition(spawn_point),
-					});
-					instruction::InstructionConsumer::process_instruction(&mut self.physics, instruction::TimedInstruction{
-						time,
-						instruction: body::PhysicsInstruction::Input(body::InputInstruction::Reset),
-					});
 				}else{
 					println!("No modeldatas were generated");
 				}
@@ -939,54 +918,26 @@ impl framework::Example for GlobalState {
 
 	#[allow(clippy::single_match)]
 	fn update(&mut self, window: &winit::window::Window, device: &wgpu::Device, queue: &wgpu::Queue, event: winit::event::WindowEvent) {
+		let time=self.start_time.elapsed().as_nanos() as i64;
 		match event {
 			winit::event::WindowEvent::DroppedFile(path) => self.load_file(path,device,queue),
 			winit::event::WindowEvent::Focused(state)=>{
 				//pause unpause
 				//recalculate pressed keys on focus
-			}
-			_=>(),
-		}
-	}
-
-	fn device_event(&mut self, window: &winit::window::Window, event: winit::event::DeviceEvent) {
-		//there's no way this is the best way get a timestamp.
-		let time=self.start_time.elapsed().as_nanos() as i64;
-		match event {
-			winit::event::DeviceEvent::Key(winit::event::KeyboardInput {
-				state,
-				scancode: keycode,
+			},
+			winit::event::WindowEvent::KeyboardInput {
+				input:winit::event::KeyboardInput{state, virtual_keycode,..},
 				..
-			}) => {
+			}=>{
 				let s=match state {
 					winit::event::ElementState::Pressed => true,
 					winit::event::ElementState::Released => false,
 				};
-				if let Some(input_instruction)=match keycode {
-					17=>Some(InputInstruction::MoveForward(s)),//W
-					30=>Some(InputInstruction::MoveLeft(s)),//A
-					31=>Some(InputInstruction::MoveBack(s)),//S
-					32=>Some(InputInstruction::MoveRight(s)),//D
-					18=>Some(InputInstruction::MoveUp(s)),//E
-					16=>Some(InputInstruction::MoveDown(s)),//Q
-					57=>Some(InputInstruction::Jump(s)),//Space
-					44=>Some(InputInstruction::Zoom(s)),//Z
-					19=>if s{Some(InputInstruction::Reset)}else{None},//R
-					01=>{//Esc
+				match virtual_keycode{
+					Some(winit::event::VirtualKeyCode::Tab)=>{
 						if s{
 							self.manual_mouse_lock=false;
-							match window.set_cursor_grab(winit::window::CursorGrabMode::None){
-								Ok(())=>(),
-								Err(e)=>println!("Could not release cursor: {:?}",e),
-							}
-							window.set_cursor_visible(true);
-						}
-						None
-					},
-					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),
 							}
@@ -1011,22 +962,61 @@ impl framework::Example for GlobalState {
 							}
 						}
 						window.set_cursor_visible(s);
-						None
 					},
-					_ => {println!("scancode {}",keycode);None},
-				}{
-					self.physics.run(time);
-					self.physics.process_instruction(TimedInstruction{
-						time,
-						instruction:PhysicsInstruction::Input(input_instruction),
-					})
+					Some(winit::event::VirtualKeyCode::F11)=>{
+						if s{
+							if window.fullscreen().is_some(){
+								window.set_fullscreen(None);
+							}else{
+								window.set_fullscreen(Some(winit::window::Fullscreen::Borderless(None)));
+							}
+						}
+					},
+					Some(winit::event::VirtualKeyCode::Escape)=>{
+						if s{
+							self.manual_mouse_lock=false;
+							match window.set_cursor_grab(winit::window::CursorGrabMode::None){
+								Ok(())=>(),
+								Err(e)=>println!("Could not release cursor: {:?}",e),
+							}
+							window.set_cursor_visible(true);
+						}
+					},
+					Some(keycode)=>{
+						if let Some(input_instruction)=match keycode {
+							winit::event::VirtualKeyCode::W => Some(InputInstruction::MoveForward(s)),
+							winit::event::VirtualKeyCode::A => Some(InputInstruction::MoveLeft(s)),
+							winit::event::VirtualKeyCode::S => Some(InputInstruction::MoveBack(s)),
+							winit::event::VirtualKeyCode::D => Some(InputInstruction::MoveRight(s)),
+							winit::event::VirtualKeyCode::E => Some(InputInstruction::MoveUp(s)),
+							winit::event::VirtualKeyCode::Q => Some(InputInstruction::MoveDown(s)),
+							winit::event::VirtualKeyCode::Space => Some(InputInstruction::Jump(s)),
+							winit::event::VirtualKeyCode::Z => Some(InputInstruction::Zoom(s)),
+							winit::event::VirtualKeyCode::R => if s{Some(InputInstruction::Reset)}else{None},
+							_ => None,
+						}{
+							self.physics_thread.send(TimedInstruction{
+								time,
+								instruction:input_instruction,
+							}).unwrap();
+						}
+					},
+					_=>(),
 				}
 			},
+			_=>(),
+		}
+	}
+
+	fn device_event(&mut self, window: &winit::window::Window, event: winit::event::DeviceEvent) {
+		//there's no way this is the best way get a timestamp.
+		let time=self.start_time.elapsed().as_nanos() as i64;
+		match event {
 			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),
 					}
@@ -1034,21 +1024,22 @@ 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.process_instruction(TimedInstruction{
+					self.physics_thread.send(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();
 				}
 			}
 			_=>(),
@@ -1062,8 +1053,8 @@ 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.physics.camera.set_fov_aspect(1.0,(config.width as f32)/(config.height as f32));
+		self.graphics.camera.screen_size=glam::uvec2(config.width, config.height);
+		self.graphics.load_user_settings(&self.user_settings);
 	}
 
 	fn render(
@@ -1073,15 +1064,20 @@ 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.run(time);
+		self.physics_thread.send(TimedInstruction{
+			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,
@@ -1092,6 +1088,7 @@ impl framework::Example for GlobalState {
 			)
 			.copy_from_slice(bytemuck::cast_slice(&camera_uniforms));
 		//This code only needs to run when the uniforms change
+		/*
 		for model in self.graphics.models.iter() {
 			let model_uniforms = get_instances_buffer_data(&model.instances);
 			self.graphics.staging_belt
@@ -1104,6 +1101,7 @@ impl framework::Example for GlobalState {
 				)
 				.copy_from_slice(bytemuck::cast_slice(&model_uniforms));
 		}
+		*/
 		self.graphics.staging_belt.finish();
 
