graphics v0.0.11-depth2

Rather involved update due to it being the foundation of the physics.

Reviewed-on: #45
Co-authored-by: Rhys Lloyd <krakow20@gmail.com>
Co-committed-by: Rhys Lloyd <krakow20@gmail.com>

.gitignore

@@ -1 +1,2 @@
 /target
+.zed

Cargo.toml

@@ -25,6 +25,33 @@ resolver = "2"
 strip = true
 codegen-units = 1
 
-[profile.dev]
-strip = false
-opt-level = 3
+[workspace.lints.rust]
+# unsafe_code = "forbid"
+# missing_docs = "warn"
+# missing_debug_implementations = "warn"
+single_use_lifetimes = "warn"
+trivial_casts = "warn"
+unused_lifetimes = "warn"
+unused_qualifications = "warn"
+# variant_size_differences = "warn"
+unexpected_cfgs = "warn"
+
+[workspace.dependencies]
+glam = "0.32.0"
+wgpu = "29.0.0"
+
+# engine
+strafesnet_graphics = { path = "engine/graphics", registry = "strafesnet" }
+strafesnet_physics = { path = "engine/physics", registry = "strafesnet" }
+strafesnet_session = { path = "engine/session", registry = "strafesnet" }
+strafesnet_settings = { path = "engine/settings", registry = "strafesnet" }
+
+# lib
+fixed_wide = { version = "0.3.0", path = "lib/fixed_wide", registry = "strafesnet" }
+linear_ops = { version = "0.2.0", path = "lib/linear_ops", registry = "strafesnet" }
+ratio_ops = { version = "0.1.0", path = "lib/ratio_ops", registry = "strafesnet" }
+strafesnet_bsp_loader = { version = "0.5.0", path = "lib/bsp_loader", registry = "strafesnet" }
+strafesnet_common = { version = "0.9.0", path = "lib/common", registry = "strafesnet" }
+strafesnet_deferred_loader = { version = "0.6.0", path = "lib/deferred_loader", registry = "strafesnet" }
+strafesnet_rbx_loader = { version = "0.10.2", path = "lib/rbx_loader", registry = "strafesnet" }
+strafesnet_snf = { version = "0.4.0", path = "lib/snf", registry = "strafesnet" }

engine/graphics/Cargo.toml

@@ -1,14 +1,15 @@
 [package]
 name = "strafesnet_graphics"
-version = "0.1.0"
+version = "0.0.11-depth2"
 edition = "2024"
 
 [dependencies]
 bytemuck = { version = "1.13.1", features = ["derive"] }
 ddsfile = "0.5.1"
-glam = "0.30.0"
+glam.workspace = true
 id = { version = "0.1.0", registry = "strafesnet" }
-strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
-strafesnet_session = { path = "../session", registry = "strafesnet" }
-strafesnet_settings = { path = "../settings", registry = "strafesnet" }
-wgpu = "25.0.0"
+strafesnet_common.workspace = true
+wgpu.workspace = true
+
+[lints]
+workspace = true

engine/graphics/shaders/shader.wgsl

@@ -44,11 +44,11 @@ struct ModelInstance{
 	transform:mat4x4<f32>,
 	normal_transform:mat3x3<f32>,
 	color:vec4<f32>,
+	texture_color:vec4<f32>,
 }
 //my fancy idea is to create a megatexture for each model that includes all the textures each intance will need
 //the texture transform then maps the texture coordinates to the location of the specific texture
 //group 1 is the model
-const MAX_MODEL_INSTANCES=512;
 @group(2)
 @binding(0)
 var<uniform> model_instances: array<ModelInstance, MAX_MODEL_INSTANCES>;
@@ -66,6 +66,7 @@ struct EntityOutputTexture {
 	@location(3) view: vec3<f32>,
 	@location(4) color: vec4<f32>,
 	@location(5) @interpolate(flat) model_color: vec4<f32>,
+	@location(6) @interpolate(flat) texture_color: vec4<f32>,
 };
 @vertex
 fn vs_entity_texture(
@@ -81,6 +82,7 @@ fn vs_entity_texture(
 	result.texture = texture;
 	result.color = color;
 	result.model_color = model_instances[instance].color;
+	result.texture_color = model_instances[instance].texture_color;
 	result.view = position.xyz - camera.view_inv[3].xyz;//col(3)
 	result.position = camera.proj * camera.view * position;
 	return result;
@@ -106,7 +108,9 @@ fn fs_entity_texture(vertex: EntityOutputTexture) -> @location(0) vec4<f32> {
 	let d = dot(normal, incident);
 	let reflected = incident - 2.0 * d * normal;
 
-	let fragment_color = textureSample(model_texture, model_sampler, vertex.texture)*vertex.color;
+	let fragment_color = textureSample(model_texture, model_sampler, vertex.texture)*vertex.texture_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),0.5+0.5*abs(d));
+	let entity_color = mix(vertex.model_color*vertex.color,vec4<f32>(fragment_color.rgb,1.0),fragment_color.a);
+	let sky_color = vec4<f32>(vec3<f32>(0.05) + 0.2 * reflected_color,1.0);
+	return mix(sky_color,entity_color,0.5+0.5*abs(d));
 }

engine/graphics/src/graphics.rs

@@ -1,15 +1,9 @@
 use std::borrow::Cow;
 use std::collections::{HashSet,HashMap};
 use strafesnet_common::map;
-use strafesnet_settings::settings;
-use strafesnet_session::session;
 use strafesnet_common::model::{self, ColorId, NormalId, PolygonIter, PositionId, RenderConfigId, TextureCoordinateId, VertexId};
 use wgpu::{util::DeviceExt,AstcBlock,AstcChannel};
-use crate::model::{self as model_graphics,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelColor4,GraphicsModelOwned,GraphicsVertex};
-
-pub fn required_limits()->wgpu::Limits{
-	wgpu::Limits::default()
-}
+use crate::model::{self as model_graphics,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelOwned,GraphicsVertex};
 
 struct Indices{
 	count:u32,
@@ -54,6 +48,10 @@ struct GraphicsPipelines{
 	model:wgpu::RenderPipeline,
 }
 
+pub fn view_inv(pos:glam::Vec3,angles:glam::Vec2)->glam::Mat4{
+	//f32 good enough for view matrix
+	glam::Mat4::from_mat3_translation(glam::Mat3::from_euler(glam::EulerRot::YXZ,angles.x,angles.y,0f32),pos)
+}
 struct GraphicsCamera{
 	screen_size:glam::UVec2,
 	fov:glam::Vec2,//slope
@@ -75,15 +73,10 @@ impl GraphicsCamera{
 	pub fn proj(&self)->glam::Mat4{
 		perspective_rh(self.fov.x,self.fov.y,0.4,4000.0)
 	}
-	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:glam::Vec3,angles:glam::Vec2)->[f32;16*4]{
+	pub fn to_uniform_data(&self,view_inv:glam::Mat4)->[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];
@@ -94,7 +87,7 @@ impl GraphicsCamera{
 		raw
 	}
 }
-impl std::default::Default for GraphicsCamera{
+impl Default for GraphicsCamera{
 	fn default()->Self{
 		Self{
 			screen_size:glam::UVec2::ONE,
@@ -103,7 +96,7 @@ impl std::default::Default for GraphicsCamera{
 	}
 }
 
-const MODEL_BUFFER_SIZE:usize=4*4 + 12 + 4;//let size=std::mem::size_of::<ModelInstance>();
+const MODEL_BUFFER_SIZE:usize=4*4 + 12 + 4 + 4;//let size=std::mem::size_of::<ModelInstance>();
 const MODEL_BUFFER_SIZE_BYTES:usize=MODEL_BUFFER_SIZE*4;
 fn get_instances_buffer_data(instances:&[GraphicsModelOwned])->Vec<f32>{
 	let mut raw=Vec::with_capacity(MODEL_BUFFER_SIZE*instances.len());
@@ -118,7 +111,9 @@ fn get_instances_buffer_data(instances:&[GraphicsModelOwned])->Vec<f32>{
 		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.get()));
+		raw.extend_from_slice(AsRef::<[f32; 4]>::as_ref(&mi.color));
+		//texture color
+		raw.extend_from_slice(AsRef::<[f32; 4]>::as_ref(&mi.texture_color));
 	}
 	raw
 }
@@ -132,42 +127,45 @@ pub struct GraphicsState{
 	camera_buf:wgpu::Buffer,
 	temp_squid_texture_view:wgpu::TextureView,
 	models:Vec<GraphicsModel>,
+	depth:wgpu::Texture,
 	depth_view:wgpu::TextureView,
 	staging_belt:wgpu::util::StagingBelt,
+	model_instances_uniform_len:usize,
 }
 
 impl GraphicsState{
-	const DEPTH_FORMAT:wgpu::TextureFormat=wgpu::TextureFormat::Depth24Plus;
+	const DEPTH_FORMAT:wgpu::TextureFormat=wgpu::TextureFormat::Depth32Float;
 	fn create_depth_texture(
-		config:&wgpu::SurfaceConfiguration,
+		size:glam::UVec2,
 		device:&wgpu::Device,
-	)->wgpu::TextureView{
-		let depth_texture=device.create_texture(&wgpu::TextureDescriptor{
+	)->wgpu::Texture{
+		device.create_texture(&wgpu::TextureDescriptor{
 			size:wgpu::Extent3d{
-				width:config.width,
-				height:config.height,
+				width:size.x,
+				height:size.y,
 				depth_or_array_layers:1,
 			},
 			mip_level_count:1,
 			sample_count:1,
 			dimension:wgpu::TextureDimension::D2,
 			format:Self::DEPTH_FORMAT,
-			usage:wgpu::TextureUsages::RENDER_ATTACHMENT,
-			label:None,
+			usage:wgpu::TextureUsages::RENDER_ATTACHMENT|wgpu::TextureUsages::COPY_SRC,
+			label:Some("Depth Texture"),
 			view_formats:&[],
-		});
-
-		depth_texture.create_view(&wgpu::TextureViewDescriptor::default())
+		})
+	}
+	pub const fn depth_texture(&self)->&wgpu::Texture{
+		&self.depth
+	}
+	pub const fn depth_texture_view(&self)->&wgpu::TextureView{
+		&self.depth_view
 	}
 	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 fn generate_models(&mut self,device:&wgpu::Device,queue:&wgpu::Queue,map:&map::CompleteMap){
 		//generate texture view per texture
-		let texture_views:HashMap<strafesnet_common::model::TextureId,wgpu::TextureView>=map.textures.iter().enumerate().filter_map(|(texture_id,texture_data)|{
+		let texture_views:HashMap<model::TextureId,wgpu::TextureView>=map.textures.iter().enumerate().filter_map(|(texture_id,texture_data)|{
 			let texture_id=model::TextureId::new(texture_id as u32);
 			let image=match ddsfile::Dds::read(std::io::Cursor::new(texture_data)){
 				Ok(image)=>image,
@@ -239,7 +237,8 @@ impl GraphicsState{
 			let instance=GraphicsModelOwned{
 				transform:model.transform.into(),
 				normal_transform:glam::Mat3::from_cols_array_2d(&model.transform.matrix3.to_array().map(|row|row.map(Into::into))).inverse().transpose(),
-				color:GraphicsModelColor4::new(model.color),
+				color:model.color,
+				texture_color:glam::Vec4::ONE,
 			};
 			//get or create owned mesh map
 			let owned_mesh_map=owned_mesh_id_from_mesh_id_render_config_id
@@ -269,16 +268,15 @@ impl GraphicsState{
 							owned_mesh_id
 						});
 						let owned_mesh=unique_render_config_models.get_mut(owned_mesh_id.get() as usize).unwrap();
-						match &mut owned_mesh.polys{
-							model::PolygonGroup::PolygonList(polygon_list)=>polygon_list.extend(
-								graphics_group.groups.iter().flat_map(|polygon_group_id|{
-									mesh.polygon_groups[polygon_group_id.get() as usize].polys()
-								})
-								.map(|vertex_id_slice|
-									vertex_id_slice.to_vec()
-								)
-							),
-						}
+						let model::PolygonGroup::PolygonList(polygon_list)=&mut owned_mesh.polys;
+						polygon_list.extend(
+							graphics_group.groups.iter().flat_map(|polygon_group_id|{
+								mesh.polygon_groups[polygon_group_id.get() as usize].polys()
+							})
+							.map(|vertex_id_slice|
+								vertex_id_slice.to_vec()
+							)
+						);
 					}
 				}
 				owned_mesh_map
@@ -286,10 +284,20 @@ impl GraphicsState{
 			for owned_mesh_id in owned_mesh_map.values(){
 				let owned_mesh=unique_render_config_models.get_mut(owned_mesh_id.get() as usize).unwrap();
 				let render_config=&map.render_configs[owned_mesh.render_config.get() as usize];
-				if model.color.w==0.0&&render_config.texture.is_none(){
-					continue;
-				}
-				owned_mesh.instances.push(instance.clone());
+				let no_texture=render_config.texture.is_none();
+				let instance_clone=if no_texture{
+					// this model has no chance of affecting pixels on the screen
+					if model.color.w==0.0{
+						continue;
+					}
+					// hack texture_color to zero to make the texture invisible
+					let mut instance=instance.clone();
+					instance.texture_color=glam::Vec4::ZERO;
+					instance
+				}else{
+					instance.clone()
+				};
+				owned_mesh.instances.push(instance_clone);
 			}
 		}
 		//check every model to see if it's using the same (texture,color) but has few instances,if it is combine it into one model
@@ -315,7 +323,7 @@ impl GraphicsState{
 			//separate instances by color
 			for (instance_id,instance) in model.instances.iter().enumerate(){
 				let model_instance_list=unique_color
-				.entry(instance.color)
+				.entry(instance.hashable_color())
 				.or_insert_with(||Vec::new());
 				//add model instance to list
 				model_instance_list.push((model_id,instance_id));
@@ -404,6 +412,7 @@ impl GraphicsState{
 							).collect()
 						));
 					}
+					let (color,texture_color)=color.color();
 					//push model into dedup
 					deduplicated_models.push(IndexedGraphicsMeshOwnedRenderConfig{
 						unique_pos,
@@ -416,7 +425,8 @@ impl GraphicsState{
 						instances:vec![GraphicsModelOwned{
 							transform:glam::Mat4::IDENTITY,
 							normal_transform:glam::Mat3::IDENTITY,
-							color
+							color,
+							texture_color,
 						}],
 					});
 				}
@@ -474,16 +484,14 @@ impl GraphicsState{
 		//.into_iter() the modeldata vec so entities can be /moved/ to models.entities
 		let mut model_count=0;
 		let mut instance_count=0;
-		let uniform_buffer_binding_size=required_limits().max_uniform_buffer_binding_size as usize;
-		let chunk_size=uniform_buffer_binding_size/MODEL_BUFFER_SIZE_BYTES;
 		self.models.reserve(models.len());
 		for model in models.into_iter(){
 			instance_count+=model.instances.len();
-			for instances_chunk in model.instances.rchunks(chunk_size){
+			for instances_chunk in model.instances.rchunks(self.model_instances_uniform_len){
 				model_count+=1;
 				let mut model_uniforms=get_instances_buffer_data(instances_chunk);
 				//TEMP: fill with zeroes to pass validation
-				model_uniforms.resize(MODEL_BUFFER_SIZE*512,0.0f32);
+				model_uniforms.resize(MODEL_BUFFER_SIZE*self.model_instances_uniform_len,0.0f32);
 				let model_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
 					label:Some(format!("Model{} Buf",model_count).as_str()),
 					contents:bytemuck::cast_slice(&model_uniforms),
@@ -539,7 +547,9 @@ impl GraphicsState{
 	pub fn new(
 		device:&wgpu::Device,
 		queue:&wgpu::Queue,
-		config:&wgpu::SurfaceConfiguration,
+		size:glam::UVec2,
+		view_format:wgpu::TextureFormat,
+		limits:wgpu::Limits,
 	)->Self{
 		let camera_bind_group_layout=device.create_bind_group_layout(&wgpu::BindGroupLayoutDescriptor{
 			label:None,
@@ -616,7 +626,7 @@ impl GraphicsState{
 			address_mode_w:wgpu::AddressMode::ClampToEdge,
 			mag_filter:wgpu::FilterMode::Linear,
 			min_filter:wgpu::FilterMode::Linear,
-			mipmap_filter:wgpu::FilterMode::Linear,
+			mipmap_filter:wgpu::MipmapFilterMode::Linear,
 			..Default::default()
 		});
 		let repeat_sampler=device.create_sampler(&wgpu::SamplerDescriptor{
@@ -626,15 +636,23 @@ impl GraphicsState{
 			address_mode_w:wgpu::AddressMode::Repeat,
 			mag_filter:wgpu::FilterMode::Linear,
 			min_filter:wgpu::FilterMode::Linear,
-			mipmap_filter:wgpu::FilterMode::Linear,
+			mipmap_filter:wgpu::MipmapFilterMode::Linear,
 			anisotropy_clamp:16,
 			..Default::default()
 		});
 
+		let model_instances_uniform_len=limits.max_uniform_buffer_binding_size as usize/MODEL_BUFFER_SIZE_BYTES;
+
+		// write dynamic value into shader
+		let shader=format!("
+			// This is equal to the CHUNK_SIZE constant from graphics.rs
+			const MAX_MODEL_INSTANCES={model_instances_uniform_len};
+		")+include_str!("../shaders/shader.wgsl");
+
 		// Create the render pipeline
 		let shader=device.create_shader_module(wgpu::ShaderModuleDescriptor{
 			label:None,
-			source:wgpu::ShaderSource::Wgsl(Cow::Borrowed(include_str!("../../../strafe-client/src/shader.wgsl"))),
+			source:wgpu::ShaderSource::Wgsl(Cow::Owned(shader)),
 		});
 
 		//load textures
@@ -662,10 +680,10 @@ impl GraphicsState{
 				wgpu::TextureFormat::Astc{
 					block:AstcBlock::B4x4,
 					channel:AstcChannel::UnormSrgb,
-				}=>&include_bytes!("../../../strafe-client/images/astc.dds")[..],
-				wgpu::TextureFormat::Etc2Rgb8UnormSrgb=>&include_bytes!("../../../strafe-client/images/etc2.dds")[..],
-				wgpu::TextureFormat::Bc1RgbaUnormSrgb=>&include_bytes!("../../../strafe-client/images/bc1.dds")[..],
-				wgpu::TextureFormat::Bgra8UnormSrgb=>&include_bytes!("../../../strafe-client/images/bgra.dds")[..],
+				}=>&include_bytes!("../images/astc.dds")[..],
+				wgpu::TextureFormat::Etc2Rgb8UnormSrgb=>&include_bytes!("../images/etc2.dds")[..],
+				wgpu::TextureFormat::Bc1RgbaUnormSrgb=>&include_bytes!("../images/bc1.dds")[..],
+				wgpu::TextureFormat::Bgra8UnormSrgb=>&include_bytes!("../images/bgra.dds")[..],
 				_=>unreachable!(),
 			};
 
@@ -708,7 +726,7 @@ impl GraphicsState{
 
 		//squid
 		let squid_texture_view={
-			let bytes=include_bytes!("../../../strafe-client/images/squid.dds");
+			let bytes=include_bytes!("../images/squid.dds");
 
 			let image=ddsfile::Dds::read(&mut std::io::Cursor::new(bytes)).unwrap();
 
@@ -750,19 +768,19 @@ impl GraphicsState{
 		let model_pipeline_layout=device.create_pipeline_layout(&wgpu::PipelineLayoutDescriptor{
 			label:None,
 			bind_group_layouts:&[
-				&camera_bind_group_layout,
-				&skybox_texture_bind_group_layout,
-				&model_bind_group_layout,
+				Some(&camera_bind_group_layout),
+				Some(&skybox_texture_bind_group_layout),
+				Some(&model_bind_group_layout),
 			],
-			push_constant_ranges:&[],
+			immediate_size:0,
 		});
 		let sky_pipeline_layout=device.create_pipeline_layout(&wgpu::PipelineLayoutDescriptor{
 			label:None,
 			bind_group_layouts:&[
-				&camera_bind_group_layout,
-				&skybox_texture_bind_group_layout,
+				Some(&camera_bind_group_layout),
+				Some(&skybox_texture_bind_group_layout),
 			],
-			push_constant_ranges:&[],
+			immediate_size:0,
 		});
 
 		// Create the render pipelines
@@ -778,7 +796,7 @@ impl GraphicsState{
 			fragment:Some(wgpu::FragmentState{
 				module:&shader,
 				entry_point:Some("fs_sky"),
-				targets:&[Some(config.view_formats[0].into())],
+				targets:&[Some(view_format.into())],
 				compilation_options:wgpu::PipelineCompilationOptions::default(),
 			}),
 			primitive:wgpu::PrimitiveState{
@@ -787,13 +805,13 @@ impl GraphicsState{
 			},
 			depth_stencil:Some(wgpu::DepthStencilState{
 				format:Self::DEPTH_FORMAT,
-				depth_write_enabled:false,
-				depth_compare:wgpu::CompareFunction::LessEqual,
+				depth_write_enabled:Some(false),
+				depth_compare:Some(wgpu::CompareFunction::LessEqual),
 				stencil:wgpu::StencilState::default(),
 				bias:wgpu::DepthBiasState::default(),
 			}),
 			multisample:wgpu::MultisampleState::default(),
-			multiview:None,
+			multiview_mask:None,
 			cache:None,
 		});
 		let model_pipeline=device.create_render_pipeline(&wgpu::RenderPipelineDescriptor{
@@ -803,7 +821,7 @@ impl GraphicsState{
 				module:&shader,
 				entry_point:Some("vs_entity_texture"),
 				buffers:&[wgpu::VertexBufferLayout{
-					array_stride:std::mem::size_of::<GraphicsVertex>() as wgpu::BufferAddress,
+					array_stride:size_of::<GraphicsVertex>() as wgpu::BufferAddress,
 					step_mode:wgpu::VertexStepMode::Vertex,
 					attributes:&wgpu::vertex_attr_array![0=>Float32x3,1=>Float32x2,2=>Float32x3,3=>Float32x4],
 				}],
@@ -812,7 +830,7 @@ impl GraphicsState{
 			fragment:Some(wgpu::FragmentState{
 				module:&shader,
 				entry_point:Some("fs_entity_texture"),
-				targets:&[Some(config.view_formats[0].into())],
+				targets:&[Some(view_format.into())],
 				compilation_options:wgpu::PipelineCompilationOptions::default(),
 			}),
 			primitive:wgpu::PrimitiveState{
@@ -822,18 +840,18 @@ impl GraphicsState{
 			},
 			depth_stencil:Some(wgpu::DepthStencilState{
 				format:Self::DEPTH_FORMAT,
-				depth_write_enabled:true,
-				depth_compare:wgpu::CompareFunction::LessEqual,
+				depth_write_enabled:Some(true),
+				depth_compare:Some(wgpu::CompareFunction::LessEqual),
 				stencil:wgpu::StencilState::default(),
 				bias:wgpu::DepthBiasState::default(),
 			}),
 			multisample:wgpu::MultisampleState::default(),
-			multiview:None,
+			multiview_mask:None,
 			cache:None,
 		});
 
 		let camera=GraphicsCamera::default();
-		let camera_uniforms=camera.to_uniform_data(glam::Vec3::ZERO,glam::Vec2::ZERO);
+		let camera_uniforms=camera.to_uniform_data(view_inv(glam::Vec3::ZERO,glam::Vec2::ZERO));
 		let camera_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
 			label:Some("Camera"),
 			contents:bytemuck::cast_slice(&camera_uniforms),
@@ -865,7 +883,8 @@ impl GraphicsState{
 			label:Some("Sky Texture"),
 		});
 
-		let depth_view=Self::create_depth_texture(config,device);
+		let depth=Self::create_depth_texture(size,device);
+		let depth_view=depth.create_view(&wgpu::TextureViewDescriptor::default());
 
 		Self{
 			pipelines:GraphicsPipelines{
@@ -879,46 +898,44 @@ impl GraphicsState{
 			camera,
 			camera_buf,
 			models:Vec::new(),
+			depth,
 			depth_view,
-			staging_belt:wgpu::util::StagingBelt::new(0x100),
+			staging_belt:wgpu::util::StagingBelt::new(device.clone(),0x100),
 			bind_group_layouts:GraphicsBindGroupLayouts{model:model_bind_group_layout},
 			samplers:GraphicsSamplers{repeat:repeat_sampler},
 			temp_squid_texture_view:squid_texture_view,
+			model_instances_uniform_len,
 		}
 	}
 	pub fn resize(
 		&mut self,
 		device:&wgpu::Device,
-		config:&wgpu::SurfaceConfiguration,
-		user_settings:&settings::UserSettings,
+		size:glam::UVec2,
+		fov:glam::Vec2,
 	){
-		self.depth_view=Self::create_depth_texture(config,device);
-		self.camera.screen_size=glam::uvec2(config.width,config.height);
-		self.load_user_settings(user_settings);
+		self.depth=Self::create_depth_texture(size,device);
+		self.depth_view=self.depth.create_view(&wgpu::TextureViewDescriptor::default());
+		self.camera.screen_size=size;
+		self.camera.fov=fov;
 	}
-	pub fn render(
+	pub fn encode_commands(
 		&mut self,
+		encoder:&mut wgpu::CommandEncoder,
 		view:&wgpu::TextureView,
-		device:&wgpu::Device,
-		queue:&wgpu::Queue,
-		frame_state:session::FrameState,
+		camera:glam::Mat4,
 	){
 		//TODO:use scheduled frame times to create beautiful smoothing simulation physics extrapolation assuming no input
 
-		let mut encoder=device.create_command_encoder(&wgpu::CommandEncoderDescriptor{label:None});
-
+		// TODO: find a way to call this directly after queue.submit()
+		self.staging_belt.recall();
 		// update rotation
-		let camera_uniforms=self.camera.to_uniform_data(
-			frame_state.body.extrapolated_position(frame_state.time).map(Into::<f32>::into).to_array().into(),
-			frame_state.camera.simulate_move_angles(glam::IVec2::ZERO)
-		);
+		let camera_uniforms=self.camera.to_uniform_data(camera);
 		self.staging_belt
 			.write_buffer(
-				&mut encoder,
+				encoder,
 				&self.camera_buf,
 				0,
 				wgpu::BufferSize::new((camera_uniforms.len() * 4) as wgpu::BufferAddress).unwrap(),
-				device,
 			)
 			.copy_from_slice(bytemuck::cast_slice(&camera_uniforms));
 		//This code only needs to run when the uniforms change
@@ -953,17 +970,19 @@ impl GraphicsState{
 						}),
 						store:wgpu::StoreOp::Store,
 					},
+					depth_slice:None,
 				})],
 				depth_stencil_attachment:Some(wgpu::RenderPassDepthStencilAttachment{
 					view:&self.depth_view,
 					depth_ops:Some(wgpu::Operations{
 						load:wgpu::LoadOp::Clear(1.0),
-						store:wgpu::StoreOp::Discard,
+						store:wgpu::StoreOp::Store,
 					}),
 					stencil_ops:None,
 				}),
 				timestamp_writes:Default::default(),
 				occlusion_query_set:Default::default(),
+				multiview_mask:None,
 			});
 
 			rpass.set_bind_group(0,&self.bind_groups.camera,&[]);
@@ -981,9 +1000,5 @@ impl GraphicsState{
 			rpass.set_pipeline(&self.pipelines.skybox);
 			rpass.draw(0..3,0..1);
 		}
-
-		queue.submit(std::iter::once(encoder.finish()));
-
-		self.staging_belt.recall();
 	}
 }

engine/graphics/src/lib.rs

@@ -1,2 +1,4 @@
 pub mod model;
+pub mod setup;
+pub mod surface;
 pub mod graphics;

engine/graphics/src/model.rs

@@ -30,19 +30,23 @@ pub struct GraphicsMeshOwnedRenderConfig{
 	pub render_config:RenderConfigId,
 	pub instances:Vec<GraphicsModelOwned>,
 }
-#[derive(Clone,Copy,PartialEq,id::Id)]
-pub struct GraphicsModelColor4(glam::Vec4);
-impl std::hash::Hash for GraphicsModelColor4{
-	fn hash<H:std::hash::Hasher>(&self,state:&mut H) {
-		for &f in self.0.as_ref(){
-			bytemuck::cast::<f32,u32>(f).hash(state);
-		}
-	}
-}
-impl Eq for GraphicsModelColor4{}
 #[derive(Clone)]
 pub struct GraphicsModelOwned{
 	pub transform:glam::Mat4,
 	pub normal_transform:glam::Mat3,
-	pub color:GraphicsModelColor4,
+	pub color:glam::Vec4,
+	pub texture_color:glam::Vec4,
+}
+impl GraphicsModelOwned{
+	pub fn hashable_color(&self)->HashableColor{
+		HashableColor([bytemuck::cast::<[f32;4],[u32;4]>(self.color.to_array()),bytemuck::cast::<[f32;4],[u32;4]>(self.texture_color.to_array())])
+	}
+}
+#[derive(Clone,Copy,Eq,Hash,PartialEq)]
+pub struct HashableColor([[u32;4];2]);
+impl HashableColor{
+	pub fn color(self)->(glam::Vec4,glam::Vec4){
+		let [color,texture_color]=bytemuck::cast::<[[u32;4];2],[[f32;4];2]>(self.0);
+		(glam::Vec4::from_array(color),glam::Vec4::from_array(texture_color))
+	}
 }

engine/graphics/src/setup.rs

@@ -0,0 +1,116 @@
+fn optional_features()->wgpu::Features{
+	wgpu::Features::TEXTURE_COMPRESSION_ASTC
+	|wgpu::Features::TEXTURE_COMPRESSION_ETC2
+}
+fn required_features()->wgpu::Features{
+	wgpu::Features::TEXTURE_COMPRESSION_BC
+}
+fn required_downlevel_capabilities()->wgpu::DownlevelCapabilities{
+	wgpu::DownlevelCapabilities{
+		flags:wgpu::DownlevelFlags::empty(),
+		shader_model:wgpu::ShaderModel::Sm5,
+		..wgpu::DownlevelCapabilities::default()
+	}
+}
+
+pub mod step1{
+	pub fn create_instance()->wgpu::Instance{
+		Default::default()
+	}
+}
+
+pub mod step2{
+	pub fn create_surface<'window>(instance:&wgpu::Instance,target:impl Into<wgpu::SurfaceTarget<'window>>)->Result<wgpu::Surface<'window>,wgpu::CreateSurfaceError>{
+		instance.create_surface(target)
+	}
+}
+
+pub mod step3{
+	pub async fn pick_adapter(instance:&wgpu::Instance,surface:&wgpu::Surface<'_>)->Option<wgpu::Adapter>{
+		let backends=wgpu::Backends::from_env().unwrap_or_default();
+		//TODO: prefer adapter that implements optional features
+		//let optional_features=optional_features();
+		let required_features=super::required_features();
+		let required_downlevel_capabilities=super::required_downlevel_capabilities();
+
+		//no helper function smh gotta write it myself
+		let adapters=instance.enumerate_adapters(backends).await;
+
+		let adapter=adapters.into_iter()
+			// reverse because we want to select adapters that appear first in ties,
+			// and max_by_key selects the last equal element in the iterator.
+			.rev()
+			.filter(|adapter|
+				adapter.is_surface_supported(surface)
+				&&adapter.features().contains(required_features)
+				&&{
+					let downlevel_capabilities=adapter.get_downlevel_capabilities();
+					downlevel_capabilities.shader_model>=required_downlevel_capabilities.shader_model
+					&&downlevel_capabilities.flags.contains(required_downlevel_capabilities.flags)
+				}
+			)
+			.max_by_key(|adapter|match adapter.get_info().device_type{
+				wgpu::DeviceType::IntegratedGpu=>3,
+				wgpu::DeviceType::DiscreteGpu=>4,
+				wgpu::DeviceType::VirtualGpu=>2,
+				wgpu::DeviceType::Other|wgpu::DeviceType::Cpu=>1,
+			})?;
+
+		Some(adapter)
+	}
+}
+
+pub mod step4{
+	pub async fn request_device(adapter:&wgpu::Adapter,limits:wgpu::Limits)->Result<(wgpu::Device,wgpu::Queue),wgpu::RequestDeviceError>{
+		let optional_features=super::optional_features();
+		let required_features=super::required_features();
+
+		// Make sure we use the texture resolution limits from the adapter, so we can support images the size of the surface.
+		let needed_limits=limits.using_resolution(adapter.limits());
+
+		let (device, queue)=adapter
+			.request_device(
+				&wgpu::DeviceDescriptor{
+					label:None,
+					required_features:(optional_features&adapter.features())|required_features,
+					required_limits:needed_limits,
+					memory_hints:wgpu::MemoryHints::Performance,
+					trace:wgpu::Trace::Off,
+					experimental_features:wgpu::ExperimentalFeatures::disabled(),
+				},
+			).await?;
+
+		Ok((
+			device,
+			queue,
+		))
+	}
+}
+
+pub mod step5{
+	use crate::surface::Surface;
+	#[derive(Debug)]
+	pub struct ErrorSurfaceNotSupported;
+	impl std::fmt::Display for ErrorSurfaceNotSupported{
+		fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+			write!(f,"Surface isn't supported by the adapter.")
+		}
+	}
+	pub fn configure_surface<'window>(
+		adapter:&wgpu::Adapter,
+		device:&wgpu::Device,
+		surface:wgpu::Surface<'window>,
+		(width,height):(u32,u32),
+	)->Result<Surface<'window>,ErrorSurfaceNotSupported>{
+		let mut config=surface
+			.get_default_config(adapter, width, height)
+			.ok_or(ErrorSurfaceNotSupported)?;
+
+		let surface_view_format=config.format.add_srgb_suffix();
+		config.view_formats.push(surface_view_format);
+		config.present_mode=wgpu::PresentMode::AutoNoVsync;
+		surface.configure(device,&config);
+
+		Ok(Surface::new(surface,config))
+	}
+}

engine/graphics/src/surface.rs

@@ -0,0 +1,75 @@
+/// A texture view which can be targeted by draw calls in the command buffer, and then presented to the surface texture.
+pub struct Frame{
+	surface_texture:wgpu::SurfaceTexture,
+	view:wgpu::TextureView,
+}
+impl Frame{
+	pub const fn view(&self)->&wgpu::TextureView{
+		&self.view
+	}
+	pub fn present(self){
+		self.surface_texture.present();
+	}
+}
+
+#[derive(Debug)]
+pub enum FrameError{
+	Skip,
+	DeviceLost,
+}
+impl core::fmt::Display for FrameError{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{self:?}")
+	}
+}
+impl core::error::Error for FrameError{}
+
+/// A render surface configuration, containing information such as resolution and pixel format
+pub struct Surface<'window>{
+	surface:wgpu::Surface<'window>,
+	config:wgpu::SurfaceConfiguration,
+}
+
+impl<'window> Surface<'window>{
+	pub(crate) fn new(
+		surface:wgpu::Surface<'window>,
+		config:wgpu::SurfaceConfiguration,
+	)->Self{
+		Self{surface,config}
+	}
+	#[must_use]
+	pub fn new_frame(&self,device:&wgpu::Device)->Result<Frame,FrameError>{
+		let frame=loop{
+			match self.surface.get_current_texture(){
+				wgpu::CurrentSurfaceTexture::Success(surface_texture)=>break surface_texture,
+				// Suboptimal -> surface_texture must be dropped and surface reconfigured
+				wgpu::CurrentSurfaceTexture::Suboptimal(_)
+				|wgpu::CurrentSurfaceTexture::Outdated=>{},
+				wgpu::CurrentSurfaceTexture::Timeout
+				|wgpu::CurrentSurfaceTexture::Occluded=>return Err(FrameError::Skip),
+				wgpu::CurrentSurfaceTexture::Lost=>return Err(FrameError::DeviceLost),
+				wgpu::CurrentSurfaceTexture::Validation=>unreachable!(),
+			};
+			self.surface.configure(device,&self.config);
+		};
+		let view=frame.texture.create_view(&wgpu::TextureViewDescriptor{
+			format:Some(self.config.view_formats[0]),
+			..wgpu::TextureViewDescriptor::default()
+		});
+		Ok(Frame{
+			surface_texture:frame,
+			view,
+		})
+	}
+	pub const fn size(&self)->glam::UVec2{
+		glam::uvec2(self.config.width,self.config.height)
+	}
+	pub fn view_format(&self)->wgpu::TextureFormat{
+		self.config.view_formats[0]
+	}
+	pub fn configure(&mut self,device:&wgpu::Device,size:glam::UVec2){
+		self.config.width=size.x.max(1);
+		self.config.height=size.y.max(1);
+		self.surface.configure(device,&self.config);
+	}
+}

engine/physics/Cargo.toml

@@ -1,10 +1,13 @@
 [package]
 name = "strafesnet_physics"
-version = "0.1.0"
+version = "0.0.2"
 edition = "2024"
 
 [dependencies]
 arrayvec = "0.7.6"
-glam = "0.30.0"
+glam.workspace = true
 id = { version = "0.1.0", registry = "strafesnet" }
-strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
+strafesnet_common.workspace = true
+
+[lints]
+workspace = true

engine/physics/src/body.rs

@@ -2,12 +2,18 @@ use strafesnet_common::aabb;
 use strafesnet_common::integer::{self,vec3,Time,Planar64,Planar64Vec3};
 #[derive(Clone,Copy,Debug,Hash)]
 pub struct Body<T>{
-	pub position:Planar64Vec3,//I64 where 2^32 = 1 u
-	pub velocity:Planar64Vec3,//I64 where 2^32 = 1 u/s
-	pub acceleration:Planar64Vec3,//I64 where 2^32 = 1 u/s/s
-	pub time:Time<T>,//nanoseconds x xxxxD!
+	pub position:Planar64Vec3,
+	pub velocity:Planar64Vec3,
+	pub time:Time<T>,
 }
-impl<T> std::ops::Neg for Body<T>{
+#[derive(Clone,Copy,Debug,Hash)]
+pub struct Trajectory<T>{
+	pub position:Planar64Vec3,
+	pub velocity:Planar64Vec3,
+	pub acceleration:Planar64Vec3,
+	pub time:Time<T>,
+}
+impl<T> std::ops::Neg for Trajectory<T>{
 	type Output=Self;
 	fn neg(self)->Self::Output{
 		Self{
@@ -18,11 +24,48 @@ impl<T> std::ops::Neg for Body<T>{
 		}
 	}
 }
+impl<T:Copy> std::ops::Neg for &Trajectory<T>{
+	type Output=Trajectory<T>;
+	fn neg(self)->Self::Output{
+		Trajectory{
+			position:self.position,
+			velocity:-self.velocity,
+			acceleration:self.acceleration,
+			time:-self.time,
+		}
+	}
+}
 
 impl<T> Body<T>
 	where Time<T>:Copy,
 {
-	pub const ZERO:Self=Self::new(vec3::ZERO,vec3::ZERO,vec3::ZERO,Time::ZERO);
+	pub const ZERO:Self=Self::new(vec3::zero(),vec3::zero(),Time::ZERO);
+	pub const fn new(position:Planar64Vec3,velocity:Planar64Vec3,time:Time<T>)->Self{
+		Self{
+			position,
+			velocity,
+			time,
+		}
+	}
+	pub const fn with_acceleration(self,acceleration:Planar64Vec3)->Trajectory<T>{
+		let Body{
+			position,
+			velocity,
+			time,
+		}=self;
+		Trajectory{
+			position,
+			velocity,
+			acceleration,
+			time,
+		}
+	}
+}
+
+impl<T> Trajectory<T>
+	where Time<T>:Copy,
+{
+	pub const ZERO:Self=Self::new(vec3::zero(),vec3::zero(),vec3::zero(),Time::ZERO);
 	pub const fn new(position:Planar64Vec3,velocity:Planar64Vec3,acceleration:Planar64Vec3,time:Time<T>)->Self{
 		Self{
 			position,
@@ -31,28 +74,31 @@ impl<T> Body<T>
 			time,
 		}
 	}
-	pub const fn relative_to<'a>(&'a self,body0:&'a Body<T>)->VirtualBody<'a,T>{
+	pub fn relative_to(&self,trj0:&Self,time:Time<T>)->Self{
 		//(p0,v0,a0,t0)
 		//(p1,v1,a1,t1)
-		VirtualBody{
-			body0,
-			body1:self,
-		}
+		Trajectory::new(
+			self.extrapolated_position(time)-trj0.extrapolated_position(time),
+			self.extrapolated_velocity(time)-trj0.extrapolated_velocity(time),
+			self.acceleration-trj0.acceleration,
+			time)
 	}
 	pub fn extrapolated_position(&self,time:Time<T>)->Planar64Vec3{
 		let dt=time-self.time;
 		self.position
-		+(self.velocity*dt).map(|elem|elem.divide().clamp_1())
-		+self.acceleration.map(|elem|(dt*dt*elem/2).divide().clamp_1())
+		+(self.velocity*dt).map(|elem|elem.divide().clamp_64())
+		+self.acceleration.map(|elem|(dt*dt*elem/2).divide().clamp_64())
 	}
 	pub fn extrapolated_velocity(&self,time:Time<T>)->Planar64Vec3{
 		let dt=time-self.time;
-		self.velocity+(self.acceleration*dt).map(|elem|elem.divide().clamp_1())
+		self.velocity+(self.acceleration*dt).map(|elem|elem.divide().clamp_64())
 	}
-	pub fn advance_time(&mut self,time:Time<T>){
-		self.position=self.extrapolated_position(time);
-		self.velocity=self.extrapolated_velocity(time);
-		self.time=time;
+	pub fn extrapolated_body(&self,time:Time<T>)->Body<T>{
+		Body::new(
+			self.extrapolated_position(time),
+			self.extrapolated_velocity(time),
+			time,
+		)
 	}
 	pub fn extrapolated_position_ratio_dt<Num,Den,N1,D1,N2,N3,D2,N4,T1>(&self,dt:integer::Ratio<Num,Den>)->Planar64Vec3
 		where
@@ -90,14 +136,16 @@ impl<T> Body<T>
 		// a*dt + v
 		self.acceleration.map(|elem|(dt*elem).divide().clamp())+self.velocity
 	}
-	pub fn advance_time_ratio_dt(&mut self,dt:crate::model::GigaTime){
-		self.position=self.extrapolated_position_ratio_dt(dt);
-		self.velocity=self.extrapolated_velocity_ratio_dt(dt);
-		self.time+=dt.into();
+	pub fn extrapolated_body_ratio_dt(&self,dt:crate::model::GigaTime)->Body<T>{
+		Body::new(
+			self.extrapolated_position_ratio_dt(dt),
+			self.extrapolated_velocity_ratio_dt(dt),
+			self.time+dt.into(),
+		)
 	}
 	pub fn infinity_dir(&self)->Option<Planar64Vec3>{
-		if self.velocity==vec3::ZERO{
-			if self.acceleration==vec3::ZERO{
+		if self.velocity==vec3::zero(){
+			if self.acceleration==vec3::zero(){
 				None
 			}else{
 				Some(self.acceleration)
@@ -133,28 +181,12 @@ impl<T> Body<T>
 
 }
 impl<T> std::fmt::Display for Body<T>{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"p({}) v({}) t({})",self.position,self.velocity,self.time)
+	}
+}
+impl<T> std::fmt::Display for Trajectory<T>{
 	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
 		write!(f,"p({}) v({}) a({}) t({})",self.position,self.velocity,self.acceleration,self.time)
 	}
 }
-
-pub struct VirtualBody<'a,T>{
-	body0:&'a Body<T>,
-	body1:&'a Body<T>,
-}
-impl<T> VirtualBody<'_,T>
-	where Time<T>:Copy,
-{
-	pub fn extrapolated_position(&self,time:Time<T>)->Planar64Vec3{
-		self.body1.extrapolated_position(time)-self.body0.extrapolated_position(time)
-	}
-	pub fn extrapolated_velocity(&self,time:Time<T>)->Planar64Vec3{
-		self.body1.extrapolated_velocity(time)-self.body0.extrapolated_velocity(time)
-	}
-	pub fn acceleration(&self)->Planar64Vec3{
-		self.body1.acceleration-self.body0.acceleration
-	}
-	pub fn body(&self,time:Time<T>)->Body<T>{
-		Body::new(self.extrapolated_position(time),self.extrapolated_velocity(time),self.acceleration(),time)
-	}
-}

engine/physics/src/face_crawler.rs

@@ -1,43 +1,84 @@
-use crate::model::{GigaTime,FEV,MeshQuery,DirectedEdge};
-use strafesnet_common::integer::{Fixed,Ratio,vec3::Vector3};
-use crate::physics::{Time,Body};
+use crate::model::{into_giga_time,GigaTime};
+use strafesnet_common::integer::fixed_types::{F64_32,F128_64,F256_128};
+use strafesnet_common::integer::vec3::Vector3;
+use strafesnet_common::integer::{Ratio,Planar64Vec3};
+use crate::physics::{Time,Trajectory};
+use crate::mesh_query::{FEV,DirectedEdge,MeshQuery,MeshTopology};
 
-enum Transition<M:MeshQuery>{
+use core::ops::Bound;
+
+enum Transition<M:MeshTopology>{
 	Miss,
 	Next(FEV<M>,GigaTime),
 	Hit(M::Face,GigaTime),
 }
 
-pub enum CrawlResult<M:MeshQuery>{
+pub enum CrawlResult<M:MeshTopology>{
 	Miss(FEV<M>),
 	Hit(M::Face,GigaTime),
 }
-impl<M:MeshQuery> CrawlResult<M>{
+impl<M:MeshTopology> CrawlResult<M>{
 	pub fn hit(self)->Option<(M::Face,GigaTime)>{
 		match self{
 			CrawlResult::Miss(_)=>None,
 			CrawlResult::Hit(face,time)=>Some((face,time)),
 		}
 	}
-	pub fn miss(self)->Option<FEV<M>>{
-		match self{
-			CrawlResult::Miss(fev)=>Some(fev),
-			CrawlResult::Hit(_,_)=>None,
-		}
+}
+
+// TODO: move predict_collision_face_out algorithm in here or something
+
+/// check_lower_bound
+pub fn low<LhsNum,LhsDen,RhsNum,RhsDen,T>(lower_bound:&Bound<Ratio<LhsNum,LhsDen>>,dt:&Ratio<RhsNum,RhsDen>)->bool
+where
+	RhsNum:Copy,
+	RhsDen:Copy,
+	LhsNum:Copy,
+	LhsDen:Copy,
+	LhsDen:strafesnet_common::integer::Parity,
+	RhsDen:strafesnet_common::integer::Parity,
+	LhsNum:core::ops::Mul<RhsDen,Output=T>,
+	LhsDen:core::ops::Mul<RhsNum,Output=T>,
+	T:Ord+Copy,
+{
+	match lower_bound{
+		Bound::Included(time)=>time.le_ratio(*dt),
+		Bound::Excluded(time)=>time.lt_ratio(*dt),
+		Bound::Unbounded=>true,
+	}
+}
+/// check_upper_bound
+pub fn upp<LhsNum,LhsDen,RhsNum,RhsDen,T>(dt:&Ratio<LhsNum,LhsDen>,upper_bound:&Bound<Ratio<RhsNum,RhsDen>>)->bool
+where
+	RhsNum:Copy,
+	RhsDen:Copy,
+	LhsNum:Copy,
+	LhsDen:Copy,
+	LhsDen:strafesnet_common::integer::Parity,
+	RhsDen:strafesnet_common::integer::Parity,
+	LhsNum:core::ops::Mul<RhsDen,Output=T>,
+	LhsDen:core::ops::Mul<RhsNum,Output=T>,
+	T:Ord+Copy,
+{
+	match upper_bound{
+		Bound::Included(time)=>dt.le_ratio(*time),
+		Bound::Excluded(time)=>dt.lt_ratio(*time),
+		Bound::Unbounded=>true,
 	}
 }
 
-impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
+impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=F256_128,Position=Planar64Vec3,Direction=Planar64Vec3>> FEV<M>
 	where
 		// This is hardcoded for MinkowskiMesh lol
 		M::Face:Copy,
 		M::Edge:Copy,
+		M::DirectedEdge:Copy,
 		M::Vert:Copy,
-		F:core::ops::Mul<Fixed<1,32>,Output=Fixed<4,128>>,
-		<F as core::ops::Mul<Fixed<1,32>>>::Output:core::iter::Sum,
-		<M as MeshQuery>::Offset:core::ops::Sub<<F as std::ops::Mul<Fixed<1,32>>>::Output>,
+		F:core::ops::Mul<F64_32,Output=F256_128>,
+		<F as core::ops::Mul<F64_32>>::Output:core::iter::Sum,
+		M::Offset:core::ops::Sub<<F as std::ops::Mul<F64_32>>::Output>,
 {
-	fn next_transition(&self,body_time:GigaTime,mesh:&M,body:&Body,mut best_time:GigaTime)->Transition<M>{
+	fn next_transition(&self,mesh:&M,trajectory:&Trajectory,lower_bound:Bound<GigaTime>,mut upper_bound:Bound<GigaTime>)->Transition<M>{
 		//conflicting derivative means it crosses in the wrong direction.
 		//if the transition time is equal to an already tested transition, do not replace the current best.
 		let mut best_transition=Transition::Miss;
@@ -49,46 +90,47 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 				let (n,d)=mesh.face_nd(face_id);
 				//TODO: use higher precision d value?
 				//use the mesh transform translation instead of baking it into the d value.
-				for dt in Fixed::<4,128>::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-					if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-						best_time=dt;
+				for dt in F256_128::zeroes2((n.dot(trajectory.position)-d)*2,n.dot(trajectory.velocity)*2,n.dot(trajectory.acceleration)){
+					if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+						upper_bound=Bound::Included(dt);
 						best_transition=Transition::Hit(face_id,dt);
 						break;
 					}
 				}
 				//test each edge collision time, ignoring roots with zero or conflicting derivative
-				for &directed_edge_id in mesh.face_edges(face_id).as_ref(){
+				mesh.for_each_face_edge(face_id,|directed_edge_id|{
 					let edge_n=mesh.directed_edge_n(directed_edge_id);
 					let n=n.cross(edge_n);
 					let &[v0,v1]=mesh.edge_verts(directed_edge_id.as_undirected()).as_ref();
 					//WARNING: d is moved out of the *2 block because of adding two vertices!
 					//WARNING: precision is swept under the rug!
 					//wrap for speed
-					for dt in Fixed::<4,128>::zeroes2(n.dot(body.position*2-(mesh.vert(v0)+mesh.vert(v1))).wrap_4(),n.dot(body.velocity).wrap_4()*2,n.dot(body.acceleration).wrap_4()){
-						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							best_time=dt;
+					for dt in F256_128::zeroes2(n.dot(trajectory.position*2-(mesh.vert(v0)+mesh.vert(v1))).wrap_256(),n.dot(trajectory.velocity).wrap_256()*2,n.dot(trajectory.acceleration).wrap_256()){
+						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Edge(directed_edge_id.as_undirected()),dt);
 							break;
 						}
 					}
-				}
+				});
 				//if none:
 			},
 			&FEV::Edge(edge_id)=>{
 				//test each face collision time, ignoring roots with zero or conflicting derivative
-				let edge_n=mesh.edge_n(edge_id);
 				let edge_verts=mesh.edge_verts(edge_id);
 				let &[ev0,ev1]=edge_verts.as_ref();
-				let delta_pos=body.position*2-(mesh.vert(ev0)+mesh.vert(ev1));
+				let (v0,v1)=(mesh.vert(ev0),mesh.vert(ev1));
+				let edge_n=v1-v0;
+				let delta_pos=trajectory.position*2-(v0+v1);
 				for (i,&edge_face_id) in mesh.edge_faces(edge_id).as_ref().iter().enumerate(){
 					let face_n=mesh.face_nd(edge_face_id).0;
 					//edge_n gets parity from the order of edge_faces
 					let n=face_n.cross(edge_n)*((i as i64)*2-1);
 					//WARNING yada yada d *2
 					//wrap for speed
-					for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).wrap_4(),n.dot(body.velocity).wrap_4()*2,n.dot(body.acceleration).wrap_4()){
-						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							best_time=dt;
+					for dt in F256_128::zeroes2(n.dot(delta_pos).wrap_256(),n.dot(trajectory.velocity).wrap_256()*2,n.dot(trajectory.acceleration).wrap_256()){
+						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Face(edge_face_id),dt);
 							break;
 						}
@@ -98,10 +140,10 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 				for (i,&vert_id) in edge_verts.as_ref().iter().enumerate(){
 					//vertex normal gets parity from vert index
 					let n=edge_n*(1-2*(i as i64));
-					for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							let dt=Ratio::new(dt.num.widen_4(),dt.den.widen_4());
-							best_time=dt;
+					for dt in F128_64::zeroes2((n.dot(trajectory.position-mesh.vert(vert_id)))*2,n.dot(trajectory.velocity)*2,n.dot(trajectory.acceleration)){
+						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+							let dt=Ratio::new(dt.num.widen_256(),dt.den.widen_256());
+							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Vert(vert_id),dt);
 							break;
 						}
@@ -111,36 +153,30 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 			},
 			&FEV::Vert(vert_id)=>{
 				//test each edge collision time, ignoring roots with zero or conflicting derivative
-				for &directed_edge_id in mesh.vert_edges(vert_id).as_ref(){
+				mesh.for_each_vert_edge(vert_id,|directed_edge_id|{
 					//edge is directed away from vertex, but we want the dot product to turn out negative
 					let n=-mesh.directed_edge_n(directed_edge_id);
-					for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							let dt=Ratio::new(dt.num.widen_4(),dt.den.widen_4());
-							best_time=dt;
+					for dt in F128_64::zeroes2((n.dot(trajectory.position-mesh.vert(vert_id)))*2,n.dot(trajectory.velocity)*2,n.dot(trajectory.acceleration)){
+						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+							let dt=Ratio::new(dt.num.widen_256(),dt.den.widen_256());
+							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Edge(directed_edge_id.as_undirected()),dt);
 							break;
 						}
 					}
-				}
+				});
 				//if none:
 			},
 		}
 		best_transition
 	}
-	pub fn crawl(mut self,mesh:&M,relative_body:&Body,start_time:Time,time_limit:Time)->CrawlResult<M>{
-		let mut body_time={
-			let r=(start_time-relative_body.time).to_ratio();
-			Ratio::new(r.num.widen_4(),r.den.widen_4())
-		};
-		let time_limit={
-			let r=(time_limit-relative_body.time).to_ratio();
-			Ratio::new(r.num.widen_4(),r.den.widen_4())
-		};
+	pub fn crawl(mut self,mesh:&M,trajectory:&Trajectory,lower_bound:Bound<&Time>,upper_bound:Bound<&Time>)->CrawlResult<M>{
+		let mut lower_bound=lower_bound.map(|&t|into_giga_time(t,trajectory.time));
+		let upper_bound=upper_bound.map(|&t|into_giga_time(t,trajectory.time));
 		for _ in 0..20{
-			match self.next_transition(body_time,mesh,relative_body,time_limit){
+			match self.next_transition(mesh,trajectory,lower_bound,upper_bound){
 				Transition::Miss=>return CrawlResult::Miss(self),
-				Transition::Next(next_fev,next_time)=>(self,body_time)=(next_fev,next_time),
+				Transition::Next(next_fev,next_time)=>(self,lower_bound)=(next_fev,Bound::Included(next_time)),
 				Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),
 			}
 		}

engine/physics/src/lib.rs

@@ -1,7 +1,10 @@
 mod body;
-mod push_solve;
 mod face_crawler;
+mod mesh_query;
+mod minkowski;
 mod model;
+mod push_solve;
+mod minimum_difference;
 
 pub mod physics;
 

engine/physics/src/mesh_query.rs

@@ -0,0 +1,57 @@
+#[derive(Debug)]
+pub enum FEV<M:MeshTopology>{
+	Vert(M::Vert),
+	Edge(M::Edge),
+	Face(M::Face),
+}
+
+pub trait UndirectedEdge{
+	type DirectedEdge:DirectedEdge<UndirectedEdge=Self>;
+	fn as_directed(self,parity:bool)->Self::DirectedEdge;
+}
+pub trait DirectedEdge{
+	type UndirectedEdge:UndirectedEdge<DirectedEdge=Self>;
+	fn as_undirected(self)->Self::UndirectedEdge;
+	fn parity(&self)->bool;
+	fn reverse(self)->Self
+		where
+			Self:Sized
+	{
+		let parity=!self.parity();
+		self.as_undirected().as_directed(parity)
+	}
+}
+
+pub trait MeshTopology{
+	type Face;
+	type Edge:UndirectedEdge<DirectedEdge=Self::DirectedEdge>;
+	type DirectedEdge:DirectedEdge<UndirectedEdge=Self::Edge>;
+	type Vert;
+	fn for_each_vert_edge(&self,vert_id:Self::Vert,f:impl FnMut(Self::DirectedEdge));
+	fn for_each_vert_face(&self,vert_id:Self::Vert,f:impl FnMut(Self::Face));
+	fn edge_faces(&self,edge_id:Self::Edge)->impl AsRef<[Self::Face;2]>;
+	fn edge_verts(&self,edge_id:Self::Edge)->impl AsRef<[Self::Vert;2]>;
+	#[expect(unused)]
+	fn for_each_face_vert(&self,face_id:Self::Face,f:impl FnMut(Self::Vert));
+	fn for_each_face_edge(&self,face_id:Self::Face,f:impl FnMut(Self::DirectedEdge));
+}
+
+// Make face_nd d value relative
+// euclidean point?
+// Simplex physics
+// Directed edge necessary?
+// recursive for_each function calls
+// define faces from vertices (Fixed<2> vs Fixed<3>)
+pub trait MeshQuery:MeshTopology{
+	type Position;
+	type Direction;
+	type Normal;
+	type Offset;
+	fn vert(&self,vert_id:Self::Vert)->Self::Position;
+	fn farthest_vert(&self,dir:Self::Direction)->Self::Vert;
+	/// This must return a point inside the mesh.
+	fn hint_point(&self)->Self::Position;
+	fn face_nd(&self,face_id:Self::Face)->(Self::Normal,Self::Offset);
+	fn edge_n(&self,edge_id:Self::Edge)->Self::Direction;
+	fn directed_edge_n(&self,directed_edge_id:Self::DirectedEdge)->Self::Direction;
+}

engine/physics/src/minimum_difference.rs

@@ -0,0 +1,924 @@
+use strafesnet_common::integer::fixed_types::{F128_64,F192_96,F256_128};
+use strafesnet_common::integer::vec3;
+use strafesnet_common::integer::vec3::Vector3;
+use strafesnet_common::integer::{Fixed,Planar64,Planar64Vec3};
+
+use crate::mesh_query::{FEV,DirectedEdge,MeshQuery,MeshTopology};
+// TODO: remove mesh invert
+use crate::minkowski::{MinkowskiMesh,MinkowskiVert};
+
+// This algorithm is based on Lua code
+// written by Trey Reynolds in 2021
+
+type Simplex<const N:usize,Vert>=[Vert;N];
+#[derive(Clone,Copy)]
+enum Simplex1_3<Vert>{
+	Simplex1(Simplex<1,Vert>),
+	Simplex2(Simplex<2,Vert>),
+	Simplex3(Simplex<3,Vert>),
+}
+impl<Vert> Simplex1_3<Vert>{
+	fn push_front(self,v:Vert)->Simplex2_4<Vert>{
+		match self{
+			Simplex1_3::Simplex1([v0])=>Simplex2_4::Simplex2([v,v0]),
+			Simplex1_3::Simplex2([v0,v1])=>Simplex2_4::Simplex3([v,v0,v1]),
+			Simplex1_3::Simplex3([v0,v1,v2])=>Simplex2_4::Simplex4([v,v0,v1,v2]),
+		}
+	}
+}
+#[derive(Clone,Copy)]
+enum Simplex2_4<Vert>{
+	Simplex2(Simplex<2,Vert>),
+	Simplex3(Simplex<3,Vert>),
+	Simplex4(Simplex<4,Vert>),
+}
+
+/*
+local function absDet(r, u, v, w)
+	if w then
+		return math.abs((u - r):Cross(v - r):Dot(w - r))
+	elseif v then
+		return (u - r):Cross(v - r).magnitude
+	elseif u then
+		return (u - r).magnitude
+	else
+		return 1
+	end
+end
+*/
+impl<Vert> Simplex2_4<Vert>{
+	fn det_is_zero<M:MeshQuery<Vert=Vert,Position=Planar64Vec3>>(self,mesh:&M)->bool{
+		match self{
+			Self::Simplex4([p0,p1,p2,p3])=>{
+				let p0=mesh.vert(p0);
+				let p1=mesh.vert(p1);
+				let p2=mesh.vert(p2);
+				let p3=mesh.vert(p3);
+				(p1-p0).cross(p2-p0).dot(p3-p0)==Fixed::ZERO
+			},
+			Self::Simplex3([p0,p1,p2])=>{
+				let p0=mesh.vert(p0);
+				let p1=mesh.vert(p1);
+				let p2=mesh.vert(p2);
+				(p1-p0).cross(p2-p0)==vec3::zero()
+			},
+			Self::Simplex2([p0,p1])=>{
+				let p0=mesh.vert(p0);
+				let p1=mesh.vert(p1);
+				p1-p0==vec3::zero()
+			}
+		}
+	}
+}
+
+/*
+local function choosePerpendicularDirection(d)
+	local x, y, z = d.x, d.y, d.z
+	local best = math.min(x*x, y*y, z*z)
+	if x*x == best then
+		return Vector3.new(y*y + z*z, -x*y, -x*z)
+	elseif y*y == best then
+		return Vector3.new(-x*y, x*x + z*z, -y*z)
+	else
+		return Vector3.new(-x*z, -y*z, x*x + y*y)
+	end
+end
+*/
+fn choose_perpendicular_direction(d:Planar64Vec3)->Planar64Vec3{
+	let x=d.x.abs();
+	let y=d.y.abs();
+	let z=d.z.abs();
+	if x<y&&x<z{
+		Vector3::new([Fixed::ZERO,-d.z,d.y])
+	}else if y<z{
+		Vector3::new([d.z,Fixed::ZERO,-d.x])
+	}else{
+		Vector3::new([-d.y,d.x,Fixed::ZERO])
+	}
+}
+
+const fn choose_any_direction()->Planar64Vec3{
+	vec3::X
+}
+
+fn narrow_dir2(dir:Vector3<F128_64>)->Planar64Vec3{
+	if dir==vec3::zero(){
+		return dir.narrow_64().unwrap();
+	}
+	let x=dir.x.as_bits().unsigned_abs().bit_width();
+	let y=dir.y.as_bits().unsigned_abs().bit_width();
+	let z=dir.z.as_bits().unsigned_abs().bit_width();
+	let big=x.max(y).max(z);
+	const MAX_BITS:u32=64+31;
+	if MAX_BITS<big{
+		dir>>(big-MAX_BITS)
+	}else{
+		dir
+	}.narrow_64().unwrap()
+}
+fn narrow_dir3(dir:Vector3<F192_96>)->Planar64Vec3{
+	if dir==vec3::zero(){
+		return dir.narrow_64().unwrap();
+	}
+	let x=dir.x.as_bits().unsigned_abs().bit_width();
+	let y=dir.y.as_bits().unsigned_abs().bit_width();
+	let z=dir.z.as_bits().unsigned_abs().bit_width();
+	let big=x.max(y).max(z);
+	const MAX_BITS:u32=96+31;
+	if MAX_BITS<big{
+		dir>>(big-MAX_BITS)
+	}else{
+		dir
+	}.narrow_64().unwrap()
+}
+
+fn reduce1<M:MeshQuery<Position=Planar64Vec3>>(
+	[v0]:Simplex<1,M::Vert>,
+	mesh:&M,
+	point:Planar64Vec3,
+)->Reduced<M::Vert>
+	where M::Vert:Copy,
+{
+	// --debug.profilebegin("reduceSimplex0")
+	// local a = a1 - a0
+	let p0=mesh.vert(v0);
+
+	// local p = -a
+	let p=-(p0+point);
+
+	// local direction = p
+	let mut dir=p;
+
+	// if direction.magnitude == 0 then
+	// 	direction = chooseAnyDirection()
+	if dir==vec3::zero(){
+		dir=choose_any_direction();
+	}
+
+	// return direction, a0, a1
+	Reduced{
+		dir,
+		simplex:Simplex1_3::Simplex1([v0]),
+	}
+}
+
+// local function reduceSimplex1(a0, a1, b0, b1)
+fn reduce2<M:MeshQuery<Position=Planar64Vec3>>(
+	[v0,v1]:Simplex<2,M::Vert>,
+	mesh:&M,
+	point:Planar64Vec3,
+)->Reduced<M::Vert>
+	where
+		M::Vert:Copy
+{
+	// --debug.profilebegin("reduceSimplex1")
+	// local a = a1 - a0
+	// local b = b1 - b0
+	let p0=mesh.vert(v0);
+	let p1=mesh.vert(v1);
+
+	// local p = -a
+	// local u = b - a
+	let p=-(p0+point);
+	let u=p1-p0;
+
+	// -- modify to take into account the radiuses
+	// local p_u = p:Dot(u)
+	let p_u=p.dot(u);
+
+	// if p_u >= 0 then
+	if !p_u.is_negative(){
+		// local direction = u:Cross(p):Cross(u)
+		let direction=u.cross(p).cross(u);
+
+		// if direction.magnitude == 0 then
+		if direction==vec3::zero(){
+			return Reduced{
+				dir:choose_perpendicular_direction(u),
+				simplex:Simplex1_3::Simplex2([v0,v1]),
+			};
+		}
+
+		// -- modify the direction to take into account a0R and b0R
+		// return direction, a0, a1, b0, b1
+		return Reduced{
+			dir:narrow_dir3(direction),
+			simplex:Simplex1_3::Simplex2([v0,v1]),
+		};
+	}
+
+	// local direction = p
+	let mut dir=p;
+
+	// if direction.magnitude == 0 then
+	if dir==vec3::zero(){
+		dir=choose_perpendicular_direction(u);
+	}
+
+	// return direction, a0, a1
+	Reduced{
+		dir,
+		simplex:Simplex1_3::Simplex1([v0]),
+	}
+}
+
+// local function reduceSimplex2(a0, a1, b0, b1, c0, c1)
+fn reduce3<M:MeshQuery<Position=Planar64Vec3>>(
+	[v0,mut v1,v2]:Simplex<3,M::Vert>,
+	mesh:&M,
+	point:Planar64Vec3,
+)->Reduced<M::Vert>
+	where
+		M::Vert:Copy
+{
+	// --debug.profilebegin("reduceSimplex2")
+	// local a = a1 - a0
+	// local b = b1 - b0
+	// local c = c1 - c0
+	let p0=mesh.vert(v0);
+	let p1=mesh.vert(v1);
+	let p2=mesh.vert(v2);
+
+	// local p = -a
+	// local u = b - a
+	// local v = c - a
+	let p=-(p0+point);
+	let mut u=p1-p0;
+	let v=p2-p0;
+
+	// local uv = u:Cross(v)
+	// local up = u:Cross(p)
+	// local pv = p:Cross(v)
+	// local uv_up = uv:Dot(up)
+	// local uv_pv = uv:Dot(pv)
+	let mut uv=u.cross(v);
+	let mut up=u.cross(p);
+	let pv=p.cross(v);
+	let uv_up=uv.dot(up);
+	let uv_pv=uv.dot(pv);
+
+	// if uv_up >= 0 and uv_pv >= 0 then
+	if !uv_up.is_negative()&&!uv_pv.is_negative(){
+		// local uvp = uv:Dot(p)
+		let uvp=uv.dot(p);
+
+		// local direction = uvp < 0 and -uv or uv
+		let direction=if uvp.is_negative(){
+			-uv
+		}else{
+			uv
+		};
+
+		// return direction, a0, a1, b0, b1, c0, c1
+		return Reduced{
+			dir:narrow_dir2(direction),
+			simplex:Simplex1_3::Simplex3([v0,v1,v2]),
+		};
+	}
+
+	// local u_u = u:Dot(u)
+	// local v_v = v:Dot(v)
+	// local uDist = uv_up/(u_u*v.magnitude)
+	// local vDist = uv_pv/(v_v*u.magnitude)
+	// local minDist2 = math.min(uDist, vDist)
+	let u_dist=uv_up*v.length();
+	let v_dist=uv_pv*u.length();
+
+	// if vDist == minDist2 then
+	if v_dist<u_dist{
+		u=v;
+		up=-pv;
+		uv=-uv;
+		// b0 = c0
+		// b1 = c1
+		v1=v2;
+	}
+
+	// local p_u = p:Dot(u)
+	let p_u=p.dot(u);
+
+	// if p_u >= 0 then
+	if !p_u.is_negative(){
+		// local direction = up:Cross(u)
+		let direction=up.cross(u);
+		// if direction.magnitude == 0 then
+		if direction==vec3::zero(){
+			// direction = uv
+			return Reduced{
+				dir:narrow_dir2(uv),
+				simplex:Simplex1_3::Simplex2([v0,v1]),
+			};
+		}
+
+		// return direction, a0, a1, b0, b1
+		return Reduced{
+			dir:narrow_dir3(direction),
+			simplex:Simplex1_3::Simplex2([v0,v1]),
+		};
+	}
+
+	// local direction = p
+	let dir=p;
+	// if direction.magnitude == 0 then
+	if dir==vec3::zero(){
+		// direction = uv
+		return Reduced{
+			dir:narrow_dir2(uv),
+			simplex:Simplex1_3::Simplex1([v0]),
+		};
+	}
+	// return direction, a0, a0
+	Reduced{
+		dir,
+		simplex:Simplex1_3::Simplex1([v0]),
+	}
+}
+
+// local function reduceSimplex3(a0, a1, b0, b1, c0, c1, d0, d1)
+fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
+	[v0,mut v1,mut v2,v3]:Simplex<4,M::Vert>,
+	mesh:&M,
+	point:Planar64Vec3,
+)->Reduce<M::Vert>
+	where
+		M::Vert:Copy
+{
+	// --debug.profilebegin("reduceSimplex3")
+	// local a = a1 - a0
+	// local b = b1 - b0
+	// local c = c1 - c0
+	// local d = d1 - d0
+	let p0=mesh.vert(v0);
+	let p1=mesh.vert(v1);
+	let p2=mesh.vert(v2);
+	let p3=mesh.vert(v3);
+
+	// local p = -a
+	// local u = b - a
+	// local v = c - a
+	// local w = d - a
+	let p=-(p0+point);
+	let mut u=p1-p0;
+	let mut v=p2-p0;
+	let w=p3-p0;
+
+	// local uv = u:Cross(v)
+	// local vw = v:Cross(w)
+	// local wu = w:Cross(u)
+	// local uvw = uv:Dot(w)
+	// local pvw = vw:Dot(p)
+	// local upw = wu:Dot(p)
+	// local uvp = uv:Dot(p)
+	let mut uv=u.cross(v);
+	let vw=v.cross(w);
+	let wu=w.cross(u);
+	let uv_w=uv.dot(w);
+	let pv_w=vw.dot(p);
+	let up_w=wu.dot(p);
+	let uv_p=uv.dot(p);
+
+	// if pvw/uvw >= 0 and upw/uvw >= 0 and uvp/uvw >= 0 then
+	if !pv_w.div_sign(uv_w).is_negative()
+	 &&!up_w.div_sign(uv_w).is_negative()
+	 &&!uv_p.div_sign(uv_w).is_negative(){
+		// origin is contained, this is a positive detection
+		// local direction = Vector3.new(0, 0, 0)
+		// return direction, a0, a1, b0, b1, c0, c1, d0, d1
+		return Reduce::Escape([v0,v1,v2,v3]);
+	}
+
+	// local uvwSign = uvw < 0 and -1 or uvw > 0 and 1 or 0
+	// local uvDist = uvp*uvwSign/uv.magnitude
+	// local vwDist = pvw*uvwSign/vw.magnitude
+	// local wuDist = upw*uvwSign/wu.magnitude
+	// local minDist3 = math.min(uvDist, vwDist, wuDist)
+	let uv_dist=uv_p.mul_sign(uv_w);
+	let vw_dist=pv_w.mul_sign(uv_w);
+	let wu_dist=up_w.mul_sign(uv_w);
+	let wu_len=wu.length();
+	let uv_len=uv.length();
+	let vw_len=vw.length();
+
+	if vw_dist*wu_len<wu_dist*vw_len{
+		// if vwDist == minDist3 then
+		if vw_dist*uv_len<uv_dist*vw_len{
+			(u,v)=(v,w);
+			uv=vw;
+			// uv_p=pv_w; // unused
+			// b0, c0 = c0, d0
+			// b1, c1 = c1, d1
+			(v1,v2)=(v2,v3);
+		}
+	}else{
+		// elseif wuDist == minDist3 then
+		if wu_dist*uv_len<uv_dist*wu_len{
+			(u,v)=(w,u);
+			uv=wu;
+			// uv_p=up_w; // unused
+			// b0, c0 = d0, b0
+			// b1, c1 = d1, b1
+			// before [a,b,c,d]
+			(v1,v2)=(v3,v1);
+			// after [a,d,b]
+		}
+	}
+
+	// local up = u:Cross(p)
+	// local pv = p:Cross(v)
+	// local uv_up = uv:Dot(up)
+	// local uv_pv = uv:Dot(pv)
+	let mut up=u.cross(p);
+	let pv=p.cross(v);
+	let uv_up=uv.dot(up);
+	let uv_pv=uv.dot(pv);
+
+	// if uv_up >= 0 and uv_pv >= 0 then
+	if !uv_up.is_negative()&&!uv_pv.is_negative(){
+		// local direction = uvw < 0 and uv or -uv
+		// return direction, a0, a1, b0, b1, c0, c1
+		let dir=if uv_w.is_negative(){
+			narrow_dir2(uv)
+		}else{
+			narrow_dir2(-uv)
+		};
+		return Reduce::Reduced(Reduced{
+			dir,
+			simplex:Simplex1_3::Simplex3([v0,v1,v2]),
+		});
+	}
+
+	// local u_u = u:Dot(u)
+	// local v_v = v:Dot(v)
+	// local uDist = uv_up/(u_u*v.magnitude)
+	// local vDist = uv_pv/(v_v*u.magnitude)
+	// local minDist2 = math.min(uDist, vDist)
+	let u_dist=uv_up*v.length();
+	let v_dist=uv_pv*u.length();
+
+	// if vDist == minDist2 then
+	if v_dist<u_dist{
+		u=v;
+		up=-pv;
+		uv=-uv;
+		// b0 = c0
+		// b1 = c1
+		v1=v2;
+	}
+
+	// local p_u = p:Dot(u)
+	let p_u=p.dot(u);
+
+	// if p_u >= 0 then
+	if !p_u.is_negative(){
+		// local direction = up:Cross(u)
+		let direction=up.cross(u);
+		// if direction.magnitude == 0 then
+		if direction==vec3::zero(){
+			// direction = uvw < 0 and uv or -uv
+			// return direction, a0, a1, b0, b1
+			let dir=if uv_w.is_negative(){
+				narrow_dir2(uv)
+			}else{
+				narrow_dir2(-uv)
+			};
+			return Reduce::Reduced(Reduced{
+				dir,
+				simplex:Simplex1_3::Simplex2([v0,v1]),
+			});
+		}
+
+		// return direction, a0, a1, b0, b1
+		return Reduce::Reduced(Reduced{
+			dir:narrow_dir3(direction),
+			simplex:Simplex1_3::Simplex2([v0,v1]),
+		});
+	}
+
+	// local direction = p
+	let dir=p;
+	// if direction.magnitude == 0 then
+	if dir==vec3::zero(){
+		// direction = uvw < 0 and uv or -uv
+		let dir=if uv_w.is_negative(){
+			narrow_dir2(uv)
+		}else{
+			narrow_dir2(-uv)
+		};
+		return Reduce::Reduced(Reduced{
+			dir,
+			simplex:Simplex1_3::Simplex1([v0]),
+		});
+	}
+
+	// return direction, a0, a1
+	Reduce::Reduced(Reduced{
+		dir,
+		simplex:Simplex1_3::Simplex1([v0]),
+	})
+}
+
+struct Reduced<Vert>{
+	dir:Planar64Vec3,
+	simplex:Simplex1_3<Vert>,
+}
+
+enum Reduce<Vert>{
+	Escape(Simplex<4,Vert>),
+	Reduced(Reduced<Vert>),
+}
+
+impl<Vert> Simplex2_4<Vert>{
+	fn reduce<M:MeshQuery<Vert=Vert,Position=Planar64Vec3>>(self,mesh:&M,point:Planar64Vec3)->Reduce<Vert>
+		where
+			M::Vert:Copy
+	{
+		match self{
+			Self::Simplex2(simplex)=>Reduce::Reduced(reduce2(simplex,mesh,point)),
+			Self::Simplex3(simplex)=>Reduce::Reduced(reduce3(simplex,mesh,point)),
+			Self::Simplex4(simplex)=>reduce4(simplex,mesh,point),
+		}
+	}
+}
+
+//infinity fev algorithm state transition
+#[derive(Debug)]
+enum Transition<Vert>{
+	Done,//found closest vert, no edges are better
+	Vert(Vert),//transition to vert
+}
+enum EV<M:MeshTopology>{
+	Vert(M::Vert),
+	Edge(M::Edge),
+}
+impl<M:MeshTopology> From<EV<M>> for FEV<M>{
+	fn from(value:EV<M>)->Self{
+		match value{
+			EV::Vert(minkowski_vert)=>FEV::Vert(minkowski_vert),
+			EV::Edge(minkowski_edge)=>FEV::Edge(minkowski_edge),
+		}
+	}
+}
+
+trait Contains{
+	fn contains(&self,point:Planar64Vec3)->bool;
+}
+
+// convenience type to check if a point is within some threshold of a plane.
+struct ThickPlane{
+	point:Planar64Vec3,
+	normal:Vector3<F128_64>,
+	epsilon:F192_96,
+}
+impl ThickPlane{
+	fn new<M:MeshQuery<Position=Planar64Vec3>>(mesh:&M,[v0,v1,v2]:Simplex<3,M::Vert>)->Self{
+		let p0=mesh.vert(v0);
+		let p1=mesh.vert(v1);
+		let p2=mesh.vert(v2);
+		let point=p0;
+		let normal=(p1-p0).cross(p2-p0);
+		// Allow ~ 2*sqrt(3) units of thickness on the plane
+		// This is to account for the variance of two voxels across the longest diagonal
+		let epsilon=(normal.length()*(Planar64::EPSILON*3)).wrap_192();
+		Self{point,normal,epsilon}
+	}
+}
+impl Contains for ThickPlane{
+	fn contains(&self,point:Planar64Vec3)->bool{
+		(point-self.point).dot(self.normal).abs()<=self.epsilon
+	}
+}
+
+struct ThickLine{
+	point:Planar64Vec3,
+	dir:Planar64Vec3,
+	epsilon:F256_128,
+}
+impl ThickLine{
+	fn new<M:MeshQuery<Position=Planar64Vec3>>(mesh:&M,[v0,v1]:Simplex<2,M::Vert>)->Self{
+		let p0=mesh.vert(v0);
+		let p1=mesh.vert(v1);
+		let point=p0;
+		let dir=p1-p0;
+		// Allow ~ 2*sqrt(3) units of thickness on the plane
+		// This is to account for the variance of two voxels across the longest diagonal
+		let epsilon=(dir.length_squared()*(Planar64::EPSILON*3)).widen_256();
+		Self{point,dir,epsilon}
+	}
+}
+impl Contains for ThickLine{
+	fn contains(&self,point:Planar64Vec3)->bool{
+		(point-self.point).cross(self.dir).length_squared()<=self.epsilon
+	}
+}
+
+struct EVFinder<'a,M,C>{
+	mesh:&'a M,
+	constraint:C,
+	best_distance_squared:F128_64,
+}
+
+impl<M:MeshQuery<Position=Planar64Vec3>,C:Contains> EVFinder<'_,M,C>
+	where
+		M::Vert:Copy,
+		M::DirectedEdge:Copy,
+{
+	fn next_transition_vert(&mut self,vert_id:M::Vert,point:Planar64Vec3)->Transition<M::Vert>{
+		let mut best_transition=Transition::Done;
+		self.mesh.for_each_vert_edge(vert_id,|directed_edge_id|{
+			//test if this edge's opposite vertex closer
+			let edge_verts=self.mesh.edge_verts(directed_edge_id.as_undirected());
+			//select opposite vertex
+			let test_vert_id=edge_verts.as_ref()[directed_edge_id.parity() as usize];
+			let test_pos=self.mesh.vert(test_vert_id);
+			let diff=point-test_pos;
+			let distance_squared=diff.dot(diff);
+			// ensure test_vert_id is coplanar to simplex
+			if distance_squared<self.best_distance_squared&&self.constraint.contains(test_pos){
+				best_transition=Transition::Vert(test_vert_id);
+				self.best_distance_squared=distance_squared;
+			}
+		});
+		best_transition
+	}
+	fn final_ev(&mut self,vert_id:M::Vert,point:Planar64Vec3)->EV<M>{
+		let mut best_transition=EV::Vert(vert_id);
+		let vert_pos=self.mesh.vert(vert_id);
+		let diff=point-vert_pos;
+		self.mesh.for_each_vert_edge(vert_id,|directed_edge_id|{
+			//test if this edge is closer
+			let edge_verts=self.mesh.edge_verts(directed_edge_id.as_undirected());
+			let test_vert_id=edge_verts.as_ref()[directed_edge_id.parity() as usize];
+			let test_pos=self.mesh.vert(test_vert_id);
+			let edge_n=test_pos-vert_pos;
+			let d=edge_n.dot(diff);
+			//test the edge
+			let edge_nn=edge_n.dot(edge_n);
+			// ensure edge contains closest point and directed_edge_id is coplanar to simplex
+			if !d.is_negative()&&d<=edge_nn&&self.constraint.contains(test_pos){
+				let distance_squared={
+					let c=diff.cross(edge_n);
+					//wrap for speed
+					(c.dot(c)/edge_nn).divide().wrap_128()
+				};
+				if distance_squared<=self.best_distance_squared{
+					best_transition=EV::Edge(directed_edge_id.as_undirected());
+					self.best_distance_squared=distance_squared;
+				}
+			}
+		});
+		best_transition
+	}
+	fn crawl_boundaries(&mut self,mut vert_id:M::Vert,point:Planar64Vec3)->EV<M>
+		where
+			M::Vert:Copy
+	{
+		loop{
+			match self.next_transition_vert(vert_id,point){
+				Transition::Done=>return self.final_ev(vert_id,point),
+				Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
+			}
+		}
+	}
+}
+/// This function hops along parallel vertices until it finds the EV which contains the closest point to `point`.
+fn crawl_to_closest_ev<M:MeshQuery<Position=Planar64Vec3>>(mesh:&M,simplex:Simplex<2,M::Vert>,point:Planar64Vec3)->EV<M>
+	where
+		M::Vert:Copy,
+		M::DirectedEdge:Copy,
+{
+	// naively start at the closest vertex
+	// the closest vertex is not necessarily the one with the fewest boundary hops
+	// but it doesn't matter, we will get there regardless.
+	let (vert_id,best_distance_squared)=simplex.into_iter().map(|vert_id|{
+		let diff=point-mesh.vert(vert_id);
+		(vert_id,diff.dot(diff))
+	}).min_by_key(|&(_,d)|d).unwrap();
+
+	let constraint=ThickLine::new(mesh,simplex);
+	let mut finder=EVFinder{constraint,mesh,best_distance_squared};
+	//start on any vertex
+	//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
+	//cross edge-face boundary if it's uncrossable
+	finder.crawl_boundaries(vert_id,point)
+}
+
+/// This function hops along connected vertices until it finds the FEV which contains the closest point to `point`.
+fn crawl_to_closest_fev<'a>(mesh:&MinkowskiMesh<'a>,simplex:Simplex<3,MinkowskiVert>,point:Planar64Vec3)->FEV::<MinkowskiMesh<'a>>{
+	// naively start at the closest vertex
+	// the closest vertex is not necessarily the one with the fewest boundary hops
+	// but it doesn't matter, we will get there regardless.
+	let (vert_id,best_distance_squared)=simplex.into_iter().map(|vert_id|{
+		let diff=point-mesh.vert(vert_id);
+		(vert_id,diff.dot(diff))
+	}).min_by_key(|&(_,d)|d).unwrap();
+
+	let constraint=ThickPlane::new(mesh,simplex);
+	let mut finder=EVFinder{constraint,mesh,best_distance_squared};
+	//start on any vertex
+	//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
+	//cross edge-face boundary if it's uncrossable
+	match finder.crawl_boundaries(vert_id,point){
+		//if a vert is returned, it is the closest point to the infinity point
+		EV::Vert(vert_id)=>FEV::Vert(vert_id),
+		EV::Edge(edge_id)=>{
+			//cross to face if we are on the wrong side
+			let edge_n=mesh.edge_n(edge_id);
+			// point is multiplied by two because vert_sum sums two vertices.
+			let delta_pos=point*2-{
+				let &[v0,v1]=mesh.edge_verts(edge_id).as_ref();
+				mesh.vert(v0)+mesh.vert(v1)
+			};
+			for (i,&face_id) in mesh.edge_faces(edge_id).as_ref().iter().enumerate(){
+				//test if this face is closer
+				let (face_n,d)=mesh.face_nd(face_id);
+				//if test point is behind face, the face is invalid
+				// TODO: find out why I thought of this backwards
+				if !(face_n.dot(point)-d).is_positive(){
+					continue;
+				}
+				//edge-face boundary nd, n facing out of the face towards the edge
+				let boundary_n=face_n.cross(edge_n)*(i as i64*2-1);
+				let boundary_d=boundary_n.dot(delta_pos);
+				//is test point behind edge, i.e. contained in the face
+				if !boundary_d.is_positive(){
+					//both faces cannot pass this condition, return early if one does.
+					return FEV::Face(face_id);
+				}
+			}
+			FEV::Edge(edge_id)
+		},
+	}
+}
+
+pub fn closest_fev_not_inside<'a>(mesh:&MinkowskiMesh<'a>,point:Planar64Vec3)->Option<FEV<MinkowskiMesh<'a>>>{
+	const ENABLE_FAST_FAIL:bool=false;
+	// TODO: remove mesh negation
+	minimum_difference::<ENABLE_FAST_FAIL,_,_>(&-mesh,point,
+		// on_exact
+		|is_intersecting,simplex|{
+			if is_intersecting{
+				return None;
+			}
+			// Convert simplex to FEV
+			// Vertices must be inverted since the mesh is inverted
+			Some(match simplex{
+				Simplex1_3::Simplex1([v0])=>FEV::Vert(-v0),
+				Simplex1_3::Simplex2([v0,v1])=>{
+					// invert
+					let (v0,v1)=(-v0,-v1);
+					crawl_to_closest_ev(mesh,[v0,v1],point).into()
+				},
+				Simplex1_3::Simplex3([v0,v1,v2])=>{
+					// invert
+					let (v0,v1,v2)=(-v0,-v1,-v2);
+					// Shimmy to the side until you find a face that contains the closest point
+					// it's ALWAYS representable as a face, but this algorithm may
+					// return E or V in edge cases but I don't think that will break the face crawler
+					crawl_to_closest_fev(mesh,[v0,v1,v2],point)
+				},
+			})
+		},
+		// on_escape
+		|_simplex|{
+			// intersection is guaranteed at this point
+			// local norm, dist, u0, u1, v0, v1, w0, w1 = expand(queryP, queryQ, a0, a1, b0, b1, c0, c1, d0, d1, 1e-5)
+			// let simplex=refine_to_exact(mesh,simplex);
+			None
+		},
+		// fast_fail value is irrelevant and will never be returned!
+		||unreachable!()
+	)
+}
+
+pub fn contains_point(mesh:&MinkowskiMesh<'_>,point:Planar64Vec3)->bool{
+	const ENABLE_FAST_FAIL:bool=true;
+	// TODO: remove mesh negation
+	minimum_difference::<ENABLE_FAST_FAIL,_,_>(&-mesh,point,
+		// on_exact
+		|is_intersecting,_simplex|{
+			is_intersecting
+		},
+		// on_escape
+		|_simplex|{
+			// intersection is guaranteed at this point
+			true
+		},
+		// fast_fail value
+		||false
+	)
+}
+
+// local function minimumDifference(
+// 	queryP, radiusP,
+// 	queryQ, radiusQ,
+// 	exitRadius, testIntersection
+// )
+fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery<Position=Planar64Vec3,Direction=Planar64Vec3>>(
+	mesh:&M,
+	point:Planar64Vec3,
+	on_exact:impl FnOnce(bool,Simplex1_3<M::Vert>)->T,
+	on_escape:impl FnOnce(Simplex<4,M::Vert>)->T,
+	on_fast_fail:impl FnOnce()->T,
+)->T
+	where
+		M::Vert:Copy
+{
+	// local initialAxis = queryQ() - queryP()
+	// local new_point_p = queryP(initialAxis)
+	// local new_point_q = queryQ(-initialAxis)
+	// local direction, a0, a1, b0, b1, c0, c1, d0, d1
+	let mut initial_axis=mesh.hint_point()+point;
+	// degenerate case
+	if initial_axis==vec3::zero(){
+		initial_axis=choose_any_direction();
+	}
+	let last_point=mesh.farthest_vert(-initial_axis);
+	// this represents the 'a' value in the commented code
+	let mut last_pos=mesh.vert(last_point);
+	let Reduced{dir:mut direction,simplex:mut simplex_small}=reduce1([last_point],mesh,point);
+
+	// exitRadius = testIntersection and 0 or exitRadius or 1/0
+	// for _ = 1, 100 do
+	loop{
+		// new_point_p = queryP(-direction)
+		// new_point_q = queryQ(direction)
+		// local next_point = new_point_q - new_point_p
+		let next_point=mesh.farthest_vert(direction);
+		let next_pos=mesh.vert(next_point);
+
+		// if -direction:Dot(next_point) > (exitRadius + radiusP + radiusQ)*direction.magnitude then
+		if ENABLE_FAST_FAIL&&direction.dot(next_pos+point).is_negative(){
+			return on_fast_fail();
+		}
+
+		let simplex_big=simplex_small.push_front(next_point);
+
+		// if
+		// 	direction:Dot(next_point - a) <= 0 or
+		// 	absDet(next_point, a, b, c) < 1e-6
+		if !direction.dot(next_pos-last_pos).is_positive()
+		||simplex_big.det_is_zero(mesh){
+			// Found enough information to compute the exact closest point.
+			// local norm = direction.unit
+			// local dist = a:Dot(norm)
+			// local hits = -dist < radiusP + radiusQ
+			let is_intersecting=(last_pos+point).dot(direction).is_positive();
+			return on_exact(is_intersecting,simplex_small);
+		}
+
+		// direction, a0, a1, b0, b1, c0, c1, d0, d1 = reduceSimplex(new_point_p, new_point_q, a0, a1, b0, b1, c0, c1)
+		match simplex_big.reduce(mesh,point){
+			// if a and b and c and d then
+			Reduce::Escape(simplex)=>{
+				// Enough information to conclude that the meshes are intersecting.
+				// Topology information is computed if needed.
+				return on_escape(simplex);
+			},
+			Reduce::Reduced(reduced)=>{
+				direction=reduced.dir;
+				simplex_small=reduced.simplex;
+			},
+		}
+
+		// next loop this will be a
+		last_pos=next_pos;
+	}
+}
+
+#[cfg(test)]
+mod test{
+	use super::*;
+    use crate::model::{PhysicsMesh,PhysicsMeshView};
+
+    fn mesh_contains_point(mesh:PhysicsMeshView<'_>,point:Planar64Vec3)->bool{
+		const ENABLE_FAST_FAIL:bool=true;
+		// TODO: remove mesh negation
+		minimum_difference::<ENABLE_FAST_FAIL,_,_>(&mesh,point,
+			// on_exact
+			|is_intersecting,_simplex|{
+				is_intersecting
+			},
+			// on_escape
+			|_simplex|{
+				// intersection is guaranteed at this point
+				true
+			},
+			// fast_fail value
+			||false
+		)
+	}
+
+	#[test]
+	fn test_cube_points(){
+		let mesh=PhysicsMesh::unit_cube();
+		let mesh_view=mesh.complete_mesh_view();
+		for x in -2..=2{
+			for y in -2..=2{
+				for z in -2..=2{
+					let point=vec3::int(x,y,z)>>1;
+					assert!(mesh_contains_point(mesh_view,point),"Mesh did not contain point {point}");
+				}
+			}
+		}
+	}
+}

engine/physics/src/minkowski.rs

@@ -0,0 +1,409 @@
+use core::ops::{Bound,RangeBounds};
+
+use strafesnet_common::integer::fixed_types::{F192_96,F256_128,F512_256};
+use strafesnet_common::integer::vec3::Vector3;
+use strafesnet_common::integer::{Planar64Vec3,Ratio,Fixed};
+use crate::model::into_giga_time;
+use crate::model::{SubmeshVertId,SubmeshEdgeId,SubmeshDirectedEdgeId,SubmeshFaceId,TransformedMesh,GigaTime};
+use crate::mesh_query::{MeshQuery,MeshTopology,DirectedEdge,UndirectedEdge};
+use crate::physics::{Time,Trajectory};
+
+struct AsRefHelper<T>(T);
+impl<T> AsRef<T> for AsRefHelper<T>{
+	fn as_ref(&self)->&T{
+		&self.0
+	}
+}
+
+//Note that a face on a minkowski mesh refers to a pair of fevs on the meshes it's summed from
+//(face,vertex)
+//(edge,edge)
+//(vertex,face)
+#[derive(Clone,Copy,Debug,Eq,PartialEq)]
+pub enum MinkowskiVert{
+	VertVert(SubmeshVertId,SubmeshVertId),
+}
+// TODO: remove this
+impl core::ops::Neg for MinkowskiVert{
+	type Output=Self;
+	fn neg(self)->Self::Output{
+		match self{
+			MinkowskiVert::VertVert(v0,v1)=>MinkowskiVert::VertVert(v1,v0),
+		}
+	}
+}
+#[derive(Clone,Copy,Debug)]
+pub enum MinkowskiEdge{
+	VertEdge(SubmeshVertId,SubmeshEdgeId),
+	EdgeVert(SubmeshEdgeId,SubmeshVertId),
+	//EdgeEdge when edges are parallel
+}
+impl UndirectedEdge for MinkowskiEdge{
+	type DirectedEdge=MinkowskiDirectedEdge;
+	fn as_directed(self,parity:bool)->Self::DirectedEdge{
+		match self{
+			MinkowskiEdge::VertEdge(v0,e1)=>MinkowskiDirectedEdge::VertEdge(v0,e1.as_directed(parity)),
+			MinkowskiEdge::EdgeVert(e0,v1)=>MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),v1),
+		}
+	}
+}
+#[derive(Clone,Copy,Debug)]
+pub enum MinkowskiDirectedEdge{
+	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
+	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
+	//EdgeEdge when edges are parallel
+}
+impl DirectedEdge for MinkowskiDirectedEdge{
+	type UndirectedEdge=MinkowskiEdge;
+	fn as_undirected(self)->Self::UndirectedEdge{
+		match self{
+			MinkowskiDirectedEdge::VertEdge(v0,e1)=>MinkowskiEdge::VertEdge(v0,e1.as_undirected()),
+			MinkowskiDirectedEdge::EdgeVert(e0,v1)=>MinkowskiEdge::EdgeVert(e0.as_undirected(),v1),
+		}
+	}
+	fn parity(&self)->bool{
+		match self{
+			MinkowskiDirectedEdge::VertEdge(_,e)
+			|MinkowskiDirectedEdge::EdgeVert(e,_)=>e.parity(),
+		}
+	}
+}
+#[derive(Clone,Copy,Debug,Hash)]
+pub enum MinkowskiFace{
+	VertFace(SubmeshVertId,SubmeshFaceId),
+	EdgeEdge(SubmeshEdgeId,SubmeshEdgeId,bool),
+	FaceVert(SubmeshFaceId,SubmeshVertId),
+	//EdgeFace
+	//FaceEdge
+	//FaceFace
+}
+
+#[derive(Debug)]
+pub struct MinkowskiMesh<'a>{
+	mesh0:TransformedMesh<'a>,
+	mesh1:TransformedMesh<'a>,
+}
+
+// TODO: remove this
+impl<'a> core::ops::Neg for &MinkowskiMesh<'a>{
+	type Output=MinkowskiMesh<'a>;
+	fn neg(self)->Self::Output{
+		MinkowskiMesh::minkowski_sum(self.mesh1,self.mesh0)
+	}
+}
+
+impl MinkowskiMesh<'_>{
+	pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
+		MinkowskiMesh{
+			mesh0,
+			mesh1,
+		}
+	}
+	pub fn predict_collision_in(&self,trajectory:&Trajectory,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
+		let start_position=match range.start_bound(){
+			Bound::Included(time)=>trajectory.extrapolated_position(*time),
+			Bound::Excluded(time)=>trajectory.extrapolated_position(*time),
+			Bound::Unbounded=>trajectory.position,
+		};
+		let fev=crate::minimum_difference::closest_fev_not_inside(self,start_position)?;
+		//continue forwards along the body parabola
+		fev.crawl(self,trajectory,range.start_bound(),range.end_bound()).hit()
+	}
+	pub fn predict_collision_out(&self,trajectory:&Trajectory,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
+		let (lower_bound,upper_bound)=(range.start_bound(),range.end_bound());
+		// TODO: handle unbounded collision using infinity fev
+		let start_position=match upper_bound{
+			Bound::Included(time)=>trajectory.extrapolated_position(*time),
+			Bound::Excluded(time)=>trajectory.extrapolated_position(*time),
+			Bound::Unbounded=>trajectory.position,
+		};
+		let fev=crate::minimum_difference::closest_fev_not_inside(self,start_position)?;
+		// swap and negate bounds to do a time inversion
+		let (lower_bound,upper_bound)=(upper_bound.map(|&t|-t),lower_bound.map(|&t|-t));
+		let time_reversed_trajectory=-trajectory;
+		//continue backwards along the body parabola
+		fev.crawl(self,&time_reversed_trajectory,lower_bound.as_ref(),upper_bound.as_ref()).hit()
+			//no need to test -time<time_limit because of the first step
+			.map(|(face,time)|(face,-time))
+	}
+	pub fn predict_collision_face_out(&self,trajectory:&Trajectory,range:impl RangeBounds<Time>,contact_face_id:MinkowskiFace)->Option<(MinkowskiDirectedEdge,GigaTime)>{
+		// TODO: make better
+		use crate::face_crawler::{low,upp};
+		//no algorithm needed, there is only one state and two cases (Edge,None)
+		//determine when it passes an edge ("sliding off" case)
+		let start_time=range.start_bound().map(|&t|(t-trajectory.time).to_ratio());
+		let mut best_time=range.end_bound().map(|&t|into_giga_time(t,trajectory.time));
+		let mut best_edge=None;
+		let face_n=self.face_nd(contact_face_id).0;
+		self.for_each_face_edge(contact_face_id,|directed_edge_id|{
+			let edge_n=self.directed_edge_n(directed_edge_id);
+			//f x e points in
+			let n=face_n.cross(edge_n);
+			let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
+			let d=n.dot(self.vert(v0)+self.vert(v1));
+			//WARNING! d outside of *2
+			//WARNING: truncated precision
+			//wrap for speed
+			for dt in F256_128::zeroes2(((n.dot(trajectory.position))*2-d).wrap_256(),n.dot(trajectory.velocity).wrap_256()*2,n.dot(trajectory.acceleration).wrap_256()){
+				if low(&start_time,&dt)&&upp(&dt,&best_time)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					best_time=Bound::Included(dt);
+					best_edge=Some((directed_edge_id,dt));
+					break;
+				}
+			}
+		});
+		best_edge
+	}
+	pub fn contains_point(&self,point:Planar64Vec3)->bool{
+		crate::minimum_difference::contains_point(self,point)
+	}
+}
+impl MeshQuery for MinkowskiMesh<'_>{
+	type Direction=Planar64Vec3;
+	type Position=Planar64Vec3;
+	type Normal=Vector3<F192_96>;
+	type Offset=F256_128;
+	// TODO: relative d
+	fn face_nd(&self,face_id:MinkowskiFace)->(Self::Normal,Self::Offset){
+		match face_id{
+			MinkowskiFace::VertFace(v0,f1)=>{
+				let (n,d)=self.mesh1.face_nd(f1);
+				(-n,d-n.dot(self.mesh0.vert(v0)))
+			},
+			MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
+				let edge0_n=self.mesh0.edge_n(e0);
+				let edge1_n=self.mesh1.edge_n(e1);
+				let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).as_ref();
+				let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).as_ref();
+				let n=edge0_n.cross(edge1_n);
+				let e0d=n.dot(self.mesh0.vert(e0v0)+self.mesh0.vert(e0v1));
+				let e1d=n.dot(self.mesh1.vert(e1v0)+self.mesh1.vert(e1v1));
+				((n*(parity as i64*4-2)).widen_192(),((e0d-e1d)*(parity as i64*2-1)).widen_256())
+			},
+			MinkowskiFace::FaceVert(f0,v1)=>{
+				let (n,d)=self.mesh0.face_nd(f0);
+				(n,d-n.dot(self.mesh1.vert(v1)))
+			},
+		}
+	}
+	fn vert(&self,vert_id:MinkowskiVert)->Planar64Vec3{
+		match vert_id{
+			MinkowskiVert::VertVert(v0,v1)=>{
+				self.mesh0.vert(v0)-self.mesh1.vert(v1)
+			},
+		}
+	}
+	fn hint_point(&self)->Planar64Vec3{
+		self.mesh0.hint_point()-self.mesh1.hint_point()
+	}
+	fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
+		MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
+	}
+	fn edge_n(&self,edge_id:Self::Edge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(edge_id).as_ref();
+		self.vert(v1)-self.vert(v0)
+	}
+	fn directed_edge_n(&self,directed_edge_id:Self::DirectedEdge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
+		(self.vert(v1)-self.vert(v0))*((directed_edge_id.parity() as i64)*2-1)
+	}
+}
+impl MeshTopology for MinkowskiMesh<'_>{
+	type Face=MinkowskiFace;
+	type Edge=MinkowskiEdge;
+	type DirectedEdge=MinkowskiDirectedEdge;
+	type Vert=MinkowskiVert;
+	fn for_each_vert_edge(&self,vert_id:Self::Vert,mut f:impl FnMut(Self::DirectedEdge)){
+		match vert_id{
+			MinkowskiVert::VertVert(v0,v1)=>{
+				//detect shared volume when the other mesh is mirrored along a test edge dir
+				let v0f={
+					let mut faces=Vec::new();
+					self.mesh0.for_each_vert_face(v0,|face|faces.push(face));
+					faces
+				};
+				let v1f={
+					let mut faces=Vec::new();
+					self.mesh1.for_each_vert_face(v1,|face|faces.push(face));
+					faces
+				};
+				let v0f_n:Vec<_>=v0f.iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
+				let v1f_n:Vec<_>=v1f.iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
+				// scratch vector
+				let mut face_normals=Vec::with_capacity(v0f.len()+v1f.len());
+				face_normals.clone_from(&v0f_n);
+				self.mesh0.for_each_vert_edge(v0,|directed_edge_id|{
+					let n=self.mesh0.directed_edge_n(directed_edge_id);
+					let nn=n.dot(n);
+					// TODO: there's gotta be a better way to do this
+					// drop faces beyond v0f_n
+					face_normals.truncate(v0f.len());
+					// make a set of faces from mesh0's perspective
+					for face_n in &v1f_n{
+						//add reflected mesh1 faces
+						//wrap for speed
+						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().wrap_192());
+					}
+					if is_empty_volume(&face_normals){
+						f(MinkowskiDirectedEdge::EdgeVert(directed_edge_id,v1));
+					}
+				});
+				face_normals.clone_from(&v1f_n);
+				self.mesh1.for_each_vert_edge(v1,|directed_edge_id|{
+					let n=self.mesh1.directed_edge_n(directed_edge_id);
+					let nn=n.dot(n);
+					// drop faces beyond v1f_n
+					face_normals.truncate(v1f.len());
+					// make a set of faces from mesh1's perspective
+					for face_n in &v0f_n{
+						//wrap for speed
+						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().wrap_192());
+					}
+					if is_empty_volume(&face_normals){
+						f(MinkowskiDirectedEdge::VertEdge(v0,directed_edge_id));
+					}
+				});
+			},
+		}
+	}
+	fn for_each_vert_face(&self,_vert_id:Self::Vert,_f:impl FnMut(Self::Face)){
+		unimplemented!()
+	}
+	fn edge_faces(&self,edge_id:Self::Edge)->impl AsRef<[Self::Face;2]>{
+		match edge_id{
+			MinkowskiEdge::VertEdge(v0,e1)=>{
+				//faces are listed backwards from the minkowski mesh
+				let v0e={
+					let mut edges=Vec::new();
+					self.mesh0.for_each_vert_edge(v0,|edge|edges.push(edge));
+					edges
+				};
+				let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).as_ref();
+				AsRefHelper([(e1f1,false),(e1f0,true)].map(|(edge_face_id1,face_parity)|{
+					let mut best_edge=None;
+					let mut best_d:Ratio<F512_256,F512_256>=Ratio::new(Fixed::ZERO,Fixed::ONE);
+					let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
+					let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
+					for &directed_edge_id0 in &v0e{
+						let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
+						//must be behind other face.
+						let d=edge_face1_n.dot(edge0_n);
+						if d.is_negative(){
+							let edge0_nn=edge0_n.dot(edge0_n);
+							// Assume not every number is huge
+							// TODO: revisit this
+							let dd=(d*d)/(edge_face1_nn*edge0_nn);
+							if best_d<dd{
+								best_d=dd;
+								best_edge=Some(directed_edge_id0);
+							}
+						}
+					}
+					best_edge.map_or(
+						MinkowskiFace::VertFace(v0,edge_face_id1),
+						|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_undirected(),e1,directed_edge_id0.parity()^face_parity)
+					)
+				}))
+			},
+			MinkowskiEdge::EdgeVert(e0,v1)=>{
+				//tracking index with an external variable because .enumerate() is not available
+				let v1e={
+					let mut edges=Vec::new();
+					self.mesh1.for_each_vert_edge(v1,|edge|edges.push(edge));
+					edges
+				};
+				let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).as_ref();
+				AsRefHelper([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
+					let mut best_edge=None;
+					let mut best_d:Ratio<F512_256,F512_256>=Ratio::new(Fixed::ZERO,Fixed::ONE);
+					let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
+					let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
+					for &directed_edge_id1 in &v1e{
+						let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
+						let d=edge_face0_n.dot(edge1_n);
+						if d.is_negative(){
+							let edge1_nn=edge1_n.dot(edge1_n);
+							let dd=(d*d)/(edge_face0_nn*edge1_nn);
+							if best_d<dd{
+								best_d=dd;
+								best_edge=Some(directed_edge_id1);
+							}
+						}
+					}
+					best_edge.map_or(
+						MinkowskiFace::FaceVert(edge_face_id0,v1),
+						|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_undirected(),directed_edge_id1.parity()^face_parity)
+					)
+				}))
+			},
+		}
+	}
+	fn edge_verts(&self,edge_id:Self::Edge)->impl AsRef<[Self::Vert;2]>{
+		AsRefHelper(match edge_id{
+			MinkowskiEdge::VertEdge(v0,e1)=>self.mesh1.edge_verts(e1).as_ref().map(|vert_id1|
+				MinkowskiVert::VertVert(v0,vert_id1)
+			),
+			MinkowskiEdge::EdgeVert(e0,v1)=>self.mesh0.edge_verts(e0).as_ref().map(|vert_id0|
+				MinkowskiVert::VertVert(vert_id0,v1)
+			),
+		})
+	}
+	fn for_each_face_vert(&self,_face_id:Self::Face,_f:impl FnMut(Self::Vert)){
+		unimplemented!()
+	}
+	fn for_each_face_edge(&self,face_id:Self::Face,mut f:impl FnMut(Self::DirectedEdge)){
+		match face_id{
+			MinkowskiFace::VertFace(v0,f1)=>{
+				self.mesh1.for_each_face_edge(f1,|edge_id1|
+					f(MinkowskiDirectedEdge::VertEdge(v0,edge_id1.reverse()))
+				)
+			},
+			MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
+				let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).as_ref();
+				let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).as_ref();
+				//could sort this if ordered edges are needed
+				//probably just need to reverse this list according to parity
+				f(MinkowskiDirectedEdge::VertEdge(e0v0,e1.as_directed(parity)));
+				f(MinkowskiDirectedEdge::EdgeVert(e0.as_directed(!parity),e1v0));
+				f(MinkowskiDirectedEdge::VertEdge(e0v1,e1.as_directed(!parity)));
+				f(MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),e1v1));
+			},
+			MinkowskiFace::FaceVert(f0,v1)=>{
+				self.mesh0.for_each_face_edge(f0,|edge_id0|
+					f(MinkowskiDirectedEdge::EdgeVert(edge_id0,v1))
+				)
+			},
+		}
+	}
+}
+
+fn is_empty_volume(normals:&[Vector3<F192_96>])->bool{
+	let len=normals.len();
+	for i in 0..len-1{
+		for j in i+1..len{
+			let n=normals[i].cross(normals[j]);
+			let mut d_comp=None;
+			for k in 0..len{
+				if k!=i&&k!=j{
+					let d=n.dot(normals[k]).is_negative();
+					if let &Some(comp)=&d_comp{
+						// This is testing if d_comp*d < 0
+						if comp^d{
+							return true;
+						}
+					}else{
+						d_comp=Some(d);
+					}
+				}
+			}
+		}
+	}
+	return false;
+}
+
+#[test]
+fn test_is_empty_volume(){
+	use strafesnet_common::integer::vec3;
+	assert!(!is_empty_volume(&[vec3::X.widen_192(),vec3::Y.widen_192(),vec3::Z.widen_192()]));
+	assert!(is_empty_volume(&[vec3::X.widen_192(),vec3::Y.widen_192(),vec3::Z.widen_192(),vec3::NEG_X.widen_192()]));
+}

engine/physics/src/model.rs

@@ -1,11 +1,10 @@
 use std::collections::{HashSet,HashMap};
-use core::ops::Range;
+use strafesnet_common::integer::fixed_types::{F128_64,F192_96,F256_128};
 use strafesnet_common::integer::vec3::Vector3;
 use strafesnet_common::model::{self,MeshId,PolygonIter};
 use strafesnet_common::integer::{self,vec3,Fixed,Planar64,Planar64Vec3,Ratio};
 use strafesnet_common::physics::Time;
-
-type Body=crate::body::Body<strafesnet_common::physics::TimeInner>;
+use crate::mesh_query::{MeshQuery,MeshTopology,DirectedEdge,UndirectedEdge};
 
 struct AsRefHelper<T>(T);
 impl<T> AsRef<T> for AsRefHelper<T>{
@@ -14,20 +13,6 @@ impl<T> AsRef<T> for AsRefHelper<T>{
 	}
 }
 