 		{

src/model.rs

@@ -52,7 +52,7 @@ pub struct ModelSingleTexture{
 #[derive(Clone)]
 pub struct ModelGraphicsInstance{
 	pub transform:glam::Mat4,
-	pub normal_transform:glam::Mat4,
+	pub normal_transform:glam::Mat3,
 	pub color:glam::Vec4,
 }
 pub struct ModelInstance{
@@ -104,7 +104,6 @@ impl ModeDescription{
 		}
 	}
 }
-#[derive(Debug)]
 pub enum TempIndexedAttributes{
 	Start{
 		mode_id:u32,

src/physics.rs

@@ -13,19 +13,32 @@ pub enum PhysicsInstruction {
 	// 	bool,//true = Force
 	// )
 	//InputInstructions conditionally activate RefreshWalkTarget (by doing what SetWalkTargetVelocity used to do and then flagging it)
-	Input(InputInstruction),
-	//temp
-	SetSpawnPosition(glam::Vec3),
+	Input(PhysicsInputInstruction),
+}
+#[derive(Debug)]
+pub enum PhysicsInputInstruction {
+	ReplaceMouse(MouseState,MouseState),
+	SetNextMouse(MouseState),
+	SetMoveRight(bool),
+	SetMoveUp(bool),
+	SetMoveBack(bool),
+	SetMoveLeft(bool),
+	SetMoveDown(bool),
+	SetMoveForward(bool),
+	SetJump(bool),
+	SetZoom(bool),
+	Reset,
+	Idle,
 }
 #[derive(Debug)]
 pub enum InputInstruction {
 	MoveMouse(glam::IVec2),
-	MoveForward(bool),
-	MoveLeft(bool),
-	MoveBack(bool),
 	MoveRight(bool),
 	MoveUp(bool),
+	MoveBack(bool),
+	MoveLeft(bool),
 	MoveDown(bool),
+	MoveForward(bool),
 	Jump(bool),
 	Zoom(bool),
 	Reset,
@@ -34,7 +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
@@ -93,49 +106,29 @@ 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 {
-	interpolation: MouseInterpolation,
-	time0: TIME,
-	time1: TIME,
-	mouse0: glam::IVec2,
-	mouse1: glam::IVec2,
+#[derive(Clone,Debug)]
+pub struct MouseState {
+	pub pos: glam::IVec2,
+	pub time: TIME,
 }
-
-impl MouseInterpolationState {
-	pub fn new() -> Self {
+impl Default for MouseState{
+	fn default() -> Self {
 		Self {
-			interpolation:MouseInterpolation::First,
-			time0:0,
-			time1:1,//ONE NANOSECOND!!!! avoid divide by zero
-			mouse0:glam::IVec2::ZERO,
-			mouse1:glam::IVec2::ZERO,
+			time:0,
+			pos: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 {
-		match self.interpolation {
-			MouseInterpolation::First => self.mouse0,
-			MouseInterpolation::Lerp => {
-				let m0=self.mouse0.as_i64vec2();
-				let m1=self.mouse1.as_i64vec2();
-				//these are deltas
-				let t1t=(self.time1-time) as i64;
-				let tt0=(time-self.time0) as i64;
-				let dt=(self.time1-self.time0) as i64;
-				((m0*t1t+m1*tt0)/dt).as_ivec2()
-			}
-		}
+}
+impl MouseState {
+	pub fn lerp(&self,target:&MouseState,time:TIME)->glam::IVec2 {
+		let m0=self.pos.as_i64vec2();
+		let m1=target.pos.as_i64vec2();
+		//these are deltas
+		let t1t=(target.time-time) as i64;
+		let tt0=(time-self.time) as i64;
+		let dt=(target.time-self.time) as i64;
+		((m0*t1t+m1*tt0)/dt).as_ivec2()
 	}
 }
 
@@ -158,15 +151,14 @@ impl WalkState {
 	}
 }
 
-// Note: we use the Y=up coordinate space in this example.
-pub struct Camera {
+#[derive(Clone)]
+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]
@@ -178,45 +170,22 @@ fn mat3_from_rotation_y_f64(angle: f64) -> glam::Mat3 {
 		glam::Vec3::new(sina as f32, 0.0, cosa as f32),
 	)
 }
-#[inline]
-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 Camera {
-	pub fn from_offset(offset:glam::Vec3,aspect:f32) -> Self {
+impl PhysicsCamera {
+	pub fn from_offset(offset:glam::Vec3) -> 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,
+			sensitivity: glam::dvec2(1.0/1024.0,1.0/1024.0),
+			mouse:MouseState{pos:glam::IVec2::ZERO,time:-1},//escape initialization hell divide by zero
 		}
 	}
-	fn simulate_move_angles(&self, delta: glam::IVec2) -> glam::DVec2 {
-		let mut a=self.angles-self.sensitivity*delta.as_dvec2();
+	pub fn simulate_move_angles(&self, mouse_pos: glam::IVec2) -> glam::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 {
-		mat3_from_rotation_y_f64(self.angles.x-self.sensitivity.x*(delta_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;
+	fn simulate_move_rotation_y(&self, mouse_pos_x: i32) -> glam::Mat3 {
+		mat3_from_rotation_y_f64(self.angles.x-self.sensitivity.x*((mouse_pos_x-self.mouse.pos.x) as f64))
 	}
 }
 
@@ -277,7 +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{
@@ -321,13 +290,14 @@ 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 mouse_interpolation:MouseInterpolationState,
+	pub camera:PhysicsCamera,
+	pub next_mouse:MouseState,//Where is the mouse headed next
 	pub controls:u32,
 	pub walk:WalkState,
 	pub grounded:bool,
 	//all models
 	pub models:Vec<ModelPhysics>,
+	pub bvh:crate::bvh::BvhNode,
 	
 	pub modes:Vec<crate::model::ModeDescription>,
 	pub mode_from_mode_id:std::collections::HashMap::<u32,usize>,
@@ -335,115 +305,20 @@ pub struct PhysicsState{
 	//This is not the same as Reset which teleports you to Spawn0
 	pub spawn_point:glam::Vec3,
 }
-
-#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
-pub enum AabbFace{
-	Right,//+X
-	Top,
-	Back,
-	Left,
-	Bottom,
-	Front,
-}
 #[derive(Clone)]
-pub struct Aabb {
-	min: glam::Vec3,
-	max: glam::Vec3,
+pub struct PhysicsOutputState{
+	camera:PhysicsCamera,
+	body:Body,
 }
-
-impl Aabb {
-	// const FACE_DATA: [[f32; 3]; 6] = [
-	// 	[0.0f32, 0., 1.],
-	// 	[0.0f32, 0., -1.],
-	// 	[1.0f32, 0., 0.],
-	// 	[-1.0f32, 0., 0.],
-	// 	[0.0f32, 1., 0.],
-	// 	[0.0f32, -1., 0.],
-	// ];
-	const VERTEX_DATA: [glam::Vec3; 8] = [
-		glam::vec3(1., -1., -1.),
-		glam::vec3(1., 1., -1.),
-		glam::vec3(1., 1., 1.),
-		glam::vec3(1., -1., 1.),
-		glam::vec3(-1., -1., 1.),
-		glam::vec3(-1., 1., 1.),
-		glam::vec3(-1., 1., -1.),
-		glam::vec3(-1., -1., -1.),
-	];
-	const VERTEX_DATA_RIGHT: [glam::Vec3; 4] = [
-		glam::vec3(1., -1., -1.),
-		glam::vec3(1., 1., -1.),
-		glam::vec3(1., 1., 1.),
-		glam::vec3(1., -1., 1.),
-	];
-	const VERTEX_DATA_TOP: [glam::Vec3; 4] = [
-		glam::vec3(1., 1., -1.),
-		glam::vec3(-1., 1., -1.),
-		glam::vec3(-1., 1., 1.),
-		glam::vec3(1., 1., 1.),
-	];
-	const VERTEX_DATA_BACK: [glam::Vec3; 4] = [
-		glam::vec3(-1., -1., 1.),
-		glam::vec3(1., -1., 1.),
-		glam::vec3(1., 1., 1.),
-		glam::vec3(-1., 1., 1.),
-	];
-	const VERTEX_DATA_LEFT: [glam::Vec3; 4] = [
-		glam::vec3(-1., -1., 1.),
-		glam::vec3(-1., 1., 1.),
-		glam::vec3(-1., 1., -1.),
-		glam::vec3(-1., -1., -1.),
-	];
-	const VERTEX_DATA_BOTTOM: [glam::Vec3; 4] = [
-		glam::vec3(1., -1., 1.),
-		glam::vec3(-1., -1., 1.),
-		glam::vec3(-1., -1., -1.),
-		glam::vec3(1., -1., -1.),
-	];
-	const VERTEX_DATA_FRONT: [glam::Vec3; 4] = [
-		glam::vec3(-1., 1., -1.),
-		glam::vec3(1., 1., -1.),
-		glam::vec3(1., -1., -1.),
-		glam::vec3(-1., -1., -1.),
-	];
-
-	pub fn new() -> Self {
-		Self {min: glam::Vec3::INFINITY,max: glam::Vec3::NEG_INFINITY}
-	}
-
-	pub fn grow(&mut self, point:glam::Vec3){
-		self.min=self.min.min(point);
-		self.max=self.max.max(point);
-	}
-
-	pub fn normal(face:AabbFace) -> glam::Vec3 {
-		match face {
-			AabbFace::Right => glam::vec3(1.,0.,0.),
-			AabbFace::Top => glam::vec3(0.,1.,0.),
-			AabbFace::Back => glam::vec3(0.,0.,1.),
-			AabbFace::Left => glam::vec3(-1.,0.,0.),
-			AabbFace::Bottom => glam::vec3(0.,-1.,0.),
-			AabbFace::Front => glam::vec3(0.,0.,-1.),
-		}
-	}
-	pub fn unit_vertices() -> [glam::Vec3;8] {
-		return Self::VERTEX_DATA;
-	}
-	pub fn unit_face_vertices(face:AabbFace) -> [glam::Vec3;4] {
-		match face {
-			AabbFace::Right => Self::VERTEX_DATA_RIGHT,
-			AabbFace::Top => Self::VERTEX_DATA_TOP,
-			AabbFace::Back => Self::VERTEX_DATA_BACK,
-			AabbFace::Left => Self::VERTEX_DATA_LEFT,
-			AabbFace::Bottom => Self::VERTEX_DATA_BOTTOM,
-			AabbFace::Front => Self::VERTEX_DATA_FRONT,
-		}
+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())
 	}
 }
 
 //pretend to be using what we want to eventually do
-type TreyMeshFace = AabbFace;
-type TreyMesh = Aabb;
+type TreyMeshFace = crate::aabb::AabbFace;
+type TreyMesh = crate::aabb::Aabb;
 
 enum PhysicsCollisionAttributes{
 	Contact{//track whether you are contacting the object
@@ -466,7 +341,7 @@ pub struct ModelPhysics {
 
 impl ModelPhysics {
 	fn from_model_transform_attributes(model:&crate::model::IndexedModel,transform:&glam::Affine3A,attributes:PhysicsCollisionAttributes)->Self{
-		let mut aabb=Aabb::new();
+		let mut aabb=TreyMesh::new();
 		for indexed_vertex in &model.unique_vertices {
 			aabb.grow(transform.transform_point3(glam::Vec3::from_array(model.unique_pos[indexed_vertex.pos as usize])));
 		}
@@ -484,29 +359,16 @@ impl ModelPhysics {
 		}
 	}
 	pub fn unit_vertices(&self) -> [glam::Vec3;8] {
-		Aabb::unit_vertices()
+		TreyMesh::unit_vertices()
 	}
 	pub fn mesh(&self) -> &TreyMesh {
 		return &self.mesh;
 	}
-	pub fn unit_face_vertices(&self,face:TreyMeshFace) -> [glam::Vec3;4] {
-		Aabb::unit_face_vertices(face)
-	}
-	pub fn face_mesh(&self,face:TreyMeshFace) -> TreyMesh {
-		let mut aabb=self.mesh.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 face_mesh(&self,face:TreyMeshFace)->TreyMesh{
+		self.mesh.face(face)
 	}
 	pub fn face_normal(&self,face:TreyMeshFace) -> glam::Vec3 {
-		Aabb::normal(face)//this is wrong for scale
+		TreyMesh::normal(face)//this is wrong for scale
 	}
 }
 