-pub trait UndirectedEdge{
-	type DirectedEdge:Copy+DirectedEdge;
-	fn as_directed(&self,parity:bool)->Self::DirectedEdge;
-}
-pub trait DirectedEdge{
-	type UndirectedEdge:Copy+std::fmt::Debug+UndirectedEdge;
-	fn as_undirected(&self)->Self::UndirectedEdge;
-	fn parity(&self)->bool;
-	//this is stupid but may work fine
-	fn reverse(&self)-><<Self as DirectedEdge>::UndirectedEdge as UndirectedEdge>::DirectedEdge{
-		self.as_undirected().as_directed(!self.parity())
-	}
-}
-
 #[derive(Debug,Clone,Copy,Hash,id::Id,Eq,PartialEq)]
 pub struct MeshVertId(u32);
 #[derive(Debug,Clone,Copy,Hash,id::Id,Eq,PartialEq)]
@@ -45,13 +30,13 @@ pub struct SubmeshFaceId(u32);
 
 impl UndirectedEdge for SubmeshEdgeId{
 	type DirectedEdge=SubmeshDirectedEdgeId;
-	fn as_directed(&self,parity:bool)->SubmeshDirectedEdgeId{
+	fn as_directed(self,parity:bool)->SubmeshDirectedEdgeId{
 		SubmeshDirectedEdgeId(self.0|((parity as u32)<<(u32::BITS-1)))
 	}
 }
 impl DirectedEdge for SubmeshDirectedEdgeId{
 	type UndirectedEdge=SubmeshEdgeId;
-	fn as_undirected(&self)->SubmeshEdgeId{
+	fn as_undirected(self)->SubmeshEdgeId{
 		SubmeshEdgeId(self.0&!(1<<(u32::BITS-1)))
 	}
 	fn parity(&self)->bool{
@@ -59,56 +44,34 @@ impl DirectedEdge for SubmeshDirectedEdgeId{
 	}
 }
 
-//Vertex <-> Edge <-> Face -> Collide
-#[derive(Debug)]
-pub enum FEV<M:MeshQuery>{
-	Face(M::Face),
-	Edge(<M::Edge as DirectedEdge>::UndirectedEdge),
-	Vert(M::Vert),
-}
-
 //use Unit32 #[repr(C)] for map files
-#[derive(Clone,Hash,Eq,PartialEq)]
+#[derive(Clone,Copy,Debug,Hash,Eq,PartialEq)]
 struct Face{
 	normal:Planar64Vec3,
 	dot:Planar64,
 }
+#[derive(Debug)]
 struct Vert(Planar64Vec3);
-pub trait MeshQuery{
-	type Face:Copy;
-	type Edge:Copy+DirectedEdge;
-	type Vert:Copy;
-	// Vertex must be Planar64Vec3 because it represents an actual position
-	type Normal;
-	type Offset;
-	fn edge_n(&self,edge_id:<Self::Edge as DirectedEdge>::UndirectedEdge)->Planar64Vec3{
-		let &[v0,v1]=self.edge_verts(edge_id).as_ref();
-		self.vert(v1)-self.vert(v0)
-	}
-	fn directed_edge_n(&self,directed_edge_id:Self::Edge)->Planar64Vec3{
-		let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
-		(self.vert(v1)-self.vert(v0))*((directed_edge_id.parity() as i64)*2-1)
-	}
-	fn vert(&self,vert_id:Self::Vert)->Planar64Vec3;
-	fn face_nd(&self,face_id:Self::Face)->(Self::Normal,Self::Offset);
-	fn face_edges(&self,face_id:Self::Face)->impl AsRef<[Self::Edge]>;
-	fn edge_faces(&self,edge_id:<Self::Edge as DirectedEdge>::UndirectedEdge)->impl AsRef<[Self::Face;2]>;
-	fn edge_verts(&self,edge_id:<Self::Edge as DirectedEdge>::UndirectedEdge)->impl AsRef<[Self::Vert;2]>;
-	fn vert_edges(&self,vert_id:Self::Vert)->impl AsRef<[Self::Edge]>;
-	fn vert_faces(&self,vert_id:Self::Vert)->impl AsRef<[Self::Face]>;
-}
+#[derive(Debug)]
 struct FaceRefs{
+	// I didn't write it down, but I assume the edges are directed
+	// clockwise when looking towards the face normal, i.e. right hand rule.
 	edges:Vec<SubmeshDirectedEdgeId>,
+	//verts are redundant, use edge[i].verts[0]
 	//verts:Vec<VertId>,
 }
+#[derive(Debug)]
 struct EdgeRefs{
 	faces:[SubmeshFaceId;2],//left, right
-	verts:[SubmeshVertId;2],//bottom, top
+	verts:[SubmeshVertId;2],//start, end
 }
+#[derive(Debug)]
 struct VertRefs{
 	faces:Vec<SubmeshFaceId>,
+	// edges are always directed away from the vert
 	edges:Vec<SubmeshDirectedEdgeId>,
 }
+#[derive(Debug)]
 pub struct PhysicsMeshData{
 	//this contains all real and virtual faces used in both the complete mesh and convex submeshes
 	//faces are sorted such that all faces that belong to the complete mesh appear first, and then
@@ -118,6 +81,7 @@ pub struct PhysicsMeshData{
 	faces:Vec<Face>,//MeshFaceId indexes this list
 	verts:Vec<Vert>,//MeshVertId indexes this list
 }
+#[derive(Debug)]
 pub struct PhysicsMeshTopology{
 	//mapping of local ids to PhysicsMeshData ids
 	faces:Vec<MeshFaceId>,//SubmeshFaceId indexes this list
@@ -143,10 +107,12 @@ impl From<MeshId> for PhysicsMeshId{
 pub struct PhysicsSubmeshId(u32);
 pub struct PhysicsMesh{
 	data:PhysicsMeshData,
-	complete_mesh:PhysicsMeshTopology,
-	//Most objects in roblox maps are already convex, so the list length is 0
-	//as soon as the mesh is divided into 2 submeshes, the list length jumps to 2.
-	//length 1 is unnecessary since the complete mesh would be a duplicate of the only submesh, but would still function properly
+	// The complete mesh is unused at this time.
+	// complete_mesh:PhysicsMeshTopology,
+	// Submeshes are guaranteed to be convex and may contain
+	// "virtual" faces which are not part of the complete mesh.
+	// Physics calculations should never resolve to hitting
+	// a virtual face.
 	submeshes:Vec<PhysicsMeshTopology>,
 }
 impl PhysicsMesh{
@@ -210,19 +176,24 @@ impl PhysicsMesh{
 		};
 		Self{
 			data,
-			complete_mesh:mesh_topology,
-			submeshes:Vec::new(),
+			// complete_mesh:mesh_topology.clone(),
+			submeshes:vec![mesh_topology],
 		}
 	}
 	pub fn unit_cylinder()->Self{
 		Self::unit_cube()
 	}
 	#[inline]
-	pub const fn complete_mesh(&self)->&PhysicsMeshTopology{
-		&self.complete_mesh
+	pub fn complete_mesh(&self)->&PhysicsMeshTopology{
+		// If there is exactly one submesh, then the complete mesh is identical to it.
+		if self.submeshes.len()==1{
+			self.submeshes.first().unwrap()
+		}else{
+			panic!("PhysicsMesh complete mesh is not known");
+		}
 	}
 	#[inline]
-	pub const fn complete_mesh_view(&self)->PhysicsMeshView{
+	pub fn complete_mesh_view(&self)->PhysicsMeshView<'_>{
 		PhysicsMeshView{
 			data:&self.data,
 			topology:self.complete_mesh(),
@@ -230,21 +201,16 @@ impl PhysicsMesh{
 	}
 	#[inline]
 	pub fn submeshes(&self)->&[PhysicsMeshTopology]{
-		//the complete mesh is already a convex mesh when len()==0, len()==1 is invalid but will still work
-		if self.submeshes.len()==0{
-			std::slice::from_ref(&self.complete_mesh)
-		}else{
-			&self.submeshes.as_slice()
-		}
+		&self.submeshes
 	}
 	#[inline]
-	pub fn submesh_view(&self,submesh_id:PhysicsSubmeshId)->PhysicsMeshView{
+	pub fn submesh_view(&self,submesh_id:PhysicsSubmeshId)->PhysicsMeshView<'_>{
 		PhysicsMeshView{
 			data:&self.data,
 			topology:&self.submeshes()[submesh_id.get() as usize],
 		}
 	}
-	pub fn submesh_views(&self)->impl Iterator<Item=PhysicsMeshView>{
+	pub fn submesh_views(&self)->impl Iterator<Item=PhysicsMeshView<'_>>{
 		self.submeshes().iter().map(|topology|PhysicsMeshView{
 			data:&self.data,
 			topology,
@@ -313,14 +279,20 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 		if mesh.unique_pos.len()==0{
 			return Err(PhysicsMeshError::ZeroVertices);
 		}
+		// An empty physics mesh is a waste of resources
+		if mesh.physics_groups.len()==0{
+			return Err(PhysicsMeshError::NoPhysicsGroups);
+		}
 		let verts=mesh.unique_pos.iter().copied().map(Vert).collect();
 		//TODO: fix submeshes
 		//flat map mesh.physics_groups[$1].groups.polys()[$2] as face_id
 		//lower face_id points to upper face_id
 		//the same face is not allowed to be in multiple polygon groups
+		// because SubmeshFaceId -> CompleteMeshFaceId -> SubmeshFaceId is ambiguous
+		// when multiple SubmeshFaceId point to one MeshFaceId
 		let mut faces=Vec::new();
 		let mut face_id_from_face=HashMap::new();
-		let mut mesh_topologies:Vec<PhysicsMeshTopology>=mesh.physics_groups.iter().map(|physics_group|{
+		let mesh_topologies:Vec<PhysicsMeshTopology>=mesh.physics_groups.iter().map(|physics_group|{
 			//construct submesh
 			let mut submesh_faces=Vec::new();//these contain a map from submeshId->meshId
 			let mut submesh_verts=Vec::new();
@@ -378,18 +350,14 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 					}
 					//assume face hash is stable, and there are no flush faces...
 					let face=Face{
-						normal:(normal/len as i64).divide().narrow_1().unwrap(),
-						dot:(dot/(len*len) as i64).narrow_1().unwrap(),
-					};
-					let face_id=match face_id_from_face.get(&face){
-						Some(&face_id)=>face_id,
-						None=>{
-							let face_id=MeshFaceId::new(faces.len() as u32);
-							face_id_from_face.insert(face.clone(),face_id);
-							faces.push(face);
-							face_id
-						}
+						normal:(normal/len as i64).divide().narrow_64().unwrap(),
+						dot:(dot/(len*len) as i64).narrow_64().unwrap(),
 					};
+					let face_id=*face_id_from_face.entry(face).or_insert_with(||{
+						let face_id=MeshFaceId::new(faces.len() as u32);
+						faces.push(face);
+						face_id
+					});
 					submesh_faces.push(face_id);
 					face_ref_guys.push(FaceRefEdges(face_edges));
 				}
@@ -397,16 +365,16 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 			PhysicsMeshTopology{
 				faces:submesh_faces,
 				verts:submesh_verts,
-				face_topology:face_ref_guys.into_iter().map(|face_ref_guy|{
-					FaceRefs{edges:face_ref_guy.0}
+				face_topology:face_ref_guys.into_iter().map(|FaceRefEdges(edges)|{
+					FaceRefs{edges}
 				}).collect(),
-				edge_topology:edge_pool.edge_guys.into_iter().map(|(edge_ref_verts,edge_ref_faces)|
-					EdgeRefs{faces:edge_ref_faces.0,verts:edge_ref_verts.0}
+				edge_topology:edge_pool.edge_guys.into_iter().map(|(EdgeRefVerts(verts),EdgeRefFaces(faces))|
+					EdgeRefs{faces,verts}
 				).collect(),
-				vert_topology:vert_ref_guys.into_iter().map(|vert_ref_guy|
+				vert_topology:vert_ref_guys.into_iter().map(|VertRefGuy{edges,faces}|
 					VertRefs{
-						edges:vert_ref_guy.edges.into_iter().collect(),
-						faces:vert_ref_guy.faces.into_iter().collect(),
+						edges:edges.into_iter().collect(),
+						faces:faces.into_iter().collect(),
 					}
 				).collect(),
 			}
@@ -416,52 +384,86 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 				faces,
 				verts,
 			},
-			complete_mesh:mesh_topologies.pop().ok_or(PhysicsMeshError::NoPhysicsGroups)?,
+			// complete_mesh:None,
 			submeshes:mesh_topologies,
 		})
 	}
 }
 
+#[derive(Debug,Clone,Copy)]
 pub struct PhysicsMeshView<'a>{
 	data:&'a PhysicsMeshData,
 	topology:&'a PhysicsMeshTopology,
 }
 impl MeshQuery for PhysicsMeshView<'_>{
-	type Face=SubmeshFaceId;
-	type Edge=SubmeshDirectedEdgeId;
-	type Vert=SubmeshVertId;
+	type Position=Planar64Vec3;
+	type Direction=Planar64Vec3;
 	type Normal=Planar64Vec3;
 	type Offset=Planar64;
 	fn face_nd(&self,face_id:SubmeshFaceId)->(Planar64Vec3,Planar64){
 		let face_idx=self.topology.faces[face_id.get() as usize].get() as usize;
 		(self.data.faces[face_idx].normal,self.data.faces[face_idx].dot)
 	}
+	fn hint_point(&self)->Planar64Vec3{
+		// invariant: meshes always encompass the origin
+		vec3::zero()
+	}
+	fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
+		//this happens to be well-defined.  there are no virtual virtices
+		SubmeshVertId::new(
+			self.topology.verts.iter()
+			.enumerate()
+			.max_by_key(|&(_,&vert_id)|
+				dir.dot(self.data.verts[vert_id.get() as usize].0)
+			)
+			//assume there is more than zero vertices.
+			.unwrap().0 as u32
+		)
+	}
 	//ideally I never calculate the vertex position, but I have to for the graphical meshes...
 	fn vert(&self,vert_id:SubmeshVertId)->Planar64Vec3{
 		let vert_idx=self.topology.verts[vert_id.get() as usize].get() as usize;
 		self.data.verts[vert_idx].0
 	}
-	fn face_edges(&self,face_id:SubmeshFaceId)->impl AsRef<[SubmeshDirectedEdgeId]>{
-		self.topology.face_topology[face_id.get() as usize].edges.as_slice()
+	fn edge_n(&self,edge_id:Self::Edge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(edge_id).as_ref();
+		self.vert(v1)-self.vert(v0)
 	}
-	fn edge_faces(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshFaceId;2]>{
+	fn directed_edge_n(&self,directed_edge_id:Self::DirectedEdge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
+		(self.vert(v1)-self.vert(v0))*((directed_edge_id.parity() as i64)*2-1)
+	}
+}
+impl MeshTopology for PhysicsMeshView<'_>{
+	type Face=SubmeshFaceId;
+	type Edge=SubmeshEdgeId;
+	type DirectedEdge=SubmeshDirectedEdgeId;
+	type Vert=SubmeshVertId;
+	fn for_each_vert_edge(&self,vert_id:Self::Vert,f:impl FnMut(Self::DirectedEdge)){
+		self.topology.vert_topology[vert_id.get() as usize].edges.iter().copied().for_each(f);
+	}
+	fn for_each_vert_face(&self,vert_id:Self::Vert,f:impl FnMut(Self::Face)){
+		self.topology.vert_topology[vert_id.get() as usize].faces.iter().copied().for_each(f);
+	}
+	fn edge_faces(&self,edge_id:Self::Edge)->impl AsRef<[Self::Face;2]>{
 		AsRefHelper(self.topology.edge_topology[edge_id.get() as usize].faces)
 	}
-	fn edge_verts(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshVertId;2]>{
+	fn edge_verts(&self,edge_id:Self::Edge)->impl AsRef<[Self::Vert;2]>{
 		AsRefHelper(self.topology.edge_topology[edge_id.get() as usize].verts)
 	}
-	fn vert_edges(&self,vert_id:SubmeshVertId)->impl AsRef<[SubmeshDirectedEdgeId]>{
-		self.topology.vert_topology[vert_id.get() as usize].edges.as_slice()
+	fn for_each_face_vert(&self,_face_id:Self::Face,_f:impl FnMut(Self::Vert)){
+		unimplemented!()
 	}
-	fn vert_faces(&self,vert_id:SubmeshVertId)->impl AsRef<[SubmeshFaceId]>{
-		self.topology.vert_topology[vert_id.get() as usize].faces.as_slice()
+	fn for_each_face_edge(&self,face_id:Self::Face,f:impl FnMut(Self::DirectedEdge)){
+		self.topology.face_topology[face_id.get() as usize].edges.iter().copied().for_each(f);
 	}
 }
 
+#[derive(Debug)]
 pub struct PhysicsMeshTransform{
 	pub vertex:integer::Planar64Affine3,
-	pub normal:integer::mat3::Matrix3<Fixed<2,64>>,
-	pub det:Fixed<3,96>,
+	pub normal:integer::mat3::Matrix3<F128_64>,
+	pub det:F192_96,
 }
 impl PhysicsMeshTransform{
 	pub fn new(transform:integer::Planar64Affine3)->Self{
@@ -473,6 +475,7 @@ impl PhysicsMeshTransform{
 	}
 }
 
+#[derive(Debug,Clone,Copy)]
 pub struct TransformedMesh<'a>{
 	view:PhysicsMeshView<'a>,
 	transform:&'a PhysicsMeshTransform,
@@ -487,11 +490,27 @@ impl TransformedMesh<'_>{
 			transform,
 		}
 	}
-	pub fn verts<'a>(&'a self)->impl Iterator<Item=vec3::Vector3<Fixed<2,64>>>+'a{
+	pub fn verts<'a>(&'a self)->impl Iterator<Item=Vector3<F128_64>>+'a{
 		self.view.data.verts.iter().map(|&Vert(pos)|self.transform.vertex.transform_point3(pos))
 	}
-	pub fn faces(&self)->impl Iterator<Item=SubmeshFaceId>{
-		(0..self.view.topology.faces.len() as u32).map(SubmeshFaceId::new)
+}
+impl MeshQuery for TransformedMesh<'_>{
+	type Direction=Planar64Vec3;
+	type Position=Planar64Vec3;
+	type Normal=Vector3<F192_96>;
+	type Offset=F256_128;
+	fn face_nd(&self,face_id:SubmeshFaceId)->(Self::Normal,Self::Offset){
+		let (n,d)=self.view.face_nd(face_id);
+		let transformed_n=self.transform.normal*n;
+		let transformed_d=d*self.transform.det+transformed_n.dot(self.transform.vertex.translation);
+		(transformed_n,transformed_d)
+	}
+	fn vert(&self,vert_id:SubmeshVertId)->Planar64Vec3{
+		// wrap for speed
+		self.transform.vertex.transform_point3(self.view.vert(vert_id)).wrap_64()
+	}
+	fn hint_point(&self)->Planar64Vec3{
+		self.transform.vertex.translation
 	}
 	fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
 		//this happens to be well-defined.  there are no virtual virtices
@@ -505,514 +524,47 @@ impl TransformedMesh<'_>{
 			.unwrap().0 as u32
 		)
 	}
+	fn edge_n(&self,edge_id:Self::Edge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(edge_id).as_ref();
+		self.vert(v1)-self.vert(v0)
+	}
+	fn directed_edge_n(&self,directed_edge_id:Self::DirectedEdge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
+		(self.vert(v1)-self.vert(v0))*((directed_edge_id.parity() as i64)*2-1)
+	}
 }
-impl MeshQuery for TransformedMesh<'_>{
+impl MeshTopology for TransformedMesh<'_>{
 	type Face=SubmeshFaceId;
-	type Edge=SubmeshDirectedEdgeId;
+	type Edge=SubmeshEdgeId;
+	type DirectedEdge=SubmeshDirectedEdgeId;
 	type Vert=SubmeshVertId;
-	type Normal=Vector3<Fixed<3,96>>;
-	type Offset=Fixed<4,128>;
-	fn face_nd(&self,face_id:SubmeshFaceId)->(Self::Normal,Self::Offset){
-		let (n,d)=self.view.face_nd(face_id);
-		let transformed_n=self.transform.normal*n;
-		let transformed_d=d*self.transform.det+transformed_n.dot(self.transform.vertex.translation);
-		(transformed_n,transformed_d)
-	}
-	fn vert(&self,vert_id:SubmeshVertId)->Planar64Vec3{
-		// wrap for speed
-		self.transform.vertex.transform_point3(self.view.vert(vert_id)).wrap_1()
+	#[inline]
+	fn for_each_vert_edge(&self,vert_id:Self::Vert,f:impl FnMut(Self::DirectedEdge)){
+		self.view.for_each_vert_edge(vert_id,f)
 	}
 	#[inline]
-	fn face_edges(&self,face_id:SubmeshFaceId)->impl AsRef<[SubmeshDirectedEdgeId]>{
-		self.view.face_edges(face_id)
+	fn for_each_vert_face(&self,vert_id:Self::Vert,f:impl FnMut(Self::Face)){
+		self.view.for_each_vert_face(vert_id,f)
 	}
 	#[inline]
-	fn edge_faces(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshFaceId;2]>{
+	fn edge_faces(&self,edge_id:Self::Edge)->impl AsRef<[Self::Face;2]>{
 		self.view.edge_faces(edge_id)
 	}
 	#[inline]
-	fn edge_verts(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshVertId;2]>{
+	fn edge_verts(&self,edge_id:Self::Edge)->impl AsRef<[Self::Vert;2]>{
 		self.view.edge_verts(edge_id)
 	}
-	#[inline]
-	fn vert_edges(&self,vert_id:SubmeshVertId)->impl AsRef<[SubmeshDirectedEdgeId]>{
-		self.view.vert_edges(vert_id)
+	fn for_each_face_vert(&self,_face_id:Self::Face,_f:impl FnMut(Self::Vert)){
+		unimplemented!()
 	}
 	#[inline]
-	fn vert_faces(&self,vert_id:SubmeshVertId)->impl AsRef<[SubmeshFaceId]>{
-		self.view.vert_faces(vert_id)
+	fn for_each_face_edge(&self,face_id:Self::Face,f:impl FnMut(Self::DirectedEdge)){
+		self.view.for_each_face_edge(face_id,f)
 	}
 }
 
-//Note that a face on a minkowski mesh refers to a pair of fevs on the meshes it's summed from
-//(face,vertex)
-//(edge,edge)
-//(vertex,face)
-#[derive(Clone,Copy,Debug)]
-pub enum MinkowskiVert{
-	VertVert(SubmeshVertId,SubmeshVertId),
-}
-#[derive(Clone,Copy,Debug)]
-pub enum MinkowskiEdge{
-	VertEdge(SubmeshVertId,SubmeshEdgeId),
-	EdgeVert(SubmeshEdgeId,SubmeshVertId),
-	//EdgeEdge when edges are parallel
-}
-impl UndirectedEdge for MinkowskiEdge{
-	type DirectedEdge=MinkowskiDirectedEdge;
-	fn as_directed(&self,parity:bool)->Self::DirectedEdge{
-		match self{
-			MinkowskiEdge::VertEdge(v0,e1)=>MinkowskiDirectedEdge::VertEdge(*v0,e1.as_directed(parity)),
-			MinkowskiEdge::EdgeVert(e0,v1)=>MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),*v1),
-		}
-	}
-}
-#[derive(Clone,Copy,Debug)]
-pub enum MinkowskiDirectedEdge{
-	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
-	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
-	//EdgeEdge when edges are parallel
-}
-impl DirectedEdge for MinkowskiDirectedEdge{
-	type UndirectedEdge=MinkowskiEdge;
-	fn as_undirected(&self)->Self::UndirectedEdge{
-		match self{
-			MinkowskiDirectedEdge::VertEdge(v0,e1)=>MinkowskiEdge::VertEdge(*v0,e1.as_undirected()),
-			MinkowskiDirectedEdge::EdgeVert(e0,v1)=>MinkowskiEdge::EdgeVert(e0.as_undirected(),*v1),
-		}
-	}
-	fn parity(&self)->bool{
-		match self{
-			MinkowskiDirectedEdge::VertEdge(_,e)
-			|MinkowskiDirectedEdge::EdgeVert(e,_)=>e.parity(),
-		}
-	}
-}
-#[derive(Clone,Copy,Debug,Hash,Eq,PartialEq)]
-pub enum MinkowskiFace{
-	VertFace(SubmeshVertId,SubmeshFaceId),
-	EdgeEdge(SubmeshEdgeId,SubmeshEdgeId,bool),
-	FaceVert(SubmeshFaceId,SubmeshVertId),
-	//EdgeFace
-	//FaceEdge
-	//FaceFace
-}
-
-pub struct MinkowskiMesh<'a>{
-	mesh0:TransformedMesh<'a>,
-	mesh1:TransformedMesh<'a>,
-}
-
-//infinity fev algorithm state transition
-#[derive(Debug)]
-enum Transition{
-	Done,//found closest vert, no edges are better
-	Vert(MinkowskiVert),//transition to vert
-}
-enum EV{
-	Vert(MinkowskiVert),
-	Edge(MinkowskiEdge),
-}
-
-pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
-
-impl MinkowskiMesh<'_>{
-	pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
-		MinkowskiMesh{
-			mesh0,
-			mesh1,
-		}
-	}
-	fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
-		MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
-	}
-	fn next_transition_vert(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Fixed<2,64>,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
-		let mut best_transition=Transition::Done;
-		for &directed_edge_id in self.vert_edges(vert_id).as_ref(){
-			let edge_n=self.directed_edge_n(directed_edge_id);
-			//is boundary uncrossable by a crawl from infinity
-			let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
-			//select opposite vertex
-			let test_vert_id=edge_verts.as_ref()[directed_edge_id.parity() as usize];
-			//test if it's closer
-			let diff=point-self.vert(test_vert_id);
-			if edge_n.dot(infinity_dir).is_zero(){
-				let distance_squared=diff.dot(diff);
-				if distance_squared<*best_distance_squared{
-					best_transition=Transition::Vert(test_vert_id);
-					*best_distance_squared=distance_squared;
-				}
-			}
-		}
-		best_transition
-	}
-	fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Fixed<2,64>,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
-		let mut best_transition=EV::Vert(vert_id);
-		let diff=point-self.vert(vert_id);
-		for &directed_edge_id in self.vert_edges(vert_id).as_ref(){
-			let edge_n=self.directed_edge_n(directed_edge_id);
-			//is boundary uncrossable by a crawl from infinity
-			//check if time of collision is outside Time::MIN..Time::MAX
-			if edge_n.dot(infinity_dir).is_zero(){
-				let d=edge_n.dot(diff);
-				//test the edge
-				let edge_nn=edge_n.dot(edge_n);
-				if !d.is_negative()&&d<=edge_nn{
-					let distance_squared={
-						let c=diff.cross(edge_n);
-						//wrap for speed
-						(c.dot(c)/edge_nn).divide().wrap_2()
-					};
-					if distance_squared<=*best_distance_squared{
-						best_transition=EV::Edge(directed_edge_id.as_undirected());
-						*best_distance_squared=distance_squared;
-					}
-				}
-			}
-		}
-		best_transition
-	}
-	fn crawl_boundaries(&self,mut vert_id:MinkowskiVert,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
-		let mut best_distance_squared={
-			let diff=point-self.vert(vert_id);
-			diff.dot(diff)
-		};
-		loop{
-			match self.next_transition_vert(vert_id,&mut best_distance_squared,infinity_dir,point){
-				Transition::Done=>return self.final_ev(vert_id,&mut best_distance_squared,infinity_dir,point),
-				Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
-			}
-		}
-	}
-	/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
-	fn infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiMesh>{
-		//start on any vertex
-		//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
-		//cross edge-face boundary if it's uncrossable
-		match self.crawl_boundaries(self.farthest_vert(infinity_dir),infinity_dir,point){
-			//if a vert is returned, it is the closest point to the infinity point
-			EV::Vert(vert_id)=>FEV::Vert(vert_id),
-			EV::Edge(edge_id)=>{
-				//cross to face if the boundary is not crossable and we are on the wrong side
-				let edge_n=self.edge_n(edge_id);
-				// point is multiplied by two because vert_sum sums two vertices.
-				let delta_pos=point*2-{
-					let &[v0,v1]=self.edge_verts(edge_id).as_ref();
-					self.vert(v0)+self.vert(v1)
-				};
-				for (i,&face_id) in self.edge_faces(edge_id).as_ref().iter().enumerate(){
-					let face_n=self.face_nd(face_id).0;
-					//edge-face boundary nd, n facing out of the face towards the edge
-					let boundary_n=face_n.cross(edge_n)*(i as i64*2-1);
-					let boundary_d=boundary_n.dot(delta_pos);
-					//check if time of collision is outside Time::MIN..Time::MAX
-					//infinity_dir can always be treated as a velocity
-					if !boundary_d.is_positive()&&boundary_n.dot(infinity_dir).is_zero(){
-						//both faces cannot pass this condition, return early if one does.
-						return FEV::Face(face_id);
-					}
-				}
-				FEV::Edge(edge_id)
-			},
-		}
-	}
-	// TODO: fundamentally improve this algorithm.
-	// All it needs to do is find the closest point on the mesh
-	// and return the FEV which the point resides on.
-	//
-	// What it actually does is use the above functions to trace a ray in from infinity,
-	// crawling the closest point along the mesh surface until the ray reaches
-	// the starting point to discover the final FEV.
-	//
-	// The actual collision prediction probably does a single test
-	// and then immediately returns with 0 FEV transitions on average,
-	// because of the strict time_limit constraint.
-	//
-	// Most of the calculation time is just calculating the starting point
-	// for the "actual" crawling algorithm below (predict_collision_{in|out}).
-	fn closest_fev_not_inside(&self,mut infinity_body:Body,start_time:Time)->Option<FEV<MinkowskiMesh>>{
-		infinity_body.infinity_dir().and_then(|dir|{
-			let infinity_fev=self.infinity_fev(-dir,infinity_body.position);
-			//a line is simpler to solve than a parabola
-			infinity_body.velocity=dir;
-			infinity_body.acceleration=vec3::ZERO;
-			//crawl in from negative infinity along a tangent line to get the closest fev
-			// TODO: change crawl_fev args to delta time? Optional values?
-			infinity_fev.crawl(self,&infinity_body,Time::MIN/4,start_time).miss()
-		})
-	}
-	pub fn predict_collision_in(&self,relative_body:&Body,Range{start:start_time,end:time_limit}:Range<Time>)->Option<(MinkowskiFace,GigaTime)>{
-		self.closest_fev_not_inside(relative_body.clone(),start_time).and_then(|fev|{
-			//continue forwards along the body parabola
-			fev.crawl(self,relative_body,start_time,time_limit).hit()
-		})
-	}
-	pub fn predict_collision_out(&self,relative_body:&Body,Range{start:start_time,end:time_limit}:Range<Time>)->Option<(MinkowskiFace,GigaTime)>{
-		//create an extrapolated body at time_limit
-		let infinity_body=-relative_body.clone();
-		self.closest_fev_not_inside(infinity_body,-time_limit).and_then(|fev|{
-			//continue backwards along the body parabola
-			fev.crawl(self,&infinity_body,-time_limit,-start_time).hit()
-				//no need to test -time<time_limit because of the first step
-				.map(|(face,time)|(face,-time))
-		})
-	}
-	pub fn predict_collision_face_out(&self,relative_body:&Body,Range{start:start_time,end:time_limit}:Range<Time>,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,GigaTime)>{
-		//no algorithm needed, there is only one state and two cases (Edge,None)
-		//determine when it passes an edge ("sliding off" case)
-		let start_time={
-			let r=(start_time-relative_body.time).to_ratio();
-			Ratio::new(r.num,r.den)
-		};
-		let mut best_time={
-			let r=(time_limit-relative_body.time).to_ratio();
-			Ratio::new(r.num.widen_4(),r.den.widen_4())
-		};
-		let mut best_edge=None;
-		let face_n=self.face_nd(contact_face_id).0;
-		for &directed_edge_id in self.face_edges(contact_face_id).as_ref(){
-			let edge_n=self.directed_edge_n(directed_edge_id);
-			//f x e points in
-			let n=face_n.cross(edge_n);
-			let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
-			let d=n.dot(self.vert(v0)+self.vert(v1));
-			//WARNING! d outside of *2
-			//WARNING: truncated precision
-			//wrap for speed
-			for dt in Fixed::<4,128>::zeroes2(((n.dot(relative_body.position))*2-d).wrap_4(),n.dot(relative_body.velocity).wrap_4()*2,n.dot(relative_body.acceleration).wrap_4()){
-				if start_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(relative_body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-					best_time=dt;
-					best_edge=Some(directed_edge_id);
-					break;
-				}
-			}
-		}
-		best_edge.map(|e|(e.as_undirected(),best_time))
-	}
-	fn infinity_in(&self,infinity_body:Body)->Option<(MinkowskiFace,GigaTime)>{
-		let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
-		infinity_fev.crawl(self,&infinity_body,Time::MIN/4,infinity_body.time).hit()
-	}
-	pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
-		let infinity_body=Body::new(point,vec3::Y,vec3::ZERO,Time::ZERO);
-		//movement must escape the mesh forwards and backwards in time,
-		//otherwise the point is not inside the mesh
-		self.infinity_in(infinity_body)
-    	.is_some_and(|_|
-			self.infinity_in(-infinity_body)
-    		.is_some()
-     	)
-	}
-}
-impl MeshQuery for MinkowskiMesh<'_>{
-	type Face=MinkowskiFace;
-	type Edge=MinkowskiDirectedEdge;
-	type Vert=MinkowskiVert;
-	type Normal=Vector3<Fixed<3,96>>;
-	type Offset=Fixed<4,128>;
-	// TODO: relative d
-	fn face_nd(&self,face_id:MinkowskiFace)->(Self::Normal,Self::Offset){
-		match face_id{
-			MinkowskiFace::VertFace(v0,f1)=>{
-				let (n,d)=self.mesh1.face_nd(f1);
-				(-n,d-n.dot(self.mesh0.vert(v0)))
-			},
-			MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
-				let edge0_n=self.mesh0.edge_n(e0);
-				let edge1_n=self.mesh1.edge_n(e1);
-				let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).as_ref();
-				let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).as_ref();
-				let n=edge0_n.cross(edge1_n);
-				let e0d=n.dot(self.mesh0.vert(e0v0)+self.mesh0.vert(e0v1));
-				let e1d=n.dot(self.mesh1.vert(e1v0)+self.mesh1.vert(e1v1));
-				((n*(parity as i64*4-2)).widen_3(),((e0d-e1d)*(parity as i64*2-1)).widen_4())
-			},
-			MinkowskiFace::FaceVert(f0,v1)=>{
-				let (n,d)=self.mesh0.face_nd(f0);
-				(n,d-n.dot(self.mesh1.vert(v1)))
-			},
-		}
-	}
-	fn vert(&self,vert_id:MinkowskiVert)->Planar64Vec3{
-		match vert_id{
-			MinkowskiVert::VertVert(v0,v1)=>{
-				self.mesh0.vert(v0)-self.mesh1.vert(v1)
-			},
-		}
-	}
-	fn face_edges(&self,face_id:MinkowskiFace)->impl AsRef<[MinkowskiDirectedEdge]>{
-		match face_id{
-			MinkowskiFace::VertFace(v0,f1)=>{
-				self.mesh1.face_edges(f1).as_ref().iter().map(|&edge_id1|
-					MinkowskiDirectedEdge::VertEdge(v0,edge_id1.reverse())
-				).collect()
-			},
-			MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
-				let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).as_ref();
-				let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).as_ref();
-				//could sort this if ordered edges are needed
-				//probably just need to reverse this list according to parity
-				vec![
-					MinkowskiDirectedEdge::VertEdge(e0v0,e1.as_directed(parity)),
-					MinkowskiDirectedEdge::EdgeVert(e0.as_directed(!parity),e1v0),
-					MinkowskiDirectedEdge::VertEdge(e0v1,e1.as_directed(!parity)),
-					MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),e1v1),
-				]
-			},
-			MinkowskiFace::FaceVert(f0,v1)=>{
-				self.mesh0.face_edges(f0).as_ref().iter().map(|&edge_id0|
-					MinkowskiDirectedEdge::EdgeVert(edge_id0,v1)
-				).collect()
-			},
-		}
-	}
-	fn edge_faces(&self,edge_id:MinkowskiEdge)->impl AsRef<[MinkowskiFace;2]>{
-		match edge_id{
-			MinkowskiEdge::VertEdge(v0,e1)=>{
-				//faces are listed backwards from the minkowski mesh
-				let v0e=self.mesh0.vert_edges(v0);
-				let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).as_ref();
-				AsRefHelper([(e1f1,false),(e1f0,true)].map(|(edge_face_id1,face_parity)|{
-					let mut best_edge=None;
-					let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
-					let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
-					let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
-					for &directed_edge_id0 in v0e.as_ref(){
-						let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
-						//must be behind other face.
-						let d=edge_face1_n.dot(edge0_n);
-						if d.is_negative(){
-							let edge0_nn=edge0_n.dot(edge0_n);
-							// Assume not every number is huge
-							// TODO: revisit this
-							let dd=(d*d)/(edge_face1_nn*edge0_nn);
-							if best_d<dd{
-								best_d=dd;
-								best_edge=Some(directed_edge_id0);
-							}
-						}
-					}
-					best_edge.map_or(
-						MinkowskiFace::VertFace(v0,edge_face_id1),
-						|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_undirected(),e1,directed_edge_id0.parity()^face_parity)
-					)
-				}))
-			},
-			MinkowskiEdge::EdgeVert(e0,v1)=>{
-				//tracking index with an external variable because .enumerate() is not available
-				let v1e=self.mesh1.vert_edges(v1);
-				let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).as_ref();
-				AsRefHelper([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
-					let mut best_edge=None;
-					let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
-					let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
-					let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
-					for &directed_edge_id1 in v1e.as_ref(){
-						let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
-						let d=edge_face0_n.dot(edge1_n);
-						if d.is_negative(){
-							let edge1_nn=edge1_n.dot(edge1_n);
-							let dd=(d*d)/(edge_face0_nn*edge1_nn);
-							if best_d<dd{
-								best_d=dd;
-								best_edge=Some(directed_edge_id1);
-							}
-						}
-					}
-					best_edge.map_or(
-						MinkowskiFace::FaceVert(edge_face_id0,v1),
-						|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_undirected(),directed_edge_id1.parity()^face_parity)
-					)
-				}))
-			},
-		}
-	}
-	fn edge_verts(&self,edge_id:MinkowskiEdge)->impl AsRef<[MinkowskiVert;2]>{
-		AsRefHelper(match edge_id{
-			MinkowskiEdge::VertEdge(v0,e1)=>(*self.mesh1.edge_verts(e1).as_ref()).map(|vert_id1|
-				MinkowskiVert::VertVert(v0,vert_id1)
-			),
-			MinkowskiEdge::EdgeVert(e0,v1)=>(*self.mesh0.edge_verts(e0).as_ref()).map(|vert_id0|
-				MinkowskiVert::VertVert(vert_id0,v1)
-			),
-		})
-	}
-	fn vert_edges(&self,vert_id:MinkowskiVert)->impl AsRef<[MinkowskiDirectedEdge]>{
-		match vert_id{
-			MinkowskiVert::VertVert(v0,v1)=>{
-				let mut edges=Vec::new();
-				//detect shared volume when the other mesh is mirrored along a test edge dir
-				let v0f=self.mesh0.vert_faces(v0);
-				let v1f=self.mesh1.vert_faces(v1);
-				let v0f_n:Vec<_>=v0f.as_ref().iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
-				let v1f_n:Vec<_>=v1f.as_ref().iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
-				let the_len=v0f.as_ref().len()+v1f.as_ref().len();
-				for &directed_edge_id in self.mesh0.vert_edges(v0).as_ref(){
-					let n=self.mesh0.directed_edge_n(directed_edge_id);
-					let nn=n.dot(n);
-					// TODO: there's gotta be a better way to do this
-					//make a set of faces
-					let mut face_normals=Vec::with_capacity(the_len);
-					//add mesh0 faces as-is
-					face_normals.clone_from(&v0f_n);
-					for face_n in &v1f_n{
-						//add reflected mesh1 faces
-						//wrap for speed
-						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().wrap_3());
-					}
-					if is_empty_volume(face_normals){
-						edges.push(MinkowskiDirectedEdge::EdgeVert(directed_edge_id,v1));
-					}
-				}
-				for &directed_edge_id in self.mesh1.vert_edges(v1).as_ref(){
-					let n=self.mesh1.directed_edge_n(directed_edge_id);
-					let nn=n.dot(n);
-					let mut face_normals=Vec::with_capacity(the_len);
-					face_normals.clone_from(&v1f_n);
-					for face_n in &v0f_n{
-						//wrap for speed
-						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().wrap_3());
-					}
-					if is_empty_volume(face_normals){
-						edges.push(MinkowskiDirectedEdge::VertEdge(v0,directed_edge_id));
-					}
-				}
-				edges
-			},
-		}
-	}
-	fn vert_faces(&self,_vert_id:MinkowskiVert)->impl AsRef<[MinkowskiFace]>{
-		unimplemented!();
-		vec![]
-	}
-}
-
-fn is_empty_volume(normals:Vec<Vector3<Fixed<3,96>>>)->bool{
-	let len=normals.len();
-	for i in 0..len-1{
-		for j in i+1..len{
-			let n=normals[i].cross(normals[j]);
-			let mut d_comp=None;
-			for k in 0..len{
-				if k!=i&&k!=j{
-					let d=n.dot(normals[k]).is_negative();
-					if let &Some(comp)=&d_comp{
-						// This is testing if d_comp*d < 0
-						if comp^d{
-							return true;
-						}
-					}else{
-						d_comp=Some(d);
-					}
-				}
-			}
-		}
-	}
-	return false;
-}
-
-#[test]
-fn test_is_empty_volume(){
-	assert!(!is_empty_volume([vec3::X.widen_3(),vec3::Y.widen_3(),vec3::Z.widen_3()].to_vec()));
-	assert!(is_empty_volume([vec3::X.widen_3(),vec3::Y.widen_3(),vec3::Z.widen_3(),vec3::NEG_X.widen_3()].to_vec()));
+pub type GigaTime=Ratio<F256_128,F256_128>;
+pub fn into_giga_time(time:Time,relative_to:Time)->GigaTime{
+	let r=(time-relative_to).to_ratio();
+	Ratio::new(r.num.widen_256(),r.den.widen_256())
 }

engine/physics/src/push_solve.rs

@@ -1,3 +1,4 @@
+use strafesnet_common::integer::fixed_types::{F64_32,F128_64,F192_96,F256_128,F320_160};
 use strafesnet_common::integer::vec3::{self,Vector3};
 use strafesnet_common::integer::{Fixed,Planar64Vec3,Ratio};
 use strafesnet_common::ray::Ray;
@@ -12,9 +13,10 @@ use strafesnet_common::ray::Ray;
 type Conts<'a>=arrayvec::ArrayVec<&'a Contact,4>;
 
 // hack to allow comparing ratios to zero
-const RATIO_ZERO:Ratio<Fixed<1,32>,Fixed<1,32>>=Ratio::new(Fixed::ZERO,Fixed::EPSILON);
+const RATIO_ZERO:Ratio<F64_32,F64_32>=Ratio::new(Fixed::ZERO,Fixed::EPSILON);
 
 /// Information about a contact restriction
+#[derive(Debug,PartialEq)]
 pub struct Contact{
 	pub position:Planar64Vec3,
 	pub velocity:Planar64Vec3,
@@ -28,42 +30,39 @@ impl Contact{
 			normal:self.normal,
 		}
 	}
-	fn relative_dot(&self,direction:Planar64Vec3)->Fixed<2,64>{
+	fn relative_dot(&self,direction:Planar64Vec3)->F128_64{
 		(direction-self.velocity).dot(self.normal)
 	}
 	/// Calculate the time of intersection. (previously get_touch_time)
-	fn solve(&self,ray:&Ray)->Ratio<Fixed<2,64>,Fixed<2,64>>{
+	fn solve(&self,ray:&Ray)->Ratio<F128_64,F128_64>{
 		(self.position-ray.origin).dot(self.normal)/(ray.direction-self.velocity).dot(self.normal)
 	}
 }
 