@@ -556,6 +418,30 @@ 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(),
+			bvh:crate::bvh::BvhNode::default(),
+			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();
@@ -563,6 +449,178 @@ impl PhysicsState {
 		self.contacts.clear();
 		self.intersects.clear();
 	}
+
+	pub fn into_worker(mut self)->crate::worker::CompatWorker<TimedInstruction<InputInstruction>,PhysicsOutputState,Box<dyn FnMut(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::CompatWorker::new(self.output(),Box::new(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)),
+						}
+					}
+				}
+			}
+		}
+		self.bvh=crate::bvh::generate_bvh(self.models.iter().map(|m|m.mesh().clone()).collect());
+		//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 load_user_settings(&mut self,user_settings:&crate::settings::UserSettings){
+		self.camera.sensitivity=user_settings.calculate_sensitivity();
+	}
+
 	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)
@@ -692,8 +750,8 @@ impl PhysicsState {
 		}
 	}
 	fn mesh(&self) -> TreyMesh {
-		let mut aabb=Aabb::new();
-		for vertex in Aabb::unit_vertices(){
+		let mut aabb=TreyMesh::new();
+		for vertex in TreyMesh::unit_vertices(){
 			aabb.grow(self.body.position+self.style.hitbox_halfsize*vertex);
 		}
 		aabb
@@ -710,7 +768,7 @@ impl PhysicsState {
 		let (v,a)=(-self.body.velocity,self.body.acceleration);
 		//collect x
 		match collision_data.face {
-			AabbFace::Top|AabbFace::Back|AabbFace::Bottom|AabbFace::Front=>{
+			TreyMeshFace::Top|TreyMeshFace::Back|TreyMeshFace::Bottom|TreyMeshFace::Front=>{
 				for t in zeroes2(mesh0.max.x-mesh1.min.x,v.x,0.5*a.x) {
 					//negative t = back in time
 					//must be moving towards surface to collide
@@ -738,14 +796,14 @@ impl PhysicsState {
 					}
 				}
 			},
-			AabbFace::Left=>{
+			TreyMeshFace::Left=>{
 				//generate event if v.x<0||a.x<0
 				if -v.x<0f32{
 					best_time=time;
 					exit_face=Some(TreyMeshFace::Left);
 				}
 			},
-			AabbFace::Right=>{
+			TreyMeshFace::Right=>{
 				//generate event if 0<v.x||0<a.x
 				if 0f32<(-v.x){
 					best_time=time;
@@ -755,7 +813,7 @@ impl PhysicsState {
 		}
 		//collect y
 		match collision_data.face {
-			AabbFace::Left|AabbFace::Back|AabbFace::Right|AabbFace::Front=>{
+			TreyMeshFace::Left|TreyMeshFace::Back|TreyMeshFace::Right|TreyMeshFace::Front=>{
 				for t in zeroes2(mesh0.max.y-mesh1.min.y,v.y,0.5*a.y) {
 					//negative t = back in time
 					//must be moving towards surface to collide
@@ -783,14 +841,14 @@ impl PhysicsState {
 					}
 				}
 			},
-			AabbFace::Bottom=>{
+			TreyMeshFace::Bottom=>{
 				//generate event if v.y<0||a.y<0
 				if -v.y<0f32{
 					best_time=time;
 					exit_face=Some(TreyMeshFace::Bottom);
 				}
 			},
-			AabbFace::Top=>{
+			TreyMeshFace::Top=>{
 				//generate event if 0<v.y||0<a.y
 				if 0f32<(-v.y){
 					best_time=time;
@@ -800,7 +858,7 @@ impl PhysicsState {
 		}
 		//collect z
 		match collision_data.face {
-			AabbFace::Left|AabbFace::Bottom|AabbFace::Right|AabbFace::Top=>{
+			TreyMeshFace::Left|TreyMeshFace::Bottom|TreyMeshFace::Right|TreyMeshFace::Top=>{
 				for t in zeroes2(mesh0.max.z-mesh1.min.z,v.z,0.5*a.z) {
 					//negative t = back in time
 					//must be moving towards surface to collide
@@ -828,14 +886,14 @@ impl PhysicsState {
 					}
 				}
 			},
-			AabbFace::Front=>{
+			TreyMeshFace::Front=>{
 				//generate event if v.z<0||a.z<0
 				if -v.z<0f32{
 					best_time=time;
 					exit_face=Some(TreyMeshFace::Front);
 				}
 			},
-			AabbFace::Back=>{
+			TreyMeshFace::Back=>{
 				//generate event if 0<v.z||0<a.z
 				if 0f32<(-v.z){
 					best_time=time;
@@ -853,18 +911,18 @@ impl PhysicsState {
 		None
 	}
 	fn predict_collision_start(&self,time:TIME,time_limit:TIME,model_id:u32) -> Option<TimedInstruction<PhysicsInstruction>> {
+		let mesh0=self.mesh();
+		let mesh1=self.models.get(model_id as usize).unwrap().mesh();
+		let (p,v,a,body_time)=(self.body.position,self.body.velocity,self.body.acceleration,self.body.time);
 		//find best t
 		let mut best_time=time_limit;
 		let mut best_face:Option<TreyMeshFace>=None;
-		let mesh0=self.mesh();
-		let mesh1=self.models.get(model_id as usize).unwrap().mesh();
-		let (p,v,a)=(self.body.position,self.body.velocity,self.body.acceleration);
 		//collect x
 		for t in zeroes2(mesh0.max.x-mesh1.min.x,v.x,0.5*a.x) {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=body_time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&0f32<v.x+a.x*t{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -880,7 +938,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=body_time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&v.x+a.x*t<0f32{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -897,7 +955,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=body_time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&0f32<v.y+a.y*t{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -913,7 +971,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=body_time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&v.y+a.y*t<0f32{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -930,7 +988,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=body_time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&0f32<v.z+a.z*t{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -946,7 +1004,7 @@ impl PhysicsState {
 			//must collide now or in the future
 			//must beat the current soonest collision time
 			//must be moving towards surface
-			let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
+			let t_time=body_time+((t as f64)*1_000_000_000f64) as TIME;
 			if time<=t_time&&t_time<best_time&&v.z+a.z*t<0f32{
 				let dp=self.body.extrapolated_position(t_time)-p;
 				//faces must be overlapping
@@ -985,13 +1043,15 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 		// 	collector.collect(self.predict_collision_end2(self.time,time_limit,collision_data));
 		// }
 		//check for collision start instructions (against every part in the game with no optimization!!)
-		for i in 0..self.models.len() {
-			let i=i as u32;
-			if self.contacts.contains_key(&i)||self.intersects.contains_key(&i){
-				continue;
+		let mut aabb=crate::aabb::Aabb::new();
+		aabb.grow(self.body.extrapolated_position(self.time));
+		aabb.grow(self.body.extrapolated_position(time_limit));
+		aabb.inflate(self.style.hitbox_halfsize);
+		self.bvh.the_tester(&aabb,&mut |id|{
+			if !(self.contacts.contains_key(&id)||self.intersects.contains_key(&id)){
+				collector.collect(self.predict_collision_start(self.time,time_limit,id));
 			}
-			collector.collect(self.predict_collision_start(self.time,time_limit,i));
-		}
+		});
 		if self.grounded {
 			//walk maintenance
 			collector.collect(self.next_walk_instruction());
@@ -1006,24 +1066,22 @@ 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(InputInstruction::MoveMouse(_)) => (),
-			_=>println!("{:?}",ins),
+			PhysicsInstruction::Input(PhysicsInputInstruction::Idle)
+			|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::SetSpawnPosition(_)
 			|PhysicsInstruction::ReachWalkTargetVelocity
 			|PhysicsInstruction::CollisionStart(_)
 			|PhysicsInstruction::CollisionEnd(_)
 			|PhysicsInstruction::StrafeTick => self.advance_time(ins.time),
 		}
 		match ins.instruction {
-			PhysicsInstruction::SetSpawnPosition(position)=>{
-				self.spawn_point=position;
-			}
 			PhysicsInstruction::CollisionStart(c) => {
 				let model=c.model(&self.models).unwrap();
 				match &model.attributes{
@@ -1031,51 +1089,54 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						match &contacting.surf{
 							Some(surf)=>println!("I'm surfing!"),
 							None=>match &c.face {
-								AabbFace::Top => {
+								TreyMeshFace::Top => {
 									//ground
 									self.grounded=true;
 								},
 								_ => (),
 							},
 						}
-						match &general.booster{
-							Some(booster)=>self.body.velocity+=booster.velocity,
-							None=>(),
-						}
-						match &general.stage_element{
-							Some(stage_element)=>{
-								if stage_element.force||self.game.stage_id<stage_element.stage_id{
-									self.game.stage_id=stage_element.stage_id;
-								}
-								match stage_element.behaviour{
-									crate::model::StageElementBehaviour::SpawnAt=>(),
-									crate::model::StageElementBehaviour::Trigger
-									|crate::model::StageElementBehaviour::Teleport=>{
-										//TODO make good
-										if let Some(mode)=self.get_mode(stage_element.mode_id){
-											if let Some(&spawn)=mode.get_spawn_model_id(self.game.stage_id){
-												if let Some(model)=self.models.get(spawn as usize){
-													self.body.position=model.transform.transform_point3(glam::Vec3::Y)+glam::Vec3::Y*(self.style.hitbox_halfsize.y+0.1);
-													//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
-													self.contacts.clear();
-													self.intersects.clear();
-													self.body.acceleration=self.style.gravity;
-													self.walk.state=WalkEnum::Reached;
-													self.grounded=false;
-												}else{println!("bad1");}
-											}else{println!("bad2");}
-										}else{println!("bad3");}
-									},
-									crate::model::StageElementBehaviour::Platform=>(),
-								}
-							},
-							None=>(),
-						}
 						//check ground
 						self.contacts.insert(c.model,c);
+		match &general.stage_element{
+			Some(stage_element)=>{
+				if stage_element.force||self.game.stage_id<stage_element.stage_id{
+					self.game.stage_id=stage_element.stage_id;
+				}
+				match stage_element.behaviour{
+					crate::model::StageElementBehaviour::SpawnAt=>(),
+					crate::model::StageElementBehaviour::Trigger
+					|crate::model::StageElementBehaviour::Teleport=>{
+						//TODO make good
+						if let Some(mode)=self.get_mode(stage_element.mode_id){
+							if let Some(&spawn)=mode.get_spawn_model_id(self.game.stage_id){
+								if let Some(model)=self.models.get(spawn as usize){
+									self.body.position=model.transform.transform_point3(glam::Vec3::Y)+glam::Vec3::Y*(self.style.hitbox_halfsize.y+0.1);
+									//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
+									self.contacts.clear();
+									self.intersects.clear();
+									self.body.acceleration=self.style.gravity;
+									self.walk.state=WalkEnum::Reached;
+									self.grounded=false;
+								}else{println!("bad1");}
+							}else{println!("bad2");}
+						}else{println!("bad3");}
+					},
+					crate::model::StageElementBehaviour::Platform=>(),
+				}
+			},
+			None=>(),
+		}
 						//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();
@@ -1085,6 +1146,35 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 					PhysicsCollisionAttributes::Intersect{intersecting,general}=>{
 						//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
 						self.intersects.insert(c.model,c);
+		match &general.stage_element{
+			Some(stage_element)=>{
+				if stage_element.force||self.game.stage_id<stage_element.stage_id{
+					self.game.stage_id=stage_element.stage_id;
+				}
+				match stage_element.behaviour{
+					crate::model::StageElementBehaviour::SpawnAt=>(),
+					crate::model::StageElementBehaviour::Trigger
+					|crate::model::StageElementBehaviour::Teleport=>{
+						//TODO make good
+						if let Some(mode)=self.get_mode(stage_element.mode_id){
+							if let Some(&spawn)=mode.get_spawn_model_id(self.game.stage_id){
+								if let Some(model)=self.models.get(spawn as usize){
+									self.body.position=model.transform.transform_point3(glam::Vec3::Y)+glam::Vec3::Y*(self.style.hitbox_halfsize.y+0.1);
+									//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
+									self.contacts.clear();
+									self.intersects.clear();
+									self.body.acceleration=self.style.gravity;
+									self.walk.state=WalkEnum::Reached;
+									self.grounded=false;
+								}else{println!("bad1");}
+							}else{println!("bad2");}
+						}else{println!("bad3");}
+					},
+					crate::model::StageElementBehaviour::Platform=>(),
+				}
+			},
+			None=>(),
+		}
 					},
 				}
 			},
@@ -1098,7 +1188,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						self.body.acceleration=a;
 						//check ground
 						match &c.face {
-							AabbFace::Top => {
+							TreyMeshFace::Top => {
 								self.grounded=false;
 							},
 							_ => (),
@@ -1111,7 +1201,7 @@ 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 {
@@ -1134,28 +1224,32 @@ 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) => {
-						self.camera.angles=self.camera.simulate_move_angles(self.mouse_interpolation.mouse1-self.mouse_interpolation.mouse0);
-						self.mouse_interpolation.move_mouse(self.time,m);
+					PhysicsInputInstruction::SetNextMouse(m) => {
+						self.camera.angles=self.camera.simulate_move_angles(self.next_mouse.pos);
+						(self.camera.mouse,self.next_mouse)=(self.next_mouse.clone(),m);
 					},
-					InputInstruction::MoveForward(s) => self.set_control(StyleModifiers::CONTROL_MOVEFORWARD,s),
-					InputInstruction::MoveLeft(s) => self.set_control(StyleModifiers::CONTROL_MOVELEFT,s),
-					InputInstruction::MoveBack(s) => self.set_control(StyleModifiers::CONTROL_MOVEBACK,s),
-					InputInstruction::MoveRight(s) => self.set_control(StyleModifiers::CONTROL_MOVERIGHT,s),
-					InputInstruction::MoveUp(s) => self.set_control(StyleModifiers::CONTROL_MOVEUP,s),
-					InputInstruction::MoveDown(s) => self.set_control(StyleModifiers::CONTROL_MOVEDOWN,s),
-					InputInstruction::Jump(s) => {
+					PhysicsInputInstruction::ReplaceMouse(m0,m1) => {
+						self.camera.angles=self.camera.simulate_move_angles(m0.pos);
+						(self.camera.mouse,self.next_mouse)=(m0,m1);
+					},
+					PhysicsInputInstruction::SetMoveForward(s) => self.set_control(StyleModifiers::CONTROL_MOVEFORWARD,s),
+					PhysicsInputInstruction::SetMoveLeft(s) => self.set_control(StyleModifiers::CONTROL_MOVELEFT,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;
@@ -1166,12 +1260,12 @@ 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/primitives.rs