 //note that this is horrible with fixed point arithmetic
-fn solve1(c0:&Contact)->Option<Ratio<Vector3<Fixed<3,96>>,Fixed<2,64>>>{
-	const EPSILON:Fixed<2,64>=Fixed::from_bits(Fixed::<2,64>::ONE.to_bits().shr(10));
+fn solve1(c0:&Contact)->Option<Ratio<Vector3<F192_96>,F128_64>>{
 	let det=c0.normal.dot(c0.velocity);
-	if det.abs()<EPSILON{
+	if det.abs()==Fixed::ZERO{
 		return None;
 	}
 	let d0=c0.normal.dot(c0.position);
 	Some(c0.normal*d0/det)
 }
-fn solve2(c0:&Contact,c1:&Contact)->Option<Ratio<Vector3<Fixed<5,160>>,Fixed<4,128>>>{
-	const EPSILON:Fixed<4,128>=Fixed::from_bits(Fixed::<4,128>::ONE.to_bits().shr(10));
+fn solve2(c0:&Contact,c1:&Contact)->Option<Ratio<Vector3<F320_160>,F256_128>>{
 	let u0_u1=c0.velocity.cross(c1.velocity);
 	let n0_n1=c0.normal.cross(c1.normal);
 	let det=u0_u1.dot(n0_n1);
-	if det.abs()<EPSILON{
+	if det.abs()==Fixed::ZERO{
 		return None;
 	}
 	let d0=c0.normal.dot(c0.position);
 	let d1=c1.normal.dot(c1.position);
 	Some((c1.normal.cross(u0_u1)*d0+u0_u1.cross(c0.normal)*d1)/det)
 }
-fn solve3(c0:&Contact,c1:&Contact,c2:&Contact)->Option<Ratio<Vector3<Fixed<4,128>>,Fixed<3,96>>>{
-	const EPSILON:Fixed<3,96>=Fixed::from_bits(Fixed::<3,96>::ONE.to_bits().shr(10));
+fn solve3(c0:&Contact,c1:&Contact,c2:&Contact)->Option<Ratio<Vector3<F256_128>,F192_96>>{
 	let n0_n1=c0.normal.cross(c1.normal);
 	let det=c2.normal.dot(n0_n1);
-	if det.abs()<EPSILON{
+	if det.abs()==Fixed::ZERO{
 		return None;
 	}
 	let d0=c0.normal.dot(c0.position);
@@ -72,7 +71,7 @@ fn solve3(c0:&Contact,c1:&Contact,c2:&Contact)->Option<Ratio<Vector3<Fixed<4,128
 	Some((c1.normal.cross(c2.normal)*d0+c2.normal.cross(c0.normal)*d1+c0.normal.cross(c1.normal)*d2)/det)
 }
 
-fn decompose1(point:Planar64Vec3,u0:Planar64Vec3)->Option<[Ratio<Fixed<2,64>,Fixed<2,64>>;1]>{
+fn decompose1(point:Planar64Vec3,u0:Planar64Vec3)->Option<[Ratio<F128_64,F128_64>;1]>{
 	let det=u0.dot(u0);
 	if det==Fixed::ZERO{
 		return None;
@@ -80,7 +79,7 @@ fn decompose1(point:Planar64Vec3,u0:Planar64Vec3)->Option<[Ratio<Fixed<2,64>,Fix
 	let s0=u0.dot(point)/det;
 	Some([s0])
 }
-fn decompose2(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3)->Option<[Ratio<Fixed<4,128>,Fixed<4,128>>;2]>{
+fn decompose2(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3)->Option<[Ratio<F256_128,F256_128>;2]>{
 	let u0_u1=u0.cross(u1);
 	let det=u0_u1.dot(u0_u1);
 	if det==Fixed::ZERO{
@@ -90,7 +89,7 @@ fn decompose2(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3)->Option<[Ratio
 	let s1=u0_u1.dot(u0.cross(point))/det;
 	Some([s0,s1])
 }
-fn decompose3(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3,u2:Planar64Vec3)->Option<[Ratio<Fixed<3,96>,Fixed<3,96>>;3]>{
+fn decompose3(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3,u2:Planar64Vec3)->Option<[Ratio<F192_96,F192_96>;3]>{
 	let det=u0.cross(u1).dot(u2);
 	if det==Fixed::ZERO{
 		return None;
@@ -149,22 +148,22 @@ fn is_space_enclosed_4(
 }
 
 const fn get_push_ray_0(point:Planar64Vec3)->Ray{
-	Ray{origin:point,direction:vec3::ZERO}
+	Ray{origin:point,direction:vec3::zero()}
 }
 fn get_push_ray_1(point:Planar64Vec3,c0:&Contact)->Option<Ray>{
 	//wrap for speed
-	let direction=solve1(c0)?.divide().wrap_1();
+	let direction=solve1(c0)?.divide().wrap_64();
 	let [s0]=decompose1(direction,c0.velocity)?;
 	if s0.lt_ratio(RATIO_ZERO){
 		return None;
 	}
 	let origin=point+solve1(
 		&c0.relative_to(point),
-	)?.divide().wrap_1();
+	)?.divide().wrap_64();
 	Some(Ray{origin,direction})
 }
 fn get_push_ray_2(point:Planar64Vec3,c0:&Contact,c1:&Contact)->Option<Ray>{
-	let direction=solve2(c0,c1)?.divide().wrap_1();
+	let direction=solve2(c0,c1)?.divide().wrap_64();
 	let [s0,s1]=decompose2(direction,c0.velocity,c1.velocity)?;
 	if s0.lt_ratio(RATIO_ZERO)||s1.lt_ratio(RATIO_ZERO){
 		return None;
@@ -172,11 +171,11 @@ fn get_push_ray_2(point:Planar64Vec3,c0:&Contact,c1:&Contact)->Option<Ray>{
 	let origin=point+solve2(
 		&c0.relative_to(point),
 		&c1.relative_to(point),
-	)?.divide().wrap_1();
+	)?.divide().wrap_64();
 	Some(Ray{origin,direction})
 }
 fn get_push_ray_3(point:Planar64Vec3,c0:&Contact,c1:&Contact,c2:&Contact)->Option<Ray>{
-	let direction=solve3(c0,c1,c2)?.divide().wrap_1();
+	let direction=solve3(c0,c1,c2)?.divide().wrap_64();
 	let [s0,s1,s2]=decompose3(direction,c0.velocity,c1.velocity,c2.velocity)?;
 	if s0.lt_ratio(RATIO_ZERO)||s1.lt_ratio(RATIO_ZERO)||s2.lt_ratio(RATIO_ZERO){
 		return None;
@@ -185,14 +184,14 @@ fn get_push_ray_3(point:Planar64Vec3,c0:&Contact,c1:&Contact,c2:&Contact)->Optio
 		&c0.relative_to(point),
 		&c1.relative_to(point),
 		&c2.relative_to(point),
-	)?.divide().wrap_1();
+	)?.divide().wrap_64();
 	Some(Ray{origin,direction})
 }
 
 const fn get_best_push_ray_and_conts_0<'a>(point:Planar64Vec3)->(Ray,Conts<'a>){
 	(get_push_ray_0(point),Conts::new_const())
 }
-fn get_best_push_ray_and_conts_1(point:Planar64Vec3,c0:&Contact)->Option<(Ray,Conts)>{
+fn get_best_push_ray_and_conts_1(point:Planar64Vec3,c0:&Contact)->Option<(Ray,Conts<'_>)>{
 	get_push_ray_1(point,c0)
 		.map(|ray|(ray,Conts::from_iter([c0])))
 }
@@ -274,26 +273,26 @@ fn get_best_push_ray_and_conts<'a>(
 	}
 }
 
-fn get_first_touch<'a>(contacts:&'a [Contact],ray:&Ray,conts:&Conts)->Option<(Ratio<Fixed<2,64>,Fixed<2,64>>,&'a Contact)>{
+fn get_first_touch<'a>(contacts:&'a [Contact],ray:&Ray,conts:&Conts)->Option<(Ratio<F128_64,F128_64>,&'a Contact)>{
 	contacts.iter()
 		.filter(|&contact|
-			!conts.iter().any(|&c|std::ptr::eq(c,contact))
+			!conts.iter().any(|&c|core::ptr::eq(c,contact))
 			&&contact.relative_dot(ray.direction).is_negative()
 		)
 		.map(|contact|(contact.solve(ray),contact))
 		.min_by_key(|&(t,_)|t)
 }
 
-pub fn push_solve(contacts:&[Contact],point:Planar64Vec3)->Planar64Vec3{
+pub fn push_solve(contacts:&[Contact],point:Planar64Vec3)->(Planar64Vec3,Conts<'_>){
 	let (mut ray,mut conts)=get_best_push_ray_and_conts_0(point);
 	loop{
 		let (next_t,next_cont)=match get_first_touch(contacts,&ray,&conts){
 			Some((t,cont))=>(t,cont),
-			None=>return ray.origin,
+			None=>return (ray.origin,conts),
 		};
 
 		if RATIO_ZERO.le_ratio(next_t){
-			return ray.origin;
+			return (ray.origin,conts);
 		}
 
 		//push_front
@@ -309,7 +308,7 @@ pub fn push_solve(contacts:&[Contact],point:Planar64Vec3)->Planar64Vec3{
 		let meet_point=ray.extrapolate(next_t);
 		match get_best_push_ray_and_conts(meet_point,conts.as_slice()){
 			Some((new_ray,new_conts))=>(ray,conts)=(new_ray,new_conts),
-			None=>return meet_point,
+			None=>return (meet_point,conts),
 		}
 	}
 }
@@ -321,14 +320,13 @@ mod tests{
 	fn test_push_solve(){
 		let contacts=vec![
 			Contact{
-				position:vec3::ZERO,
+				position:vec3::zero(),
 				velocity:vec3::Y,
 				normal:vec3::Y,
 			}
 		];
-		assert_eq!(
-			vec3::ZERO,
-			push_solve(&contacts,vec3::NEG_Y)
-		);
+		let (point,conts)=push_solve(&contacts,vec3::NEG_Y);
+		assert_eq!(point,vec3::zero());
+		assert_eq!(conts.as_slice(),[&contacts[0]].as_slice());
 	}
 }

engine/session/Cargo.toml

@@ -4,9 +4,12 @@ version = "0.1.0"
 edition = "2024"
 
 [dependencies]
-glam = "0.30.0"
+glam.workspace = true
 replace_with = "0.1.7"
-strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
-strafesnet_physics = { path = "../physics", registry = "strafesnet" }
-strafesnet_settings = { path = "../settings", registry = "strafesnet" }
-strafesnet_snf = { path = "../../lib/snf", registry = "strafesnet" }
+strafesnet_common.workspace = true
+strafesnet_physics.workspace = true
+strafesnet_settings.workspace = true
+strafesnet_snf.workspace = true
+
+[lints]
+workspace = true

engine/session/src/session.rs

@@ -31,7 +31,7 @@ pub enum SessionInputInstruction{
 	Mouse(glam::IVec2),
 	SetControl(strafesnet_common::physics::SetControlInstruction),
 	Mode(ImplicitModeInstruction),
-	Misc(strafesnet_common::physics::MiscInstruction),
+	Misc(MiscInstruction),
 }
 /// Implicit mode instruction are fed separately to session.
 /// Session generates the explicit mode instructions interlaced with a SetSensitivity instruction
@@ -52,16 +52,23 @@ pub enum SessionControlInstruction{
 pub enum SessionPlaybackInstruction{
 	SkipForward,
 	SkipBack,
-	TogglePaused,
 	DecreaseTimescale,
 	IncreaseTimescale,
 }
 
 pub struct FrameState{
-	pub body:physics::Body,
+	pub trajectory:physics::Trajectory,
 	pub camera:physics::PhysicsCamera,
 	pub time:PhysicsTime,
 }
+impl FrameState{
+	pub fn pos(&self)->glam::Vec3{
+		self.trajectory.extrapolated_position(self.time).map(Into::<f32>::into).to_array().into()
+	}
+	pub fn angles(&self)->glam::Vec2{
+		self.camera.simulate_move_angles(glam::IVec2::ZERO)
+	}
+}
 
 pub struct Simulation{
 	timer:Timer<Scaled<SessionTimeInner,PhysicsTimeInner>>,
@@ -77,9 +84,9 @@ impl Simulation{
 			physics,
 		}
 	}
-	pub fn get_frame_state(&self,time:SessionTime)->FrameState{
+	pub fn get_frame_state(&self,time:SessionTime,data:&PhysicsData)->FrameState{
 		FrameState{
-			body:self.physics.camera_body(),
+			trajectory:self.physics.camera_trajectory(data),
 			camera:self.physics.camera(),
 			time:self.timer.time(time),
 		}
@@ -152,10 +159,10 @@ enum ViewState{
 pub struct Session{
 	directories:Directories,
 	user_settings:UserSettings,
-	mouse_interpolator:crate::mouse_interpolator::MouseInterpolator,
+	mouse_interpolator:MouseInterpolator,
 	view_state:ViewState,
 	//gui:GuiState
-	geometry_shared:physics::PhysicsData,
+	geometry_shared:PhysicsData,
 	simulation:Simulation,
 	// below fields not included in lite session
 	recording:Recording,
@@ -172,7 +179,7 @@ impl Session{
 			user_settings,
 			directories,
 			mouse_interpolator:MouseInterpolator::new(),
-			geometry_shared:Default::default(),
+			geometry_shared:PhysicsData::empty(),
 			simulation,
 			view_state:ViewState::Play,
 			recording:Default::default(),
@@ -184,13 +191,13 @@ impl Session{
 	}
 	fn change_map(&mut self,map:&strafesnet_common::map::CompleteMap){
 		self.simulation.physics.clear();
-		self.geometry_shared.generate_models(map);
+		self.geometry_shared=PhysicsData::new(map);
 	}
 	pub fn get_frame_state(&self,time:SessionTime)->Option<FrameState>{
 		match &self.view_state{
-			ViewState::Play=>Some(self.simulation.get_frame_state(time)),
+			ViewState::Play=>Some(self.simulation.get_frame_state(time,&self.geometry_shared)),
 			ViewState::Replay(bot_id)=>self.replays.get(bot_id).map(|replay|
-				replay.simulation.get_frame_state(time)
+				replay.simulation.get_frame_state(time,&self.geometry_shared)
 			),
 		}
 	}
@@ -239,12 +246,16 @@ impl InstructionConsumer<Instruction<'_>> for Session{
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Reset));
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Misc(MiscInstruction::SetSensitivity(self.user_settings().calculate_sensitivity())));
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Restart(mode_id)));
+				// TODO: think about this harder.  This works around a bug where you fall infinitely when you reset.
+				self.simulation.timer.set_time(ins.time,PhysicsTime::ZERO);
 			},
 			Instruction::Input(SessionInputInstruction::Mode(ImplicitModeInstruction::ResetAndSpawn(mode_id,spawn_id)))=>{
 				self.clear_recording();
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Reset));
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Misc(MiscInstruction::SetSensitivity(self.user_settings().calculate_sensitivity())));
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Spawn(mode_id,spawn_id)));
+				// TODO: think about this harder.  This works around a bug where you fall infinitely when you reset.
+				self.simulation.timer.set_time(ins.time,PhysicsTime::ZERO);
 			},
 			Instruction::Input(SessionInputInstruction::Misc(misc_instruction))=>{
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Misc(misc_instruction));
@@ -253,7 +264,14 @@ impl InstructionConsumer<Instruction<'_>> for Session{
 				// don't flush the buffered instructions in the mouse interpolator
 				// until the mouse is confirmed to be not moving at a later time
 				// what if they pause for 5ms lmao
-				_=self.simulation.timer.set_paused(ins.time,paused);
+				match &self.view_state{
+					ViewState::Play=>{
+						_=self.simulation.timer.set_paused(ins.time,paused);
+					},
+					ViewState::Replay(bot_id)=>if let Some(replay)=self.replays.get_mut(bot_id){
+						_=replay.simulation.timer.set_paused(ins.time,paused);
+					},
+				}
 			},
 			Instruction::Control(SessionControlInstruction::CopyRecordingIntoReplayAndSpectate)=> if let ViewState::Play=self.view_state{
 				// Bind: B
@@ -374,14 +392,6 @@ impl InstructionConsumer<Instruction<'_>> for Session{
 					},
 				}
 			},
-			Instruction::Playback(SessionPlaybackInstruction::TogglePaused)=>{
-				match &self.view_state{
-					ViewState::Play=>(),
-					ViewState::Replay(bot_id)=>if let Some(replay)=self.replays.get_mut(bot_id){
-						_=replay.simulation.timer.set_paused(ins.time,!replay.simulation.timer.is_paused());
-					},
-				}
-			}
 			Instruction::ChangeMap(complete_map)=>{
 				self.clear_recording();
 				self.change_map(complete_map);

engine/settings/Cargo.toml

@@ -6,5 +6,8 @@ edition = "2024"
 [dependencies]
 configparser = "3.0.2"
 directories = "6.0.0"
-glam = "0.30.0"
-strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
+glam.workspace = true
+strafesnet_common.workspace = true
+
+[lints]
+workspace = true

integration-testing/.gitignore

@@ -0,0 +1 @@
+/test_files

integration-testing/Cargo.toml

@@ -4,6 +4,12 @@ version = "0.1.0"
 edition = "2024"
 
 [dependencies]
-strafesnet_common = { path = "../lib/common", registry = "strafesnet" }
-strafesnet_physics = { path = "../engine/physics", registry = "strafesnet" }
-strafesnet_snf = { path = "../lib/snf", registry = "strafesnet" }
+glam.workspace = true
+strafesnet_common.workspace = true
+strafesnet_physics.workspace = true
+strafesnet_snf.workspace = true
+# this is just for the primitive constructor
+strafesnet_rbx_loader.workspace = true
+
+[lints]
+workspace = true

integration-testing/src/error.rs

@@ -0,0 +1,28 @@
+#[expect(dead_code)]
+#[derive(Debug)]
+pub enum ReplayError{
+	IO(std::io::Error),
+	SNF(strafesnet_snf::Error),
+	SNFM(strafesnet_snf::map::Error),
+	SNFB(strafesnet_snf::bot::Error),
+}
+impl From<std::io::Error> for ReplayError{
+	fn from(value:std::io::Error)->Self{
+		Self::IO(value)
+	}
+}
+impl From<strafesnet_snf::Error> for ReplayError{
+	fn from(value:strafesnet_snf::Error)->Self{
+		Self::SNF(value)
+	}
+}
+impl From<strafesnet_snf::map::Error> for ReplayError{
+	fn from(value:strafesnet_snf::map::Error)->Self{
+		Self::SNFM(value)
+	}
+}
+impl From<strafesnet_snf::bot::Error> for ReplayError{
+	fn from(value:strafesnet_snf::bot::Error)->Self{
+		Self::SNFB(value)
+	}
+}

integration-testing/src/main.rs

@@ -1,7 +1,15 @@
-use std::io::Cursor;
-use std::path::Path;
+mod error;
+mod util;
+
+#[cfg(test)]
+mod tests;
+#[cfg(test)]
+mod test_scenes;
+
 use std::time::Instant;
 
+use error::ReplayError;
+use util::read_entire_file;
 use strafesnet_physics::physics::{PhysicsData,PhysicsState,PhysicsContext};
 
 fn main(){
@@ -13,40 +21,6 @@ fn main(){
 	}
 }
 
-#[allow(unused)]
-#[derive(Debug)]
-enum ReplayError{
-	IO(std::io::Error),
-	SNF(strafesnet_snf::Error),
-	SNFM(strafesnet_snf::map::Error),
-	SNFB(strafesnet_snf::bot::Error),
-}
-impl From<std::io::Error> for ReplayError{
-	fn from(value:std::io::Error)->Self{
-		Self::IO(value)
-	}
-}
-impl From<strafesnet_snf::Error> for ReplayError{
-	fn from(value:strafesnet_snf::Error)->Self{
-		Self::SNF(value)
-	}
-}
-impl From<strafesnet_snf::map::Error> for ReplayError{
-	fn from(value:strafesnet_snf::map::Error)->Self{
-		Self::SNFM(value)
-	}
-}
-impl From<strafesnet_snf::bot::Error> for ReplayError{
-	fn from(value:strafesnet_snf::bot::Error)->Self{
-		Self::SNFB(value)
-	}
-}
-
-fn read_entire_file(path:impl AsRef<Path>)->Result<Cursor<Vec<u8>>,std::io::Error>{
-	let data=std::fs::read(path)?;
-	Ok(Cursor::new(data))
-}
-
 fn run_replay()->Result<(),ReplayError>{
 	println!("loading map file..");
 	let data=read_entire_file("../tools/bhop_maps/5692113331.snfm")?;
@@ -57,9 +31,8 @@ fn run_replay()->Result<(),ReplayError>{
 	let bot=strafesnet_snf::read_bot(data)?.read_all()?;
 
 	// create recording
-	let mut physics_data=PhysicsData::default();
 	println!("generating models..");
-	physics_data.generate_models(&map);
+	let physics_data=PhysicsData::new(&map);
 	println!("simulating...");
 	let mut physics=PhysicsState::default();
 	for ins in bot.instructions{
@@ -98,16 +71,16 @@ fn segment_determinism(bot:strafesnet_snf::bot::Segment,physics_data:&PhysicsDat
 	for (i,ins) in bot.instructions.into_iter().enumerate(){
 		let state_deterministic=physics_deterministic.clone();
 		let state_filtered=physics_filtered.clone();
-		PhysicsContext::run_input_instruction(&mut physics_deterministic,&physics_data,ins.clone());
+		PhysicsContext::run_input_instruction(&mut physics_deterministic,physics_data,ins.clone());
 		match ins{
 			strafesnet_common::instruction::TimedInstruction{instruction:strafesnet_common::physics::Instruction::Idle,..}=>(),
 			other=>{
 				non_idle_count+=1;
 				// run
-				PhysicsContext::run_input_instruction(&mut physics_filtered,&physics_data,other.clone());
+				PhysicsContext::run_input_instruction(&mut physics_filtered,physics_data,other.clone());
 				// check if position matches
-				let b0=physics_deterministic.camera_body();
-				let b1=physics_filtered.camera_body();
+				let b0=physics_deterministic.camera_trajectory(physics_data);
+				let b1=physics_filtered.camera_trajectory(physics_data);
 				if b0.position!=b1.position{
 					let nanoseconds=start.elapsed().as_nanos() as u64;
 					println!("desync at instruction #{}",i);
@@ -167,9 +140,8 @@ fn test_determinism()->Result<(),ReplayError>{
 	let data=read_entire_file("../tools/bhop_maps/5692113331.snfm")?;
 	let map=strafesnet_snf::read_map(data)?.into_complete_map()?;
 
-	let mut physics_data=PhysicsData::default();
 	println!("generating models..");
-	physics_data.generate_models(&map);
+	let physics_data=PhysicsData::new(&map);
 
 	let (send,recv)=std::sync::mpsc::channel();
 

integration-testing/src/test_scenes.rs

@@ -0,0 +1,113 @@
+use strafesnet_physics::physics::{InternalInstruction,PhysicsData,PhysicsState,PhysicsContext};
+use strafesnet_common::gameplay_modes::NormalizedModes;
+use strafesnet_common::gameplay_attributes::{CollisionAttributes,CollisionAttributesId};
+use strafesnet_common::integer::{vec3,mat3,Planar64Affine3,Time};
+use strafesnet_common::model::{Mesh,Model,MeshId,ModelId,RenderConfigId};
+use strafesnet_common::map::CompleteMap;
+use strafesnet_rbx_loader::primitives::{unit_cube,CubeFaceDescription};
+
+struct TestSceneBuilder{
+	meshes:Vec<Mesh>,
+	models:Vec<Model>,
+}
+impl TestSceneBuilder{
+	fn new()->Self{
+		Self{
+			meshes:Vec::new(),
+			models:Vec::new(),
+		}
+	}
+	fn push_mesh(&mut self,mesh:Mesh)->MeshId{
+		let mesh_id=self.meshes.len();
+		self.meshes.push(mesh);
+		MeshId::new(mesh_id as u32)
+	}
+	fn push_mesh_instance(&mut self,mesh:MeshId,transform:Planar64Affine3)->ModelId{
+		let model=Model{
+			mesh,
+			attributes:CollisionAttributesId::new(0),
+			color:glam::Vec4::ONE,
+			transform,
+		};
+		let model_id=self.models.len();
+		self.models.push(model);
+		ModelId::new(model_id as u32)
+	}
+	fn build(self)->PhysicsData{
+		let modes=NormalizedModes::new(Vec::new());
+		let attributes=vec![CollisionAttributes::contact_default()];
+		let meshes=self.meshes;
+		let models=self.models;
+		let textures=Vec::new();
+		let render_configs=Vec::new();
+		PhysicsData::new(&CompleteMap{
+			modes,
+			attributes,
+			meshes,
+			models,
+			textures,
+			render_configs,
+		})
+	}
+}
+
+fn test_scene()->PhysicsData{
+	let mut builder=TestSceneBuilder::new();
+	let cube_face_description=CubeFaceDescription::new(Default::default(),RenderConfigId::new(0));
+	let mesh=builder.push_mesh(unit_cube(cube_face_description));
+	// place two 5x5x5 cubes.
+	builder.push_mesh_instance(mesh,Planar64Affine3::new(
+		mat3::from_diagonal(vec3::int(5,5,5)>>1),
+		vec3::int(0,0,0)
+	));
+	builder.push_mesh_instance(mesh,Planar64Affine3::new(
+		mat3::from_diagonal(vec3::int(5,5,5)>>1),
+		vec3::int(5,-5,0)
+	));
+	builder.build()
+}
+
+#[test]
+fn simultaneous_collision(){
+	let physics_data=test_scene();
+	let body=strafesnet_physics::physics::Body::new(
+		(vec3::int(5+2,0,0)>>1)+vec3::int(1,1,0),
+		vec3::int(-1,-1,0),
+		Time::ZERO,
+	);
+	let mut physics=PhysicsState::new_with_body(body);
+	physics.style_mut().gravity=vec3::zero();
+	let mut phys_iter=PhysicsContext::iter_internal(&mut physics,&physics_data,Time::from_secs(2))
+		.filter(|ins|!matches!(ins.instruction,InternalInstruction::StrafeTick));
+	// the order that they hit does matter, but we aren't currently worrying about that.
+	// See multi-collision branch
+	assert_eq!(phys_iter.next().unwrap().time,Time::from_secs(1));
+	assert_eq!(phys_iter.next().unwrap().time,Time::from_secs(1));
+	assert!(phys_iter.next().is_none());
+	let body=physics.body();
+	assert_eq!(body.position,vec3::int(5,0,0));
+	assert_eq!(body.velocity,vec3::int(0,0,0));
+	assert_eq!(body.time,Time::from_secs(1));
+}
+#[test]
+fn bug_3(){
+	let physics_data=test_scene();
+	let body=strafesnet_physics::physics::Body::new(
+		(vec3::int(5+2,0,0)>>1)+vec3::int(1,2,0),
+		vec3::int(-1,-1,0),
+		Time::ZERO,
+	);
+	let mut physics=PhysicsState::new_with_body(body);
+	physics.style_mut().gravity=vec3::zero();
+	let mut phys_iter=PhysicsContext::iter_internal(&mut physics,&physics_data,Time::from_secs(3))
+		.filter(|ins|!matches!(ins.instruction,InternalInstruction::StrafeTick));
+	// touch side of part at 0,0,0
+	assert_eq!(phys_iter.next().unwrap().time,Time::from_secs(1));
+	// touch top of part at 5,-5,0
+	assert_eq!(phys_iter.next().unwrap().time,Time::from_secs(2));
+	assert!(phys_iter.next().is_none());
+	let body=physics.body();
+	assert_eq!(body.position,vec3::int(5+2,0,0)>>1);
+	assert_eq!(body.velocity,vec3::int(0,0,0));
+	assert_eq!(body.time,Time::from_secs(2));
+}

integration-testing/src/tests.rs

@@ -0,0 +1,78 @@
+use crate::error::ReplayError;
+use crate::util::read_entire_file;
+use strafesnet_physics::physics::{PhysicsData,PhysicsState,PhysicsContext};
+
+#[test]
+#[ignore]
+fn physics_bug_2()->Result<(),ReplayError>{
+	println!("loading map file..");
+	let data=read_entire_file("test_files/bhop_monster_jam.snfm")?;
+	let map=strafesnet_snf::read_map(data)?.into_complete_map()?;
+
+	// create recording
+	println!("generating models..");
+	let physics_data=PhysicsData::new(&map);
+	println!("simulating...");
+
+	//teleport to bug
+	// body pos = Vector { array: [Fixed { bits: 554895163352 }, Fixed { bits: 1485633089990 }, Fixed { bits: 1279601007173 }] }
+	// after the fix it's still happening, possibly for a different reason, new position to evince:
+	// body pos = Vector { array: [Fixed { bits: 555690659654 }, Fixed { bits: 1490485868773 }, Fixed { bits: 1277783839382 }] }
+	use strafesnet_common::integer::{vec3,Time};
+	let body=strafesnet_physics::physics::Body::new(
+		vec3::raw_xyz(555690659654,1490485868773,1277783839382),
+		vec3::int(0,0,0),
+		Time::ZERO,
+	);
+	let mut physics=PhysicsState::new_with_body(body);
+	// wait one second to activate the bug
+	// hit=Some(ModelId(2262))
+	PhysicsContext::run_input_instruction(&mut physics,&physics_data,strafesnet_common::instruction::TimedInstruction{
+		time:Time::from_millis(500),
+		instruction:strafesnet_common::physics::Instruction::Idle,
+	});
+
+	Ok(())
+}
+
+#[test]
+#[ignore]
+fn physics_bug_3()->Result<(),ReplayError>{
+	println!("loading map file..");
+	let data=read_entire_file("../tools/bhop_maps/5692152916.snfm")?;
+	let map=strafesnet_snf::read_map(data)?.into_complete_map()?;
+
+	// create recording
+	println!("generating models..");
+	let physics_data=PhysicsData::new(&map);
+	println!("simulating...");
+
+	//teleport to bug
+	use strafesnet_common::integer::{vec3,Time};
+	let body=strafesnet_physics::physics::Body::new(
+		// bhop_toc corner position after wall hits
+		// vec3::raw_xyz(-1401734815424,3315081280280,-2466057177493),
+		// vec3::raw_xyz(0,-96915585363,1265),
+		// vec3::raw_xyz(0,-429496729600,0),
+		// alternate room center position
+		// vec3::raw_xyz(-1129043783837,3324870327882,-2014012350212),
+		// vec3::raw_xyz(0,-96915585363,1265),
+		// vec3::raw_xyz(0,-429496729600,0),
+		// corner setup before wall hits
+		// vec3::raw_xyz(-1392580080675,3325402529458,-2444727738679),
+		// vec3::raw_xyz(-30259028820,-22950929553,-71141663007),
+		// vec3::raw_xyz(0,-429496729600,0),
+		// Actual bug 3 repro
+		vec3::raw_xyz(-2505538624455,3357963283914,557275711118),
+		vec3::raw_xyz(204188283920,-282280474198,166172785440),
+		Time::ZERO,
+	);
+	let mut physics=PhysicsState::new_with_body(body);
+	// wait one second to activate the bug
+	PhysicsContext::run_input_instruction(&mut physics,&physics_data,strafesnet_common::instruction::TimedInstruction{
+		time:Time::from_millis(500),
+		instruction:strafesnet_common::physics::Instruction::Idle,
+	});
+
+	Ok(())
+}

integration-testing/src/util.rs

@@ -0,0 +1,7 @@
+use std::io::Cursor;
+use std::path::Path;
+
+pub fn read_entire_file(path:impl AsRef<Path>)->Result<Cursor<Vec<u8>>,std::io::Error>{
+	let data=std::fs::read(path)?;
+	Ok(Cursor::new(data))
+}

lib/bsp_loader/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "strafesnet_bsp_loader"
-version = "0.3.0"
+version = "0.5.0"
 edition = "2024"
 repository = "https://git.itzana.me/StrafesNET/strafe-project"
 license = "MIT OR Apache-2.0"
@@ -10,10 +10,13 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-glam = "0.30.0"
-strafesnet_common = { version = "0.6.0", path = "../common", registry = "strafesnet" }
-strafesnet_deferred_loader = { version = "0.5.0", path = "../deferred_loader", registry = "strafesnet" }
+glam.workspace = true
+strafesnet_common.workspace = true
+strafesnet_deferred_loader.workspace = true
 vbsp = "0.9.1"
 vbsp-entities-css = "0.6.0"
 vmdl = "0.2.0"
 vpk = "0.3.0"
+
+[lints]
+workspace = true

lib/bsp_loader/src/brush.rs

@@ -1,21 +1,22 @@
-use strafesnet_common::integer::Planar64;
 use strafesnet_common::{model,integer};
-use strafesnet_common::integer::{vec3::Vector3,Fixed,Ratio};
+use strafesnet_common::integer::fixed_types::F192_96;
+use strafesnet_common::integer::vec3::Vector3;
+use strafesnet_common::integer::{Planar64,Planar64Vec3,Ratio};
 
 use crate::{valve_transform_normal,valve_transform_dist};
 
 #[derive(Hash,Eq,PartialEq)]
 struct Face{
-	normal:integer::Planar64Vec3,
-	dot:integer::Planar64,
+	normal:Planar64Vec3,
+	dot:Planar64,
 }
 
 #[derive(Debug)]
 struct Faces{
-	faces:Vec<Vec<integer::Planar64Vec3>>,
+	faces:Vec<Vec<Planar64Vec3>>,
 }
 
-fn solve3(c0:&Face,c1:&Face,c2:&Face)->Option<Ratio<Vector3<Fixed<3,96>>,Fixed<3,96>>>{
+fn solve3(c0:&Face,c1:&Face,c2:&Face)->Option<Ratio<Vector3<F192_96>,F192_96>>{
 	let n0_n1=c0.normal.cross(c1.normal);
 	let det=c2.normal.dot(n0_n1);
 	if det.abs().is_zero(){
@@ -82,12 +83,12 @@ fn planes_to_faces(face_list:std::collections::HashSet<Face>)->Result<Faces,Plan
 			// test if any *other* faces occlude the intersection
 			for new_face in &face_list{
 				// new face occludes intersection point
-				if (new_face.dot.widen_2()/Planar64::ONE).lt_ratio(new_face.normal.dot(intersection.num)/intersection.den){
+				if (new_face.dot.widen_128()/Planar64::ONE).lt_ratio(new_face.normal.dot(intersection.num)/intersection.den){
 					// replace one of the faces with the new face
 					// dont' try to replace face0 because we are exploring that face in particular
 					if let Some(new_intersection)=solve3(face0,new_face,face2){
 						// face1 does not occlude (or intersect) the new intersection
-						if (face1.dot.widen_2()/Planar64::ONE).gt_ratio(face1.normal.dot(new_intersection.num)/new_intersection.den){
+						if (face1.dot.widen_128()/Planar64::ONE).gt_ratio(face1.normal.dot(new_intersection.num)/new_intersection.den){
 							face1=new_face;
 							intersection=new_intersection;
 							continue 'find;
@@ -95,7 +96,7 @@ fn planes_to_faces(face_list:std::collections::HashSet<Face>)->Result<Faces,Plan
 					}
 					if let Some(new_intersection)=solve3(face0,face1,new_face){
 						// face2 does not occlude (or intersect) the new intersection
-						if (face2.dot.widen_2()/Planar64::ONE).gt_ratio(face2.normal.dot(new_intersection.num)/new_intersection.den){
+						if (face2.dot.widen_128()/Planar64::ONE).gt_ratio(face2.normal.dot(new_intersection.num)/new_intersection.den){
 							face2=new_face;
 							intersection=new_intersection;
 							continue 'find;
@@ -120,7 +121,7 @@ fn planes_to_faces(face_list:std::collections::HashSet<Face>)->Result<Faces,Plan
 				continue;
 			}
 			// new_face occludes intersection meaning intersection is not on convex solid and face0 is degenrate
-			if (new_face.dot.widen_2()/Planar64::ONE).lt_ratio(new_face.normal.dot(intersection.num)/intersection.den){
+			if (new_face.dot.widen_128()/Planar64::ONE).lt_ratio(new_face.normal.dot(intersection.num)/intersection.den){
 				// abort! reject face0 entirely
 				continue 'face;
 			}
@@ -138,7 +139,7 @@ fn planes_to_faces(face_list:std::collections::HashSet<Face>)->Result<Faces,Plan
 		loop{
 			// push point onto vertices
 			// problem: this may push a vertex that does not fit in the fixed point range and is thus meaningless
-			face.push(intersection.divide().narrow_1().unwrap());
+			face.push(intersection.divide().narrow_64().unwrap());
 
 			// we looped back around to face1, we're done!
 			if core::ptr::eq(face1,face2){
@@ -187,7 +188,7 @@ fn planes_to_faces(face_list:std::collections::HashSet<Face>)->Result<Faces,Plan
 	}
 }
 
-#[allow(dead_code)]
+#[expect(dead_code)]
 #[derive(Debug)]
 pub enum BrushToMeshError{
 	SliceBrushSides,
@@ -204,13 +205,13 @@ impl std::fmt::Display for BrushToMeshError{
 }
 impl core::error::Error for BrushToMeshError{}
 
-pub fn faces_to_mesh(faces:Vec<Vec<integer::Planar64Vec3>>)->model::Mesh{
+pub fn faces_to_mesh(faces:Vec<Vec<Planar64Vec3>>)->model::Mesh{
 	// generate the mesh
 	let mut mb=model::MeshBuilder::new();
 	let color=mb.acquire_color_id(glam::Vec4::ONE);
 	let tex=mb.acquire_tex_id(glam::Vec2::ZERO);
 	// normals are ignored by physics
-	let normal=mb.acquire_normal_id(integer::vec3::ZERO);
+	let normal=mb.acquire_normal_id(integer::vec3::zero());
 
 	let polygon_list=faces.into_iter().map(|face|{
 		face.into_iter().map(|pos|{

lib/bsp_loader/src/bsp.rs

@@ -105,7 +105,7 @@ pub fn convert<'a>(
 					water:Some(attr::IntersectingWater{
 						viscosity:integer::Planar64::ONE,
 						density:integer::Planar64::ONE,
-						velocity:integer::vec3::ZERO,
+						velocity:integer::vec3::zero(),
 					}),
 				},
 				general:attr::GeneralAttributes::default(),
@@ -295,7 +295,7 @@ pub fn convert<'a>(
 					attributes,
 					transform:integer::Planar64Affine3::new(
 						integer::mat3::identity(),
-						integer::vec3::ZERO,
+						integer::vec3::zero(),
 					),
 					color:glam::Vec4::ONE,
 				});
@@ -347,9 +347,9 @@ pub struct PartialMap1{
 	modes:NormalizedModes,
 }
 impl PartialMap1{
-	pub fn add_prop_meshes<'a>(
+	pub fn add_prop_meshes(
 		self,
-		prop_meshes:Meshes,
+		prop_meshes:Meshes<model::Mesh>,
 	)->PartialMap2{
 		PartialMap2{
 			attributes:self.attributes,

lib/bsp_loader/src/lib.rs

@@ -1,9 +1,6 @@
-use strafesnet_deferred_loader::deferred_loader::{LoadFailureMode,MeshDeferredLoader,RenderConfigDeferredLoader};
-
-mod bsp;
-mod mesh;
+pub mod bsp;
+pub mod mesh;
 mod brush;
-pub mod loader;
 
 const VALVE_SCALE:f32=1.0/16.0;
 pub(crate) fn valve_transform_dist(d:f32)->strafesnet_common::integer::Planar64{
@@ -28,28 +25,6 @@ impl std::fmt::Display for ReadError{
 }
 impl std::error::Error for ReadError{}
 
-
-#[derive(Debug)]
-pub enum LoadError{
-	Texture(loader::TextureError),
-	Mesh(loader::MeshError),
-}
-impl std::fmt::Display for LoadError{
-	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
-		write!(f,"{self:?}")
-	}
-}
-impl std::error::Error for LoadError{}
-impl From<loader::TextureError> for LoadError{
-	fn from(value:loader::TextureError)->Self{
-		Self::Texture(value)
-	}
-}
-impl From<loader::MeshError> for LoadError{
-	fn from(value:loader::MeshError)->Self{
-		Self::Mesh(value)
-	}
-}
 pub struct Bsp{
 	bsp:vbsp::Bsp,
 	case_folded_file_names:std::collections::HashMap<String,String>,
@@ -84,28 +59,6 @@ impl Bsp{
 			None=>Ok(None),
 		}
 	}
-	pub fn to_snf(&self,failure_mode:LoadFailureMode,vpk_list:&[Vpk])->Result<strafesnet_common::map::CompleteMap,LoadError>{
-		let mut texture_deferred_loader=RenderConfigDeferredLoader::new();
-		let mut mesh_deferred_loader=MeshDeferredLoader::new();
-
-		let map_step1=bsp::convert(
-			self,
-			&mut texture_deferred_loader,
-			&mut mesh_deferred_loader,
-		);
-
-		let mut mesh_loader=loader::MeshLoader::new(loader::BspFinder{bsp:self,vpks:vpk_list},&mut texture_deferred_loader);
-		let prop_meshes=mesh_deferred_loader.into_meshes(&mut mesh_loader,failure_mode).map_err(LoadError::Mesh)?;
-
-		let map_step2=map_step1.add_prop_meshes(prop_meshes);
-
-		let mut texture_loader=loader::TextureLoader::new();
-		let render_configs=texture_deferred_loader.into_render_configs(&mut texture_loader,failure_mode).map_err(LoadError::Texture)?;
-
-		let map=map_step2.add_render_configs_and_textures(render_configs);
-
-		Ok(map)
-	}
 }
 pub struct Vpk{
 	vpk:vpk::VPK,

lib/bsp_loader/src/mesh.rs

@@ -5,6 +5,8 @@ use strafesnet_deferred_loader::deferred_loader::RenderConfigDeferredLoader;
 
 use crate::valve_transform;
 
+pub use model::Mesh;
+
 fn ingest_vertex(mb:&mut model::MeshBuilder,vertex:&vmdl::vvd::Vertex,color:model::ColorId)->model::VertexId{
 	let pos=mb.acquire_pos_id(valve_transform(vertex.position.into()));
 	let normal=mb.acquire_normal_id(valve_transform(vertex.normal.into()));
@@ -17,7 +19,7 @@ fn ingest_vertex(mb:&mut model::MeshBuilder,vertex:&vmdl::vvd::Vertex,color:mode
 	})
 }
 
-pub fn convert_mesh(model:vmdl::Model,deferred_loader:&mut RenderConfigDeferredLoader<Cow<str>>)->model::Mesh{
+pub fn convert_mesh(model:vmdl::Model,deferred_loader:&mut RenderConfigDeferredLoader<Cow<str>>)->Mesh{
 	let texture_paths=model.texture_directories();
 	if texture_paths.len()!=1{
 		println!("WARNING: multiple texture paths");
@@ -61,7 +63,7 @@ pub fn convert_mesh(model:vmdl::Model,deferred_loader:&mut RenderConfigDeferredL
 						_=>None,
 					}
 				})
-			}).flat_map(|[v1,v2,v3]|{
+			}).filter_map(|[v1,v2,v3]|{
 				// this should probably be a fatal error :D
 				let v1=model_vertices.get(v1)?;
 				let v2=model_vertices.get(v2)?;

lib/common/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "strafesnet_common"
-version = "0.6.0"
+version = "0.9.0"
 edition = "2024"
 repository = "https://git.itzana.me/StrafesNET/strafe-project"
 license = "MIT OR Apache-2.0"
@@ -12,8 +12,11 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 [dependencies]
 arrayvec = "0.7.4"
 bitflags = "2.6.0"
-fixed_wide = { version = "0.2.0", path = "../fixed_wide", registry = "strafesnet", features = ["deferred-division","zeroes","wide-mul"] }
-linear_ops = { version = "0.1.1", path = "../linear_ops", registry = "strafesnet", features = ["deferred-division","named-fields"] }
-ratio_ops = { version = "0.1.0", path = "../ratio_ops", registry = "strafesnet" }
-glam = "0.30.0"
+fixed_wide = { workspace = true, features = ["deferred-division","zeroes","wide-mul"] }
+linear_ops = { workspace = true, features = ["deferred-division","named-fields"] }
+ratio_ops = { workspace = true }
+glam.workspace = true
 id = { version = "0.1.0", registry = "strafesnet" }
+
+[lints]
+workspace = true

lib/common/src/aabb.rs

@@ -2,7 +2,9 @@ use crate::integer::{vec3,Planar64Vec3};
 
 #[derive(Clone)]
 pub struct Aabb{
+	// min is inclusive
 	min:Planar64Vec3,
+	// max is not inclusive
 	max:Planar64Vec3,
 }
 
@@ -43,7 +45,7 @@ impl Aabb{
 	}
 	#[inline]
 	pub fn contains(&self,point:Planar64Vec3)->bool{
-		let bvec=self.min.lt(point)&point.lt(self.max);
+		let bvec=self.min.le(point)&point.lt(self.max);
 		bvec.all()
 	}
 	#[inline]
@@ -59,11 +61,11 @@ impl Aabb{
 	pub fn center(&self)->Planar64Vec3{
 		self.min.map_zip(self.max,|(min,max)|min.midpoint(max))
 	}
-	//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
-	// }
+	#[inline]
+	pub fn area_weight(&self)->fixed_wide::types::F128_64{
+		let d=self.max-self.min;
+		d.x*d.y+d.y*d.z+d.z*d.x
+	}
 	// pub fn volume(&self)->f32{
 	// 	let d=self.max-self.min;
 	// 	d.x*d.y*d.z

lib/common/src/bvh.rs

@@ -3,7 +3,7 @@ use std::collections::BTreeMap;
 
 use crate::aabb::Aabb;
 use crate::ray::Ray;
-use crate::integer::{Ratio,Planar64};
+use crate::integer::{Ratio,Planar64,Planar64Vec3};
 use crate::instruction::{InstructionCollector,TimedInstruction};
 
 //da algaritum
@@ -140,33 +140,34 @@ impl<L> BvhNode<L>{
 			},
 		}
 	}
-	fn populate_nodes<'a,T,F>(
+	fn populate_nodes<'a,T,IntersectLeaf,IntersectAabb>(
 		&'a self,
-		collector:&mut InstructionCollector<&'a L,Ratio<Planar64,Planar64>>,
-		nodes:&mut BTreeMap<Ratio<Planar64,Planar64>,&'a BvhNode<L>>,
-		ray:&Ray,
-		start_time:Ratio<Planar64,Planar64>,
-		f:&F,
+		start_point:Planar64Vec3,
+		collector:&mut InstructionCollector<&'a L,T>,
+		nodes:&mut BTreeMap<T,&'a BvhNode<L>>,
+		start_time:T,
+		intersect_leaf:&IntersectLeaf,
+		intersect_aabb:&IntersectAabb,
 	)
 		where
 			T:Ord+Copy,
-			Ratio<Planar64,Planar64>:From<T>,
-			F:Fn(&L,&Ray)->Option<T>,
+			IntersectLeaf:Fn(&L)->Option<T>,
+			IntersectAabb:Fn(&Aabb)->Option<T>,
 	{
 		match &self.content{
-			RecursiveContent::Leaf(leaf)=>if let Some(time)=f(leaf,ray){
-				let ins=TimedInstruction{time:time.into(),instruction:leaf};
-				if start_time.lt_ratio(ins.time)&&ins.time.lt_ratio(collector.time()){
+			RecursiveContent::Leaf(leaf)=>if let Some(time)=intersect_leaf(leaf){
+				let ins=TimedInstruction{time,instruction:leaf};
+				if start_time<ins.time&&ins.time<collector.time(){
 					collector.collect(Some(ins));
 				}
 			},
 			RecursiveContent::Branch(children)=>for child in children{
-				if child.aabb.contains(ray.origin){
-					child.populate_nodes(collector,nodes,ray,start_time,f);
+				if child.aabb.contains(start_point){
+					child.populate_nodes(start_point,collector,nodes,start_time,intersect_leaf,intersect_aabb);
 				}else{
 					// Am I an upcoming superstar?
-					if let Some(t)=intersect_aabb(ray,&child.aabb){
-						if start_time.lt_ratio(t)&&t.lt_ratio(collector.time()){
+					if let Some(t)=intersect_aabb(&child.aabb){
+						if start_time<t&&t<collector.time(){
 							nodes.insert(t,child);
 						}
 					}
@@ -174,27 +175,29 @@ impl<L> BvhNode<L>{
 			},
 		}
 	}
-	pub fn sample_ray<T,F>(
+	/// Traverse the BVH using the given sampling functions.
+	/// Nodes are tested in order of T returned by IntersectAabb.
+	/// The algorithm ends when T for the next node to test is
+	/// greater than the current best collected T from IntersectLeaf.
+	pub fn traverse<T,IntersectLeaf,IntersectAabb>(
 		&self,
-		ray:&Ray,
+		start_point:Planar64Vec3,
 		start_time:T,
 		time_limit:T,
-		f:F,
+		intersect_leaf:IntersectLeaf,
+		intersect_aabb:IntersectAabb,
 	)->Option<(T,&L)>
 		where
 			T:Ord+Copy,
-			T:From<Ratio<Planar64,Planar64>>,
-			Ratio<Planar64,Planar64>:From<T>,
-			F:Fn(&L,&Ray)->Option<T>,
+			IntersectLeaf:Fn(&L)->Option<T>,
+			IntersectAabb:Fn(&Aabb)->Option<T>,
 	{
 		// source of nondeterminism when Aabb boundaries are coplanar
 		let mut nodes=BTreeMap::new();
 
-		let start_time=start_time.into();
-		let time_limit=time_limit.into();
 		let mut collector=InstructionCollector::new(time_limit);
 		// break open all nodes that contain ray.origin and populate nodes with future intersection times
-		self.populate_nodes(&mut collector,&mut nodes,ray,start_time,&f);
+		self.populate_nodes(start_point,&mut collector,&mut nodes,start_time,&intersect_leaf,&intersect_aabb);
 