@@ -107,8 +107,9 @@ local cornerWedgeVerticies = {
 */
 #[derive(Hash,PartialEq,Eq)]
 pub enum CornerWedgeFace{
-	Top,
 	Right,
+	TopBack,
+	TopLeft,
 	Bottom,
 	Front,
 }
@@ -162,7 +163,8 @@ pub type CornerWedgeFaceDescription=std::collections::HashMap::<CornerWedgeFace,
 pub fn unit_cornerwedge()->crate::model::IndexedModel{
 	let mut t=CornerWedgeFaceDescription::new();
 	t.insert(CornerWedgeFace::Right,FaceDescription::default());
-	t.insert(CornerWedgeFace::Top,FaceDescription::default());
+	t.insert(CornerWedgeFace::TopBack,FaceDescription::default());
+	t.insert(CornerWedgeFace::TopLeft,FaceDescription::default());
 	t.insert(CornerWedgeFace::Bottom,FaceDescription::default());
 	t.insert(CornerWedgeFace::Front,FaceDescription::default());
 	generate_partial_unit_cornerwedge(t)
@@ -456,9 +458,10 @@ pub fn generate_partial_unit_cornerwedge(face_descriptions:CornerWedgeFaceDescri
 		} as u32;
 		let face_id=match face{
 			CornerWedgeFace::Right => 0,
-			CornerWedgeFace::Top => 1,
-			CornerWedgeFace::Bottom => 2,
-			CornerWedgeFace::Front => 3,
+			CornerWedgeFace::TopBack => 1,
+			CornerWedgeFace::TopLeft => 2,
+			CornerWedgeFace::Bottom => 3,
+			CornerWedgeFace::Front => 4,
 		};
 		//always push normal
 		let normal_index=generated_normal.len() as u32;