 		// swim through nodes one at a time
 		while let Some((t,node))=nodes.pop_first(){
@@ -202,18 +205,18 @@ impl<L> BvhNode<L>{
 				break;
 			}
 			match &node.content{
-				RecursiveContent::Leaf(leaf)=>if let Some(time)=f(leaf,ray){
+				RecursiveContent::Leaf(leaf)=>if let Some(time)=intersect_leaf(leaf){
 					let ins=TimedInstruction{time:time.into(),instruction:leaf};
 					// this lower bound can also be omitted
 					// but it causes type inference errors lol
-					if start_time.lt_ratio(ins.time)&&ins.time.lt_ratio(collector.time()){
+					if start_time<ins.time&&ins.time<collector.time(){
 						collector.collect(Some(ins));
 					}
 				},
 				// break open the node and predict collisions with the child nodes
 				RecursiveContent::Branch(children)=>for child in children{
 					// Am I an upcoming superstar?
-					if let Some(t)=intersect_aabb(ray,&child.aabb){
+					if let Some(t)=intersect_aabb(&child.aabb){
 						// we don't need to check the lower bound
 						// because child aabbs are guaranteed to be within the parent bounds.
 						if t<collector.time(){
@@ -245,18 +248,19 @@ pub fn generate_bvh<T>(boxen:Vec<(T,Aabb)>)->BvhNode<T>{
 
 fn generate_bvh_node<T>(boxen:Vec<(T,Aabb)>,force:bool)->BvhNode<T>{
 	let n=boxen.len();
-	if force||n<20{
-		let mut aabb=Aabb::default();
-		let nodes=boxen.into_iter().map(|b|{
-			aabb.join(&b.1);
+	const MAX_TERMINAL_BRANCH_LEAF_NODES:usize=20;
+	if force||n<MAX_TERMINAL_BRANCH_LEAF_NODES{
+		let mut aabb_outer=Aabb::default();
+		let nodes=boxen.into_iter().map(|(data,aabb)|{
+			aabb_outer.join(&aabb);
 			BvhNode{
-				content:RecursiveContent::Leaf(b.0),
-				aabb:b.1,
+				content:RecursiveContent::Leaf(data),
+				aabb,
 			}
 		}).collect();
 		BvhNode{
 			content:RecursiveContent::Branch(nodes),
-			aabb,
+			aabb:aabb_outer,
 		}
 	}else{
 		let mut sort_x=Vec::with_capacity(n);
@@ -272,9 +276,9 @@ fn generate_bvh_node<T>(boxen:Vec<(T,Aabb)>,force:bool)->BvhNode<T>{
 		sort_y.sort_by_key(|&(_,c)|c);
 		sort_z.sort_by_key(|&(_,c)|c);
 		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;
+		let (_,median_x)=sort_x[h];
+		let (_,median_y)=sort_y[h];
+		let (_,median_z)=sort_z[h];
 		//locate a run of values equal to the median
 		//partition point gives the first index for which the predicate evaluates to false
 		let first_index_eq_median_x=sort_x.partition_point(|&(_,x)|x<median_x);
@@ -313,10 +317,10 @@ fn generate_bvh_node<T>(boxen:Vec<(T,Aabb)>,force:bool)->BvhNode<T>{
 			};
 			list_list[list_id].push((data,aabb));
 		}
-		let mut aabb=Aabb::default();
 		if list_list.len()==1{
 			generate_bvh_node(list_list.remove(0),true)
 		}else{
+			let mut aabb=Aabb::default();
 			BvhNode{
 				content:RecursiveContent::Branch(
 					list_list.into_iter().map(|b|{

lib/common/src/gameplay_modes.rs

@@ -140,6 +140,15 @@ impl ModeId{
 	pub const MAIN:Self=Self(0);
 	pub const BONUS:Self=Self(1);
 }
+impl core::fmt::Display for ModeId{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->core::fmt::Result{
+		match self{
+			&Self::MAIN=>write!(f,"Main"),
+			&Self::BONUS=>write!(f,"Bonus"),
+			&Self(mode_id)=>write!(f,"Bonus{mode_id}"),
+		}
+	}
+}
 #[derive(Clone)]
 pub struct Mode{
 	style:gameplay_style::StyleModifiers,

lib/common/src/gameplay_style.rs

@@ -34,7 +34,7 @@ pub struct StyleModifiers{
 	//unused
 	pub mass:Planar64,
 }
-impl std::default::Default for StyleModifiers{
+impl Default for StyleModifiers{
 	fn default()->Self{
 		Self::roblox_bhop()
 	}
@@ -66,7 +66,7 @@ impl JumpImpulse{
 		_mass:Planar64,
 	)->Planar64Vec3{
 		match self{
-			&JumpImpulse::Time(time)=>velocity-(*gravity*time).map(|t|t.divide().clamp_1()),
+			&JumpImpulse::Time(time)=>velocity-(*gravity*time).map(|t|t.divide().clamp_64()),
 			&JumpImpulse::Height(height)=>{
 				//height==-v.y*v.y/(2*g.y);
 				//use energy to determine max height
@@ -74,10 +74,10 @@ impl JumpImpulse{
 				let g=gg.sqrt();
 				let v_g=gravity.dot(velocity);
 				//do it backwards
-				let radicand=v_g*v_g+(g*height*2).widen_4();
-				velocity-(*gravity*(radicand.sqrt().wrap_2()+v_g)/gg).divide().clamp_1()
+				let radicand=v_g*v_g+(g*height*2).widen_256();
+				velocity-(*gravity*(radicand.sqrt().wrap_128()+v_g)/gg).divide().clamp_64()
 			},
-			&JumpImpulse::Linear(jump_speed)=>velocity+(jump_dir*jump_speed/jump_dir.length()).divide().clamp_1(),
+			&JumpImpulse::Linear(jump_speed)=>velocity+(jump_dir*jump_speed/jump_dir.length()).divide().clamp_64(),
 			&JumpImpulse::Energy(_energy)=>{
 				//calculate energy
 				//let e=gravity.dot(velocity);
@@ -91,10 +91,10 @@ impl JumpImpulse{
 	pub fn get_jump_deltav(&self,gravity:&Planar64Vec3,mass:Planar64)->Planar64{
 		//gravity.length() is actually the proper calculation because the jump is always opposite the gravity direction
 		match self{
-			&JumpImpulse::Time(time)=>(gravity.length().wrap_1()*time/2).divide().clamp_1(),
-			&JumpImpulse::Height(height)=>(gravity.length()*height*2).sqrt().wrap_1(),
+			&JumpImpulse::Time(time)=>(gravity.length().wrap_64()*time/2).divide().clamp_64(),
+			&JumpImpulse::Height(height)=>(gravity.length()*height*2).sqrt().wrap_64(),
 			&JumpImpulse::Linear(deltav)=>deltav,
-			&JumpImpulse::Energy(energy)=>(energy.sqrt()*2/mass.sqrt()).divide().clamp_1(),
+			&JumpImpulse::Energy(energy)=>(energy.sqrt()*2/mass.sqrt()).divide().clamp_64(),
 		}
 	}
 }
@@ -126,10 +126,10 @@ impl JumpSettings{
 					None=>rel_velocity,
 				};
 				let j=boost_vel.dot(jump_dir);
-				let js=jump_speed.widen_2();
+				let js=jump_speed.widen_128();
 				if j<js{
 					//weak booster: just do a regular jump
-					boost_vel+jump_dir.with_length(js-j).divide().wrap_1()
+					boost_vel+jump_dir.with_length(js-j).divide().wrap_64()
 				}else{
 					//activate booster normally, jump does nothing
 					boost_vel
@@ -142,13 +142,13 @@ impl JumpSettings{
 					None=>rel_velocity,
 				};
 				let j=boost_vel.dot(jump_dir);
-				let js=jump_speed.widen_2();
+				let js=jump_speed.widen_128();
 				if j<js{
 					//speed in direction of jump cannot be lower than amount
-					boost_vel+jump_dir.with_length(js-j).divide().wrap_1()
+					boost_vel+jump_dir.with_length(js-j).divide().wrap_64()
 				}else{
 					//boost and jump add together
-					boost_vel+jump_dir.with_length(js).divide().wrap_1()
+					boost_vel+jump_dir.with_length(js).divide().wrap_64()
 				}
 			}
 			(false,JumpCalculation::Max)=>{
@@ -159,10 +159,10 @@ impl JumpSettings{
 					None=>rel_velocity,
 				};
 				let boost_dot=boost_vel.dot(jump_dir);
-				let js=jump_speed.widen_2();
+				let js=jump_speed.widen_128();
 				if boost_dot<js{
 					//weak boost is extended to jump speed
-					boost_vel+jump_dir.with_length(js-boost_dot).divide().wrap_1()
+					boost_vel+jump_dir.with_length(js-boost_dot).divide().wrap_64()
 				}else{
 					//activate booster normally, jump does nothing
 					boost_vel
@@ -174,7 +174,7 @@ impl JumpSettings{
 					Some(booster)=>booster.boost(rel_velocity),
 					None=>rel_velocity,
 				};
-				boost_vel+jump_dir.with_length(jump_speed).divide().wrap_1()
+				boost_vel+jump_dir.with_length(jump_speed).divide().wrap_64()
 			},
 		}
 	}
@@ -267,9 +267,9 @@ pub struct StrafeSettings{
 impl StrafeSettings{
 	pub fn tick_velocity(&self,velocity:Planar64Vec3,control_dir:Planar64Vec3)->Option<Planar64Vec3>{
 		let d=velocity.dot(control_dir);
-		let mv=self.mv.widen_2();
+		let mv=self.mv.widen_128();
 		match d<mv{
-			true=>Some(velocity+(control_dir*self.air_accel_limit.map_or(mv-d,|limit|limit.widen_2().min(mv-d))).wrap_1()),
+			true=>Some(velocity+(control_dir*self.air_accel_limit.map_or(mv-d,|limit|limit.widen_128().min(mv-d))).wrap_64()),
 			false=>None,
 		}
 	}
@@ -290,7 +290,7 @@ pub struct PropulsionSettings{
 }
 impl PropulsionSettings{
 	pub fn acceleration(&self,control_dir:Planar64Vec3)->Planar64Vec3{
-		(control_dir*self.magnitude).clamp_1()
+		(control_dir*self.magnitude).clamp_64()
 	}
 }
 
@@ -310,16 +310,16 @@ pub struct WalkSettings{
 impl WalkSettings{
 	pub fn accel(&self,target_diff:Planar64Vec3,gravity:Planar64Vec3)->Planar64{
 		//TODO: fallible walk accel
-		let diff_len=target_diff.length().wrap_1();
+		let diff_len=target_diff.length().wrap_64();
 		let friction=if diff_len<self.accelerate.topspeed{
 			self.static_friction
 		}else{
 			self.kinetic_friction
 		};
-		self.accelerate.accel.min((-gravity.y*friction).clamp_1())
+		self.accelerate.accel.min((-gravity.y*friction).clamp_64())
 	}
 	pub fn get_walk_target_velocity(&self,control_dir:Planar64Vec3,normal:Planar64Vec3)->Planar64Vec3{
-		if control_dir==crate::integer::vec3::ZERO{
+		if control_dir==crate::integer::vec3::zero(){
 			return control_dir;
 		}
 		let nn=normal.length_squared();
@@ -329,19 +329,19 @@ impl WalkSettings{
 		let dd=d*d;
 		if dd<nnmm{
 			let cr=normal.cross(control_dir);
-			if cr==crate::integer::vec3::ZERO_2{
-				crate::integer::vec3::ZERO
+			if cr==crate::integer::vec3::zero(){
+				crate::integer::vec3::zero()
 			}else{
-				(cr.cross(normal)*self.accelerate.topspeed/((nn*(nnmm-dd)).sqrt())).divide().clamp_1()
+				(cr.cross(normal)*self.accelerate.topspeed/((nn*(nnmm-dd)).sqrt())).divide().clamp_64()
 			}
 		}else{
-			crate::integer::vec3::ZERO
+			crate::integer::vec3::zero()
 		}
 	}
 	pub fn is_slope_walkable(&self,normal:Planar64Vec3,up:Planar64Vec3)->bool{
 		//normal is not guaranteed to be unit length
 		let ny=normal.dot(up);
-		let h=normal.length().wrap_1();
+		let h=normal.length().wrap_64();
 		//remember this is a normal vector
 		ny.is_positive()&&h*self.surf_dot<ny
 	}
@@ -360,7 +360,7 @@ impl LadderSettings{
 		self.accelerate.accel
 	}
 	pub fn get_ladder_target_velocity(&self,mut control_dir:Planar64Vec3,normal:Planar64Vec3)->Planar64Vec3{
-		if control_dir==crate::integer::vec3::ZERO{
+		if control_dir==crate::integer::vec3::zero(){
 			return control_dir;
 		}
 		let nn=normal.length_squared();
@@ -368,13 +368,13 @@ impl LadderSettings{
 		let nnmm=nn*mm;
 		let d=normal.dot(control_dir);
 		let mut dd=d*d;
-		if (self.dot*self.dot*nnmm).clamp_4()<dd{
+		if (self.dot*self.dot*nnmm).clamp_256()<dd{
 			if d.is_negative(){
-				control_dir=Planar64Vec3::new([Planar64::ZERO,mm.clamp_1(),Planar64::ZERO]);
+				control_dir=Planar64Vec3::new([Planar64::ZERO,mm.clamp_64(),Planar64::ZERO]);
 			}else{
-				control_dir=Planar64Vec3::new([Planar64::ZERO,-mm.clamp_1(),Planar64::ZERO]);
+				control_dir=Planar64Vec3::new([Planar64::ZERO,-mm.clamp_64(),Planar64::ZERO]);
 			}
-			dd=(normal.y*normal.y).widen_4();
+			dd=(normal.y*normal.y).widen_256();
 		}
 		//n=d if you are standing on top of a ladder and press E.
 		//two fixes:
@@ -382,13 +382,13 @@ impl LadderSettings{
 		//- fix the underlying issue
 		if dd<nnmm{
 			let cr=normal.cross(control_dir);
-			if cr==crate::integer::vec3::ZERO_2{
-				crate::integer::vec3::ZERO
+			if cr==crate::integer::vec3::zero(){
+				crate::integer::vec3::zero()
 			}else{
-				(cr.cross(normal)*self.accelerate.topspeed/((nn*(nnmm-dd)).sqrt())).divide().clamp_1()
+				(cr.cross(normal)*self.accelerate.topspeed/((nn*(nnmm-dd)).sqrt())).divide().clamp_64()
 			}
 		}else{
-			crate::integer::vec3::ZERO
+			crate::integer::vec3::zero()
 		}
 	}
 }
@@ -417,7 +417,7 @@ impl Hitbox{
 	}
 	pub fn source()->Self{
 		Self{
-			halfsize:((int3(33,73,33)>>1)*VALVE_SCALE).narrow_1().unwrap(),
+			halfsize:((int3(33,73,33)>>1)*VALVE_SCALE).narrow_64().unwrap(),
 			mesh:HitboxMesh::Box,
 		}
 	}
@@ -538,11 +538,11 @@ impl StyleModifiers{
 				tick_rate:Ratio64::new(100,AbsoluteTime::ONE_SECOND.get() as u64).unwrap(),
 			}),
 			jump:Some(JumpSettings{
-				impulse:JumpImpulse::Height((int(52)*VALVE_SCALE).narrow_1().unwrap()),
+				impulse:JumpImpulse::Height((int(52)*VALVE_SCALE).narrow_64().unwrap()),
 				calculation:JumpCalculation::JumpThenBoost,
 				limit_minimum:true,
 			}),
-			gravity:(int3(0,-800,0)*VALVE_SCALE).narrow_1().unwrap(),
+			gravity:(int3(0,-800,0)*VALVE_SCALE).narrow_64().unwrap(),
 			mass:int(1),
 			rocket:None,
 			walk:Some(WalkSettings{
@@ -565,7 +565,7 @@ impl StyleModifiers{
 				magnitude:int(12),//?
 			}),
 			hitbox:Hitbox::source(),
-			camera_offset:((int3(0,64,0)-(int3(0,73,0)>>1))*VALVE_SCALE).narrow_1().unwrap(),
+			camera_offset:((int3(0,64,0)-(int3(0,73,0)>>1))*VALVE_SCALE).narrow_64().unwrap(),
 		}
 	}
 	pub fn source_surf()->Self{
@@ -574,16 +574,16 @@ impl StyleModifiers{
 			controls_mask_state:Controls::all(),
 			strafe:Some(StrafeSettings{
 				enable:ControlsActivation::full_2d(),
-				air_accel_limit:Some((int(150)*66*VALVE_SCALE).narrow_1().unwrap()),
+				air_accel_limit:Some((int(150)*66*VALVE_SCALE).narrow_64().unwrap()),
 				mv:Planar64::raw(30<<28),
 				tick_rate:Ratio64::new(66,AbsoluteTime::ONE_SECOND.get() as u64).unwrap(),
 			}),
 			jump:Some(JumpSettings{
-				impulse:JumpImpulse::Height((int(52)*VALVE_SCALE).narrow_1().unwrap()),
+				impulse:JumpImpulse::Height((int(52)*VALVE_SCALE).narrow_64().unwrap()),
 				calculation:JumpCalculation::JumpThenBoost,
 				limit_minimum:true,
 			}),
-			gravity:(int3(0,-800,0)*VALVE_SCALE).narrow_1().unwrap(),
+			gravity:(int3(0,-800,0)*VALVE_SCALE).narrow_64().unwrap(),
 			mass:int(1),
 			rocket:None,
 			walk:Some(WalkSettings{
@@ -606,7 +606,7 @@ impl StyleModifiers{
 				magnitude:int(12),//?
 			}),
 			hitbox:Hitbox::source(),
-			camera_offset:((int3(0,64,0)-(int3(0,73,0)>>1))*VALVE_SCALE).narrow_1().unwrap(),
+			camera_offset:((int3(0,64,0)-(int3(0,73,0)>>1))*VALVE_SCALE).narrow_64().unwrap(),
 		}
 	}
 }

lib/common/src/instruction.rs

@@ -34,12 +34,41 @@ pub trait InstructionFeedback<I,T>:InstructionEmitter<I,Time=T>+InstructionConsu
 			self.process_instruction(instruction);
 		}
 	}
+	#[inline]
+	fn into_iter(self,time_limit:T)->InstructionIter<I,T,Self>
+		where
+			Self:Sized
+	{
+		InstructionIter{
+			time_limit,
+			feedback:self,
+			_phantom:core::marker::PhantomData,
+		}
+	}
 }
-impl<I,T,X> InstructionFeedback<I,T> for X
+impl<I,T,F> InstructionFeedback<I,T> for F
 	where
 		T:Copy,
-		X:InstructionEmitter<I,Time=T>+InstructionConsumer<I,Time=T>,
+		F:InstructionEmitter<I,Time=T>+InstructionConsumer<I,Time=T>,
 {}
+pub struct InstructionIter<I,T:Copy,F:InstructionFeedback<I,T>>{
+	time_limit:T,
+	feedback:F,
+	_phantom:core::marker::PhantomData<I>,
+}
+impl<I,T,F> Iterator for InstructionIter<I,T,F>
+	where
+		I:Clone,
+		T:Clone+Copy,
+		F:InstructionFeedback<I,T>,
+{
+	type Item=TimedInstruction<I,T>;
+	fn next(&mut self)->Option<Self::Item>{
+		let instruction=self.feedback.next_instruction(self.time_limit)?;
+		self.feedback.process_instruction(instruction.clone());
+		Some(instruction)
+	}
+}
 
 //PROPER PRIVATE FIELDS!!!
 pub struct InstructionCollector<I,T>{

lib/common/src/integer.rs

@@ -1,5 +1,11 @@
 pub use fixed_wide::fixed::*;
-pub use ratio_ops::ratio::{Ratio,Divide};
+pub use ratio_ops::ratio::{Ratio,Divide,Parity};
+
+pub mod fixed_types{
+	pub use fixed_wide::types::*;
+}
+
+use fixed_wide::types::F128_64;
 
 //integer units
 
@@ -56,11 +62,19 @@ impl<T> Time<T>{
 	pub const fn coerce<U>(self)->Time<U>{
 		Time::raw(self.0)
 	}
+	#[inline]
+	pub const fn div_euclid(self,other:Self)->Self{
+		Time::raw(self.0.div_euclid(other.0))
+	}
+	#[inline]
+	pub const fn rem_euclid(self,other:Self)->Self{
+		Time::raw(self.0.rem_euclid(other.0))
+	}
 }
 impl<T> From<Planar64> for Time<T>{
 	#[inline]
 	fn from(value:Planar64)->Self{
-		Self::raw((value*Planar64::raw(1_000_000_000)).clamp_1().to_raw())
+		Self::raw((value*Planar64::raw(1_000_000_000)).clamp_64().to_raw())
 	}
 }
 impl<T> From<Time<T>> for Ratio<Planar64,Planar64>{
@@ -86,7 +100,7 @@ impl<T> std::fmt::Display for Time<T>{
 		write!(f,"{}s+{:09}ns",self.0/Self::ONE_SECOND.0,self.0%Self::ONE_SECOND.0)
 	}
 }
-impl<T> std::default::Default for Time<T>{
+impl<T> Default for Time<T>{
 	fn default()->Self{
 		Self::raw(0)
 	}
@@ -126,36 +140,51 @@ impl_time_additive_assign_operator!(core::ops::AddAssign,add_assign);
 impl_time_additive_assign_operator!(core::ops::SubAssign,sub_assign);
 impl_time_additive_assign_operator!(core::ops::RemAssign,rem_assign);
 impl<T> std::ops::Mul for Time<T>{
-	type Output=Ratio<fixed_wide::fixed::Fixed<2,64>,fixed_wide::fixed::Fixed<2,64>>;
+	type Output=Ratio<F128_64,F128_64>;
 	#[inline]
 	fn mul(self,rhs:Self)->Self::Output{
-		Ratio::new(Fixed::raw(self.0)*Fixed::raw(rhs.0),Fixed::raw_digit(1_000_000_000i64.pow(2)))
+		Ratio::new(Fixed::raw(self.0)*Fixed::raw(rhs.0),Fixed::from_u64(1_000_000_000u64.pow(2)))
 	}
 }
-impl<T> std::ops::Div<i64> for Time<T>{
-	type Output=Self;
-	#[inline]
-	fn div(self,rhs:i64)->Self::Output{
-		Self::raw(self.0/rhs)
-	}
-}
-impl<T> std::ops::Mul<i64> for Time<T>{
-	type Output=Self;
-	#[inline]
-	fn mul(self,rhs:i64)->Self::Output{
-		Self::raw(self.0*rhs)
+macro_rules! impl_time_i64_rhs_operator {
+	($op:ident,$method:ident)=>{
+		impl<T> core::ops::$op<i64> for Time<T>{
+			type Output=Self;
+			#[inline]
+			fn $method(self,rhs:i64)->Self::Output{
+				Self::raw(self.0.$method(rhs))
+			}
+		}
 	}
 }
+impl_time_i64_rhs_operator!(Div,div);
+impl_time_i64_rhs_operator!(Mul,mul);
+impl_time_i64_rhs_operator!(Shr,shr);
+impl_time_i64_rhs_operator!(Shl,shl);
 impl<T> core::ops::Mul<Time<T>> for Planar64{
-	type Output=Ratio<Fixed<2,64>,Planar64>;
+	type Output=Ratio<F128_64,Planar64>;
+	#[inline]
 	fn mul(self,rhs:Time<T>)->Self::Output{
 		Ratio::new(self*Fixed::raw(rhs.0),Planar64::raw(1_000_000_000))
 	}
 }
+impl<T> From<Time<T>> for f32{
+	#[inline]
+	fn from(value:Time<T>)->Self{
+		value.get() as f32/Time::<T>::ONE_SECOND.get() as f32
+	}
+}
+impl<T> From<Time<T>> for f64{
+	#[inline]
+	fn from(value:Time<T>)->Self{
+		value.get() as f64/Time::<T>::ONE_SECOND.get() as f64
+	}
+}
 #[cfg(test)]
 mod test_time{
 	use super::*;
-	type Time=super::AbsoluteTime;
+	use fixed_wide::types::F64_32;
+	type Time=AbsoluteTime;
 	#[test]
 	fn time_from_planar64(){
 		let a:Time=Planar64::from(1).into();
@@ -169,13 +198,13 @@ mod test_time{
 	#[test]
 	fn time_squared(){
 		let a=Time::from_secs(2);
-		assert_eq!(a*a,Ratio::new(Fixed::<2,64>::raw_digit(1_000_000_000i64.pow(2))*4,Fixed::<2,64>::raw_digit(1_000_000_000i64.pow(2))));
+		assert_eq!(a*a,Ratio::new(F128_64::from_u64(1_000_000_000u64.pow(2))*4,F128_64::from_u64(1_000_000_000u64.pow(2))));
 	}
 	#[test]
 	fn time_times_planar64(){
 		let a=Time::from_secs(2);
 		let b=Planar64::from(2);
-		assert_eq!(b*a,Ratio::new(Fixed::<2,64>::raw_digit(1_000_000_000*(1<<32))<<2,Fixed::<1,32>::raw_digit(1_000_000_000)));
+		assert_eq!(b*a,Ratio::new(F128_64::from_u64(1_000_000_000*(1<<32))<<2,F64_32::from_u64(1_000_000_000)));
 	}
 }
 
@@ -213,11 +242,11 @@ impl Ratio64{
 	}
 	#[inline]
 	pub const fn mul_int(&self,rhs:i64)->i64{
-		rhs*self.num/(self.den as i64)
+		(rhs as i128*self.num as i128/self.den as i128) as i64
 	}
 	#[inline]
 	pub const fn rhs_div_int(&self,rhs:i64)->i64{
-		rhs*(self.den as i64)/self.num
+		(rhs as i128*self.den as i128/self.num as i128) as i64
 	}
 	#[inline]
 	pub const fn mul_ref(&self,rhs:&Ratio64)->Ratio64{
@@ -262,7 +291,6 @@ fn integer_decode_f64(f: f64) -> (u64, i16, i8) {
 pub enum Ratio64TryFromFloatError{
 	Nan,
 	Infinite,
-	Subnormal,
 	HighlyNegativeExponent(i16),
 	HighlyPositiveExponent(i16),
 }
@@ -297,8 +325,10 @@ fn ratio64_from_mes((m,e,s):(u64,i16,i8))->Result<Ratio64,Ratio64TryFromFloatErr
 
 		Ok(Ratio64::new(num as i64,den as u64).unwrap())
 	}else if e<0{
+		// simple exact representation
 		Ok(Ratio64::new((m as i64)*(s as i64),1<<-e).unwrap())
 	}else if (64-m.leading_zeros() as i16)+e<64{
+		// integer
 		Ok(Ratio64::new((m as i64)*(s as i64)*(1<<e),1).unwrap())
 	}else{
 		Err(Ratio64TryFromFloatError::HighlyPositiveExponent(e))
@@ -330,6 +360,29 @@ impl TryFrom<f64> for Ratio64{
 		}
 	}
 }
+#[cfg(test)]
+fn req(r0:Ratio64,r1:Ratio64){
+	println!("r0={r0:?} r1={r1:?}");
+	assert_eq!(r0.num(),r1.num(),"Nums not eq");
+	assert_eq!(r0.den(),r1.den(),"Dens not eq");
+}
+#[test]
+fn test_ratio64_from_float(){
+	req(2.0.try_into().unwrap(),Ratio64::new(2,1).unwrap());
+	req(1.0.try_into().unwrap(),Ratio64::new(1,1).unwrap());
+	req(0.5.try_into().unwrap(),Ratio64::new(1,2).unwrap());
+	req(1.1.try_into().unwrap(),Ratio64::new(2476979795053773,2251799813685248).unwrap());
+	req(0.8.try_into().unwrap(),Ratio64::new(3602879701896397,4503599627370496).unwrap());
+	req(0.61.try_into().unwrap(),Ratio64::new(5494391545392005,9007199254740992).unwrap());
+	req(0.01.try_into().unwrap(),Ratio64::new(5764607523034235,576460752303423488).unwrap());
+	req(0.001.try_into().unwrap(),Ratio64::new(1152921504606847,1152921504606846976).unwrap());
+	req(0.00001.try_into().unwrap(),Ratio64::new(89605456633725,8960545663372499267).unwrap());
+	req(0.00000000001.try_into().unwrap(),Ratio64::new(35204848,3520484800000000213).unwrap());
+	req(0.000000000000000001.try_into().unwrap(),Ratio64::new(11,10999999999999999213).unwrap());
+	req(2222222222222.0.try_into().unwrap(),Ratio64::new(2222222222222,1).unwrap());
+	req(core::f64::consts::PI.try_into().unwrap(),Ratio64::new(884279719003555,281474976710656).unwrap());
+}
+
 impl std::ops::Mul<Ratio64> for Ratio64{
 	type Output=Ratio64;
 	#[inline]
@@ -519,8 +572,8 @@ fn angle_sin_cos(){
 		println!("cordic s={} c={}",(s/h).divide(),(c/h).divide());
 		let (fs,fc)=f.sin_cos();
 		println!("float s={} c={}",fs,fc);
-		assert!(close_enough((c/h).divide().wrap_1(),Planar64::raw((fc*((1u64<<32) as f64)) as i64)));
-		assert!(close_enough((s/h).divide().wrap_1(),Planar64::raw((fs*((1u64<<32) as f64)) as i64)));
+		assert!(close_enough((c/h).divide().wrap_64(),Planar64::raw((fc*((1u64<<32) as f64)) as i64)));
+		assert!(close_enough((s/h).divide().wrap_64(),Planar64::raw((fs*((1u64<<32) as f64)) as i64)));
 	}
 	test_angle(1.0);
 	test_angle(std::f64::consts::PI/4.0);
@@ -551,8 +604,8 @@ impl TryFrom<[f32;3]> for Unit32Vec3{
 }
 */
 
-pub type Planar64TryFromFloatError=fixed_wide::fixed::FixedFromFloatError;
-pub type Planar64=fixed_wide::types::I32F32;
+pub type Planar64TryFromFloatError=FixedFromFloatError;
+pub type Planar64=fixed_wide::types::F64_32;
 pub type Planar64Vec3=linear_ops::types::Vector3<Planar64>;
 pub type Planar64Mat3=linear_ops::types::Matrix3<Planar64>;
 pub mod vec3{
@@ -560,12 +613,6 @@ pub mod vec3{
 	pub use linear_ops::types::Vector3;
 	pub const MIN:Planar64Vec3=Planar64Vec3::new([Planar64::MIN;3]);
 	pub const MAX:Planar64Vec3=Planar64Vec3::new([Planar64::MAX;3]);
-	pub const ZERO:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO;3]);
-	pub const ZERO_2:linear_ops::types::Vector3<Fixed::<2,64>>=linear_ops::types::Vector3::new([Fixed::<2,64>::ZERO;3]);
-	pub const ZERO_3:linear_ops::types::Vector3<Fixed::<3,96>>=linear_ops::types::Vector3::new([Fixed::<3,96>::ZERO;3]);
-	pub const ZERO_4:linear_ops::types::Vector3<Fixed::<4,128>>=linear_ops::types::Vector3::new([Fixed::<4,128>::ZERO;3]);
-	pub const ZERO_5:linear_ops::types::Vector3<Fixed::<5,160>>=linear_ops::types::Vector3::new([Fixed::<5,160>::ZERO;3]);
-	pub const ZERO_6:linear_ops::types::Vector3<Fixed::<6,192>>=linear_ops::types::Vector3::new([Fixed::<6,192>::ZERO;3]);
 	pub const X:Planar64Vec3=Planar64Vec3::new([Planar64::ONE,Planar64::ZERO,Planar64::ZERO]);
 	pub const Y:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::ONE,Planar64::ZERO]);
 	pub const Z:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::ZERO,Planar64::ONE]);
@@ -574,6 +621,10 @@ pub mod vec3{
 	pub const NEG_Y:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::NEG_ONE,Planar64::ZERO]);
 	pub const NEG_Z:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO,Planar64::ZERO,Planar64::NEG_ONE]);
 	pub const NEG_ONE:Planar64Vec3=Planar64Vec3::new([Planar64::NEG_ONE,Planar64::NEG_ONE,Planar64::NEG_ONE]);
+	// TODO: use #![feature(generic_const_items)] when stabilized https://github.com/rust-lang/rust/issues/113521
+	pub const fn zero<const N:usize,const F:usize>()->Vector3<Fixed<N,F>>{
+		Vector3::new([Fixed::ZERO;3])
+	}
 	#[inline]
 	pub const fn int(x:i32,y:i32,z:i32)->Planar64Vec3{
 		Planar64Vec3::new([Planar64::raw((x as i64)<<32),Planar64::raw((y as i64)<<32),Planar64::raw((z as i64)<<32)])
@@ -633,8 +684,8 @@ pub mod mat3{
 		let (yc,ys)=y.cos_sin();
 		Planar64Mat3::from_cols([
 			Planar64Vec3::new([xc,Planar64::ZERO,-xs]),
-			Planar64Vec3::new([(xs*ys).wrap_1(),yc,(xc*ys).wrap_1()]),
-			Planar64Vec3::new([(xs*yc).wrap_1(),-ys,(xc*yc).wrap_1()]),
+			Planar64Vec3::new([(xs*ys).wrap_64(),yc,(xc*ys).wrap_64()]),
+			Planar64Vec3::new([(xs*yc).wrap_64(),-ys,(xc*yc).wrap_64()]),
 		])
 	}
 	#[inline]
@@ -656,13 +707,13 @@ pub mod mat3{
 	}
 }
 
-#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
+#[derive(Clone,Copy,Debug,Default,Hash,Eq,PartialEq)]
 pub struct Planar64Affine3{
 	pub matrix3:Planar64Mat3,//includes scale above 1
 	pub translation:Planar64Vec3,
 }
 impl Planar64Affine3{
-	pub const IDENTITY:Self=Self::new(mat3::identity(),vec3::ZERO);
+	pub const IDENTITY:Self=Self::new(mat3::identity(),vec3::zero());
 	#[inline]
 	pub const fn new(matrix3:Planar64Mat3,translation:Planar64Vec3)->Self{
 		Self{matrix3,translation}
@@ -675,8 +726,8 @@ impl Planar64Affine3{
 		}
 	}
 	#[inline]
-	pub fn transform_point3(&self,point:Planar64Vec3)->vec3::Vector3<Fixed<2,64>>{
-		self.translation.widen_2()+self.matrix3*point
+	pub fn transform_point3(&self,point:Planar64Vec3)->vec3::Vector3<F128_64>{
+		self.translation.widen_128()+self.matrix3*point
 	}
 }
 impl Into<glam::Mat4> for Planar64Affine3{

lib/common/src/model.rs

@@ -1,6 +1,6 @@
 use std::collections::HashMap;
 
-use crate::integer::{Planar64Vec3,Planar64Affine3};
+use crate::integer::{Planar64,Planar64Vec3,Planar64Affine3};
 use crate::gameplay_attributes;
 
 pub type TextureCoordinate=glam::Vec2;
@@ -168,6 +168,11 @@ impl MeshBuilder{
 		}
 	}
 	pub fn acquire_pos_id(&mut self,pos:Planar64Vec3)->PositionId{
+		// Truncate the 16 most precise bits of the vertex positions.
+		// This allows the normal vectors to exactly represent the face.
+		// Remove this in Mesh V2
+		const MASK:Planar64=Planar64::raw(!((1<<16)-1));
+		let pos=pos.map(|c|c&MASK);
 		*self.pos_id_from.entry(pos).or_insert_with(||{
 			let pos_id=PositionId::new(self.unique_pos.len() as u32);
 			self.unique_pos.push(pos);

lib/common/src/physics.rs

@@ -36,6 +36,7 @@ pub enum SetControlInstruction{
 	SetMoveForward(bool),
 	SetJump(bool),
 	SetZoom(bool),
+	SetSprint(bool),
 }
 #[derive(Clone,Debug)]
 pub enum ModeInstruction{

lib/common/src/run.rs

@@ -53,36 +53,23 @@ impl std::fmt::Display for Error{
 impl std::error::Error for Error{}
 
 #[derive(Clone,Copy,Debug)]
-enum RunState{
+pub enum RunState{
 	Created,
 	Started{timer:TimerFixed<Realtime<PhysicsTimeInner,TimeInner>,Unpaused>},
 	Finished{timer:TimerFixed<Realtime<PhysicsTimeInner,TimeInner>,Paused>},
 }
-
-#[derive(Clone,Copy,Debug)]
-pub struct Run{
-	state:RunState,
-	flagged:Option<FlagReason>,
-}
-
-impl Run{
-	pub fn new()->Self{
-		Self{
-			state:RunState::Created,
-			flagged:None,
-		}
-	}
+impl RunState{
 	pub fn time(&self,time:PhysicsTime)->Time{
-		match &self.state{
+		match &self{
 			RunState::Created=>Time::ZERO,
 			RunState::Started{timer}=>timer.time(time),
 			RunState::Finished{timer}=>timer.time(),
 		}
 	}
 	pub fn start(&mut self,time:PhysicsTime)->Result<(),Error>{
-		match &self.state{
+		match &self{
 			RunState::Created=>{
-				self.state=RunState::Started{
+				*self=RunState::Started{
 					timer:TimerFixed::new(time,Time::ZERO),
 				};
 				Ok(())
@@ -93,10 +80,10 @@ impl Run{
 	}
 	pub fn finish(&mut self,time:PhysicsTime)->Result<(),Error>{
 		//this uses Copy
-		match &self.state{
+		match &self{
 			RunState::Created=>Err(Error::NotStarted),
 			RunState::Started{timer}=>{
-				self.state=RunState::Finished{
+				*self=RunState::Finished{
 					timer:timer.into_paused(time),
 				};
 				Ok(())
@@ -104,12 +91,39 @@ impl Run{
 			RunState::Finished{..}=>Err(Error::AlreadyFinished),
 		}
 	}
+}
+
+#[derive(Clone,Copy,Debug)]
+pub struct Run{
+	state:RunState,
+	flag_reason:Option<FlagReason>,
+}
+
+impl Run{
+	pub fn new()->Self{
+		Self{
+			state:RunState::Created,
+			flag_reason:None,
+		}
+	}
+	pub fn time(&self,time:PhysicsTime)->Time{
+		self.state.time(time)
+	}
+	pub fn start(&mut self,time:PhysicsTime)->Result<(),Error>{
+		self.state.start(time)
+	}
+	pub fn finish(&mut self,time:PhysicsTime)->Result<(),Error>{
+		self.state.finish(time)
+	}
 	pub fn flag(&mut self,flag_reason:FlagReason){
 		//don't replace the first reason the run was flagged
-		if self.flagged.is_none(){
-			self.flagged=Some(flag_reason);
+		if self.flag_reason.is_none(){
+			self.flag_reason=Some(flag_reason);
 		}
 	}
+	pub fn flag_reason(&self)->Option<FlagReason>{
+		self.flag_reason
+	}
 	pub fn get_finish_time(&self)->Option<Time>{
 		match &self.state{
 			RunState::Finished{timer}=>Some(timer.time()),

lib/common/src/timer.rs

@@ -69,10 +69,8 @@ impl<In,Out> Scaled<In,Out>
 	const fn get_scale(&self)->Ratio64{
 		self.scale
 	}
-	fn set_scale(&mut self,time:Time<In>,new_scale:Ratio64){
-		let new_time=self.get_time(time);
+	const fn set_scale(&mut self,new_scale:Ratio64){
 		self.scale=new_scale;
-		self.set_time(time,new_time);
 	}
 }
 
@@ -132,7 +130,7 @@ pub struct TimerFixed<T:TimerState,P:PauseState>{
 	_paused:P,
 }
 
-//scaled timer methods are generic across PauseState
+//some scaled timer methods are generic across PauseState
 impl<P:PauseState,In,Out> TimerFixed<Scaled<In,Out>,P>
 	where Time<In>:Copy,
 {
@@ -147,8 +145,22 @@ impl<P:PauseState,In,Out> TimerFixed<Scaled<In,Out>,P>
 	pub const fn get_scale(&self)->Ratio64{
 		self.state.get_scale()
 	}
+}
+// setting the scale of an unpaused timer is different than a paused timer
+impl<In,Out> TimerFixed<Scaled<In,Out>,Unpaused>
+	where Time<In>:Copy,
+{
 	pub fn set_scale(&mut self,time:Time<In>,new_scale:Ratio64){
-		self.state.set_scale(time,new_scale)
+		let new_time=self.state.get_time(time);
+		self.state.set_scale(new_scale);
+		self.state.set_time(time,new_time);
+	}
+}
+impl<In,Out> TimerFixed<Scaled<In,Out>,Paused>
+	where Time<In>:Copy,
+{
+	pub fn set_scale(&mut self,new_scale:Ratio64){
+		self.state.set_scale(new_scale);
 	}
 }
 
@@ -305,7 +317,7 @@ impl<In,Out> Timer<Scaled<In,Out>>
 	}
 	pub fn set_scale(&mut self,time:Time<In>,new_scale:Ratio64){
 		match self{
-			Self::Paused(timer)=>timer.set_scale(time,new_scale),
+			Self::Paused(timer)=>timer.set_scale(new_scale),
 			Self::Unpaused(timer)=>timer.set_scale(time,new_scale),
 		}
 	}

lib/deferred_loader/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "strafesnet_deferred_loader"
-version = "0.5.0"
+version = "0.6.0"
 edition = "2024"
 repository = "https://git.itzana.me/StrafesNET/strafe-project"
 license = "MIT OR Apache-2.0"
@@ -10,4 +10,7 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-strafesnet_common = { version = "0.6.0", path = "../common", registry = "strafesnet" }
+strafesnet_common.workspace = true
+
+[lints]
+workspace = true

lib/deferred_loader/src/deferred_loader.rs

@@ -2,7 +2,7 @@ use std::collections::HashMap;
 use crate::loader::Loader;
 use crate::mesh::Meshes;
 use crate::texture::{RenderConfigs,Texture};
-use strafesnet_common::model::{Mesh,MeshId,RenderConfig,RenderConfigId,TextureId};
+use strafesnet_common::model::{MeshId,RenderConfig,RenderConfigId,TextureId};
 
 #[derive(Clone,Copy,Debug)]
 pub enum LoadFailureMode{
@@ -93,7 +93,7 @@ impl<H:core::hash::Hash+Eq> MeshDeferredLoader<H>{
 	pub fn into_indices(self)->impl Iterator<Item=H>{
 		self.mesh_id_from_asset_id.into_keys()
 	}
-	pub fn into_meshes<'a,L:Loader<Resource=Mesh,Index<'a>=H>+'a>(self,loader:&mut L,failure_mode:LoadFailureMode)->Result<Meshes,L::Error>{
+	pub fn into_meshes<'a,M:Clone,L:Loader<Resource=M,Index<'a>=H>+'a>(self,loader:&mut L,failure_mode:LoadFailureMode)->Result<Meshes<M>,L::Error>{
 		let mut mesh_list=vec![None;self.mesh_id_from_asset_id.len()];
 		for (index,mesh_id) in self.mesh_id_from_asset_id{
 			let resource_result=loader.load(index);

lib/deferred_loader/src/loader.rs

@@ -4,5 +4,5 @@ pub trait Loader{
 	type Error:Error;
 	type Index<'a> where Self:'a;
 	type Resource;
-	fn load<'a>(&mut self,index:Self::Index<'a>)->Result<Self::Resource,Self::Error>;
+	fn load(&mut self,index:Self::Index<'_>)->Result<Self::Resource,Self::Error>;
 }

lib/deferred_loader/src/mesh.rs

@@ -1,15 +1,15 @@
-use strafesnet_common::model::{Mesh,MeshId};
+use strafesnet_common::model::MeshId;
 
-pub struct Meshes{
-	meshes:Vec<Option<Mesh>>,
+pub struct Meshes<M>{
+	meshes:Vec<Option<M>>,
 }
-impl Meshes{
-	pub(crate) const fn new(meshes:Vec<Option<Mesh>>)->Self{
+impl<M> Meshes<M>{
+	pub(crate) const fn new(meshes:Vec<Option<M>>)->Self{
 		Self{
 			meshes,
 		}
 	}
-	pub fn consume(self)->impl Iterator<Item=(MeshId,Mesh)>{
+	pub fn consume(self)->impl Iterator<Item=(MeshId,M)>{
 		self.meshes.into_iter().enumerate().filter_map(|(mesh_id,maybe_mesh)|
 			maybe_mesh.map(|mesh|(MeshId::new(mesh_id as u32),mesh))
 		)

lib/fixed_wide/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "fixed_wide"
-version = "0.2.0"
+version = "0.3.0"
 edition = "2024"
 repository = "https://git.itzana.me/StrafesNET/strafe-project"
 license = "MIT OR Apache-2.0"
@@ -14,7 +14,10 @@ wide-mul=[]
 zeroes=["dep:arrayvec"]
 
 [dependencies]
-bnum = "0.13.0"
+bnum = "0.14.3"
 arrayvec = { version = "0.7.6", optional = true }
 paste = "1.0.15"
-ratio_ops = { version = "0.1.0", path = "../ratio_ops", registry = "strafesnet", optional = true }
+ratio_ops = { workspace = true, optional = true }
+
+[lints]
+workspace = true

lib/fixed_wide/src/tests.rs

@@ -1,208 +1,273 @@
-use crate::types::I32F32;
-use crate::types::I256F256;
+use crate::fixed::Fixed;
+use crate::types::{F64_32,F128_64,F192_96,F512_256};
 
 #[test]
 fn you_can_add_numbers(){
-	let a=I256F256::from((3i128*2).pow(4));
-	assert_eq!(a+a,I256F256::from((3i128*2).pow(4)*2));
+	let a=F512_256::from((3i128*2).pow(4));
+	assert_eq!(a+a,F512_256::from((3i128*2).pow(4)*2));
+}
+
+macro_rules! test_bit_by_bit{
+	($n:expr,$float:ty,$mantissa_bits:expr)=>{{
+		const MANT:u64=(1<<$mantissa_bits)-1;
+		// all bits in range
+		for i in 0..$n-$mantissa_bits{
+			let a=Fixed::<{$n/8},{$n>>1}>::from_bits(bnum::cast::As::as_::<bnum::Int::<{$n/8}>>(MANT).shl(i));
+			let b=(MANT as $float)*(2.0 as $float).powi(i as i32-{$n>>1});
+			let f:$float=a.into();
+			assert_eq!(f,b,"F{}_{} Into float {i}",$n,$n>>1);
+			assert_eq!(a,b.try_into().unwrap(),"F{}_{} From float {i}",$n,$n>>1);
+		}
+		// underflow
+		for i in 0u32..$mantissa_bits{
+			let a=Fixed::<{$n/8},{$n>>1}>::from_bits(bnum::cast::As::as_::<bnum::Int::<{$n/8}>>(MANT>>i));
+			let b=((MANT>>i) as $float)*(2.0 as $float).powi(-{$n>>1});
+			let f:$float=a.into();
+			assert_eq!(f,b,"Underflow F{}_{} Into float {i}",$n,$n>>1);
+			assert_eq!(a,b.try_into().unwrap(),"Underflow F{}_{} From float {i}",$n,$n>>1);
+		}
+	}};
+}
+
+#[test]
+fn test_many(){
+	test_bit_by_bit!(64,f32,24);
+	test_bit_by_bit!(128,f32,24);
+	// f32 is reaching its limits here
+	// test_bit_by_bit!(256,f32,24);
+	// test_bit_by_bit!(512,f32,24);
+	test_bit_by_bit!(64,f64,53);
+	test_bit_by_bit!(128,f64,53);
+	test_bit_by_bit!(256,f64,53);
+	test_bit_by_bit!(512,f64,53);
 }
 
 #[test]
 fn to_f32(){
-	let a=I256F256::from(1)>>2;
+	let a=F64_32::ZERO;
+	let f:f32=a.into();
+	assert_eq!(f,0.0f32);
+	let a=F64_32::from(1)>>2;
 	let f:f32=a.into();
 	assert_eq!(f,0.25f32);
 	let f:f32=(-a).into();
 	assert_eq!(f,-0.25f32);
-	let a=I256F256::from(0);
+	let a=F64_32::MIN;
+	let f:f32=a.into();
+	assert_eq!(f,i32::MIN as f32);
+	let a=F512_256::from(1)>>2;
+	let f:f32=a.into();
+	assert_eq!(f,0.25f32);
+	let f:f32=(-a).into();
+	assert_eq!(f,-0.25f32);
+	let a=F512_256::from(0);
 	let f:f32=(-a).into();
 	assert_eq!(f,0f32);
-	let a=I256F256::from(237946589723468975i64)<<16;
+	let a=F512_256::from(237946589723468975i64)<<16;
 	let f:f32=a.into();
 	assert_eq!(f,237946589723468975f32*2.0f32.powi(16));
 }
 
 #[test]
 fn to_f64(){
-	let a=I256F256::from(1)>>2;
+	let a=F64_32::ZERO;
+	let f:f64=a.into();
+	assert_eq!(f,0.0f64);
+	let a=F64_32::from(1)>>2;
 	let f:f64=a.into();
 	assert_eq!(f,0.25f64);
 	let f:f64=(-a).into();
 	assert_eq!(f,-0.25f64);
-	let a=I256F256::from(0);
+	let a=F64_32::MIN;
+	let f:f64=a.into();
+	assert_eq!(f,i32::MIN as f64);
+	let a=F512_256::from(1)>>2;
+	let f:f64=a.into();
+	assert_eq!(f,0.25f64);
+	let f:f64=(-a).into();
+	assert_eq!(f,-0.25f64);
+	let a=F512_256::from(0);
 	let f:f64=(-a).into();
 	assert_eq!(f,0f64);
-	let a=I256F256::from(237946589723468975i64)<<16;
+	let a=F512_256::from(237946589723468975i64)<<16;
 	let f:f64=a.into();
 	assert_eq!(f,237946589723468975f64*2.0f64.powi(16));
 }
 
 #[test]
 fn from_f32(){
-	let a=I256F256::from(1)>>2;
-	let b:Result<I256F256,_>=0.25f32.try_into();
+	let a=F64_32::ZERO;
+	let b:Result<F64_32,_>=0.0f32.try_into();
 	assert_eq!(b,Ok(a));
-	let a=I256F256::from(-1)>>2;
-	let b:Result<I256F256,_>=(-0.25f32).try_into();
+	let a=F512_256::from(1)>>2;
+	let b:Result<F512_256,_>=0.25f32.try_into();
 	assert_eq!(b,Ok(a));
-	let a=I256F256::from(0);
-	let b:Result<I256F256,_>=0.try_into();
+	let a=F512_256::from(-1)>>2;
+	let b:Result<F512_256,_>=(-0.25f32).try_into();
 	assert_eq!(b,Ok(a));
-	let a=I256F256::from(0b101011110101001010101010000000000000000000000000000i64)<<16;
-	let b:Result<I256F256,_>=(0b101011110101001010101010000000000000000000000000000u64 as f32*2.0f32.powi(16)).try_into();
+	let a=F512_256::from(0);
+	let b:Result<F512_256,_>=0.try_into();
+	assert_eq!(b,Ok(a));
+	let a=F512_256::from(0b101011110101001010101010000000000000000000000000000i64)<<16;
+	let b:Result<F512_256,_>=(0b101011110101001010101010000000000000000000000000000u64 as f32*2.0f32.powi(16)).try_into();
 	assert_eq!(b,Ok(a));
 	//I32F32::MAX into f32 is truncated into this value
-	let a=I32F32::raw(0b111111111111111111111111000000000000000000000000000000000000000i64);
-	let b:Result<I32F32,_>=Into::<f32>::into(I32F32::MAX).try_into();
+	let a=F64_32::raw(0b111111111111111111111111000000000000000000000000000000000000000i64);
+	let b:Result<F64_32,_>=Into::<f32>::into(F64_32::MAX).try_into();
 	assert_eq!(b,Ok(a));
 	//I32F32::MIN hits a special case since it's not representable as a positive signed integer
 	//TODO: don't return an overflow because this is technically possible
-	let _a=I32F32::MIN;
-	let b:Result<I32F32,_>=Into::<f32>::into(I32F32::MIN).try_into();
+	let a=F64_32::MIN;
+	let f:f32=a.into();
+	let b:Result<F64_32,_>=f.try_into();
 	assert_eq!(b,Err(crate::fixed::FixedFromFloatError::Overflow));
 	//16 is within the 24 bits of float precision
-	let b:Result<I32F32,_>=Into::<f32>::into(-I32F32::MIN.widen_2()).try_into();
+	let a=-F64_32::MIN.widen_128();
+	let f:f32=a.into();
+	let b:Result<F64_32,_>=f.try_into();
 	assert_eq!(b,Err(crate::fixed::FixedFromFloatError::Overflow));
-	let b:Result<I32F32,_>=f32::MIN_POSITIVE.try_into();
+	let b:Result<F64_32,_>=f32::MIN_POSITIVE.try_into();
 	assert_eq!(b,Err(crate::fixed::FixedFromFloatError::Underflow));
 	//test many cases
 	for i in 0..64{
-		let a=crate::fixed::Fixed::<2,64>::raw_digit(0b111111111111111111111111000000000000000000000000000000000000000i64)<<i;
+		let a=F128_64::from_u64(0b111111111111111111111111000000000000000000000000000000000000000u64)<<i;
 		let f:f32=a.into();
-		let b:Result<crate::fixed::Fixed<2,64>,_>=f.try_into();
+		let b:Result<F128_64,_>=f.try_into();
 		assert_eq!(b,Ok(a));
 	}
 }
 
 #[test]
 fn from_f64(){
-	let a=I256F256::from(1)>>2;
-	let b:Result<I256F256,_>=0.25f64.try_into();
+	let a=F64_32::ZERO;
+	let b:Result<F64_32,_>=0.0f64.try_into();
 	assert_eq!(b,Ok(a));
-	let a=I256F256::from(-1)>>2;
-	let b:Result<I256F256,_>=(-0.25f64).try_into();
+	let a=F512_256::from(1)>>2;
+	let b:Result<F512_256,_>=0.25f64.try_into();
 	assert_eq!(b,Ok(a));
-	let a=I256F256::from(0);
-	let b:Result<I256F256,_>=0.try_into();
+	let a=F512_256::from(-1)>>2;
+	let b:Result<F512_256,_>=(-0.25f64).try_into();
 	assert_eq!(b,Ok(a));
-	let a=I256F256::from(0b101011110101001010101010000000000000000000000000000i64)<<16;
-	let b:Result<I256F256,_>=(0b101011110101001010101010000000000000000000000000000u64 as f64*2.0f64.powi(16)).try_into();
+	let a=F512_256::from(0);
+	let b:Result<F512_256,_>=0.try_into();
+	assert_eq!(b,Ok(a));
+	let a=F512_256::from(0b101011110101001010101010000000000000000000000000000i64)<<16;
+	let b:Result<F512_256,_>=(0b101011110101001010101010000000000000000000000000000u64 as f64*2.0f64.powi(16)).try_into();
 	assert_eq!(b,Ok(a));
 }
 
 #[test]
 fn you_can_shr_numbers(){
-	let a=I32F32::from(4);
-	assert_eq!(a>>1,I32F32::from(2));
+	let a=F64_32::from(4);
+	assert_eq!(a>>1,F64_32::from(2));
 }
 
 #[test]
 fn test_wide_mul(){
-	let a=I32F32::ONE;
-	let aa=a.wide_mul_1_1(a);
-	assert_eq!(aa,crate::types::I64F64::ONE);
+	let a=F64_32::ONE;
+	let aa=a.wide_mul_64_64(a);
+	assert_eq!(aa,F128_64::ONE);
 }
 
 #[test]
 fn test_wide_div(){
-	let a=I32F32::ONE*4;
-	let b=I32F32::ONE*2;
-	let wide_a=a.wide_mul_1_1(I32F32::ONE);
-	let wide_b=b.wide_mul_1_1(I32F32::ONE);
-	let ab=a.wide_div_1_1(b);
-	assert_eq!(ab,crate::types::I64F64::ONE*2);
-	let wab=wide_a.wide_div_2_1(b);
-	assert_eq!(wab,crate::fixed::Fixed::<3,96>::ONE*2);
-	let awb=a.wide_div_1_2(wide_b);
-	assert_eq!(awb,crate::fixed::Fixed::<3,96>::ONE*2);
+	let a=F64_32::ONE*4;
+	let b=F64_32::ONE*2;
+	let wide_a=a.wide_mul_64_64(F64_32::ONE);
+	let wide_b=b.wide_mul_64_64(F64_32::ONE);
+	let ab=a.wide_div_64_64(b);
+	assert_eq!(ab,F128_64::ONE*2);
+	let wab=wide_a.wide_div_128_64(b);
+	assert_eq!(wab,F192_96::ONE*2);
+	let awb=a.wide_div_64_128(wide_b);
+	assert_eq!(awb,F192_96::ONE*2);
 }
 
 #[test]
 fn test_wide_mul_repeated() {
-	let a=I32F32::from(2);
-	let b=I32F32::from(3);
+	let a=F64_32::from(2);
+	let b=F64_32::from(3);
 
-	let w1=a.wide_mul_1_1(b);
-	let w2=w1.wide_mul_2_2(w1);
-	let w3=w2.wide_mul_4_4(w2);
+	let w1=a.wide_mul_64_64(b);
+	let w2=w1.wide_mul_128_128(w1);
+	let w3=w2.wide_mul_256_256(w2);
 
-	assert_eq!(w3,I256F256::from((3i128*2).pow(4)));
+	assert_eq!(w3,F512_256::from((3i128*2).pow(4)));
 }
 
 #[test]
 fn test_bint(){
-	let a=I32F32::ONE;
-	assert_eq!(a*2,I32F32::from(2));
+	let a=F64_32::ONE;
+	assert_eq!(a*2,F64_32::from(2));
 }
 
 #[test]
 fn test_wrap(){
-	assert_eq!(I32F32::ONE,I256F256::ONE.wrap_1());
-	assert_eq!(I32F32::NEG_ONE,I256F256::NEG_ONE.wrap_1());
+	assert_eq!(F64_32::ONE,F512_256::ONE.wrap_64());
+	assert_eq!(F64_32::NEG_ONE,F512_256::NEG_ONE.wrap_64());
 }
 #[test]
 fn test_narrow(){
-	assert_eq!(Ok(I32F32::ONE),I256F256::ONE.narrow_1());
-	assert_eq!(Ok(I32F32::NEG_ONE),I256F256::NEG_ONE.narrow_1());
+	assert_eq!(Ok(F64_32::ONE),F512_256::ONE.narrow_64());
+	assert_eq!(Ok(F64_32::NEG_ONE),F512_256::NEG_ONE.narrow_64());
 }
 #[test]
 fn test_widen(){
-	assert_eq!(I32F32::ONE.widen_8(),I256F256::ONE);
-	assert_eq!(I32F32::NEG_ONE.widen_8(),I256F256::NEG_ONE);
+	assert_eq!(F64_32::ONE.widen_512(),F512_256::ONE);
+	assert_eq!(F64_32::NEG_ONE.widen_512(),F512_256::NEG_ONE);
 }
 #[test]
 fn test_clamp(){
-	assert_eq!(I32F32::ONE,I256F256::ONE.clamp_1());
-	assert_eq!(I32F32::NEG_ONE,I256F256::NEG_ONE.clamp_1());
+	assert_eq!(F64_32::ONE,F512_256::ONE.clamp_64());
+	assert_eq!(F64_32::NEG_ONE,F512_256::NEG_ONE.clamp_64());
 }
 #[test]
 fn test_sqrt(){
-	let a=I32F32::ONE*4;
-	assert_eq!(a.sqrt(),I32F32::from(2));
+	let a=F64_32::ONE*4;
+	assert_eq!(a.sqrt(),F64_32::from(2));
 }
 #[test]
 fn test_sqrt_zero(){
-	let a=I32F32::ZERO;
-	assert_eq!(a.sqrt(),I32F32::ZERO);
+	let a=F64_32::ZERO;
+	assert_eq!(a.sqrt(),F64_32::ZERO);
 }
 #[test]
 fn test_sqrt_low(){
-	let a=I32F32::HALF;
+	let a=F64_32::HALF;
 	let b=a.fixed_mul(a);
 	assert_eq!(b.sqrt(),a);
 }
-fn find_equiv_sqrt_via_f64(n:I32F32)->I32F32{
+fn find_equiv_sqrt_via_f64(n:F64_32)->F64_32{
 	//GIMME THEM BITS BOY
-	let &[bits]=n.to_bits().to_bits().digits();
-	let ibits=bits as i64;
+	let ibits=i64::from_le_bytes(n.to_bits().to_bytes());
 	let f=(ibits as f64)/((1u64<<32) as f64);
 	let f_ans=f.sqrt();
-	let i=(f_ans*((1u64<<32) as f64)) as i64;
-	let r=I32F32::from_bits(bnum::BInt::<1>::from(i));
+	let i=(f_ans*((1u64<<32) as f64)) as u64;
+	let r=F64_32::from_u64(i);
 	//mimic the behaviour of the algorithm,
 	//return the result if it truncates to the exact answer
-	if (r+I32F32::EPSILON).wide_mul_1_1(r+I32F32::EPSILON)==n.wide_mul_1_1(I32F32::ONE){
-		return r+I32F32::EPSILON;
+	if (r+F64_32::EPSILON).wide_mul_64_64(r+F64_32::EPSILON)==n.wide_mul_64_64(F64_32::ONE){
+		return r+F64_32::EPSILON;
 	}
-	if (r-I32F32::EPSILON).wide_mul_1_1(r-I32F32::EPSILON)==n.wide_mul_1_1(I32F32::ONE){
-		return r-I32F32::EPSILON;
+	if (r-F64_32::EPSILON).wide_mul_64_64(r-F64_32::EPSILON)==n.wide_mul_64_64(F64_32::ONE){
+		return r-F64_32::EPSILON;
 	}
 	return r;
 }
-fn test_exact(n:I32F32){
+fn test_exact(n:F64_32){
 	assert_eq!(n.sqrt(),find_equiv_sqrt_via_f64(n));
 }
 #[test]
 fn test_sqrt_exact(){
 	//43
 	for i in 0..((i64::MAX as f32).ln() as u32){
-		let n=I32F32::from_bits(bnum::BInt::<1>::from((i as f32).exp() as i64));
+		let n=F64_32::from_u64((i as f32).exp() as u64);
 		test_exact(n);
 	}
 }
 #[test]
 fn test_sqrt_max(){
-	let a=I32F32::MAX;
+	let a=F64_32::MAX;
 	test_exact(a);
 }
 #[test]
@@ -210,9 +275,9 @@ fn test_sqrt_max(){
 fn test_zeroes_normal(){
 	// (x-1)*(x+1)
 	// x^2-1
-	let zeroes=I32F32::zeroes2(I32F32::NEG_ONE,I32F32::ZERO,I32F32::ONE);
+	let zeroes=F64_32::zeroes2(F64_32::NEG_ONE,F64_32::ZERO,F64_32::ONE);
 	assert_eq!(zeroes,arrayvec::ArrayVec::from_iter([I32F32::NEG_ONE,I32F32::ONE]));
-	let zeroes=I32F32::zeroes2(I32F32::NEG_ONE*3,I32F32::ONE*2,I32F32::ONE);
+	let zeroes=F64_32::zeroes2(F64_32::NEG_ONE*3,F64_32::ONE*2,F64_32::ONE);
 	assert_eq!(zeroes,arrayvec::ArrayVec::from_iter([I32F32::NEG_ONE*3,I32F32::ONE]));
 }
 #[test]
@@ -220,12 +285,25 @@ fn test_zeroes_normal(){
 fn test_zeroes_deferred_division(){
 	// (x-1)*(x+1)
 	// x^2-1
-	let zeroes=I32F32::zeroes2(I32F32::NEG_ONE,I32F32::ZERO,I32F32::ONE);
+	let zeroes=F64_32::zeroes2(F64_32::NEG_ONE,F64_32::ZERO,F64_32::ONE);
 	assert_eq!(
 		zeroes,
 		arrayvec::ArrayVec::from_iter([
-			ratio_ops::ratio::Ratio::new(I32F32::ONE*2,I32F32::NEG_ONE*2),
-			ratio_ops::ratio::Ratio::new(I32F32::ONE*2,I32F32::ONE*2),
+			ratio_ops::ratio::Ratio::new(F64_32::ONE*2,F64_32::NEG_ONE*2),
+			ratio_ops::ratio::Ratio::new(F64_32::ONE*2,F64_32::ONE*2),
 		])
 	);
 }
+
+#[test]
+fn test_debug(){
+	assert_eq!(format!("{:?}",F64_32::EPSILON),"0.00000001");
+	assert_eq!(format!("{:?}",F64_32::ONE),"1.00000000");
+	assert_eq!(format!("{:?}",F64_32::TWO),"2.00000000");
+	assert_eq!(format!("{:?}",F64_32::MAX),"7fffffff.ffffffff");
+	assert_eq!(format!("{:?}",F64_32::try_from(core::f64::consts::PI).unwrap()),"3.243f6a88");
+	assert_eq!(format!("{:?}",F64_32::NEG_EPSILON),"-0.00000001");
+	assert_eq!(format!("{:?}",F64_32::NEG_ONE),"-1.00000000");
+	assert_eq!(format!("{:?}",F64_32::NEG_TWO),"-2.00000000");
+	assert_eq!(format!("{:?}",F64_32::MIN),"-80000000.00000000");
+}

lib/fixed_wide/src/types.rs

@@ -1,4 +1,7 @@
-pub type I32F32=crate::fixed::Fixed<1,32>;
-pub type I64F64=crate::fixed::Fixed<2,64>;
-pub type I128F128=crate::fixed::Fixed<4,128>;
-pub type I256F256=crate::fixed::Fixed<8,256>;
+use crate::fixed::BNUM_DIGIT_WIDTH;
+pub type F64_32=crate::fixed::Fixed<{64/BNUM_DIGIT_WIDTH},32>;
+pub type F128_64=crate::fixed::Fixed<{128/BNUM_DIGIT_WIDTH},64>;
+pub type F192_96=crate::fixed::Fixed<{192/BNUM_DIGIT_WIDTH},96>;
+pub type F256_128=crate::fixed::Fixed<{256/BNUM_DIGIT_WIDTH},128>;
+pub type F320_160=crate::fixed::Fixed<{320/BNUM_DIGIT_WIDTH},160>;
+pub type F512_256=crate::fixed::Fixed<{512/BNUM_DIGIT_WIDTH},256>;

lib/fixed_wide/src/zeroes.rs

@@ -1,18 +1,19 @@
 use crate::fixed::Fixed;
+use crate::fixed::BNUM_DIGIT_WIDTH;
 
 use arrayvec::ArrayVec;
 use std::cmp::Ordering;
 macro_rules! impl_zeroes{
 	($n:expr)=>{
-		impl Fixed<$n,{$n*32}>{
+		impl Fixed<{$n/BNUM_DIGIT_WIDTH},{$n>>1}>{
 			#[inline]
 			pub fn zeroes2(a0:Self,a1:Self,a2:Self)->ArrayVec<<Self as core::ops::Div>::Output,2>{
 				let a2pos=match a2.cmp(&Self::ZERO){
 					Ordering::Greater=>true,
-					Ordering::Equal=>return ArrayVec::from_iter(Self::zeroes1(a0,a1).into_iter()),
+					Ordering::Equal=>return ArrayVec::from_iter(Self::zeroes1(a0,a1)),
 					Ordering::Less=>false,
 				};
-				let radicand=a1*a1-a2*a0*4;
+				let radicand=a1*a1-((a2*a0)<<2);
 				match radicand.cmp(&<Self as core::ops::Mul>::Output::ZERO){
 					Ordering::Greater=>{
 						// using wrap because sqrt always halves the number of leading digits.
@@ -21,21 +22,21 @@ macro_rules! impl_zeroes{
 						let planar_radicand=radicand.sqrt().[<wrap_ $n>]();
 						}
 						//sort roots ascending and avoid taking the difference of large numbers
-						let zeroes=match (a2pos,Self::ZERO<a1){
-							(true, true )=>[(-a1-planar_radicand)/(a2*2),(a0*2)/(-a1-planar_radicand)],
-							(true, false)=>[(a0*2)/(-a1+planar_radicand),(-a1+planar_radicand)/(a2*2)],
-							(false,true )=>[(a0*2)/(-a1-planar_radicand),(-a1-planar_radicand)/(a2*2)],
-							(false,false)=>[(-a1+planar_radicand)/(a2*2),(a0*2)/(-a1+planar_radicand)],
+						let zeroes=match (a2pos,a1.is_positive()){
+							(true, true )=>[(-a1-planar_radicand)/(a2<<1),(a0<<1)/(-a1-planar_radicand)],
+							(true, false)=>[(a0<<1)/(-a1+planar_radicand),(-a1+planar_radicand)/(a2<<1)],
+							(false,true )=>[(a0<<1)/(-a1-planar_radicand),(-a1-planar_radicand)/(a2<<1)],
+							(false,false)=>[(-a1+planar_radicand)/(a2<<1),(a0<<1)/(-a1+planar_radicand)],
 						};
 						ArrayVec::from_iter(zeroes)
 					},
-					Ordering::Equal=>ArrayVec::from_iter([(a1)/(a2*-2)]),
+					Ordering::Equal=>ArrayVec::from_iter([(a1)/(-a2<<1)]),
 					Ordering::Less=>ArrayVec::new_const(),
 				}
 			}
 			#[inline]
 			pub fn zeroes1(a0:Self,a1:Self)->ArrayVec<<Self as core::ops::Div>::Output,1>{
-				if a1==Self::ZERO{
+				if a1.is_zero(){
 					ArrayVec::new_const()
 				}else{
 					ArrayVec::from_iter([(-a0)/(a1)])
@@ -44,10 +45,10 @@ macro_rules! impl_zeroes{
 		}
 	};
 }
-impl_zeroes!(1);
-impl_zeroes!(2);
-impl_zeroes!(3);
-impl_zeroes!(4);
+impl_zeroes!(64);
+impl_zeroes!(128);
+impl_zeroes!(192);
+impl_zeroes!(256);
 //sqrt doubles twice!
 //impl_zeroes!(5);
 //impl_zeroes!(6);

lib/linear_ops/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "linear_ops"
-version = "0.1.1"
+version = "0.2.0"
 edition = "2024"
 repository = "https://git.itzana.me/StrafesNET/strafe-project"
 license = "MIT OR Apache-2.0"
@@ -14,9 +14,12 @@ fixed-wide=["dep:fixed_wide","dep:paste"]
 deferred-division=["dep:ratio_ops"]
 
 [dependencies]
-ratio_ops = { version = "0.1.0", path = "../ratio_ops", registry = "strafesnet", optional = true }
-fixed_wide = { version = "0.2.0", path = "../fixed_wide", registry = "strafesnet", optional = true }
+ratio_ops = { workspace = true, optional = true }
+fixed_wide = { workspace = true, optional = true }
 paste = { version = "1.0.15", optional = true }
 
 [dev-dependencies]
-fixed_wide = { path = "../fixed_wide", registry = "strafesnet", features = ["wide-mul"] }
+fixed_wide = { workspace = true, features = ["wide-mul"] }
+
+[lints]
+workspace = true

lib/linear_ops/src/macros/fixed_wide.rs

@@ -5,17 +5,17 @@ macro_rules! impl_fixed_wide_vector_not_const_generic {
 		(),
 		$n:expr
 	) => {
-		impl<const N:usize> Vector<N,fixed_wide::fixed::Fixed<$n,{$n*32}>>{
+		impl<const N:usize> Vector<N,fixed_wide::fixed::Fixed<{$n>>3},{$n>>1}>>{
 			#[inline]
-			pub fn length(self)-><fixed_wide::fixed::Fixed::<$n,{$n*32}> as core::ops::Mul>::Output{
+			pub fn length(self)-><fixed_wide::fixed::Fixed::<{$n>>3},{$n>>1}> as core::ops::Mul>::Output{
 				self.length_squared().sqrt_unchecked()
 			}
 			#[inline]
-			pub fn with_length<U,V>(self,length:U)-><Vector<N,V> as core::ops::Div<<fixed_wide::fixed::Fixed::<$n,{$n*32}> as core::ops::Mul>::Output>>::Output
+			pub fn with_length<U,V>(self,length:U)-><Vector<N,V> as core::ops::Div<<fixed_wide::fixed::Fixed::<{$n>>3},{$n>>1}> as core::ops::Mul>::Output>>::Output
 				where
-					fixed_wide::fixed::Fixed<$n,{$n*32}>:core::ops::Mul<U,Output=V>,
+					fixed_wide::fixed::Fixed<{$n>>3},{$n>>1}>:core::ops::Mul<U,Output=V>,
 					U:Copy,
-					V:core::ops::Div<<fixed_wide::fixed::Fixed::<$n,{$n*32}> as core::ops::Mul>::Output>,
+					V:core::ops::Div<<fixed_wide::fixed::Fixed::<{$n>>3},{$n>>1}> as core::ops::Mul>::Output>,
 			{
 				self*length/self.length()
 			}
@@ -27,7 +27,7 @@ macro_rules! impl_fixed_wide_vector_not_const_generic {
 #[macro_export(local_inner_macros)]
 macro_rules! macro_4 {
 	( $macro: ident, $any:tt ) => {
-		$crate::macro_repeated!($macro,$any,1,2,3,4);
+		$crate::macro_repeated!($macro,$any,64,128,192,256);
 	}
 }
 
@@ -39,40 +39,40 @@ macro_rules! impl_fixed_wide_vector {
 		// I LOVE NOT BEING ABLE TO USE CONST GENERICS
 		$crate::macro_repeated!(
 			impl_narrow_not_const_generic,(),
-			(2,1),(3,1),(4,1),(5,1),(6,1),(7,1),(8,1),(9,1),(10,1),(11,1),(12,1),(13,1),(14,1),(15,1),(16,1),(17,1),
-			(3,2),(4,2),(5,2),(6,2),(7,2),(8,2),(9,2),(10,2),(11,2),(12,2),(13,2),(14,2),(15,2),(16,2),
-			(4,3),(5,3),(6,3),(7,3),(8,3),(9,3),(10,3),(11,3),(12,3),(13,3),(14,3),(15,3),(16,3),
-			(5,4),(6,4),(7,4),(8,4),(9,4),(10,4),(11,4),(12,4),(13,4),(14,4),(15,4),(16,4),
-			(6,5),(7,5),(8,5),(9,5),(10,5),(11,5),(12,5),(13,5),(14,5),(15,5),(16,5),
-			(7,6),(8,6),(9,6),(10,6),(11,6),(12,6),(13,6),(14,6),(15,6),(16,6),
-			(8,7),(9,7),(10,7),(11,7),(12,7),(13,7),(14,7),(15,7),(16,7),
-			(9,8),(10,8),(11,8),(12,8),(13,8),(14,8),(15,8),(16,8),
-			(10,9),(11,9),(12,9),(13,9),(14,9),(15,9),(16,9),
-			(11,10),(12,10),(13,10),(14,10),(15,10),(16,10),
-			(12,11),(13,11),(14,11),(15,11),(16,11),
-			(13,12),(14,12),(15,12),(16,12),
-			(14,13),(15,13),(16,13),
-			(15,14),(16,14),
-			(16,15)
+			(128,64),(192,64),(256,64),(320,64),(384,64),(448,64),(512,64),(576,64),(640,64),(704,64),(768,64),(832,64),(896,64),(960,64),(1024,64),(1088,64),
+			(192,128),(256,128),(320,128),(384,128),(448,128),(512,128),(576,128),(640,128),(704,128),(768,128),(832,128),(896,128),(960,128),(1024,128),
+			(256,192),(320,192),(384,192),(448,192),(512,192),(576,192),(640,192),(704,192),(768,192),(832,192),(896,192),(960,192),(1024,192),
+			(320,256),(384,256),(448,256),(512,256),(576,256),(640,256),(704,256),(768,256),(832,256),(896,256),(960,256),(1024,256),
+			(384,320),(448,320),(512,320),(576,320),(640,320),(704,320),(768,320),(832,320),(896,320),(960,320),(1024,320),
+			(448,384),(512,384),(576,384),(640,384),(704,384),(768,384),(832,384),(896,384),(960,384),(1024,384),
+			(512,448),(576,448),(640,448),(704,448),(768,448),(832,448),(896,448),(960,448),(1024,448),
+			(576,512),(640,512),(704,512),(768,512),(832,512),(896,512),(960,512),(1024,512),
+			(640,576),(704,576),(768,576),(832,576),(896,576),(960,576),(1024,576),
+			(704,640),(768,640),(832,640),(896,640),(960,640),(1024,640),
+			(768,704),(832,704),(896,704),(960,704),(1024,704),
+			(832,768),(896,768),(960,768),(1024,768),
+			(896,832),(960,832),(1024,832),
+			(960,896),(1024,896),
+			(1024,960)
 		);
 		$crate::macro_repeated!(
 			impl_widen_not_const_generic,(),
-			(1,2),
-			(1,3),(2,3),
-			(1,4),(2,4),(3,4),
-			(1,5),(2,5),(3,5),(4,5),
-			(1,6),(2,6),(3,6),(4,6),(5,6),
-			(1,7),(2,7),(3,7),(4,7),(5,7),(6,7),
-			(1,8),(2,8),(3,8),(4,8),(5,8),(6,8),(7,8),
-			(1,9),(2,9),(3,9),(4,9),(5,9),(6,9),(7,9),(8,9),
-			(1,10),(2,10),(3,10),(4,10),(5,10),(6,10),(7,10),(8,10),(9,10),
-			(1,11),(2,11),(3,11),(4,11),(5,11),(6,11),(7,11),(8,11),(9,11),(10,11),
-			(1,12),(2,12),(3,12),(4,12),(5,12),(6,12),(7,12),(8,12),(9,12),(10,12),(11,12),
-			(1,13),(2,13),(3,13),(4,13),(5,13),(6,13),(7,13),(8,13),(9,13),(10,13),(11,13),(12,13),
-			(1,14),(2,14),(3,14),(4,14),(5,14),(6,14),(7,14),(8,14),(9,14),(10,14),(11,14),(12,14),(13,14),
-			(1,15),(2,15),(3,15),(4,15),(5,15),(6,15),(7,15),(8,15),(9,15),(10,15),(11,15),(12,15),(13,15),(14,15),
-			(1,16),(2,16),(3,16),(4,16),(5,16),(6,16),(7,16),(8,16),(9,16),(10,16),(11,16),(12,16),(13,16),(14,16),(15,16),
-			(1,17)
+			(64,128),
+			(64,192),(128,192),
+			(64,256),(128,256),(192,256),
+			(64,320),(128,320),(192,320),(256,320),
+			(64,384),(128,384),(192,384),(256,384),(320,384),
+			(64,448),(128,448),(192,448),(256,448),(320,448),(384,448),
+			(64,512),(128,512),(192,512),(256,512),(320,512),(384,512),(448,512),
+			(64,576),(128,576),(192,576),(256,576),(320,576),(384,576),(448,576),(512,576),
+			(64,640),(128,640),(192,640),(256,640),(320,640),(384,640),(448,640),(512,640),(576,640),
+			(64,704),(128,704),(192,704),(256,704),(320,704),(384,704),(448,704),(512,704),(576,704),(640,704),
+			(64,768),(128,768),(192,768),(256,768),(320,768),(384,768),(448,768),(512,768),(576,768),(640,768),(704,768),
+			(64,832),(128,832),(192,832),(256,832),(320,832),(384,832),(448,832),(512,832),(576,832),(640,832),(704,832),(768,832),
+			(64,896),(128,896),(192,896),(256,896),(320,896),(384,896),(448,896),(512,896),(576,896),(640,896),(704,896),(768,896),(832,896),
+			(64,960),(128,960),(192,960),(256,960),(320,960),(384,960),(448,960),(512,960),(576,960),(640,960),(704,960),(768,960),(832,960),(896,960),
+			(64,1024),(128,1024),(192,1024),(256,1024),(320,1024),(384,1024),(448,1024),(512,1024),(576,1024),(640,1024),(704,1024),(768,1024),(832,1024),(896,1024),(960,1024),
+			(64,1088)
 		);
 		impl<const N:usize,T:fixed_wide::fixed::Wrap<U>,U> fixed_wide::fixed::Wrap<Vector<N,U>> for Vector<N,T>
 		{
@@ -98,17 +98,17 @@ macro_rules! impl_narrow_not_const_generic{
 		($lhs:expr,$rhs:expr)
 	)=>{
 		paste::item!{
-			impl<const N:usize> Vector<N,fixed_wide::fixed::Fixed<$lhs,{$lhs*32}>>{
+			impl<const N:usize> Vector<N,fixed_wide::fixed::Fixed<{$lhs>>3},{$lhs>>1}>>{
 				#[inline]
-				pub fn [<wrap_ $rhs>](self)->Vector<N,fixed_wide::fixed::Fixed<$rhs,{$rhs*32}>>{
+				pub fn [<wrap_ $rhs>](self)->Vector<N,fixed_wide::fixed::Fixed<{$rhs>>3},{$rhs>>1}>>{
 					self.map(|t|t.[<wrap_ $rhs>]())
 				}
 				#[inline]
-				pub fn [<narrow_ $rhs>](self)->Vector<N,Result<fixed_wide::fixed::Fixed<$rhs,{$rhs*32}>,fixed_wide::fixed::NarrowError>>{
+				pub fn [<narrow_ $rhs>](self)->Vector<N,Result<fixed_wide::fixed::Fixed<{$rhs>>3},{$rhs>>1}>,fixed_wide::fixed::NarrowError>>{
 					self.map(|t|t.[<narrow_ $rhs>]())
 				}
 				#[inline]
-				pub fn [<clamp_ $rhs>](self)->Vector<N,fixed_wide::fixed::Fixed<$rhs,{$rhs*32}>>{
+				pub fn [<clamp_ $rhs>](self)->Vector<N,fixed_wide::fixed::Fixed<{$rhs>>3},{$rhs>>1}>>{
 					self.map(|t|t.[<clamp_ $rhs>]())
 				}
 			}
@@ -123,9 +123,9 @@ macro_rules! impl_widen_not_const_generic{
 		($lhs:expr,$rhs:expr)
 	)=>{
 		paste::item!{
-			impl<const N:usize> Vector<N,fixed_wide::fixed::Fixed<$lhs,{$lhs*32}>>{
+			impl<const N:usize> Vector<N,fixed_wide::fixed::Fixed<{$lhs>>3},{$lhs>>1}>>{
 				#[inline]
-				pub fn [<widen_ $rhs>](self)->Vector<N,fixed_wide::fixed::Fixed<$rhs,{$rhs*32}>>{
+				pub fn [<widen_ $rhs>](self)->Vector<N,fixed_wide::fixed::Fixed<{$rhs>>3},{$rhs>>1}>>{
 					self.map(|t|t.[<widen_ $rhs>]())
 				}
 			}

lib/linear_ops/src/macros/matrix.rs

@@ -205,7 +205,8 @@ macro_rules! impl_matrix_named_fields_shape {
 			#[inline]
 			fn deref(&self)->&Self::Target{
 				// This cast is valid because Matrix has #[repr(transparent)]
-				let ptr=&self.array as *const [[T;$size_inner];$size_outer] as *const Self::Target;
+				let ptr:*const [[T;$size_inner];$size_outer]=&self.array;
+				let ptr=ptr as *const Self::Target;
 				// SAFETY: this pointer is non-null because it comes from a reference
 				unsafe{&*ptr}
 			}
@@ -214,7 +215,8 @@ macro_rules! impl_matrix_named_fields_shape {
 			#[inline]
 			fn deref_mut(&mut self)->&mut Self::Target{
 				// This cast is valid because Matrix has #[repr(transparent)]
-				let ptr=&mut self.array as *mut [[T;$size_inner];$size_outer] as *mut Self::Target;
+				let ptr:*mut [[T;$size_inner];$size_outer]=&mut self.array;
+				let ptr=ptr as *mut Self::Target;
 				// SAFETY: this pointer is non-null because it comes from a reference
 				unsafe{&mut*ptr}
 			}

lib/linear_ops/src/macros/vector.rs

@@ -331,7 +331,8 @@ macro_rules! impl_vector_named_fields {
 			#[inline]
 			fn deref(&self)->&Self::Target{
 				// This cast is valid because Vector has #[repr(transparent)]
-				let ptr=&self.array as *const [T;$size] as *const Self::Target;
+				let ptr:*const [T;$size]=&self.array;
+				let ptr=ptr as *const Self::Target;
 				// SAFETY: this pointer is non-null because it comes from a reference
 				unsafe{&*ptr}
 			}
@@ -340,7 +341,8 @@ macro_rules! impl_vector_named_fields {
 			#[inline]
 			fn deref_mut(&mut self)->&mut Self::Target{
 				// This cast is valid because Vector has #[repr(transparent)]
-				let ptr=&mut self.array as *mut [T;$size] as *mut Self::Target;
+				let ptr:*mut [T;$size]=&mut self.array;
+				let ptr=ptr as *mut Self::Target;
 				// SAFETY: this pointer is non-null because it comes from a reference
 				unsafe{&mut*ptr}
 			}

lib/linear_ops/src/tests/fixed_wide.rs

@@ -1,9 +1,9 @@
 use crate::types::{Matrix3,Matrix3x2,Matrix3x4,Matrix4x2,Vector3};
 
-type Planar64=fixed_wide::types::I32F32;
-type Planar64Wide1=fixed_wide::types::I64F64;
+type Planar64=fixed_wide::types::F64_32;
+type Planar64Wide1=fixed_wide::types::F128_64;
 //type Planar64Wide2=fixed_wide::types::I128F128;
-type Planar64Wide3=fixed_wide::types::I256F256;
+type Planar64Wide3=fixed_wide::types::F512_256;
 
 #[test]
 fn wide_vec3(){
@@ -72,7 +72,7 @@ fn wide_matrix_det(){
 	]);
 	// In[2]:= Det[{{1, 2, 3}, {4, 5, 7}, {6, 8, 9}}]
 	// Out[2]= 7
-	assert_eq!(m.det(),fixed_wide::fixed::Fixed::<3,96>::from(7));
+	assert_eq!(m.det(),fixed_wide::types::F192_96::from(7));
 }
 
 #[test]

lib/ratio_ops/Cargo.toml

@@ -8,3 +8,6 @@ description = "Ratio operations using trait bounds for avoiding division like th
 authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 
 [dependencies]
+
+[lints]
+workspace = true

lib/rbx_loader/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "strafesnet_rbx_loader"
-version = "0.6.0"
+version = "0.10.2"
 edition = "2024"
 repository = "https://git.itzana.me/StrafesNET/strafe-project"
 license = "MIT OR Apache-2.0"
@@ -11,14 +11,18 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 
 [dependencies]
 bytemuck = "1.14.3"
-glam = "0.30.0"
-lazy-regex = "3.1.0"
-rbx_mesh = "0.3.1"
-rbx_binary  = { path = "../../../../git/rbx-dom/rbx_binary", registry = "strafesnet" }
-rbx_dom_weak =  { path = "../../../../git/rbx-dom/rbx_dom_weak", registry = "strafesnet" }
-rbx_reflection_database = { path = "../../../../git/rbx-dom/rbx_reflection_database"}
-rbx_xml = { path = "../../../../git/rbx-dom/rbx_xml", registry = "strafesnet" }
+glam.workspace = true
+regex = { version = "1.11.3", default-features = false, features = ["unicode-perl"] }
+rbx_mesh = "0.6.0"
 rbxassetid = { version = "0.1.0", path = "../rbxassetid", registry = "strafesnet" }
-roblox_emulator = { version = "0.5.0", path = "../roblox_emulator", default-features = false, registry = "strafesnet" }
-strafesnet_common = { version = "0.6.0", path = "../common", registry = "strafesnet" }
-strafesnet_deferred_loader = { version = "0.5.0", path = "../deferred_loader", registry = "strafesnet" }
+roblox_emulator = { version = "0.5.1", path = "../roblox_emulator", default-features = false, registry = "strafesnet" }
+strafesnet_common.workspace = true
+strafesnet_deferred_loader.workspace = true
+rbx_binary = "2.0.1"
+rbx_dom_weak = "4.1.0"
+rbx_reflection = "6.1.0"
+rbx_reflection_database = "2.0.2"
+rbx_xml = "2.0.1"
+
+[lints]
+workspace = true

lib/rbx_loader/src/error.rs

@@ -0,0 +1,249 @@
+use std::collections::HashSet;
+use std::num::ParseIntError;
+
+use strafesnet_common::gameplay_modes::{StageId,ModeId};
+use strafesnet_common::integer::{FixedFromFloatError,Planar64TryFromFloatError};
+
+/// A collection of errors which can be ignored at your peril
+#[derive(Debug,Default)]
+pub struct RecoverableErrors{
+	/// A basepart has an invalid / missing property.
+	pub basepart_property:Vec<InstancePath>,
+	/// A part has an unconvertable CFrame.
+	pub basepart_cframe:Vec<CFrameError>,
+	/// A part has an unconvertable Velocity.
+	pub basepart_velocity:Vec<Planar64ConvertError>,
+	/// A part has an invalid / missing property.
+	pub part_property:Vec<InstancePath>,
+	/// A part has an invalid shape.
+	pub part_shape:Vec<ShapeError>,
+	/// A meshpart has an invalid / missing property.
+	pub meshpart_property:Vec<InstancePath>,
+	/// A meshpart has no mesh.
+	pub meshpart_content:Vec<InstancePath>,
+	/// A basepart has an unsupported subclass.
+	pub unsupported_class:HashSet<String>,
+	/// A decal has an invalid / missing property.
+	pub decal_property:Vec<InstancePath>,
+	/// A SurfaceAppearance has an invalid / missing property.
+	pub surface_appearance_property:Vec<InstancePath>,
+	/// A decal has an invalid normal_id.
+	pub normal_id:Vec<NormalIdError>,
+	/// A texture has an invalid / missing property.
+	pub texture_property:Vec<InstancePath>,
+	/// A mode_id failed to parse.
+	pub mode_id_parse_int:Vec<ParseIntContext>,
+	/// There is a duplicate mode.
+	pub duplicate_mode:HashSet<ModeId>,
+	/// A mode_id failed to parse.
+	pub stage_id_parse_int:Vec<ParseIntContext>,
+	/// A Stage was duplicated leading to undefined behaviour.
+	pub duplicate_stage:HashSet<DuplicateStageError>,
+	/// A WormholeOut id failed to parse.
+	pub wormhole_out_id_parse_int:Vec<ParseIntContext>,
+	/// A WormholeOut was duplicated leading to undefined behaviour.
+	pub duplicate_wormhole_out:HashSet<u32>,
+	/// A WormholeIn id failed to parse.
+	pub wormhole_in_id_parse_int:Vec<ParseIntContext>,
+	/// A jump limit failed to parse.
+	pub jump_limit_parse_int:Vec<ParseIntContext>,
+}
+
+impl RecoverableErrors{
+	pub fn count(&self)->usize{
+		self.basepart_property.len()+
+		self.basepart_cframe.len()+
+		self.basepart_velocity.len()+
+		self.part_property.len()+
+		self.part_shape.len()+
+		self.meshpart_property.len()+
+		self.meshpart_content.len()+
+		self.unsupported_class.len()+
+		self.decal_property.len()+
+		self.surface_appearance_property.len()+
+		self.normal_id.len()+
+		self.texture_property.len()+
+		self.mode_id_parse_int.len()+
+		self.duplicate_mode.len()+
+		self.stage_id_parse_int.len()+
+		self.duplicate_stage.len()+
+		self.wormhole_out_id_parse_int.len()+
+		self.duplicate_wormhole_out.len()+
+		self.wormhole_in_id_parse_int.len()+
+		self.jump_limit_parse_int.len()
+	}
+}
+
+fn write_comma_separated<T>(
+	f:&mut std::fmt::Formatter<'_>,
+	mut it:impl Iterator<Item=T>,
+	custom_write:impl Fn(&mut std::fmt::Formatter<'_>,T)->std::fmt::Result
+)->std::fmt::Result{
+	if let Some(t)=it.next(){
+		custom_write(f,t)?;
+		for t in it{
+			write!(f,", ")?;
+			custom_write(f,t)?;
+		}
+	}
+	Ok(())
+}
+
+macro_rules! write_instance_path_error{
+	($f:ident,$self:ident,$field:ident,$class:literal,$class_plural:literal,$problem:literal)=>{
+		let len=$self.$field.len();
+		if len!=0{
+			let plural=if len==1{$class}else{$class_plural};
+			write!($f,"The following {plural} {}: ",$problem)?;
+			write_comma_separated($f,$self.$field.iter(),|f,InstancePath(path)|
+				write!(f,"{path}")
+			)?;
+			writeln!($f)?;
+		}
+	};
+}
+macro_rules! write_duplicate_error{
+	($f:ident,$self:ident,$field:ident,$class:literal,$class_plural:literal)=>{
+		let len=$self.$field.len();
+		if len!=0{
+			let plural=if len==1{$class}else{$class_plural};
+			write!($f,"The following {plural} duplicates: ")?;
+			write_comma_separated($f,$self.$field.iter(),|f,id|
+				write!(f,"{id}")
+			)?;
+			writeln!($f)?;
+		}
+	};
+}
+macro_rules! write_bespoke_error{
+	($f:ident,$self:ident,$field:ident,$class:literal,$class_plural:literal,$problem:literal,$path_field:ident,$error_field:ident)=>{
+		let len=$self.$field.len();
+		if len!=0{
+			let plural=if len==1{$class}else{$class_plural};
+			write!($f,"The following {plural} {}: ",$problem)?;
+			write_comma_separated($f,$self.$field.iter(),|f,context|
+				write!(f,"{} ({})",context.$path_field,context.$error_field)
+			)?;
+			writeln!($f)?;
+		}
+	};
+}
+
+impl core::fmt::Display for RecoverableErrors{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write_instance_path_error!(f,self,basepart_property,"BasePart is","BaseParts are","missing a property");
+		write_bespoke_error!(f,self,basepart_cframe,"BasePart","BaseParts","CFrame float convert failed",path,error);
+		write_bespoke_error!(f,self,basepart_velocity,"BasePart","BaseParts","Velocity float convert failed",path,error);
+		write_instance_path_error!(f,self,part_property,"Part is","Parts are","missing a property");
+		write_bespoke_error!(f,self,part_shape,"Part","Parts","Shape is invalid",path,shape);
+		write_instance_path_error!(f,self,meshpart_property,"MeshPart is","MeshParts are","missing a property");
+		write_instance_path_error!(f,self,meshpart_content,"MeshPart has","MeshParts have","no mesh");
+		{
+			let len=self.unsupported_class.len();
+			if len!=0{
+				let plural=if len==1{"Class is"}else{"Classes are"};
+				write!(f,"The following {plural} not supported: ")?;
+				write_comma_separated(f,self.unsupported_class.iter(),|f,classname|write!(f,"{classname}"))?;
+				writeln!(f)?;
+			}
+		}
+		write_instance_path_error!(f,self,decal_property,"Decal is","Decals are","missing a property");
+		write_instance_path_error!(f,self,surface_appearance_property,"SurfaceAppearance is","SurfaceAppearances are","missing a property");
+		write_bespoke_error!(f,self,normal_id,"Decal","Decals","NormalId is invalid",path,normal_id);
+		write_instance_path_error!(f,self,texture_property,"Texture is","Textures are","missing a property");
+		write_bespoke_error!(f,self,mode_id_parse_int,"ModeId","ModeIds","failed to parse",context,error);
+		write_duplicate_error!(f,self,duplicate_mode,"ModeId has","ModeIds have");
+		write_bespoke_error!(f,self,stage_id_parse_int,"StageId","StageIds","failed to parse",context,error);
+		write_duplicate_error!(f,self,duplicate_stage,"StageId has","StageIds have");
+		write_bespoke_error!(f,self,wormhole_out_id_parse_int,"WormholeOutId","WormholeOutIds","failed to parse",context,error);
+		write_duplicate_error!(f,self,duplicate_wormhole_out,"WormholeOutId has","WormholeOutIds have");
+		write_bespoke_error!(f,self,wormhole_in_id_parse_int,"WormholeInId","WormholeInIds","failed to parse",context,error);
+		write_bespoke_error!(f,self,jump_limit_parse_int,"jump limit","jump limits","failed to parse",context,error);
+		Ok(())
+	}
+}
+
+/// A Decal was missing required properties
+#[derive(Debug)]
+pub struct InstancePath(pub String);
+
+impl core::fmt::Display for InstancePath{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		self.0.fmt(f)
+	}
+}
+
+impl InstancePath{
+	pub fn new(dom:&rbx_dom_weak::WeakDom,instance:&rbx_dom_weak::Instance)->InstancePath{
+		let mut names:Vec<_>=core::iter::successors(
+			Some(instance),
+			|i|dom.get_by_ref(i.parent())
+		).map(
+			|i|i.name.as_str()
+		).collect();
+		// discard the name of the root object
+		names.pop();
+		names.reverse();
+		InstancePath(names.join("."))
+	}
+}
+
+#[derive(Debug)]
+pub struct ParseIntContext{
+	pub context:String,
+	pub error:ParseIntError,
+}
+impl ParseIntContext{
+	pub fn parse<T:core::str::FromStr<Err=ParseIntError>>(input:&str)->Result<T,Self>{
+		input.parse().map_err(|error|ParseIntContext{
+			context:input.to_owned(),
+			error,
+		})
+	}
+}
+
+#[derive(Debug)]
+pub struct NormalIdError{
+	pub path:InstancePath,
+	pub normal_id:u32,
+}
+
+#[derive(Debug)]
+pub struct ShapeError{
+	pub path:InstancePath,
+	pub shape:u32,
+}
+
+#[derive(Debug)]
+pub enum CFrameErrorType{
+	ZeroDeterminant,
+	Convert(FixedFromFloatError),
+}
+impl core::fmt::Display for CFrameErrorType{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{self:?}")
+	}
+}
+
+#[derive(Debug)]
+pub struct CFrameError{
+	pub path:InstancePath,
+	pub error:CFrameErrorType,
+}
+
+#[derive(Debug)]
+pub struct Planar64ConvertError{
+	pub path:InstancePath,
+	pub error:Planar64TryFromFloatError,
+}
+
+#[derive(Debug,Hash,Eq,PartialEq)]
+pub struct DuplicateStageError{
+	pub mode_id:ModeId,
+	pub stage_id:StageId,
+}
+impl core::fmt::Display for DuplicateStageError{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{}-Spawn{}",self.mode_id,self.stage_id.get())
+	}
+}

lib/rbx_loader/src/lib.rs

@@ -1,39 +1,25 @@
-use std::io::Read;
 use rbx_dom_weak::WeakDom;
 use roblox_emulator::context::Context;
-use strafesnet_deferred_loader::deferred_loader::{LoadFailureMode,MeshDeferredLoader,RenderConfigDeferredLoader};
 
-mod rbx;
-mod mesh;
-mod union;
-pub mod loader;
-mod primitives;
+pub use error::RecoverableErrors;
+pub use roblox_emulator::runner::Error as RunnerError;
 
-pub mod data{
-	pub struct RobloxMeshBytes(Vec<u8>);
-	impl RobloxMeshBytes{
-		pub fn new(bytes:Vec<u8>)->Self{
-			Self(bytes)
-		}
-		pub(crate) fn cursor(self)->std::io::Cursor<Vec<u8>>{
-			std::io::Cursor::new(self.0)
-		}
-	}
+pub mod rbx;
+pub mod mesh;
+mod error;
+pub mod union;
+pub mod primitives;
+
+pub struct Model{
+	dom:WeakDom,
 }
-
-pub struct Model<'a>{
-	dom:WeakDom<'a>,
-}
-impl<'a> Model<'a>{
-	fn new(dom:WeakDom<'a>)->Self{
+impl Model{
+	pub fn new(dom:WeakDom)->Self{
 		Self{dom}
 	}
-	pub fn to_snf(&self,failure_mode:LoadFailureMode)->Result<strafesnet_common::map::CompleteMap,LoadError>{
-		to_snf(self,failure_mode)
-	}
 }
-impl<'a> AsRef<WeakDom<'a>> for Model<'a>{
-	fn as_ref(&self)->&WeakDom<'a>{
+impl AsRef<WeakDom> for Model{
+	fn as_ref(&self)->&WeakDom{
 		&self.dom
 	}
 }
@@ -48,19 +34,18 @@ impl Place{
 			context,
 		})
 	}
-	pub fn run_scripts(&mut self){
+	pub fn run_scripts(&mut self)->Result<Vec<RunnerError>,RunnerError>{
 		let Place{context}=self;
-		let runner=roblox_emulator::runner::Runner::new().unwrap();
+		let runner=roblox_emulator::runner::Runner::new()?;
 		let scripts=context.scripts();
-		let runnable=runner.runnable_context(context).unwrap();
+		let runnable=runner.runnable_context(context)?;
+		let mut errors=Vec::new();
 		for script in scripts{
 			if let Err(e)=runnable.run_script(script){
-				println!("runner error: {e}");
+				errors.push(e);
 			}
 		}
-	}
-	pub fn to_snf(&self,failure_mode:LoadFailureMode)->Result<strafesnet_common::map::CompleteMap,LoadError>{
-		to_snf(self,failure_mode)
+		Ok(errors)
 	}
 }
 impl AsRef<WeakDom> for Place{
@@ -76,74 +61,3 @@ impl From<Model> for Place{
 		}
 	}
 }
-
-#[derive(Debug)]
-pub enum ReadError{
-	RbxBinary(rbx_binary::DecodeError),
-	RbxXml(rbx_xml::DecodeError),
-	Io(std::io::Error),
-	UnknownFileFormat,
-}
-impl std::fmt::Display for ReadError{
-	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
-		write!(f,"{self:?}")
-	}
-}
-impl std::error::Error for ReadError{}
-
-pub fn read<R:Read>(input:R)->Result<Model,ReadError>{
-	let mut buf=std::io::BufReader::new(input);
-	let peek=std::io::BufRead::fill_buf(&mut buf).map_err(ReadError::Io)?;
-	match peek.get(0..8){
-		Some(b"<roblox!")=>rbx_binary::from_reader_default(buf).map(Model::new).map_err(ReadError::RbxBinary),
-		Some(b"<roblox ")=>rbx_xml::from_reader_default(buf).map(Model::new).map_err(ReadError::RbxXml),
-		_=>Err(ReadError::UnknownFileFormat),
-	}
-}
-
-#[derive(Debug)]
-pub enum LoadError{
-	Texture(loader::TextureError),
-	Mesh(loader::MeshError),
-}
-impl std::fmt::Display for LoadError{
-	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
-		write!(f,"{self:?}")
-	}
-}
-impl std::error::Error for LoadError{}
-impl From<loader::TextureError> for LoadError{
-	fn from(value:loader::TextureError)->Self{
-		Self::Texture(value)
-	}
-}
-impl From<loader::MeshError> for LoadError{
-	fn from(value:loader::MeshError)->Self{
-		Self::Mesh(value)
-	}
-}
-
-fn to_snf(dom:impl AsRef<WeakDom>,failure_mode:LoadFailureMode)->Result<strafesnet_common::map::CompleteMap,LoadError>{
-	let dom=dom.as_ref();
-
-	let mut texture_deferred_loader=RenderConfigDeferredLoader::new();
-	let mut mesh_deferred_loader=MeshDeferredLoader::new();
-
-	let map_step1=rbx::convert(
-		dom,
-		&mut texture_deferred_loader,
-		&mut mesh_deferred_loader,
-	);
-
-	let mut mesh_loader=loader::MeshLoader::new();
-	let meshpart_meshes=mesh_deferred_loader.into_meshes(&mut mesh_loader,failure_mode).map_err(LoadError::Mesh)?;
-
-	let map_step2=map_step1.add_meshpart_meshes_and_calculate_attributes(meshpart_meshes);
-
-	let mut texture_loader=loader::TextureLoader::new();
-	let render_configs=texture_deferred_loader.into_render_configs(&mut texture_loader,failure_mode).map_err(LoadError::Texture)?;
-
-	let map=map_step2.add_render_configs_and_textures(render_configs);
-
-	Ok(map)
-}

lib/rbx_loader/src/mesh.rs

@@ -1,13 +1,77 @@
 use std::collections::HashMap;
 
 use rbx_mesh::mesh::{Vertex2,Vertex2Truncated};
-use strafesnet_common::{integer::vec3,model::{self,ColorId,IndexedVertex,NormalId,PolygonGroup,PolygonList,PositionId,RenderConfigId,TextureCoordinateId,VertexId}};
+use strafesnet_common::aabb::Aabb;
+use strafesnet_common::integer::vec3;
+use strafesnet_common::model::{self,ColorId,IndexedVertex,PolygonGroup,PolygonList,RenderConfigId,VertexId};
+
+use crate::rbx::RobloxPartDescription;
+
+#[derive(Hash,Eq,PartialEq)]
+pub enum MeshType<'a>{
+	FileMesh,
+	Union{
+		mesh_data:&'a [u8],
+		physics_data:&'a [u8],
+		size_float_bits:[u32;3],
+		part_texture_description:RobloxPartDescription,
+	},
+}
+#[derive(Hash,Eq,PartialEq)]
+pub struct MeshIndex<'a>{
+	pub mesh_type:MeshType<'a>,
+	pub content:&'a str,
+}
+impl MeshIndex<'_>{
+	pub fn file_mesh(content:&str)->MeshIndex<'_>{
+		MeshIndex{
+			mesh_type:MeshType::FileMesh,
+			content,
+		}
+	}
+	pub fn union<'a>(
+		content:&'a str,
+		mesh_data:&'a [u8],
+		physics_data:&'a [u8],
+		size:&rbx_dom_weak::types::Vector3,
+		part_texture_description:RobloxPartDescription,
+	)->MeshIndex<'a>{
+		MeshIndex{
+			mesh_type:MeshType::Union{
+				mesh_data,
+				physics_data,
+				size_float_bits:[size.x.to_bits(),size.y.to_bits(),size.z.to_bits()],
+				part_texture_description,
+			},
+			content,
+		}
+	}
+}
+
+#[derive(Clone)]
+pub struct MeshWithSize{
+	mesh:model::Mesh,
+	size:strafesnet_common::integer::Planar64Vec3,
+}
+impl MeshWithSize{
+	pub(crate) const fn new(
+		mesh:model::Mesh,
+		size:strafesnet_common::integer::Planar64Vec3,
+	)->Self{
+		Self{mesh,size}
+	}
+	pub const fn mesh(&self)->&model::Mesh{
+		&self.mesh
+	}
+	pub const fn size(&self)->strafesnet_common::integer::Planar64Vec3{
+		self.size
+	}
+}
 
-#[allow(dead_code)]
 #[derive(Debug)]
 pub enum Error{
-	Planar64Vec3(strafesnet_common::integer::Planar64TryFromFloatError),
-	RbxMesh(rbx_mesh::mesh::Error)
+	NoPolygons,
+	RbxMesh(rbx_mesh::mesh::Error),
 }
 impl std::fmt::Display for Error{
 	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
@@ -16,69 +80,50 @@ impl std::fmt::Display for Error{
 }
 impl std::error::Error for Error{}
 