src/settings.rs

@@ -0,0 +1,123 @@
+struct Ratio{
+	ratio:f64,
+}
+enum DerivedFov{
+	FromScreenAspect,
+	FromAspect(Ratio),
+}
+enum Fov{
+	Exactly{x:f64,y:f64},
+	DeriveX{x:DerivedFov,y:f64},
+	DeriveY{x:f64,y:DerivedFov},
+}
+impl Default for Fov{
+	fn default() -> Self {
+		Fov::DeriveX{x:DerivedFov::FromScreenAspect,y:1.0}
+	}
+}
+
+enum Sensitivity{
+	Exactly{x:f64,y:f64},
+	DeriveX{x:Ratio,y:f64},
+	DeriveY{x:f64,y:Ratio},
+}
+impl Default for Sensitivity{
+	fn default() -> Self {
+		Sensitivity::DeriveY{x:0.001,y:Ratio{ratio:1.0}}
+	}
+}
+
+#[derive(Default)]
+pub struct UserSettings{
+	fov:Fov,
+	sensitivity:Sensitivity,
+}
+impl UserSettings{
+	pub fn calculate_fov(&self,zoom:f64,screen_size:&glam::UVec2)->glam::DVec2{
+		zoom*match &self.fov{
+			&Fov::Exactly{x,y}=>glam::dvec2(x,y),
+			Fov::DeriveX{x,y}=>match x{
+				DerivedFov::FromScreenAspect=>glam::dvec2(y*(screen_size.x as f64/screen_size.y as f64),*y),
+				DerivedFov::FromAspect(ratio)=>glam::dvec2(y*ratio.ratio,*y),
+			},
+			Fov::DeriveY{x,y}=>match y{
+				DerivedFov::FromScreenAspect=>glam::dvec2(*x,x*(screen_size.y as f64/screen_size.x as f64)),
+				DerivedFov::FromAspect(ratio)=>glam::dvec2(*x,x*ratio.ratio),
+			},
+		}
+	}
+	pub fn calculate_sensitivity(&self)->glam::DVec2{
+		match &self.sensitivity{
+			&Sensitivity::Exactly{x,y}=>glam::dvec2(x,y),
+			Sensitivity::DeriveX{x,y}=>glam::dvec2(y*x.ratio,*y),
+			Sensitivity::DeriveY{x,y}=>glam::dvec2(*x,x*y.ratio),
+		}
+	}
+}
+
+/*
+//sensitivity is raw input dots (i.e. dpi = dots per inch) to radians conversion factor
+sensitivity_x=0.001
+sensitivity_y_from_x_ratio=1
+Sensitivity::DeriveY{x:0.0.001,y:DerivedSensitivity{ratio:1.0}}
+*/
+
+pub fn read_user_settings()->UserSettings{
+	let mut cfg=configparser::ini::Ini::new();
+	if let Ok(_)=cfg.load("settings.conf"){
+		let (cfg_fov_x,cfg_fov_y)=(cfg.getfloat("camera","fov_x"),cfg.getfloat("camera","fov_y"));
+		let fov=match(cfg_fov_x,cfg_fov_y){
+			(Ok(Some(fov_x)),Ok(Some(fov_y)))=>Fov::Exactly {
+				x:fov_x,
+				y:fov_y
+			},
+			(Ok(Some(fov_x)),Ok(None))=>Fov::DeriveY{
+				x:fov_x,
+				y:if let Ok(Some(fov_y_from_x_ratio))=cfg.getfloat("camera","fov_y_from_x_ratio"){
+					DerivedFov::FromAspect(Ratio{ratio:fov_y_from_x_ratio})
+				}else{
+					DerivedFov::FromScreenAspect
+				}
+			},
+			(Ok(None),Ok(Some(fov_y)))=>Fov::DeriveX{
+				x:if let Ok(Some(fov_x_from_y_ratio))=cfg.getfloat("camera","fov_x_from_y_ratio"){
+					DerivedFov::FromAspect(Ratio{ratio:fov_x_from_y_ratio})
+				}else{
+					DerivedFov::FromScreenAspect
+				},
+				y:fov_y,
+			},
+			_=>{
+				Fov::default()
+			},
+		};
+		let (cfg_sensitivity_x,cfg_sensitivity_y)=(cfg.getfloat("camera","sensitivity_x"),cfg.getfloat("camera","sensitivity_y"));
+		let sensitivity=match(cfg_sensitivity_x,cfg_sensitivity_y){
+			(Ok(Some(sensitivity_x)),Ok(Some(sensitivity_y)))=>Sensitivity::Exactly {
+				x:sensitivity_x,
+				y:sensitivity_y
+			},
+			(Ok(Some(sensitivity_x)),Ok(None))=>Sensitivity::DeriveY{
+				x:sensitivity_x,
+				y:Ratio{
+					ratio:if let Ok(Some(sensitivity_y_from_x_ratio))=cfg.getfloat("camera","sensitivity_y_from_x_ratio"){sensitivity_y_from_x_ratio}else{1.0}
+				}
+			},
+			(Ok(None),Ok(Some(sensitivity_y)))=>Sensitivity::DeriveX{
+				x:Ratio{
+					ratio:if let Ok(Some(sensitivity_x_from_y_ratio))=cfg.getfloat("camera","sensitivity_x_from_y_ratio"){sensitivity_x_from_y_ratio}else{1.0}
+				},
+				y:sensitivity_y,
+			},
+			_=>{
+				Sensitivity::default()
+			},
+		};
+		UserSettings{
+			fov,
+			sensitivity,
+		}
+	}else{
+		UserSettings::default()
+	}
+}

src/shader.wgsl

@@ -5,8 +5,8 @@ struct Camera {
 	proj_inv: mat4x4<f32>,
 	// from world to camera
 	view: mat4x4<f32>,
-	// camera position
-	cam_pos: vec4<f32>,
+	// from camera to world
+	view_inv: mat4x4<f32>,
 };
 
 //group 0 is the camera
@@ -31,8 +31,7 @@ fn vs_sky(@builtin(vertex_index) vertex_index: u32) -> SkyOutput {
 		1.0
 	);
 
-	// transposition = inversion for this orthonormal matrix
-	let inv_model_view = transpose(mat3x3<f32>(camera.view[0].xyz, camera.view[1].xyz, camera.view[2].xyz));
+	let inv_model_view = mat3x3<f32>(camera.view_inv[0].xyz, camera.view_inv[1].xyz, camera.view_inv[2].xyz);
 	let unprojected = camera.proj_inv * pos;
 
 	var result: SkyOutput;
@@ -43,7 +42,7 @@ fn vs_sky(@builtin(vertex_index) vertex_index: u32) -> SkyOutput {
 
 struct ModelInstance{
 	transform:mat4x4<f32>,
-	normal_transform:mat4x4<f32>,
+	normal_transform:mat3x3<f32>,
 	color:vec4<f32>,
 }
 //my fancy idea is to create a megatexture for each model that includes all the textures each intance will need
@@ -78,11 +77,11 @@ fn vs_entity_texture(
 ) -> EntityOutputTexture {
 	var position: vec4<f32> = model_instances[instance].transform * vec4<f32>(pos, 1.0);
 	var result: EntityOutputTexture;
-	result.normal = (model_instances[instance].normal_transform * vec4<f32>(normal, 1.0)).xyz;
+	result.normal = model_instances[instance].normal_transform * normal;
 	result.texture = texture;
 	result.color = color;
 	result.model_color = model_instances[instance].color;
-	result.view = position.xyz - camera.cam_pos.xyz;
+	result.view = position.xyz - camera.view_inv[3].xyz;//col(3)
 	result.position = camera.proj * camera.view * position;
 	return result;
 }
@@ -109,5 +108,5 @@ fn fs_entity_texture(vertex: EntityOutputTexture) -> @location(0) vec4<f32> {
 