-fn ingest_vertices2<
-	AcquirePosId,
-	AcquireTexId,
-	AcquireNormalId,
-	AcquireColorId,
-	AcquireVertexId,
->(
+fn ingest_vertices2(
 	vertices:Vec<Vertex2>,
-	acquire_pos_id:&mut AcquirePosId,
-	acquire_tex_id:&mut AcquireTexId,
-	acquire_normal_id:&mut AcquireNormalId,
-	acquire_color_id:&mut AcquireColorId,
-	acquire_vertex_id:&mut AcquireVertexId,
-)->Result<HashMap<rbx_mesh::mesh::VertexId2,VertexId>,Error>
-where
-	AcquirePosId:FnMut([f32;3])->Result<PositionId,Error>,
-	AcquireTexId:FnMut([f32;2])->TextureCoordinateId,
-	AcquireNormalId:FnMut([f32;3])->Result<NormalId,Error>,
-	AcquireColorId:FnMut([f32;4])->ColorId,
-	AcquireVertexId:FnMut(IndexedVertex)->VertexId,
-{
+	mb:&mut model::MeshBuilder,
+)->HashMap<rbx_mesh::mesh::VertexId2,VertexId>{
 	//this monster is collecting a map of old_vertices_index -> unique_vertices_index
 	//while also doing the inserting unique entries into lists simultaneously
-	Ok(vertices.into_iter().enumerate().map(|(vertex_id,vertex)|Ok((
+	// vertex positions that fail to convert are DROPPED
+	vertices.into_iter().enumerate().filter_map(|(vertex_id,vertex)|Some((
 		rbx_mesh::mesh::VertexId2(vertex_id as u32),
-		acquire_vertex_id(IndexedVertex{
-			pos:acquire_pos_id(vertex.pos)?,
-			tex:acquire_tex_id(vertex.tex),
-			normal:acquire_normal_id(vertex.norm)?,
-			color:acquire_color_id(vertex.color.map(|f|f as f32/255.0f32))
-		}),
-	))).collect::<Result<_,_>>()?)
+		{
+			let vertex=IndexedVertex{
+				pos:mb.acquire_pos_id(vec3::try_from_f32_array(vertex.pos).ok()?),
+				tex:mb.acquire_tex_id(glam::Vec2::from_array(vertex.tex)),
+				normal:mb.acquire_normal_id(vec3::try_from_f32_array(vertex.norm).ok()?),
+				color:mb.acquire_color_id(glam::Vec4::from_array(vertex.color.map(|f|f as f32/255.0f32))),
+			};
+			mb.acquire_vertex_id(vertex)
+		}
+	))).collect()
 }
-fn ingest_vertices_truncated2<
-	AcquirePosId,
-	AcquireTexId,
-	AcquireNormalId,
-	AcquireVertexId,
->(
+fn ingest_vertices_truncated2(
 	vertices:Vec<Vertex2Truncated>,
-	acquire_pos_id:&mut AcquirePosId,
-	acquire_tex_id:&mut AcquireTexId,
-	acquire_normal_id:&mut AcquireNormalId,
+	mb:&mut model::MeshBuilder,
 	static_color_id:ColorId,//pick one color and fill everything with it
-	acquire_vertex_id:&mut AcquireVertexId,
-)->Result<HashMap<rbx_mesh::mesh::VertexId2,VertexId>,Error>
-where
-	AcquirePosId:FnMut([f32;3])->Result<PositionId,Error>,
-	AcquireTexId:FnMut([f32;2])->TextureCoordinateId,
-	AcquireNormalId:FnMut([f32;3])->Result<NormalId,Error>,
-	AcquireVertexId:FnMut(IndexedVertex)->VertexId,
-{
+)->HashMap<rbx_mesh::mesh::VertexId2,VertexId>{
 	//this monster is collecting a map of old_vertices_index -> unique_vertices_index
 	//while also doing the inserting unique entries into lists simultaneously
-	Ok(vertices.into_iter().enumerate().map(|(vertex_id,vertex)|Ok((
+	// vertex positions that fail to convert are DROPPED
+	vertices.into_iter().enumerate().filter_map(|(vertex_id,vertex)|Some((
 		rbx_mesh::mesh::VertexId2(vertex_id as u32),
-		acquire_vertex_id(IndexedVertex{
-			pos:acquire_pos_id(vertex.pos)?,
-			tex:acquire_tex_id(vertex.tex),
-			normal:acquire_normal_id(vertex.norm)?,
-			color:static_color_id
-		}),
-	))).collect::<Result<_,_>>()?)
+		{
+			let vertex=IndexedVertex{
+				pos:mb.acquire_pos_id(vec3::try_from_f32_array(vertex.pos).ok()?),
+				tex:mb.acquire_tex_id(glam::Vec2::from_array(vertex.tex)),
+				normal:mb.acquire_normal_id(vec3::try_from_f32_array(vertex.norm).ok()?),
+				color:static_color_id,
+			};
+			mb.acquire_vertex_id(vertex)
+		}
+	))).collect()
+}
+
+fn new_polygon_list_checked(list:Vec<model::IndexedVertexList>)->Option<PolygonList>{
+	(!list.is_empty()).then_some(PolygonList::new(list))
 }
 
 fn ingest_faces2_lods3(
@@ -88,130 +133,90 @@ fn ingest_faces2_lods3(
 	lods:&[rbx_mesh::mesh::Lod3],
 ){
 	//faces have to be split into polygon groups based on lod
-	polygon_groups.extend(lods.windows(2).map(|lod_pair|
-		PolygonGroup::PolygonList(PolygonList::new(faces[lod_pair[0].0 as usize..lod_pair[1].0 as usize].iter().map(|rbx_mesh::mesh::Face2(v0,v1,v2)|
-			vec![vertex_id_map[&v0],vertex_id_map[&v1],vertex_id_map[&v2]]
-		).collect()))
+	polygon_groups.extend(lods.windows(2).filter_map(|lod_pair|
+		Some(PolygonGroup::PolygonList(new_polygon_list_checked(faces[lod_pair[0].0 as usize..lod_pair[1].0 as usize].iter().filter_map(|rbx_mesh::mesh::Face2(v0,v1,v2)|
+			Some(vec![*vertex_id_map.get(&v0)?,*vertex_id_map.get(&v1)?,*vertex_id_map.get(&v2)?])
+		).collect())?))
 	))
 }
 
-pub fn convert(roblox_mesh_bytes:crate::data::RobloxMeshBytes)->Result<model::Mesh,Error>{
+pub fn convert(roblox_mesh_bytes:&[u8])->Result<MeshWithSize,Error>{
 	//generate that mesh boi
-	let mut unique_pos=Vec::new();
-	let mut pos_id_from=HashMap::new();
-	let mut unique_tex=Vec::new();
-	let mut tex_id_from=HashMap::new();
-	let mut unique_normal=Vec::new();
-	let mut normal_id_from=HashMap::new();
-	let mut unique_color=Vec::new();
-	let mut color_id_from=HashMap::new();
-	let mut unique_vertices=Vec::new();
-	let mut vertex_id_from=HashMap::new();
 	let mut polygon_groups=Vec::new();
-	let mut acquire_pos_id=|pos|{
-		let p=vec3::try_from_f32_array(pos).map_err(Error::Planar64Vec3)?;
-		Ok(PositionId::new(*pos_id_from.entry(p).or_insert_with(||{
-			let pos_id=unique_pos.len();
-			unique_pos.push(p);
-			pos_id
-		}) as u32))
-	};
-	let mut acquire_tex_id=|tex|{
-		let h=bytemuck::cast::<[f32;2],[u32;2]>(tex);
-		TextureCoordinateId::new(*tex_id_from.entry(h).or_insert_with(||{
-			let tex_id=unique_tex.len();
-			unique_tex.push(glam::Vec2::from_array(tex));
-			tex_id
-		}) as u32)
-	};
-	let mut acquire_normal_id=|normal|{
-		let n=vec3::try_from_f32_array(normal).map_err(Error::Planar64Vec3)?;
-		Ok(NormalId::new(*normal_id_from.entry(n).or_insert_with(||{
-			let normal_id=unique_normal.len();
-			unique_normal.push(n);
-			normal_id
-		}) as u32))
-	};
-	let mut acquire_color_id=|color|{
-		let h=bytemuck::cast::<[f32;4],[u32;4]>(color);
-		ColorId::new(*color_id_from.entry(h).or_insert_with(||{
-			let color_id=unique_color.len();
-			unique_color.push(glam::Vec4::from_array(color));
-			color_id
-		}) as u32)
-	};
-	let mut acquire_vertex_id=|vertex:IndexedVertex|{
-		VertexId::new(*vertex_id_from.entry(vertex.clone()).or_insert_with(||{
-			let vertex_id=unique_vertices.len();
-			unique_vertices.push(vertex);
-			vertex_id
-		}) as u32)
-	};
-	match rbx_mesh::read_versioned(roblox_mesh_bytes.cursor()).map_err(Error::RbxMesh)?{
-		rbx_mesh::mesh::VersionedMesh::Version1(mesh)=>{
-			let color_id=acquire_color_id([1.0f32;4]);
-			polygon_groups.push(PolygonGroup::PolygonList(PolygonList::new(mesh.vertices.chunks_exact(3).map(|trip|{
-				let mut ingest_vertex1=|vertex:&rbx_mesh::mesh::Vertex1|Ok(acquire_vertex_id(IndexedVertex{
-					pos:acquire_pos_id(vertex.pos)?,
-					tex:acquire_tex_id([vertex.tex[0],vertex.tex[1]]),
-					normal:acquire_normal_id(vertex.norm)?,
-					color:color_id,
-				}));
-				Ok(vec![ingest_vertex1(&trip[0])?,ingest_vertex1(&trip[1])?,ingest_vertex1(&trip[2])?])
-			}).collect::<Result<_,_>>()?)));
+	let mut mb=model::MeshBuilder::new();
+	match rbx_mesh::read_versioned(std::io::Cursor::new(roblox_mesh_bytes)).map_err(Error::RbxMesh)?{
+		rbx_mesh::mesh::Mesh::V1(mesh)=>{
+			let color_id=mb.acquire_color_id(glam::Vec4::ONE);
+			let polygon_list=new_polygon_list_checked(mesh.vertices.chunks_exact(3).filter_map(|trip|{
+				let mut ingest_vertex1=|vertex:&rbx_mesh::mesh::Vertex1|{
+					let vertex=IndexedVertex{
+						pos:mb.acquire_pos_id(vec3::try_from_f32_array(vertex.pos).ok()?),
+						tex:mb.acquire_tex_id(glam::vec2(vertex.tex[0],vertex.tex[1])),
+						normal:mb.acquire_normal_id(vec3::try_from_f32_array(vertex.norm).ok()?),
+						color:color_id,
+					};
+					Some(mb.acquire_vertex_id(vertex))
+				};
+				Some(vec![ingest_vertex1(&trip[0])?,ingest_vertex1(&trip[1])?,ingest_vertex1(&trip[2])?])
+			}).collect());
+			if let Some(polygon_list)=polygon_list{
+				polygon_groups.push(PolygonGroup::PolygonList(polygon_list));
+			}
 		},
-		rbx_mesh::mesh::VersionedMesh::Version2(mesh)=>{
+		rbx_mesh::mesh::Mesh::V2(mesh)=>{
 			let vertex_id_map=match mesh.header.sizeof_vertex{
 				rbx_mesh::mesh::SizeOfVertex2::Truncated=>{
 					//pick white and make all the vertices white
-					let color_id=acquire_color_id([1.0f32;4]);
-					ingest_vertices_truncated2(mesh.vertices_truncated,&mut acquire_pos_id,&mut acquire_tex_id,&mut acquire_normal_id,color_id,&mut acquire_vertex_id)
+					let color_id=mb.acquire_color_id(glam::Vec4::ONE);
+					ingest_vertices_truncated2(mesh.vertices_truncated,&mut mb,color_id)
 				},
-				rbx_mesh::mesh::SizeOfVertex2::Full=>ingest_vertices2(mesh.vertices,&mut acquire_pos_id,&mut acquire_tex_id,&mut acquire_normal_id,&mut acquire_color_id,&mut acquire_vertex_id),
-			}?;
+				rbx_mesh::mesh::SizeOfVertex2::Full=>ingest_vertices2(mesh.vertices,&mut mb),
+			};
 			//one big happy group for all the faces
-			polygon_groups.push(PolygonGroup::PolygonList(PolygonList::new(mesh.faces.into_iter().map(|face|
-				vec![vertex_id_map[&face.0],vertex_id_map[&face.1],vertex_id_map[&face.2]]
-			).collect())));
+			let polygon_list=new_polygon_list_checked(mesh.faces.into_iter().filter_map(|face|
+				Some(vec![*vertex_id_map.get(&face.0)?,*vertex_id_map.get(&face.1)?,*vertex_id_map.get(&face.2)?])
+			).collect());
+			if let Some(polygon_list)=polygon_list{
+				polygon_groups.push(PolygonGroup::PolygonList(polygon_list));
+			}
 		},
-		rbx_mesh::mesh::VersionedMesh::Version3(mesh)=>{
+		rbx_mesh::mesh::Mesh::V3(mesh)=>{
 			let vertex_id_map=match mesh.header.sizeof_vertex{
 				rbx_mesh::mesh::SizeOfVertex2::Truncated=>{
-					let color_id=acquire_color_id([1.0f32;4]);
-					ingest_vertices_truncated2(mesh.vertices_truncated,&mut acquire_pos_id,&mut acquire_tex_id,&mut acquire_normal_id,color_id,&mut acquire_vertex_id)
+					let color_id=mb.acquire_color_id(glam::Vec4::ONE);
+					ingest_vertices_truncated2(mesh.vertices_truncated,&mut mb,color_id)
 				},
-				rbx_mesh::mesh::SizeOfVertex2::Full=>ingest_vertices2(mesh.vertices,&mut acquire_pos_id,&mut acquire_tex_id,&mut acquire_normal_id,&mut acquire_color_id,&mut acquire_vertex_id),
-			}?;
+				rbx_mesh::mesh::SizeOfVertex2::Full=>ingest_vertices2(mesh.vertices,&mut mb),
+			};
 			ingest_faces2_lods3(&mut polygon_groups,&vertex_id_map,&mesh.faces,&mesh.lods);
 		},
-		rbx_mesh::mesh::VersionedMesh::Version4(mesh)=>{
-			let vertex_id_map=ingest_vertices2(
-				mesh.vertices,&mut acquire_pos_id,&mut acquire_tex_id,&mut acquire_normal_id,&mut acquire_color_id,&mut acquire_vertex_id
-			)?;
+		rbx_mesh::mesh::Mesh::V4(mesh)=>{
+			let vertex_id_map=ingest_vertices2(mesh.vertices,&mut mb);
 			ingest_faces2_lods3(&mut polygon_groups,&vertex_id_map,&mesh.faces,&mesh.lods);
 		},
-		rbx_mesh::mesh::VersionedMesh::Version5(mesh)=>{
-			let vertex_id_map=ingest_vertices2(
-				mesh.vertices,&mut acquire_pos_id,&mut acquire_tex_id,&mut acquire_normal_id,&mut acquire_color_id,&mut acquire_vertex_id
-			)?;
+		rbx_mesh::mesh::Mesh::V5(mesh)=>{
+			let vertex_id_map=ingest_vertices2(mesh.vertices,&mut mb);
 			ingest_faces2_lods3(&mut polygon_groups,&vertex_id_map,&mesh.faces,&mesh.lods);
 		},
 	}
-	Ok(model::Mesh{
-		unique_pos,
-		unique_normal,
-		unique_tex,
-		unique_color,
-		unique_vertices,
+	if polygon_groups.is_empty(){
+		return Err(Error::NoPolygons);
+	}
+	let mesh=mb.build(
 		polygon_groups,
 		//these should probably be moved to the model...
 		//but what if models want to use the same texture
-		graphics_groups:vec![model::IndexedGraphicsGroup{
+		vec![model::IndexedGraphicsGroup{
 			render:RenderConfigId::new(0),
 			//the lowest lod is highest quality
 			groups:vec![model::PolygonGroupId::new(0)]
 		}],
 		//disable physics
-		physics_groups:Vec::new(),
-	})
+		Vec::new(),
+	);
+	let mut aabb=Aabb::default();
+	for &point in &mesh.unique_pos{
+		aabb.grow(point);
+	}
+	Ok(MeshWithSize{mesh,size:aabb.size()})
 }

lib/rbx_loader/src/primitives.rs

@@ -56,7 +56,7 @@ const CUBE_DEFAULT_TEXTURE_COORDS:[TextureCoordinate;4]=[
 	TextureCoordinate::new(1.0,1.0),
 	TextureCoordinate::new(0.0,1.0),
 ];
-const CUBE_DEFAULT_VERTICES:[Planar64Vec3;8]=[
+pub const CUBE_DEFAULT_VERTICES:[Planar64Vec3;8]=[
 	vec3::int(-1,-1, 1),//0 left bottom back
 	vec3::int( 1,-1, 1),//1 right bottom back
 	vec3::int( 1, 1, 1),//2 right top back
@@ -66,7 +66,7 @@ const CUBE_DEFAULT_VERTICES:[Planar64Vec3;8]=[
 	vec3::int( 1,-1,-1),//6 right bottom front
 	vec3::int(-1,-1,-1),//7 left bottom front
 ];
-const CUBE_DEFAULT_NORMALS:[Planar64Vec3;6]=[
+pub const CUBE_DEFAULT_NORMALS:[Planar64Vec3;6]=[
 	vec3::int( 1, 0, 0),//CubeFace::Right
 	vec3::int( 0, 1, 0),//CubeFace::Top
 	vec3::int( 0, 0, 1),//CubeFace::Back
@@ -121,8 +121,7 @@ impl FaceDescription{
 		}
 	}
 }
-pub fn unit_cube(CubeFaceDescription(face_descriptions):CubeFaceDescription)->Mesh{
-	const CUBE_DEFAULT_POLYS:[[[u32;2];4];6]=[
+pub const CUBE_DEFAULT_POLYS:[[[u32;2];4];6]=[
 		// right (1, 0, 0)
 		[
 			[6,2],//[vertex,tex]
@@ -166,6 +165,7 @@ pub fn unit_cube(CubeFaceDescription(face_descriptions):CubeFaceDescription)->Me
 			[7,2],
 		],
 	];
+pub fn unit_cube(CubeFaceDescription(face_descriptions):CubeFaceDescription)->Mesh{
 	let mut generated_pos=Vec::new();
 	let mut generated_tex=Vec::new();
 	let mut generated_normal=Vec::new();
@@ -519,7 +519,7 @@ pub fn unit_cylinder(face_descriptions:CubeFaceDescription)->Mesh{
 						(glam::vec2(-x as f32,y as f32).normalize()+1.0)/2.0
 					)
 				);
-				let pos=mb.acquire_pos_id($end+vec3::int(0,-x,y).with_length(Planar64::ONE).divide().wrap_1());
+				let pos=mb.acquire_pos_id($end+vec3::int(0,-x,y).with_length(Planar64::ONE).divide().wrap_64());
 				mb.acquire_vertex_id(IndexedVertex{pos,tex,normal,color})
 			}).collect();
 
@@ -560,9 +560,9 @@ pub fn unit_cylinder(face_descriptions:CubeFaceDescription)->Mesh{
 			let mut polygon_list=Vec::with_capacity(CubeFaceDescription::FACES);
 			for $loop in -GON..GON{
 				// lo Z
-				let lz_dir=$lo_dir.with_length(Planar64::ONE).divide().wrap_1();
+				let lz_dir=$lo_dir.with_length(Planar64::ONE).divide().wrap_64();
 				// hi Z
-				let hz_dir=$hi_dir.with_length(Planar64::ONE).divide().wrap_1();
+				let hz_dir=$hi_dir.with_length(Planar64::ONE).divide().wrap_64();
 
 				// pos
 				let lx_lz_pos=mb.acquire_pos_id(vec3::NEG_X+lz_dir);

lib/rbx_loader/src/union.rs

@@ -1,9 +1,12 @@
-use rbx_mesh::mesh_data::{NormalId2 as MeshDataNormalId2,VertexId as MeshDataVertexId};
+use crate::mesh::MeshWithSize;
+use crate::rbx::RobloxPartDescription;
+use crate::primitives::{CUBE_DEFAULT_VERTICES,CUBE_DEFAULT_POLYS,FaceDescription};
+
+use rbx_mesh::mesh_data::{VertexId as MeshDataVertexId,NormalId as MeshDataNormalId,NormalId2 as MeshDataNormalId2,NormalId5 as MeshDataNormalId5};
 use rbx_mesh::physics_data::VertexId as PhysicsDataVertexId;
-use strafesnet_common::model::{self,IndexedVertex,PolygonGroup,PolygonGroupId,PolygonList,RenderConfigId};
+use strafesnet_common::model::{self,IndexedVertex,MeshBuilder,PolygonGroup,PolygonGroupId,PolygonList,RenderConfigId,VertexId};
 use strafesnet_common::integer::vec3;
 
-#[allow(dead_code)]
 #[derive(Debug)]
 pub enum Error{
 	Block,
@@ -21,7 +24,7 @@ impl std::fmt::Display for Error{
 // wacky state machine to make sure all vertices in a face agree upon what NormalId to use.
 // Roblox duplicates this information per vertex when it should only exist per-face.
 enum MeshDataNormalStatus{
-	Agree(MeshDataNormalId2),
+	Agree(MeshDataNormalId),
 	Conflicting,
 }
 struct MeshDataNormalChecker{
@@ -31,7 +34,7 @@ impl MeshDataNormalChecker{
 	fn new()->Self{
 		Self{status:None}
 	}
-	fn check(&mut self,normal:MeshDataNormalId2){
+	fn check(&mut self,normal:MeshDataNormalId){
 		self.status=match self.status.take(){
 			None=>Some(MeshDataNormalStatus::Agree(normal)),
 			Some(MeshDataNormalStatus::Agree(old_normal))=>{
@@ -44,7 +47,7 @@ impl MeshDataNormalChecker{
 			Some(MeshDataNormalStatus::Conflicting)=>Some(MeshDataNormalStatus::Conflicting),
 		};
 	}
-	fn into_agreed_normal(self)->Option<MeshDataNormalId2>{
+	fn into_agreed_normal(self)->Option<MeshDataNormalId>{
 		self.status.and_then(|status|match status{
 			MeshDataNormalStatus::Agree(normal)=>Some(normal),
 			MeshDataNormalStatus::Conflicting=>None,
@@ -52,20 +55,133 @@ impl MeshDataNormalChecker{
 	}
 }
 
+fn build_mesh2(
+	mb:&mut MeshBuilder,
+	polygon_groups_normal_id:&mut [Vec<Vec<VertexId>>;NORMAL_FACES],
+	cube_face_description:&[Option<FaceDescription>;NORMAL_FACES],
+	mesh:rbx_mesh::mesh_data::Mesh2,
+)->Result<(),Error>{
+	//autoscale to size, idk what roblox is doing with the graphics mesh size
+	let mut pos_min=glam::Vec3::MAX;
+	let mut pos_max=glam::Vec3::MIN;
+	for vertex in &mesh.vertices{
+		let p=vertex.pos.into();
+		pos_min=pos_min.min(p);
+		pos_max=pos_max.max(p);
+	}
+	let graphics_size=pos_max-pos_min;
+	for [MeshDataVertexId(vertex_id0),MeshDataVertexId(vertex_id1),MeshDataVertexId(vertex_id2)] in mesh.faces{
+		let face=[
+			mesh.vertices.get(vertex_id0 as usize).ok_or(Error::MissingVertexId(vertex_id0))?,
+			mesh.vertices.get(vertex_id1 as usize).ok_or(Error::MissingVertexId(vertex_id1))?,
+			mesh.vertices.get(vertex_id2 as usize).ok_or(Error::MissingVertexId(vertex_id2))?,
+		];
+		let mut normal_agreement_checker=MeshDataNormalChecker::new();
+		let face=face.into_iter().map(|vertex|{
+			let MeshDataNormalId2(normal_id)=vertex.normal_id;
+			normal_agreement_checker.check(normal_id);
+			let pos=glam::Vec3::from_array(vertex.pos)/graphics_size;
+			let pos=mb.acquire_pos_id(vec3::try_from_f32_array(pos.to_array())?);
+			let normal=mb.acquire_normal_id(vec3::try_from_f32_array(vertex.norm)?);
+			let tex_coord=glam::Vec2::from_array(vertex.tex);
+			let maybe_face_description=&cube_face_description[normal_id as usize-1];
+			let (tex,color)=match maybe_face_description{
+				Some(face_description)=>{
+					// transform texture coordinates and set decal color
+					let tex=mb.acquire_tex_id(face_description.transform.transform_point2(tex_coord));
+					let color=mb.acquire_color_id(face_description.color);
+					(tex,color)
+				},
+				None=>{
+					// texture coordinates don't matter and pass through mesh vertex color
+					let tex=mb.acquire_tex_id(tex_coord);
+					let color=mb.acquire_color_id(glam::Vec4::from_array(vertex.color.map(|f|f as f32/255.0f32)));
+					(tex,color)
+				},
+			};
+			Ok(mb.acquire_vertex_id(IndexedVertex{pos,tex,normal,color}))
+		}).collect::<Result<Vec<_>,_>>().map_err(Error::Planar64Vec3)?;
+		if let Some(normal_id)=normal_agreement_checker.into_agreed_normal(){
+			polygon_groups_normal_id[normal_id as usize-1].push(face);
+		}else{
+			print!("[union] Empty face!");
+		}
+	}
+	Ok(())
+}
+fn build_mesh5(
+	mb:&mut MeshBuilder,
+	polygon_groups_normal_id:&mut [Vec<Vec<VertexId>>;NORMAL_FACES],
+	cube_face_description:&[Option<FaceDescription>;NORMAL_FACES],
+	mesh:rbx_mesh::mesh_data::CSGMDL5,
+)->Result<(),Error>{
+	//autoscale to size, idk what roblox is doing with the graphics mesh size
+	let mut pos_min=glam::Vec3::MAX;
+	let mut pos_max=glam::Vec3::MIN;
+	for &pos in &mesh.positions{
+		let p=pos.into();
+		pos_min=pos_min.min(p);
+		pos_max=pos_max.max(p);
+	}
+	let graphics_size=pos_max-pos_min;
+	for face in mesh.faces.indices.chunks_exact(3){
+		let mut normal_agreement_checker=MeshDataNormalChecker::new();
+		let face=face.into_iter().map(|&vertex_id|{
+			let vertex_index=vertex_id as usize;
+			let &pos=mesh.positions.get(vertex_index).ok_or(Error::MissingVertexId(vertex_id))?;
+			let &MeshDataNormalId5(normal_id)=mesh.normal_ids.get(vertex_index).ok_or(Error::MissingVertexId(vertex_id))?;
+			let &norm=mesh.normals.get(vertex_index).ok_or(Error::MissingVertexId(vertex_id))?;
+			let &tex=mesh.tex.get(vertex_index).ok_or(Error::MissingVertexId(vertex_id))?;
+			let &color=mesh.colors.get(vertex_index).ok_or(Error::MissingVertexId(vertex_id))?;
+			normal_agreement_checker.check(normal_id);
+			let pos=glam::Vec3::from_array(pos)/graphics_size;
+			let pos=mb.acquire_pos_id(vec3::try_from_f32_array(pos.to_array()).map_err(Error::Planar64Vec3)?);
+			let normal=mb.acquire_normal_id(vec3::try_from_f32_array(norm).map_err(Error::Planar64Vec3)?);
+			let tex_coord=glam::Vec2::from_array(tex);
+			let maybe_face_description=&cube_face_description[normal_id as usize-1];
+			let (tex,color)=match maybe_face_description{
+				Some(face_description)=>{
+					// transform texture coordinates and set decal color
+					let tex=mb.acquire_tex_id(face_description.transform.transform_point2(tex_coord));
+					let color=mb.acquire_color_id(face_description.color);
+					(tex,color)
+				},
+				None=>{
+					// texture coordinates don't matter and pass through mesh vertex color
+					let tex=mb.acquire_tex_id(tex_coord);
+					let color=mb.acquire_color_id(glam::Vec4::from_array(color.map(|f|f as f32/255.0f32)));
+					(tex,color)
+				},
+			};
+			Ok(mb.acquire_vertex_id(IndexedVertex{pos,tex,normal,color}))
+		}).collect::<Result<Vec<_>,_>>()?;
+		if let Some(normal_id)=normal_agreement_checker.into_agreed_normal(){
+			polygon_groups_normal_id[normal_id as usize-1].push(face);
+		}else{
+			print!("[union] Empty face!");
+		}
+	}
+	Ok(())
+}
+
+fn new_polygon_list_checked(list:Vec<model::IndexedVertexList>)->Option<PolygonList>{
+	(!list.is_empty()).then_some(PolygonList::new(list))
+}
+
+const NORMAL_FACES:usize=6;
 impl std::error::Error for Error{}
 pub fn convert(
 	roblox_physics_data:&[u8],
 	roblox_mesh_data:&[u8],
 	size:glam::Vec3,
-	crate::rbx::RobloxPartDescription(part_texture_description):crate::rbx::RobloxPartDescription,
-)->Result<model::Mesh,Error>{
-	const NORMAL_FACES:usize=6;
-	let mut polygon_groups_normal_id=vec![Vec::new();NORMAL_FACES];
+	RobloxPartDescription(part_texture_description):RobloxPartDescription,
+)->Result<MeshWithSize,Error>{
 
 	// build graphics and physics meshes
-	let mut mb=strafesnet_common::model::MeshBuilder::new();
+	let mut mb=MeshBuilder::new();
 	// graphics
-	let graphics_groups=if !roblox_mesh_data.is_empty(){
+	let (polygon_groups_normal_id,graphics_groups)=if !roblox_mesh_data.is_empty(){
+		let mut polygon_groups_normal_id:[_;NORMAL_FACES]=[vec![],vec![],vec![],vec![],vec![],vec![]];
 		// create per-face texture coordinate affine transforms
 		let cube_face_description=part_texture_description.map(|opt|opt.map(|mut t|{
 			t.transform.set_size(1.0,1.0);
@@ -75,58 +191,34 @@ pub fn convert(
 		let mesh_data=rbx_mesh::read_mesh_data_versioned(
 			std::io::Cursor::new(roblox_mesh_data)
 		).map_err(Error::RobloxMeshData)?;
-		let graphics_mesh=match mesh_data{
+		match mesh_data{
 			rbx_mesh::mesh_data::MeshData::CSGK(_)=>return Err(Error::Block),
-			rbx_mesh::mesh_data::MeshData::CSGMDL(rbx_mesh::mesh_data::CSGMDL::CSGMDL2(mesh_data2))=>mesh_data2.mesh,
-			rbx_mesh::mesh_data::MeshData::CSGMDL(rbx_mesh::mesh_data::CSGMDL::CSGMDL4(mesh_data4))=>mesh_data4.mesh,
+			rbx_mesh::mesh_data::MeshData::CSGMDL(rbx_mesh::mesh_data::CSGMDL::V2(mesh_data2))=>build_mesh2(&mut mb,&mut polygon_groups_normal_id,&cube_face_description,mesh_data2.mesh)?,
+			rbx_mesh::mesh_data::MeshData::CSGMDL(rbx_mesh::mesh_data::CSGMDL::V4(mesh_data4))=>build_mesh2(&mut mb,&mut polygon_groups_normal_id,&cube_face_description,mesh_data4.mesh)?,
+			rbx_mesh::mesh_data::MeshData::CSGMDL(rbx_mesh::mesh_data::CSGMDL::V5(mesh_data4))=>build_mesh5(&mut mb,&mut polygon_groups_normal_id,&cube_face_description,mesh_data4)?,
 		};
-		for [MeshDataVertexId(vertex_id0),MeshDataVertexId(vertex_id1),MeshDataVertexId(vertex_id2)] in graphics_mesh.faces{
-			let face=[
-				graphics_mesh.vertices.get(vertex_id0 as usize).ok_or(Error::MissingVertexId(vertex_id0))?,
-				graphics_mesh.vertices.get(vertex_id1 as usize).ok_or(Error::MissingVertexId(vertex_id1))?,
-				graphics_mesh.vertices.get(vertex_id2 as usize).ok_or(Error::MissingVertexId(vertex_id2))?,
-			];
-			let mut normal_agreement_checker=MeshDataNormalChecker::new();
-			let face=face.into_iter().map(|vertex|{
-				normal_agreement_checker.check(vertex.normal_id);
-				let pos=mb.acquire_pos_id(vec3::try_from_f32_array(vertex.pos)?);
-				let normal=mb.acquire_normal_id(vec3::try_from_f32_array(vertex.norm)?);
-				let tex_coord=glam::Vec2::from_array(vertex.tex);
-				let maybe_face_description=&cube_face_description[vertex.normal_id as usize-1];
-				let (tex,color)=match maybe_face_description{
-					Some(face_description)=>{
-						// transform texture coordinates and set decal color
-						let tex=mb.acquire_tex_id(face_description.transform.transform_point2(tex_coord));
-						let color=mb.acquire_color_id(face_description.color);
-						(tex,color)
-					},
-					None=>{
-						// texture coordinates don't matter and pass through mesh vertex color
-						let tex=mb.acquire_tex_id(tex_coord);
-						let color=mb.acquire_color_id(glam::Vec4::from_array(vertex.color.map(|f|f as f32/255.0f32)));
-						(tex,color)
-					},
-				};
-				Ok(mb.acquire_vertex_id(IndexedVertex{pos,tex,normal,color}))
-			}).collect::<Result<Vec<_>,_>>().map_err(Error::Planar64Vec3)?;
-			if let Some(normal_id)=normal_agreement_checker.into_agreed_normal(){
-				polygon_groups_normal_id[normal_id as usize-1].push(face);
-			}else{
-				panic!("Empty face!");
-			}
-		}
-		(0..NORMAL_FACES).map(|polygon_group_id|{
-			model::IndexedGraphicsGroup{
-				render:cube_face_description[polygon_group_id].as_ref().map_or(RenderConfigId::new(0),|face_description|face_description.render),
-				groups:vec![PolygonGroupId::new(polygon_group_id as u32)]
-			}
-		}).collect()
+		let graphics_groups=polygon_groups_normal_id
+			.iter()
+			.enumerate()
+			.filter(|&(_,group)|!group.is_empty())
+			.enumerate()
+			.map(|(polygon_group_id,(normal_id,_))|{
+				model::IndexedGraphicsGroup{
+					render:cube_face_description[normal_id].as_ref().map_or(RenderConfigId::new(0),|face_description|face_description.render),
+					groups:vec![PolygonGroupId::new(polygon_group_id as u32)]
+				}
+			}).collect();
+		(polygon_groups_normal_id,graphics_groups)
 	}else{
-		Vec::new()
+		([vec![],vec![],vec![],vec![],vec![],vec![]],Vec::new())
 	};
 
 	//physics
-	let physics_convex_meshes=if !roblox_physics_data.is_empty(){
+	let polygon_groups_normal_it=polygon_groups_normal_id.into_iter().filter_map(|faces|
+		// graphics polygon groups (to be rendered)
+		Some(PolygonGroup::PolygonList(new_polygon_list_checked(faces)?))
+	);
+	let polygon_groups:Vec<PolygonGroup>=if !roblox_physics_data.is_empty(){
 		let physics_data=rbx_mesh::read_physics_data_versioned(
 			std::io::Cursor::new(roblox_physics_data)
 		).map_err(Error::RobloxPhysicsData)?;
@@ -135,44 +227,58 @@ pub fn convert(
 			// have not seen this format in practice
 			|rbx_mesh::physics_data::PhysicsData::CSGPHS(rbx_mesh::physics_data::CSGPHS::Block)
 			=>return Err(Error::Block),
-			rbx_mesh::physics_data::PhysicsData::CSGPHS(rbx_mesh::physics_data::CSGPHS::Meshes(meshes))
+			rbx_mesh::physics_data::PhysicsData::CSGPHS(rbx_mesh::physics_data::CSGPHS::V3(meshes))
+			|rbx_mesh::physics_data::PhysicsData::CSGPHS(rbx_mesh::physics_data::CSGPHS::V5(meshes))
+			=>meshes.meshes,
+			rbx_mesh::physics_data::PhysicsData::CSGPHS(rbx_mesh::physics_data::CSGPHS::V6(meshes))
+			=>vec![meshes.mesh],
+			rbx_mesh::physics_data::PhysicsData::CSGPHS(rbx_mesh::physics_data::CSGPHS::V7(meshes))
 			=>meshes.meshes,
-			rbx_mesh::physics_data::PhysicsData::CSGPHS(rbx_mesh::physics_data::CSGPHS::PhysicsInfoMesh(pim))
-			=>vec![pim.mesh],
 		};
-		physics_convex_meshes
+		let physics_convex_meshes_it=physics_convex_meshes.into_iter().filter_map(|mesh|{
+			// this can be factored out of the loop but I am lazy
+			let color=mb.acquire_color_id(glam::Vec4::ONE);
+			let tex=mb.acquire_tex_id(glam::Vec2::ZERO);
+			// physics polygon groups (to do physics)
+			let polygons=mesh.faces.into_iter().map(|[PhysicsDataVertexId(vertex_id0),PhysicsDataVertexId(vertex_id1),PhysicsDataVertexId(vertex_id2)]|{
+				let face=[
+					mesh.vertices.get(vertex_id0 as usize).ok_or(Error::MissingVertexId(vertex_id0))?,
+					mesh.vertices.get(vertex_id1 as usize).ok_or(Error::MissingVertexId(vertex_id1))?,
+					mesh.vertices.get(vertex_id2 as usize).ok_or(Error::MissingVertexId(vertex_id2))?,
+				].map(|v|glam::Vec3::from_slice(v)/size);
+				let vertex_norm=(face[1]-face[0])
+				          .cross(face[2]-face[0]);
+				let normal=mb.acquire_normal_id(vec3::try_from_f32_array(vertex_norm.to_array()).map_err(Error::Planar64Vec3)?);
+				face.into_iter().map(|vertex_pos|{
+					let pos=mb.acquire_pos_id(vec3::try_from_f32_array(vertex_pos.to_array()).map_err(Error::Planar64Vec3)?);
+					Ok(mb.acquire_vertex_id(IndexedVertex{pos,tex,normal,color}))
+				}).collect()
+			}).collect::<Result<_,_>>();
+			let polygon_list=match polygons{
+				Ok(polygons)=>new_polygon_list_checked(polygons)?,
+				Err(e)=>return Some(Err(e)),
+			};
+			Some(Ok(PolygonGroup::PolygonList(polygon_list)))
+		});
+		polygon_groups_normal_it.map(Ok).chain(physics_convex_meshes_it).collect::<Result<_,_>>()?
 	}else{
-		Vec::new()
-	};
-	let polygon_groups:Vec<PolygonGroup>=polygon_groups_normal_id.into_iter().map(|faces|
-		// graphics polygon groups (to be rendered)
-		Ok(PolygonGroup::PolygonList(PolygonList::new(faces)))
-	).chain(physics_convex_meshes.into_iter().map(|mesh|{
-		// this can be factored out of the loop but I am lazy
-		let color=mb.acquire_color_id(glam::Vec4::ONE);
+		// generate a unit cube as default physics
+		let pos_list=CUBE_DEFAULT_VERTICES.map(|pos|mb.acquire_pos_id(pos>>1));
 		let tex=mb.acquire_tex_id(glam::Vec2::ZERO);
-		// physics polygon groups (to do physics)
-		Ok(PolygonGroup::PolygonList(PolygonList::new(mesh.faces.into_iter().map(|[PhysicsDataVertexId(vertex_id0),PhysicsDataVertexId(vertex_id1),PhysicsDataVertexId(vertex_id2)]|{
-			let face=[
-				mesh.vertices.get(vertex_id0 as usize).ok_or(Error::MissingVertexId(vertex_id0))?,
-				mesh.vertices.get(vertex_id1 as usize).ok_or(Error::MissingVertexId(vertex_id1))?,
-				mesh.vertices.get(vertex_id2 as usize).ok_or(Error::MissingVertexId(vertex_id2))?,
-			].map(|v|glam::Vec3::from_slice(v)/size);
-			let vertex_norm=(face[1]-face[0])
-			          .cross(face[2]-face[0]);
-			let normal=mb.acquire_normal_id(vec3::try_from_f32_array(vertex_norm.to_array()).map_err(Error::Planar64Vec3)?);
-			face.into_iter().map(|vertex_pos|{
-				let pos=mb.acquire_pos_id(vec3::try_from_f32_array(vertex_pos.to_array()).map_err(Error::Planar64Vec3)?);
-				Ok(mb.acquire_vertex_id(IndexedVertex{pos,tex,normal,color}))
-			}).collect()
-		}).collect::<Result<_,_>>()?)))
-	})).collect::<Result<_,_>>()?;
-	let physics_groups=(NORMAL_FACES..polygon_groups.len()).map(|id|model::IndexedPhysicsGroup{
+		let normal=mb.acquire_normal_id(vec3::zero());
+		let color=mb.acquire_color_id(glam::Vec4::ONE);
+		let polygon_group=PolygonGroup::PolygonList(PolygonList::new(CUBE_DEFAULT_POLYS.map(|poly|poly.map(|[pos_id,_]|
+			mb.acquire_vertex_id(IndexedVertex{pos:pos_list[pos_id as usize],tex,normal,color})
+		).to_vec()).to_vec()));
+		polygon_groups_normal_it.chain([polygon_group]).collect()
+	};
+	let physics_groups=(graphics_groups.len()..polygon_groups.len()).map(|id|model::IndexedPhysicsGroup{
 		groups:vec![PolygonGroupId::new(id as u32)]
 	}).collect();
-	Ok(mb.build(
+	let mesh=mb.build(
 		polygon_groups,
 		graphics_groups,
 		physics_groups,
-	))
+	);
+	Ok(MeshWithSize::new(mesh,vec3::ONE))
 }

lib/rbxassetid/Cargo.toml

@@ -9,3 +9,6 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 
 [dependencies]
 url = "2.5.4"
+
+[lints]
+workspace = true

lib/roblox_emulator/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "roblox_emulator"
-version = "0.5.0"
+version = "0.5.3"
 edition = "2024"
 repository = "https://git.itzana.me/StrafesNET/strafe-project"
 license = "MIT OR Apache-2.0"
@@ -8,14 +8,17 @@ description = "Run embedded Luau scripts which manipulate the DOM."
 authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 
 [features]
-default=[]
+default=["run-service"]
 run-service=[]
 
 [dependencies]
-glam = "0.30.0"
-mlua = { version = "0.10.1", features = ["luau"] }
-phf = { version = "0.11.2", features = ["macros"] }
-rbx_dom_weak = { path = "../../../../git/rbx-dom/rbx_dom_weak", registry = "strafesnet" }
-rbx_reflection = { path = "../../../../git/rbx-dom/rbx_reflection" }
-rbx_reflection_database = { path = "../../../../git/rbx-dom/rbx_reflection_database" }
-rbx_types = { path = "../../../../git/rbx-dom/rbx_types" }
+glam.workspace = true
+mlua = { version = "0.11.3", features = ["luau"] }
+phf = { version = "0.13.1", features = ["macros"] }
+rbx_dom_weak = "4.1.0"
+rbx_reflection = "6.1.0"
+rbx_reflection_database = "2.0.2"
+rbx_types = "3.1.0"
+
+[lints]
+workspace = true

lib/roblox_emulator/src/context.rs

@@ -1,4 +1,5 @@
-use rbx_dom_weak::{hstr,types::Ref,InstanceBuilder,WeakDom,UnhashedStr};
+use crate::util::static_ustr;
+use rbx_dom_weak::{types::Ref,InstanceBuilder,WeakDom};
 
 #[derive(Debug)]
 pub enum ServicesError{
@@ -27,36 +28,36 @@ impl Services{
 	}
 }
 
-pub type LuaAppData=&'static mut WeakDom<'static>;
-pub struct Context<'a>{
-	pub(crate)dom:WeakDom<'a>,
+pub type LuaAppData=&'static mut WeakDom;
+pub struct Context{
+	pub(crate)dom:WeakDom,
 	pub(crate)services:Services,
 }
 
-impl<'a> Context<'a>{
-	pub fn from_place(dom:WeakDom<'a>)->Result<Context<'a>,ServicesError>{
+impl Context{
+	pub fn from_place(dom:WeakDom)->Result<Context,ServicesError>{
 		let services=Services::find_services(&dom)?;
 		Ok(Self{dom,services})
 	}
-	pub fn script_singleton(source:String)->(Context<'a>,crate::runner::instance::Instance){
-		let script=InstanceBuilder::new(hstr!("Script"))
-			.with_property(hstr!("Source"),rbx_types::Variant::String(source));
+	pub fn script_singleton(source:String)->(Context,crate::runner::instance::Instance){
+		let script=InstanceBuilder::new("Script")
+			.with_property("Source",rbx_types::Variant::String(source));
 		let script_ref=script.referent();
 		let dom=WeakDom::new(
-			InstanceBuilder::new(hstr!("DataModel"))
+			InstanceBuilder::new("DataModel")
 			.with_child(script)
 		);
 		let context=Self::from_model(dom);
 		(context,crate::runner::instance::Instance::new_unchecked(script_ref))
 	}
 	/// Creates an iterator over all items of a particular class.
-	pub fn superclass_iter<'b>(&'b self,superclass:&'b str)->impl Iterator<Item=Ref>+'b{
-		let db=rbx_reflection_database::get();
-		let Some(superclass)=db.classes.get(UnhashedStr::from_ref(superclass))else{
+	pub fn superclass_iter<'a>(&'a self,superclass:&'a str)->impl Iterator<Item=Ref>+'a{
+		let db=rbx_reflection_database::get().unwrap();
+		let Some(superclass)=db.classes.get(superclass)else{
 			panic!("Invalid class");
 		};
 		self.dom.descendants().filter_map(|instance|{
-			let class=db.classes.get(instance.class)?;
+			let class=db.classes.get(instance.class.as_str())?;
 			db.has_superclass(class,superclass).then(||instance.referent())
 		})
 	}
@@ -64,7 +65,7 @@ impl<'a> Context<'a>{
 		self.superclass_iter("Script")
 			.filter_map(|script_ref|{
 				let script=self.dom.get_by_ref(script_ref)?;
-				if let None|Some(rbx_dom_weak::types::Variant::Bool(false))=script.properties.get(hstr!("Disabled")){
+				if let None|Some(rbx_dom_weak::types::Variant::Bool(false))=script.properties.get(&static_ustr("Disabled")){
 					return Some(crate::runner::instance::Instance::new_unchecked(script_ref));
 				}
 				None
@@ -72,17 +73,25 @@ impl<'a> Context<'a>{
 			.collect()
 	}
 
-	pub fn from_model(mut dom:WeakDom<'a>)->Context<'a>{
+	pub fn from_model(mut dom:WeakDom)->Context{
 		//snapshot root instances
 		let children=dom.root().children().to_owned();
 
 		//insert services
 		let game=dom.root_ref();
-		let terrain_bldr=InstanceBuilder::new(hstr!("Terrain"));
+		let terrain_bldr=InstanceBuilder::new("Terrain")
+		.with_properties([
+			("CFrame",rbx_dom_weak::types::Variant::CFrame(rbx_dom_weak::types::CFrame::new(rbx_dom_weak::types::Vector3::new(0.0,0.0,0.0),rbx_dom_weak::types::Matrix3::identity()))),
+			("Size",rbx_dom_weak::types::Variant::Vector3(rbx_dom_weak::types::Vector3::new(1.0,1.0,1.0))),
+			("Velocity",rbx_dom_weak::types::Variant::Vector3(rbx_dom_weak::types::Vector3::new(0.0,0.0,0.0))),
+			("Transparency",rbx_dom_weak::types::Variant::Float32(0.0)),
+			("Color",rbx_dom_weak::types::Variant::Color3uint8(rbx_dom_weak::types::Color3uint8::new(255,255,255))),
+			("CanCollide",rbx_dom_weak::types::Variant::Bool(true)),
+		]);
 		let workspace=dom.insert(game,
-			InstanceBuilder::new(hstr!("Workspace"))
+			InstanceBuilder::new("Workspace")
 				//Set Workspace.Terrain property equal to Terrain
-				.with_property(hstr!("Terrain"),terrain_bldr.referent())
+				.with_property("Terrain",terrain_bldr.referent())
 				.with_child(terrain_bldr)
 		);
 
@@ -95,18 +104,18 @@ impl<'a> Context<'a>{
 			//Lowercase and upper case workspace property!
 			let game=dom.root_mut();
 			// TODO: DELETE THIS!
-			game.properties.insert(hstr!("workspace"),rbx_types::Variant::Ref(workspace));
-			game.properties.insert(hstr!("Workspace"),rbx_types::Variant::Ref(workspace));
+			game.properties.insert(static_ustr("workspace"),rbx_types::Variant::Ref(workspace));
+			game.properties.insert(static_ustr("Workspace"),rbx_types::Variant::Ref(workspace));
 		}
-		dom.insert(game,InstanceBuilder::new(hstr!("Lighting")));
+		dom.insert(game,InstanceBuilder::new("Lighting"));
 
 		let services=Services{game,workspace};
 		Self{dom,services}
 	}
 }
 
-impl<'a> AsRef<WeakDom<'a>> for Context<'a>{
-	fn as_ref(&self)->&WeakDom<'a>{
+impl AsRef<WeakDom> for Context{
+	fn as_ref(&self)->&WeakDom{
 		&self.dom
 	}
 }

lib/roblox_emulator/src/lib.rs

@@ -1,3 +1,4 @@
+mod util;
 pub mod runner;
 pub mod context;
 #[cfg(feature="run-service")]

lib/roblox_emulator/src/runner/enum.rs

@@ -1,16 +1,14 @@
-use rbx_dom_weak::{HashStr, UnhashedStr};
-
 #[derive(Clone,Copy)]
 pub struct EnumItem<'a>{
-	name:Option<&'a HashStr>,
+	name:Option<&'a str>,
 	value:u32,
 }
 impl<'a> EnumItem<'a>{
-	fn known_name((name,&value):(&&'a HashStr,&u32))->Self{
-		Self{name:Some(name),value}
+	fn known_name((name,&value):(&'a std::borrow::Cow<'a,str>,&u32))->Self{
+		Self{name:Some(name.as_ref()),value}
 	}
 }
-impl<'a> From<rbx_types::Enum> for EnumItem<'a>{
+impl From<rbx_types::Enum> for EnumItem<'_>{
 	fn from(e:rbx_types::Enum)->Self{
 		EnumItem{
 			name:None,
@@ -39,8 +37,8 @@ impl PartialEq for EnumItem<'_>{
 pub struct Enums;
 impl Enums{
 	pub fn get(&self,index:&str)->Option<EnumItems<'static>>{
-		let db=rbx_reflection_database::get();
-		db.enums.get(UnhashedStr::from_ref(index)).map(|ed|EnumItems{ed})
+		let db=rbx_reflection_database::get().unwrap();
+		db.enums.get(index).map(|ed|EnumItems{ed})
 	}
 }
 #[derive(Clone,Copy)]
@@ -53,7 +51,7 @@ impl<'a> EnumItems<'a>{
 		self.ed.items.iter().find(|&(_,&v)|v==value).map(EnumItem::known_name)
 	}
 	pub fn from_name(&self,name:&str)->Option<EnumItem<'a>>{
-		self.ed.items.get_key_value(UnhashedStr::from_ref(name)).map(EnumItem::known_name)
+		self.ed.items.get_key_value(name).map(EnumItem::known_name)
 	}
 	pub fn from_enum(&self,enum_item:EnumItem)->Option<EnumItem<'a>>{
 		match enum_item.name{
@@ -67,7 +65,7 @@ impl<'a> EnumItems<'a>{
 }
 
 pub enum CoerceEnum<'a>{
-	Integer(i32),
+	Integer(i64),
 	String(mlua::String),
 	Enum(EnumItem<'a>),
 }
@@ -107,7 +105,7 @@ impl mlua::UserData for EnumItems<'static>{
 		});
 		methods.add_meta_function(mlua::MetaMethod::Index,|_,(this,val):(EnumItems,mlua::String)|{
 			let index=&*val.to_str()?;
-			Ok(this.ed.items.get_key_value(UnhashedStr::from_ref(index)).map(EnumItem::known_name))
+			Ok(this.ed.items.get_key_value(index).map(EnumItem::known_name))
 		});
 	}
 }
@@ -126,7 +124,7 @@ type_from_lua_userdata!(Enums);
 
 impl mlua::UserData for EnumItem<'_>{
 	fn add_fields<F:mlua::UserDataFields<Self>>(fields:&mut F){
-		fields.add_field_method_get("Name",|_,this|Ok(this.name.map(|s|s.as_str())));
+		fields.add_field_method_get("Name",|_,this|Ok(this.name));
 		fields.add_field_method_get("Value",|_,this|Ok(this.value));
 	}
 	fn add_methods<M:mlua::UserDataMethods<Self>>(methods:&mut M){

lib/roblox_emulator/src/runner/instance/instance.rs

@@ -2,14 +2,15 @@ use std::collections::{hash_map::Entry,HashMap};
 
 use mlua::{FromLua,FromLuaMulti,IntoLua,IntoLuaMulti};
 use rbx_types::Ref;
-use rbx_dom_weak::{hstr,HashStr,UnhashedStr,InstanceBuilder,WeakDom};
+use rbx_dom_weak::{Ustr,InstanceBuilder,WeakDom};
 