 	let fragment_color = textureSample(model_texture, model_sampler, vertex.texture)*vertex.color;
 	let reflected_color = textureSample(cube_texture, cube_sampler, reflected).rgb;
-	return mix(vec4<f32>(vec3<f32>(0.05) + 0.2 * reflected_color,1.0),mix(vertex.model_color,vec4<f32>(fragment_color.rgb,1.0),fragment_color.a),1.0-pow(1.0-abs(d),2.0));
+	return mix(vec4<f32>(vec3<f32>(0.05) + 0.2 * reflected_color,1.0),mix(vertex.model_color,vec4<f32>(fragment_color.rgb,1.0),fragment_color.a),0.5+0.5*abs(d));
 }

src/worker.rs

@@ -6,78 +6,102 @@ 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> {
-    sender: mpsc::Sender<Task>,
-    value:Arc<Mutex<Value>>,
+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 {
-        let (sender, receiver) = mpsc::channel::<Task>();
-        let ret=Self {
-            sender,
-            value:Arc::new(Mutex::new(value)),
-        };
-        let value=ret.value.clone();
-        thread::spawn(move || {
-            loop {
-                match receiver.recv() {
-                    Ok(task) => {
-                        println!("Worker got a task");
-                        // Process the task
-                        *value.lock()=f(task);
-                    }
-                    Err(_) => {
-                        println!("Worker stopping.",);
-                        break;
-                    }
-                }
-            }
-        });
-        ret
-    }
+	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,
+			value:Arc::new(Mutex::new(value)),
+		};
+		let value=ret.value.clone();
+		thread::spawn(move || {
+			loop {
+				match receiver.recv() {
+					Ok(task) => {
+						let v=f(task);//make sure function is evaluated before lock is acquired
+						*value.lock()=v;
+					}
+					Err(_) => {
+						println!("Worker stopping.",);
+						break;
+					}
+				}
+			}
+		});
+		ret
+	}
 
-    fn send(&self,task:Task)->Result<(), mpsc::SendError<Task>>{
-        self.sender.send(task)
-    }
+	pub fn send(&self,task:Task)->Result<(), mpsc::SendError<Task>>{
+		self.sender.send(task)
+	}
 
-    fn grab_clone(&self)->Value{
-        self.value.lock().clone()
-    }
+	pub fn grab_clone(&self)->Value{
+		self.value.lock().clone()
+	}
+}
+
+pub struct CompatWorker<Task,Value:Clone,F>{
+	data:std::marker::PhantomData<Task>,
+	f:F,
+	value:Value,
+}
+
+impl<Task,Value:Clone,F:FnMut(Task)->Value> CompatWorker<Task,Value,F> {
+	pub fn new(value:Value,f:F) -> Self {
+		Self {
+			f,
+			value,
+			data:std::marker::PhantomData,
+		}
+	}
+
+	pub fn send(&mut self,task:Task)->Result<(),()>{
+		self.value=(self.f)(task);
+		Ok(())
+	}
+
+	pub fn grab_clone(&self)->Value{
+		self.value.clone()
+	}
 }
 
 #[test]//How to run this test with printing: cargo test --release -- --nocapture
 fn test_worker() {
-    println!("hiiiii");
-    // Create the worker thread
-    let worker = Worker::new(crate::body::Body::with_pva(glam::Vec3::ZERO,glam::Vec3::ZERO,glam::Vec3::ZERO),
-        |_|crate::body::Body::with_pva(glam::Vec3::ONE,glam::Vec3::ONE,glam::Vec3::ONE)
-    );
+	println!("hiiiii");
+	// Create the worker thread
+	let worker = Worker::new(crate::physics::Body::with_pva(glam::Vec3::ZERO,glam::Vec3::ZERO,glam::Vec3::ZERO),
+		|_|crate::physics::Body::with_pva(glam::Vec3::ONE,glam::Vec3::ONE,glam::Vec3::ONE)
+	);
 
-    // Send tasks to the worker
-    for i in 0..5 {
-        let task = crate::instruction::TimedInstruction{
-            time:0,
-            instruction:crate::body::PhysicsInstruction::StrafeTick,
-        };
-        worker.send(task).unwrap();
-    }
+	// Send tasks to the worker
+	for _ in 0..5 {
+		let task = crate::instruction::TimedInstruction{
+			time:0,
+			instruction:crate::physics::PhysicsInstruction::StrafeTick,
+		};
+		worker.send(task).unwrap();
+	}
 
-    // Optional: Signal the worker to stop (in a real-world scenario)
-    // sender.send("STOP".to_string()).unwrap();
+	// Optional: Signal the worker to stop (in a real-world scenario)
+	// sender.send("STOP".to_string()).unwrap();
 
-    // Sleep to allow the worker thread to finish processing
-    thread::sleep(std::time::Duration::from_secs(2));
+	// Sleep to allow the worker thread to finish processing
+	thread::sleep(std::time::Duration::from_secs(2));
 
-    // Send a new task
-    let task = crate::instruction::TimedInstruction{
-        time:0,
-        instruction:crate::body::PhysicsInstruction::StrafeTick,
-    };
-    worker.send(task).unwrap();
+	// Send a new task
+	let task = crate::instruction::TimedInstruction{
+		time:0,
+		instruction:crate::physics::PhysicsInstruction::StrafeTick,
+	};
+	worker.send(task).unwrap();
 
-    println!("value={:?}",worker.grab_clone());
+	println!("value={:?}",worker.grab_clone());
 
-    // wait long enough to see print from final task
-    thread::sleep(std::time::Duration::from_secs(1));
+	// wait long enough to see print from final task
+	thread::sleep(std::time::Duration::from_secs(1));
 }