-use crate::runner::vector3::Vector3;
+use crate::util::static_ustr;
 use crate::runner::number::Number;
 
 pub fn set_globals(lua:&mlua::Lua,globals:&mlua::Table)->Result<(),mlua::Error>{
 	//class functions store
 	lua.set_app_data(ClassMethodsStore::default());
+	lua.set_app_data(InstanceValueStore::default());
 
 	let table=lua.create_table()?;
 
@@ -36,13 +37,13 @@ pub fn dom_mut<T>(lua:&mlua::Lua,mut f:impl FnMut(&mut WeakDom)->mlua::Result<T>
 }
 
 pub fn class_is_a(class:&str,superclass:&str)->bool{
-	let db=rbx_reflection_database::get();
-	let (Some(class),Some(superclass))=(db.classes.get(UnhashedStr::from_ref(class)),db.classes.get(UnhashedStr::from_ref(superclass)))else{
+	let db=rbx_reflection_database::get().unwrap();
+	let (Some(class),Some(superclass))=(db.classes.get(class),db.classes.get(superclass))else{
 		return false;
 	};
 	db.has_superclass(class,superclass)
 }
-fn get_full_name(dom:&rbx_dom_weak::WeakDom,instance:&rbx_dom_weak::Instance)->String{
+fn get_full_name(dom:&WeakDom,instance:&rbx_dom_weak::Instance)->String{
 	let mut full_name=instance.name.clone();
 	let mut pref=instance.parent();
 	while let Some(parent)=dom.get_by_ref(pref){
@@ -56,7 +57,7 @@ fn get_full_name(dom:&rbx_dom_weak::WeakDom,instance:&rbx_dom_weak::Instance)->S
 pub fn get_name_source(lua:&mlua::Lua,script:Instance)->Result<(String,String),mlua::Error>{
 	dom_mut(lua,|dom|{
 		let instance=script.get(dom)?;
-		let source=match instance.properties.get(hstr!("Source")){
+		let source=match instance.properties.get(&static_ustr("Source")){
 			Some(rbx_dom_weak::types::Variant::String(s))=>s.clone(),
 			_=>Err(mlua::Error::external("Missing script.Source"))?,
 		};
@@ -64,32 +65,32 @@ pub fn get_name_source(lua:&mlua::Lua,script:Instance)->Result<(String,String),m
 	})
 }
 
-pub fn find_first_child<'a>(dom:&'a rbx_dom_weak::WeakDom<'a>,instance:&rbx_dom_weak::Instance<'a>,name:&str)->Option<&'a rbx_dom_weak::Instance<'a>>{
+pub fn find_first_child<'a>(dom:&'a WeakDom,instance:&rbx_dom_weak::Instance,name:&str)->Option<&'a rbx_dom_weak::Instance>{
 	instance.children().iter().filter_map(|&r|dom.get_by_ref(r)).find(|inst|inst.name==name)
 }
-pub fn find_first_descendant<'a>(dom:&'a rbx_dom_weak::WeakDom<'a>,instance:&rbx_dom_weak::Instance<'a>,name:&str)->Option<&'a rbx_dom_weak::Instance<'a>>{
+pub fn find_first_descendant<'a>(dom:&'a WeakDom,instance:&rbx_dom_weak::Instance,name:&str)->Option<&'a rbx_dom_weak::Instance>{
 	dom.descendants_of(instance.referent()).find(|&inst|inst.name==name)
 }
 
-pub fn find_first_child_of_class<'a>(dom:&'a rbx_dom_weak::WeakDom<'a>,instance:&rbx_dom_weak::Instance<'a>,class:&str)->Option<&'a rbx_dom_weak::Instance<'a>>{
+pub fn find_first_child_of_class<'a>(dom:&'a WeakDom,instance:&rbx_dom_weak::Instance,class:&str)->Option<&'a rbx_dom_weak::Instance>{
 	instance.children().iter().filter_map(|&r|dom.get_by_ref(r)).find(|inst|inst.class==class)
 }
-pub fn find_first_descendant_of_class<'a>(dom:&'a rbx_dom_weak::WeakDom<'a>,instance:&rbx_dom_weak::Instance<'a>,class:&str)->Option<&'a rbx_dom_weak::Instance<'a>>{
+pub fn find_first_descendant_of_class<'a>(dom:&'a WeakDom,instance:&rbx_dom_weak::Instance,class:&str)->Option<&'a rbx_dom_weak::Instance>{
 	dom.descendants_of(instance.referent()).find(|&inst|inst.class==class)
 }
 
-pub fn find_first_child_which_is_a<'a>(dom:&'a rbx_dom_weak::WeakDom<'a>,instance:&rbx_dom_weak::Instance<'a>,superclass:&str)->Option<&'a rbx_dom_weak::Instance<'a>>{
-	let db=rbx_reflection_database::get();
-	let superclass_descriptor=db.classes.get(UnhashedStr::from_ref(superclass))?;
+pub fn find_first_child_which_is_a<'a>(dom:&'a WeakDom,instance:&rbx_dom_weak::Instance,superclass:&str)->Option<&'a rbx_dom_weak::Instance>{
+	let db=rbx_reflection_database::get().unwrap();
+	let superclass_descriptor=db.classes.get(superclass)?;
 	instance.children().iter().filter_map(|&r|dom.get_by_ref(r)).find(|inst|{
-		db.classes.get(inst.class).is_some_and(|descriptor|db.has_superclass(descriptor,superclass_descriptor))
+		db.classes.get(inst.class.as_str()).is_some_and(|descriptor|db.has_superclass(descriptor,superclass_descriptor))
 	})
 }
-pub fn find_first_descendant_which_is_a<'a>(dom:&'a rbx_dom_weak::WeakDom<'a>,instance:&rbx_dom_weak::Instance<'a>,superclass:&str)->Option<&'a rbx_dom_weak::Instance<'a>>{
-	let db=rbx_reflection_database::get();
-	let superclass_descriptor=db.classes.get(UnhashedStr::from_ref(superclass))?;
+pub fn find_first_descendant_which_is_a<'a>(dom:&'a WeakDom,instance:&rbx_dom_weak::Instance,superclass:&str)->Option<&'a rbx_dom_weak::Instance>{
+	let db=rbx_reflection_database::get().unwrap();
+	let superclass_descriptor=db.classes.get(superclass)?;
 	dom.descendants_of(instance.referent()).find(|inst|{
-		db.classes.get(inst.class).is_some_and(|descriptor|db.has_superclass(descriptor,superclass_descriptor))
+		db.classes.get(inst.class.as_str()).is_some_and(|descriptor|db.has_superclass(descriptor,superclass_descriptor))
 	})
 }
 
@@ -104,10 +105,10 @@ impl Instance{
 	pub fn new(referent:Ref)->Option<Self>{
 		referent.is_some().then_some(Self{referent})
 	}
-	pub fn get<'a>(&self,dom:&'a WeakDom<'a>)->mlua::Result<&'a rbx_dom_weak::Instance<'a>>{
+	pub fn get<'a>(&self,dom:&'a WeakDom)->mlua::Result<&'a rbx_dom_weak::Instance>{
 		dom.get_by_ref(self.referent).ok_or_else(||mlua::Error::runtime("Instance missing"))
 	}
-	pub fn get_mut<'a,'b>(&self,dom:&'a mut WeakDom<'b>)->mlua::Result<&'a mut rbx_dom_weak::Instance<'b>>{
+	pub fn get_mut<'a>(&self,dom:&'a mut WeakDom)->mlua::Result<&'a mut rbx_dom_weak::Instance>{
 		dom.get_by_ref_mut(self.referent).ok_or_else(||mlua::Error::runtime("Instance missing"))
 	}
 }
@@ -149,7 +150,7 @@ impl mlua::UserData for Instance{
 		fields.add_field_method_get("ClassName",|lua,this|{
 			dom_mut(lua,|dom|{
 				let instance=this.get(dom)?;
-				Ok(instance.class.as_str().to_owned())
+				Ok(instance.class.to_owned())
 			})
 		});
 	}
@@ -281,8 +282,8 @@ impl mlua::UserData for Instance{
 			dom_mut(lua,|dom|{
 				let instance=this.get(dom)?;
 				//println!("__index t={} i={index:?}",instance.name);
-				let db=rbx_reflection_database::get();
-				let class=db.classes.get(instance.class).ok_or_else(||mlua::Error::runtime("Class missing"))?;
+				let db=rbx_reflection_database::get().unwrap();
+				let class=db.classes.get(instance.class.as_str()).ok_or_else(||mlua::Error::runtime("Class missing"))?;
 				// Find existing property
 				// Interestingly, ustr can know ahead of time if
 				// a property does not exist in any runtime instance
@@ -324,13 +325,16 @@ impl mlua::UserData for Instance{
 				}
 
 				//find or create an associated userdata object
-				let instance=this.get_mut(dom)?;
-				if let Some(value)=get_or_create_userdata(instance,lua,index_str)?{
+				if let Some(value)=instance_value_store_mut(lua,|ivs|{
+					//TODO: walk class tree somehow
+					match ivs.get_or_create_instance_values(&instance){
+						Some(mut instance_values)=>instance_values.get_or_create_value(lua,index_str),
+						None=>Ok(None)
+					}
+				})?{
 					return value.into_lua(lua);
 				}
-				// drop mutable borrow
 				//find a child with a matching name
-				let instance=this.get(dom)?;
 				find_first_child(dom,instance,index_str)
 				.map(|instance|Instance::new_unchecked(instance.referent()))
 				.into_lua(lua)
@@ -340,8 +344,8 @@ impl mlua::UserData for Instance{
 			let index_str=&*index.to_str()?;
 			dom_mut(lua,|dom|{
 				let instance=this.get_mut(dom)?;
-				let db=rbx_reflection_database::get();
-				let class=db.classes.get(instance.class).ok_or_else(||mlua::Error::runtime("Class missing"))?;
+				let db=rbx_reflection_database::get().unwrap();
+				let class=db.classes.get(instance.class.as_str()).ok_or_else(||mlua::Error::runtime("Class missing"))?;
 				let property=db.superclasses_iter(class).find_map(|cls|
 					cls.properties.get(index_str)
 				).ok_or_else(||
@@ -418,7 +422,7 @@ impl mlua::UserData for Instance{
 						rbx_types::Variant::CFrame(typed_value.clone().into())
 					},
 					rbx_reflection::DataType::Value(rbx_types::VariantType::ContentId)=>{
-						let typed_value=value.as_str().ok_or_else(||mlua::Error::runtime("Expected string"))?.to_owned();
+						let typed_value=value.as_string().ok_or_else(||mlua::Error::runtime("Expected string"))?.to_str()?.to_owned();
 						rbx_types::Variant::ContentId(typed_value.into())
 					},
 					rbx_reflection::DataType::Value(rbx_types::VariantType::Ref)=>{
@@ -483,8 +487,8 @@ static CLASS_FUNCTION_DATABASE:CFD=phf::phf_map!{
 		"GetService"=>GET_SERVICE,
 	},
 	"Terrain"=>phf::phf_map!{
-		"FillBall"=>cf!(|_lua,_,_:(Vector3,Number,crate::runner::r#enum::CoerceEnum)|mlua::Result::Ok(())),
-		"FillBlock"=>cf!(|_lua,_,_:(crate::runner::cframe::CFrame,Vector3,crate::runner::r#enum::CoerceEnum)|mlua::Result::Ok(())),
+		"FillBall"=>cf!(|_lua,_,_:(crate::runner::vector3::Vector3,Number,crate::runner::r#enum::CoerceEnum)|mlua::Result::Ok(())),
+		"FillBlock"=>cf!(|_lua,_,_:(crate::runner::cframe::CFrame,crate::runner::vector3::Vector3,crate::runner::r#enum::CoerceEnum)|mlua::Result::Ok(())),
 		"FillCylinder"=>cf!(|_lua,_,_:(crate::runner::cframe::CFrame,Number,Number,crate::runner::r#enum::CoerceEnum)|mlua::Result::Ok(())),
 		"SetMaterialColor"=>cf!(|_lua,_,_:(crate::runner::r#enum::CoerceEnum,crate::runner::color3::Color3)|mlua::Result::Ok(())),
 	},
@@ -518,7 +522,7 @@ struct ClassMethodsStore{
 }
 impl ClassMethodsStore{
 	/// return self.classes[class] or create the ClassMethods and then return it
-	fn get_or_create_class_methods(&mut self,class:&str)->Option<ClassMethods>{
+	fn get_or_create_class_methods(&mut self,class:&str)->Option<ClassMethods<'_>>{
 		// Use get_entry to get the &'static str keys of the database
 		// and use it as a key for the classes hashmap
 		CLASS_FUNCTION_DATABASE.get_entry(class)
@@ -559,7 +563,7 @@ fn class_methods_store_mut<T>(lua:&mlua::Lua,mut f:impl FnMut(&mut ClassMethodsS
 /// A virtual property pointer definition shorthand.
 type VirtualPropertyFunctionPointer=fn(&rbx_types::Variant)->Option<rbx_types::Variant>;
 const fn vpp(
-	property:&'static HashStr,
+	property:&'static str,
 	pointer:VirtualPropertyFunctionPointer,
 )->VirtualProperty{
 	VirtualProperty{
@@ -568,7 +572,7 @@ const fn vpp(
 	}
 }
 struct VirtualProperty{
-	property:&'static HashStr,// Source property name
+	property:&'static str,// Source property name
 	pointer:VirtualPropertyFunctionPointer,
 }
 type VPD=phf::Map<&'static str,// Class name
@@ -576,10 +580,9 @@ type VPD=phf::Map<&'static str,// Class name
 		VirtualProperty
 	>
 >;
-static CFRAME:&HashStr=hstr!("CFrame");
 static VIRTUAL_PROPERTY_DATABASE:VPD=phf::phf_map!{
 	"BasePart"=>phf::phf_map!{
-		"Position"=>vpp(CFRAME,|c:&rbx_types::Variant|{
+		"Position"=>vpp("CFrame",|c:&rbx_types::Variant|{
 			let c=match c{
 				rbx_types::Variant::CFrame(c)=>c,
 				_=>return None,//fail silently and ungracefully
@@ -590,7 +593,7 @@ static VIRTUAL_PROPERTY_DATABASE:VPD=phf::phf_map!{
 };
 
 fn find_virtual_property(
-	properties:&rbx_dom_weak::HashStrMap<rbx_types::Variant>,
+	properties:&rbx_dom_weak::UstrMap<rbx_types::Variant>,
 	class:&rbx_reflection::ClassDescriptor,
 	index:&str,
 )->Option<rbx_types::Variant>{
@@ -599,13 +602,15 @@ fn find_virtual_property(
 	let virtual_property=class_virtual_properties.get(index)?;
 
 	//Get source property
-	let variant=properties.get(virtual_property.property)?;
+	let variant=properties.get(&static_ustr(virtual_property.property))?;
 
 	//Transform Source property with provided function
 	(virtual_property.pointer)(variant)
 }
 
 // lazy-loaded per-instance userdata values
+// This whole thing is a bad idea and a garbage collection nightmare.
+// TODO: recreate rbx_dom_weak with my own instance type that owns this data.
 type CreateUserData=fn(&mlua::Lua)->mlua::Result<mlua::AnyUserData>;
 type LUD=phf::Map<&'static str,// Class name
 	phf::Map<&'static str,// Value name
@@ -638,21 +643,47 @@ static LAZY_USER_DATA:LUD=phf::phf_map!{
 		"MouseClick"=>create_script_signal,
 	},
 };
-fn get_or_create_userdata(instance:&mut rbx_dom_weak::Instance,lua:&mlua::Lua,index:&str)->mlua::Result<Option<mlua::AnyUserData>>{
-	use std::collections::hash_map::Entry;
-	let db=rbx_reflection_database::get();
-	let Some(class)=db.classes.get(instance.class)else{
-		return Ok(None)
-	};
-	if let Some((hstr,create_userdata))=db.superclasses_iter(class).find_map(|superclass|
-		// find pair (class,index)
-		LAZY_USER_DATA.get(&superclass.name)
-		.and_then(|map|map.get(index)).map(|f|(superclass.name,f))
-	){
-		return Ok(Some(match instance.userdata.entry(hstr){
-			Entry::Occupied(entry)=>entry.get().clone(),
-			Entry::Vacant(entry)=>entry.insert(create_userdata(lua)?).clone(),
-		}));
-	}
-	Ok(None)
+#[derive(Default)]
+pub struct InstanceValueStore{
+	values:HashMap<Ref,
+		HashMap<&'static str,
+			mlua::AnyUserData
+		>
+	>,
+}
+pub struct InstanceValues<'a>{
+	named_values:&'static phf::Map<&'static str,CreateUserData>,
+	values:&'a mut HashMap<&'static str,mlua::AnyUserData>,
+}
+impl InstanceValueStore{
+	pub fn get_or_create_instance_values(&mut self,instance:&rbx_dom_weak::Instance)->Option<InstanceValues<'_>>{
+		LAZY_USER_DATA.get(instance.class.as_str())
+			.map(|named_values|
+				InstanceValues{
+					named_values,
+					values:self.values.entry(instance.referent())
+					.or_insert_with(||HashMap::new()),
+				}
+			)
+	}
+}
+impl InstanceValues<'_>{
+	pub fn get_or_create_value(&mut self,lua:&mlua::Lua,index:&str)->mlua::Result<Option<mlua::AnyUserData>>{
+		Ok(match self.named_values.get_entry(index){
+			Some((&static_index_str,&function_pointer))=>Some(
+				match self.values.entry(static_index_str){
+					Entry::Occupied(entry)=>entry.get().clone(),
+					Entry::Vacant(entry)=>entry.insert(
+						function_pointer(lua)?
+					).clone(),
+				}
+			),
+			None=>None,
+		})
+	}
+}
+
+pub fn instance_value_store_mut<T>(lua:&mlua::Lua,mut f:impl FnMut(&mut InstanceValueStore)->mlua::Result<T>)->mlua::Result<T>{
+	let mut cf=lua.app_data_mut::<InstanceValueStore>().ok_or_else(||mlua::Error::runtime("InstanceValueStore missing"))?;
+	f(&mut *cf)
 }

lib/roblox_emulator/src/runner/number.rs

@@ -4,7 +4,7 @@
 
 #[derive(Clone,Copy)]
 pub enum Number{
-	Integer(i32),
+	Integer(i64),
 	Number(f64),
 }
 macro_rules! impl_ty{

lib/roblox_emulator/src/runner/runner.rs

@@ -12,14 +12,12 @@ pub enum Error{
 		error:mlua::Error
 	},
 	RustLua(mlua::Error),
-	Services(crate::context::ServicesError),
 }
 impl std::fmt::Display for Error{
 	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
 		match self{
 			Self::Lua{source,error}=>write!(f,"lua error: source:\n{source}\n{error}"),
 			Self::RustLua(error)=>write!(f,"rust-side lua error: {error}"),
-			other=>write!(f,"{other:?}"),
 		}
 	}
 }
@@ -50,6 +48,11 @@ fn init(lua:&mlua::Lua)->mlua::Result<()>{
 	Ok(())
 }
 
+unsafe fn extend_lifetime_mut<'a,T>(src:&mut T)->&'a mut T{
+	let ptr:*mut T=src;
+	unsafe{&mut*ptr}
+}
+
 impl Runner{
 	pub fn new()->Result<Self,Error>{
 		let runner=Self{
@@ -58,7 +61,7 @@ impl Runner{
 		init(&runner.lua).map_err(Error::RustLua)?;
 		Ok(runner)
 	}
-	pub fn runnable_context<'a>(self,context:&'a mut Context<'a>)->Result<Runnable<'a>,Error>{
+	pub fn runnable_context<'a>(self,context:&'a mut Context)->Result<Runnable<'a>,Error>{
 		{
 			let globals=self.lua.globals();
 			globals.set("game",super::instance::Instance::new_unchecked(context.services.game)).map_err(Error::RustLua)?;
@@ -67,7 +70,7 @@ impl Runner{
 		// SAFETY: This is not a &'static mut WeakDom,
 		// but as long as Runnable<'a> holds the lifetime of &'a mut Context
 		// it is a valid unique reference.
-		self.lua.set_app_data::<crate::context::LuaAppData>(unsafe{core::mem::transmute(&mut context.dom)});
+		self.lua.set_app_data::<crate::context::LuaAppData>(unsafe{extend_lifetime_mut(&mut context.dom)});
 		#[cfg(feature="run-service")]
 		self.lua.set_app_data::<crate::scheduler::Scheduler>(crate::scheduler::Scheduler::default());
 		Ok(Runnable{
@@ -98,7 +101,19 @@ impl Runnable<'_>{
 		.set_name(name).into_function().map_err(Error::RustLua)?;
 		// TODO: set_environment without losing the ability to print from Lua
 		let thread=self.lua.create_thread(f).map_err(Error::RustLua)?;
+
+		// set timeout
+		let start=std::time::Instant::now();
+		self.lua.set_interrupt(move|lua|{
+			if std::time::Duration::from_secs(1)<start.elapsed(){
+				lua.remove_interrupt();
+				return Err(mlua::Error::runtime("timeout"));
+			}
+			Ok(mlua::VmState::Continue)
+		});
+
 		thread.resume::<mlua::MultiValue>(()).map_err(|error|Error::Lua{source,error})?;
+		self.lua.remove_interrupt();
 		// wait() is called from inside Lua and goes to a rust function that schedules the thread and then yields
 		// No need to schedule the thread here
 		Ok(())
@@ -126,15 +141,20 @@ impl Runnable<'_>{
 	}
 	#[cfg(feature="run-service")]
 	pub fn run_service_step(&self)->Result<(),mlua::Error>{
-		let render_stepped_signal=super::instance::instance::dom_mut(&self.lua,|dom|{
+		let render_stepped=super::instance::instance::dom_mut(&self.lua,|dom|{
 			let run_service=super::instance::instance::find_first_child_of_class(dom,dom.root(),"RunService").ok_or_else(||mlua::Error::runtime("RunService missing"))?;
-			Ok(match run_service.userdata.get(&static_ustr("RenderStepped")){
-				Some(render_stepped)=>Some(render_stepped.borrow::<super::script_signal::ScriptSignal>()?.clone()),
-				None=>None
+			super::instance::instance::instance_value_store_mut(&self.lua,|instance_value_store|{
+				//unwrap because I trust my find_first_child_of_class function to
+				let mut instance_values=instance_value_store.get_or_create_instance_values(run_service).ok_or_else(||mlua::Error::runtime("RunService InstanceValues missing"))?;
+				let render_stepped=instance_values.get_or_create_value(&self.lua,"RenderStepped")?;
+				//let stepped=instance_values.get_or_create_value(&self.lua,"Stepped")?;
+				//let heartbeat=instance_values.get_or_create_value(&self.lua,"Heartbeat")?;
+				Ok(render_stepped)
 			})
 		})?;
-		if let Some(render_stepped_signal)=render_stepped_signal{
-			render_stepped_signal.fire(&mlua::MultiValue::new());
+		if let Some(render_stepped)=render_stepped{
+			let signal:&super::script_signal::ScriptSignal=&*render_stepped.borrow()?;
+			signal.fire(&mlua::MultiValue::new());
 		}
 		Ok(())
 	}

lib/roblox_emulator/src/runner/script_signal.rs

@@ -117,7 +117,7 @@ impl mlua::FromLua for ScriptSignal{
 }
 
 impl mlua::UserData for ScriptConnection{
-	fn add_fields<F:mlua::UserDataFields<Self>>(fields:&mut F){
+	fn add_fields<F:UserDataFields<Self>>(fields:&mut F){
 		fields.add_field_method_get("Connected",|_,this|{
 			Ok(this.position().is_some())
 		});

lib/roblox_emulator/src/runner/tween.rs

@@ -1,7 +1,7 @@
 use super::instance::Instance;
 use super::tween_info::TweenInfo;
 
-#[allow(dead_code)]
+#[expect(dead_code)]
 #[derive(Clone)]
 pub struct Tween{
 	instance:Instance,

lib/roblox_emulator/src/runner/tween_info.rs

@@ -1,7 +1,7 @@
 use super::number::Number;
 use super::r#enum::{CoerceEnum,Enums};
 
-#[allow(dead_code)]
+#[expect(dead_code)]
 #[derive(Clone)]
 pub struct TweenInfo{
 	time:f64,

lib/roblox_emulator/src/scheduler.rs

@@ -46,8 +46,8 @@ impl Scheduler{
 	}
 }
 
-pub fn scheduler_mut<T>(lua:&mlua::Lua,mut f:impl FnMut(&mut crate::scheduler::Scheduler)->mlua::Result<T>)->mlua::Result<T>{
-	let mut scheduler=lua.app_data_mut::<crate::scheduler::Scheduler>().ok_or_else(||mlua::Error::runtime("Scheduler missing"))?;
+pub fn scheduler_mut<T>(lua:&mlua::Lua,mut f:impl FnMut(&mut Scheduler)->mlua::Result<T>)->mlua::Result<T>{
+	let mut scheduler=lua.app_data_mut::<Scheduler>().ok_or_else(||mlua::Error::runtime("Scheduler missing"))?;
 	f(&mut *scheduler)
 }
 

lib/roblox_emulator/src/util.rs

@@ -0,0 +1,3 @@
+pub fn static_ustr(s:&'static str)->rbx_dom_weak::Ustr{
+	rbx_dom_weak::ustr(s)
+}

lib/snf/Cargo.toml

@@ -1,11 +1,14 @@
 [package]
 name = "strafesnet_snf"
-version = "0.3.0"
+version = "0.4.0"
 edition = "2024"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-binrw = "0.14.0"
+binrw = "0.15.0"
 id = { version = "0.1.0", registry = "strafesnet" }
-strafesnet_common = { version = "0.6.0", path = "../common", registry = "strafesnet" }
+strafesnet_common.workspace = true
+
+[lints]
+workspace = true

lib/snf/src/bot.rs

@@ -6,7 +6,7 @@ use strafesnet_common::physics::Time;
 
 const VERSION:u32=0;
 
-type TimedPhysicsInstruction=strafesnet_common::instruction::TimedInstruction<strafesnet_common::physics::Instruction,strafesnet_common::physics::Time>;
+type TimedPhysicsInstruction=strafesnet_common::instruction::TimedInstruction<strafesnet_common::physics::Instruction,Time>;
 
 #[derive(Debug)]
 pub enum Error{
@@ -85,6 +85,7 @@ pub struct Segment{
 #[derive(Clone,Copy,Debug)]
 pub struct SegmentInfo{
 	/// time of the first instruction in this segment.
+	#[expect(dead_code)]
 	time:Time,
 	instruction_count:u32,
 	/// How many total instructions in segments up to and including this segment
@@ -116,6 +117,7 @@ impl<R:BinReaderExt> StreamableBot<R>{
 			segment_map,
 		})
 	}
+	#[expect(dead_code)]
 	fn get_segment_info(&self,segment_id:SegmentId)->Result<SegmentInfo,Error>{
 		Ok(*self.segment_map.get(segment_id.get() as usize).ok_or(Error::InvalidSegmentId(segment_id))?)
 	}
@@ -272,7 +274,7 @@ pub fn write_bot<W:BinWriterExt>(mut writer:W,physics_version:u32,instructions:i
 
 	//probe header length
 	let mut bot_header_data=Vec::new();
-	binrw::BinWrite::write_le(&header,&mut std::io::Cursor::new(&mut bot_header_data)).map_err(Error::InvalidData)?;
+	header.write_le(&mut std::io::Cursor::new(&mut bot_header_data)).map_err(Error::InvalidData)?;
 
 	// the first block location is the map header
 	block_location.push(offset);

lib/snf/src/file.rs

@@ -53,8 +53,6 @@ pub(crate) enum FourCC{
 	Map,
 	#[brw(magic=b"SNFB")]
 	Bot,
-	#[brw(magic=b"SNFD")]
-	Demo,
 }
 #[binrw]
 #[brw(little)]

lib/snf/src/lib.rs

@@ -5,7 +5,6 @@ mod newtypes;
 mod file;
 pub mod map;
 pub mod bot;
-pub mod demo;
 
 #[derive(Debug)]
 pub enum Error{
@@ -13,7 +12,6 @@ pub enum Error{
 	Header(file::Error),
 	Map(map::Error),
 	Bot(bot::Error),
-	Demo(demo::Error),
 }
 impl std::fmt::Display for Error{
 	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
@@ -25,7 +23,6 @@ impl std::error::Error for Error{}
 pub enum SNF<R:BinReaderExt>{
 	Map(map::StreamableMap<R>),
 	Bot(bot::StreamableBot<R>),
-	Demo(demo::StreamableDemo<R>),
 }
 
 pub fn read_snf<R:BinReaderExt>(input:R)->Result<SNF<R>,Error>{
@@ -33,7 +30,6 @@ pub fn read_snf<R:BinReaderExt>(input:R)->Result<SNF<R>,Error>{
 	Ok(match file.fourcc(){
 		file::FourCC::Map=>SNF::Map(map::StreamableMap::new(file).map_err(Error::Map)?),
 		file::FourCC::Bot=>SNF::Bot(bot::StreamableBot::new(file).map_err(Error::Bot)?),
-		file::FourCC::Demo=>SNF::Demo(demo::StreamableDemo::new(file).map_err(Error::Demo)?),
 	})
 }
 pub fn read_map<R:BinReaderExt>(input:R)->Result<map::StreamableMap<R>,Error>{
@@ -50,13 +46,6 @@ pub fn read_bot<R:BinReaderExt>(input:R)->Result<bot::StreamableBot<R>,Error>{
 		_=>Err(Error::UnexpectedFourCC)
 	}
 }
-pub fn read_demo<R:BinReaderExt>(input:R)->Result<demo::StreamableDemo<R>,Error>{
-	let file=file::File::new(input).map_err(Error::Header)?;
-	match file.fourcc(){
-		file::FourCC::Demo=>Ok(demo::StreamableDemo::new(file).map_err(Error::Demo)?),
-		_=>Err(Error::UnexpectedFourCC)
-	}
-}
 
 #[cfg(test)]
 mod tests {

lib/snf/src/map.rs

@@ -97,8 +97,8 @@ enum ResourceType{
 }
 
 struct ResourceMap<T>{
-	meshes:HashMap<strafesnet_common::model::MeshId,T>,
-	textures:HashMap<strafesnet_common::model::TextureId,T>,
+	meshes:HashMap<model::MeshId,T>,
+	textures:HashMap<model::TextureId,T>,
 }
 impl<T> Default for ResourceMap<T>{
 	fn default()->Self{
@@ -185,7 +185,7 @@ pub struct StreamableMap<R:BinReaderExt>{
 	//this is every possible attribute... need some sort of streaming system
 	attributes:Vec<strafesnet_common::gameplay_attributes::CollisionAttributes>,
 	//this is every possible render configuration... shaders and such... need streaming
-	render_configs:Vec<strafesnet_common::model::RenderConfig>,
+	render_configs:Vec<model::RenderConfig>,
 	//this makes sense to keep in memory for streaming, a map of which blocks occupy what space
 	bvh:BvhNode<BlockId>,
 	//something something resources hashmaps
@@ -223,7 +223,7 @@ impl<R:BinReaderExt> StreamableMap<R>{
 		}
 		Ok(Self{
 			file,
-			modes:strafesnet_common::gameplay_modes::NormalizedModes::new(modes),
+			modes:gameplay_modes::NormalizedModes::new(modes),
 			attributes,
 			render_configs,
 			bvh:strafesnet_common::bvh::generate_bvh(bvh),
@@ -366,12 +366,12 @@ fn collect_spacial_blocks(
 		block_location.push(sequential_block_data.position());
 	}else{
 		match bvh_node.into_content(){
-			strafesnet_common::bvh::RecursiveContent::Branch(bvh_node_list)=>{
+			RecursiveContent::Branch(bvh_node_list)=>{
 				for bvh_node in bvh_node_list{
 					collect_spacial_blocks(block_location,block_headers,sequential_block_data,bvh_node)?;
 				}
 			},
-			strafesnet_common::bvh::RecursiveContent::Leaf(_)=>panic!(),//bvh branches are 20 leaves minimum
+			RecursiveContent::Leaf(_)=>panic!(),//bvh branches are 20 leaves minimum
 		}
 	}
 	Ok(())
@@ -384,13 +384,13 @@ pub fn write_map<W:BinWriterExt>(mut writer:W,map:strafesnet_common::map::Comple
 	let boxen=map.models.into_iter().enumerate().map(|(model_id,model)|{
 		//grow your own aabb
 		let mesh=map.meshes.get(model.mesh.get() as usize).ok_or(Error::InvalidMeshId(model.mesh))?;
-		let mut aabb=strafesnet_common::aabb::Aabb::default();
+		let mut aabb=Aabb::default();
 		for &pos in &mesh.unique_pos{
-			aabb.grow(model.transform.transform_point3(pos).narrow_1().unwrap());
+			aabb.grow(model.transform.transform_point3(pos).narrow_64().unwrap());
 		}
 		Ok(((model::ModelId::new(model_id as u32),model.into()),aabb))
 	}).collect::<Result<Vec<_>,_>>()?;
-	let bvh=weigh_contents(strafesnet_common::bvh::generate_bvh(boxen),&|_|std::mem::size_of::<newtypes::model::Model>());
+	let bvh=weigh_contents(strafesnet_common::bvh::generate_bvh(boxen),&|_|size_of::<newtypes::model::Model>());
 	//build blocks
 	//block location is initialized with two values
 	//the first value represents the location of the first byte after the file header

lib/snf/src/newtypes/gameplay_style.rs

@@ -104,6 +104,7 @@ impl From<strafesnet_common::gameplay_style::StyleModifiers> for StyleModifiers{
 
 #[binrw::binrw]
 #[brw(little,repr=u8)]
+#[expect(dead_code)]
 pub enum JumpCalculation{
 	Max,
 	BoostThenJump,
@@ -128,6 +129,7 @@ impl From<strafesnet_common::gameplay_style::JumpCalculation> for JumpCalculatio
 	}
 }
 
+#[expect(dead_code)]
 pub enum JumpImpulse{
 	Time(Time),
 	Height(Planar64),

lib/snf/src/newtypes/physics.rs

@@ -20,7 +20,7 @@ impl TryInto<TimedPhysicsInstruction> for TimedInstruction{
 	}
 }
 impl TryFrom<TimedPhysicsInstruction> for TimedInstruction{
-	type Error=super::physics::InstructionConvert;
+	type Error=InstructionConvert;
 	fn try_from(value:TimedPhysicsInstruction)->Result<Self,Self::Error>{
 		Ok(Self{
 			time:value.time.get(),
@@ -88,6 +88,11 @@ pub enum Instruction{
 	PracticeFly,
 	#[brw(magic=14u8)]
 	SetSensitivity(super::integer::Ratio64Vec2),
+	#[brw(magic=15u8)]
+	SetSprint(
+		#[br(map=bool_from_u8)]
+		#[bw(map=bool_into_u8)]
+		bool),
 	#[brw(magic=255u8)]
 	Idle,
 }
@@ -116,6 +121,7 @@ impl TryInto<strafesnet_common::physics::Instruction> for Instruction{
 			Instruction::SetMoveForward(state)=>strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetMoveForward(state.into())),
 			Instruction::SetJump(state)=>strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetJump(state.into())),
 			Instruction::SetZoom(state)=>strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetZoom(state.into())),
+			Instruction::SetSprint(state)=>strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetSprint(state.into())),
 			Instruction::Reset=>strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Reset),
 			Instruction::Restart(mode_id)=>strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Restart(strafesnet_common::gameplay_modes::ModeId::new(mode_id))),
 			Instruction::Spawn(mode_id,stage_id)=>strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Spawn(
@@ -142,6 +148,7 @@ impl TryFrom<strafesnet_common::physics::Instruction> for Instruction{
 			strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetMoveForward(state))=>Ok(Instruction::SetMoveForward(state.into())),
 			strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetJump(state))=>Ok(Instruction::SetJump(state.into())),
 			strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetZoom(state))=>Ok(Instruction::SetZoom(state.into())),
+			strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetSprint(state))=>Ok(Instruction::SetSprint(state.into())),
 			strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Reset)=>Ok(Instruction::Reset),
 			strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Restart(mode_id))=>Ok(Instruction::Restart(mode_id.get())),
 			strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Spawn(mode_id,stage_id))=>Ok(Instruction::Spawn(

map-tool/Cargo.toml

@@ -1,38 +1,81 @@
 [package]
 name = "map-tool"
-version = "1.7.0"
+version = "3.0.1"
 edition = "2024"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
+[features]
+default = ["cli","source","roblox"]
+roblox = [
+	"dep:strafesnet_rbx_loader",
+	"dep:rbx_asset",
+	"dep:rbx_binary",
+	"dep:rbx_dom_weak",
+	"dep:rbx_reflection_database",
+	"dep:rbx_xml",
+	"dep:rbxassetid",
+]
+source = [
+	"dep:strafesnet_bsp_loader",
+	"dep:vbsp",
+	"dep:vbsp-entities-css",
+	"dep:vmdl",
+	"dep:vmt-parser",
+	"dep:vpk",
+	"dep:vtf",
+	"tokio/sync",
+]
+cli = [
+	"dep:clap",
+	"dep:futures",
+	"tokio/macros",
+	"tokio/rt-multi-thread",
+	"tokio/fs",
+]
+
+[lib]
+name = "map_tool"
+
+[[bin]]
+name = "map-tool"
+required-features = ["cli"]
+
 [dependencies]
+strafesnet_deferred_loader.workspace = true
+strafesnet_snf.workspace = true
+
 anyhow = "1.0.75"
-clap = { version = "4.4.2", features = ["derive"] }
+clap = { version = "4.4.2", features = ["derive"], optional = true }
 flate2 = "1.0.27"
-futures = "0.3.31"
-image = "0.25.2"
-image_dds = "0.7.1"
-lazy-regex = "3.1.0"
-rbx_asset = { version = "0.4.4", registry = "strafesnet" }
-rbx_binary  = { path = "../../../git/rbx-dom/rbx_binary", registry = "strafesnet" }
-rbx_dom_weak =  { path = "../../../git/rbx-dom/rbx_dom_weak", registry = "strafesnet" }
-rbx_reflection_database = { path = "../../../git/rbx-dom/rbx_reflection_database"}
-rbx_xml = { path = "../../../git/rbx-dom/rbx_xml", registry = "strafesnet" }
-rbxassetid = { version = "0.1.0", registry = "strafesnet" }
-strafesnet_bsp_loader = { version = "0.3.0", path = "../lib/bsp_loader", registry = "strafesnet" }
-strafesnet_deferred_loader = { version = "0.5.0", path = "../lib/deferred_loader", registry = "strafesnet" }
-strafesnet_rbx_loader = { version = "0.6.0", path = "../lib/rbx_loader", registry = "strafesnet" }
-strafesnet_snf = { version = "0.3.0", path = "../lib/snf", registry = "strafesnet" }
+futures = { version = "0.3.31", optional = true }
+image = { version = "0.25.2", features = ["png", "jpeg"], default-features = false }
+image_dds = { version = "0.7.1", features = ["ddsfile","encode"], default-features = false }
 thiserror = "2.0.11"
-tokio = { version = "1.43.0", features = ["macros", "rt-multi-thread", "fs"] }
-vbsp = "0.9.1"
-vbsp-entities-css = "0.6.0"
-vmdl = "0.2.0"
-vmt-parser = "0.2.0"
-vpk = "0.3.0"
-vtf = "0.3.0"
+tokio = { version = "1.43.0", features = ["time"] }
+
+# roblox
+strafesnet_rbx_loader = { workspace = true, optional = true }
+rbx_asset = { version = "0.5.0", registry = "strafesnet", optional = true }
+rbx_binary = { version = "2.0.1", optional = true }
+rbx_dom_weak = { version = "4.1.0", optional = true }
+rbx_reflection_database = { version = "2.0.2", optional = true }
+rbx_xml = { version = "2.0.1", optional = true }
+rbxassetid = { version = "0.1.0", registry = "strafesnet", optional = true }
+
+# source
+strafesnet_bsp_loader = { workspace = true, optional = true }
+vbsp = { version = "0.9.1", optional = true }
+vbsp-entities-css = { version = "0.6.0", optional = true }
+vmdl = { version = "0.2.0", optional = true }
+vmt-parser = { version = "0.2.0", optional = true }
+vpk = { version = "0.3.0", optional = true }
+vtf = { version = "0.3.0", optional = true }
 
 #[profile.release]
 #lto = true
 #strip = true
 #codegen-units = 1
+
+[lints]
+workspace = true

map-tool/src/lib.rs

@@ -0,0 +1,4 @@
+#[cfg(feature="roblox")]
+pub mod roblox;
+#[cfg(feature="source")]
+pub mod source;

map-tool/src/main.rs

@@ -1,30 +1,31 @@
-mod roblox;
-mod source;
-
 use clap::{Parser,Subcommand};
 use anyhow::Result as AResult;
 
 #[derive(Parser)]
-#[command(author, version, about, long_about = None)]
-#[command(propagate_version = true)]
-struct Cli {
+#[command(author,version,about,long_about=None)]
+#[command(propagate_version=true)]
+struct Cli{
 	#[command(subcommand)]
-	command: Commands,
+	command:Commands,
 }
 
 #[derive(Subcommand)]
 enum Commands{
 	#[command(flatten)]
-	Roblox(roblox::Commands),
+	#[cfg(feature="roblox")]
+	Roblox(map_tool::roblox::Commands),
 	#[command(flatten)]
-	Source(source::Commands),
+	#[cfg(feature="source")]
+	Source(map_tool::source::Commands),
 }
 
 #[tokio::main]
 async fn main()->AResult<()>{
 	let cli=Cli::parse();
 	match cli.command{
+		#[cfg(feature="roblox")]
 		Commands::Roblox(commands)=>commands.run().await,
+		#[cfg(feature="source")]
 		Commands::Source(commands)=>commands.run().await,
 	}
 }

map-tool/src/roblox.rs

@@ -1,464 +0,0 @@
-use std::path::{Path,PathBuf};
-use std::io::{Cursor,Read,Seek};
-use std::collections::HashSet;
-use clap::{Args,Subcommand};
-use anyhow::Result as AResult;
-use rbx_dom_weak::Instance;
-use strafesnet_deferred_loader::deferred_loader::LoadFailureMode;
-use rbxassetid::RobloxAssetId;
-use tokio::io::AsyncReadExt;
-
-// disallow non-static lifetimes
-fn static_ustr(s:&'static str)->rbx_dom_weak::Ustr{
-	rbx_dom_weak::ustr(s)
-}
-
-const DOWNLOAD_LIMIT:usize=16;
-
-#[derive(Subcommand)]
-pub enum Commands{
-	RobloxToSNF(RobloxToSNFSubcommand),
-	DownloadAssets(DownloadAssetsSubcommand),
-}
-
-#[derive(Args)]
-pub struct RobloxToSNFSubcommand {
-	#[arg(long)]
-	output_folder:PathBuf,
-	#[arg(required=true)]
-	input_files:Vec<PathBuf>,
-}
-#[derive(Args)]
-pub struct DownloadAssetsSubcommand{
-	#[arg(required=true)]
-	roblox_files:Vec<PathBuf>,
-	// #[arg(long)]
-	// cookie_file:Option<String>,
-}
-
-impl Commands{
-	pub async fn run(self)->AResult<()>{
-		match self{
-			Commands::RobloxToSNF(subcommand)=>roblox_to_snf(subcommand.input_files,subcommand.output_folder).await,
-			Commands::DownloadAssets(subcommand)=>download_assets(
-				subcommand.roblox_files,
-				rbx_asset::cookie::Cookie::new("".to_string()),
-			).await,
-		}
-	}
-}
-
-#[allow(unused)]
-#[derive(Debug)]
-enum LoadDomError{
-	IO(std::io::Error),
-	Binary(rbx_binary::DecodeError),
-	Xml(rbx_xml::DecodeError),
-	UnknownFormat,
-}
-fn load_dom<R:Read+Seek>(mut input:R)->Result<rbx_dom_weak::WeakDom,LoadDomError>{
-	let mut first_8=[0u8;8];
-	input.read_exact(&mut first_8).map_err(LoadDomError::IO)?;
-	input.rewind().map_err(LoadDomError::IO)?;
-	match &first_8{
-		b"<roblox!"=>rbx_binary::from_reader(input).map_err(LoadDomError::Binary),
-		b"<roblox "=>rbx_xml::from_reader(input,rbx_xml::DecodeOptions::default()).map_err(LoadDomError::Xml),
-		_=>Err(LoadDomError::UnknownFormat),
-	}
-}
-
-/* The ones I'm interested in:
-Beam.Texture
-Decal.Texture
-FileMesh.MeshId
-FileMesh.TextureId
-MaterialVariant.ColorMap
-MaterialVariant.MetalnessMap
-MaterialVariant.NormalMap
-MaterialVariant.RoughnessMap
-MeshPart.MeshId
-MeshPart.TextureID
-ParticleEmitter.Texture
-Sky.MoonTextureId
-Sky.SkyboxBk
-Sky.SkyboxDn
-Sky.SkyboxFt
-Sky.SkyboxLf
-Sky.SkyboxRt
-Sky.SkyboxUp
-Sky.SunTextureId
-SurfaceAppearance.ColorMap
-SurfaceAppearance.MetalnessMap
-SurfaceAppearance.NormalMap
-SurfaceAppearance.RoughnessMap
-SurfaceAppearance.TexturePack
-*/
-/* These properties now use Content
-BaseWrap.CageMeshContent
-Decal.TextureContent
-ImageButton.ImageContent
-ImageLabel.ImageContent
-MeshPart.MeshContent
-MeshPart.TextureContent
-SurfaceAppearance.ColorMapContent
-SurfaceAppearance.MetalnessMapContent
-SurfaceAppearance.NormalMapContent
-SurfaceAppearance.RoughnessMapContent
-WrapLayer.ReferenceMeshContent
-*/
-
-fn accumulate_content(content_list:&mut HashSet<RobloxAssetId>,object:&Instance,property:&'static str){
-	let Some(rbx_dom_weak::types::Variant::Content(content))=object.properties.get(&static_ustr(property))else{
-		println!("property={} does not exist for class={}",property,object.class.as_str());
-		return;
-	};
-	let rbx_dom_weak::types::ContentType::Uri(uri)=content.value()else{
-		println!("ContentType is not Uri");
-		return;
-	};
-	let Ok(asset_id)=uri.parse()else{
-		println!("Content failed to parse into AssetID: {:?}",content);
-		return;
-	};
-	content_list.insert(asset_id);
-}
-fn accumulate_content_id(content_list:&mut HashSet<RobloxAssetId>,object:&Instance,property:&'static str){
-	let Some(rbx_dom_weak::types::Variant::ContentId(content))=object.properties.get(&static_ustr(property))else{
-		println!("property={} does not exist for class={}",property,object.class.as_str());
-		return;
-	};
-	let Ok(asset_id)=content.as_str().parse()else{
-		println!("Content failed to parse into AssetID: {:?}",content);
-		return;
-	};
-	content_list.insert(asset_id);
-}
-async fn read_entire_file(path:impl AsRef<Path>)->Result<Cursor<Vec<u8>>,std::io::Error>{
-	let mut file=tokio::fs::File::open(path).await?;
-	let mut data=Vec::new();
-	file.read_to_end(&mut data).await?;
-	Ok(Cursor::new(data))
-}
-#[derive(Default)]
-struct UniqueAssets{
-	meshes:HashSet<RobloxAssetId>,
-	unions:HashSet<RobloxAssetId>,
-	textures:HashSet<RobloxAssetId>,
-}
-impl UniqueAssets{
-	fn collect(&mut self,object:&Instance){
-		match object.class.as_str(){
-			"Beam"=>accumulate_content_id(&mut self.textures,object,"Texture"),
-			"Decal"=>accumulate_content(&mut self.textures,object,"TextureContent"),
-			"Texture"=>accumulate_content(&mut self.textures,object,"TextureContent"),
-			"FileMesh"=>accumulate_content_id(&mut self.textures,object,"TextureId"),
-			"MeshPart"=>{
-				accumulate_content(&mut self.textures,object,"TextureContent");
-				accumulate_content(&mut self.meshes,object,"MeshContent");
-			},
-			"SpecialMesh"=>accumulate_content_id(&mut self.meshes,object,"MeshId"),
-			"ParticleEmitter"=>accumulate_content_id(&mut self.textures,object,"Texture"),
-			"Sky"=>{
-				accumulate_content_id(&mut self.textures,object,"MoonTextureId");
-				accumulate_content_id(&mut self.textures,object,"SkyboxBk");
-				accumulate_content_id(&mut self.textures,object,"SkyboxDn");
-				accumulate_content_id(&mut self.textures,object,"SkyboxFt");
-				accumulate_content_id(&mut self.textures,object,"SkyboxLf");
-				accumulate_content_id(&mut self.textures,object,"SkyboxRt");
-				accumulate_content_id(&mut self.textures,object,"SkyboxUp");
-				accumulate_content_id(&mut self.textures,object,"SunTextureId");
-			},
-			"UnionOperation"=>accumulate_content_id(&mut self.unions,object,"AssetId"),
-			_=>(),
-		}
-	}
-}
-
-#[allow(unused)]
-#[derive(Debug)]
-enum UniqueAssetError{
-	IO(std::io::Error),
-	LoadDom(LoadDomError),
-}
-async fn unique_assets(path:&Path)->Result<UniqueAssets,UniqueAssetError>{
-	// read entire file
-	let mut assets=UniqueAssets::default();
-	let data=read_entire_file(path).await.map_err(UniqueAssetError::IO)?;
-	let dom=load_dom(data).map_err(UniqueAssetError::LoadDom)?;
-	for object in dom.into_raw().1.into_values(){
-		assets.collect(&object);
-	}
-	Ok(assets)
-}
-enum DownloadType{
-	Texture(RobloxAssetId),
-	Mesh(RobloxAssetId),
-	Union(RobloxAssetId),
-}
-impl DownloadType{
-	fn path(&self)->PathBuf{
-		match self{
-			DownloadType::Texture(RobloxAssetId(asset_id))=>format!("downloaded_textures/{asset_id}").into(),
-			DownloadType::Mesh(RobloxAssetId(asset_id))=>format!("meshes/{asset_id}").into(),
-			DownloadType::Union(RobloxAssetId(asset_id))=>format!("unions/{asset_id}").into(),
-		}
-	}
-	fn asset_id(&self)->u64{
-		match self{
-			&DownloadType::Texture(RobloxAssetId(asset_id))=>asset_id,
-			&DownloadType::Mesh(RobloxAssetId(asset_id))=>asset_id,
-			&DownloadType::Union(RobloxAssetId(asset_id))=>asset_id,
-		}
-	}
-}
-enum DownloadResult{
-	Cached(PathBuf),
-	Data(Vec<u8>),
-	Failed,
-}
-#[derive(Default,Debug)]
-struct Stats{
-	total_assets:u32,
-	cached_assets:u32,
-	downloaded_assets:u32,
-	failed_downloads:u32,
-	timed_out_downloads:u32,
-}
-async fn download_retry(stats:&mut Stats,context:&rbx_asset::cookie::Context,download_instruction:DownloadType)->Result<DownloadResult,std::io::Error>{
-	stats.total_assets+=1;
-	// check if file exists on disk
-	let path=download_instruction.path();
-	if tokio::fs::try_exists(path.as_path()).await?{
-		stats.cached_assets+=1;
-		return Ok(DownloadResult::Cached(path));
-	}
-	let asset_id=download_instruction.asset_id();
-	// if not, download file
-	let mut retry=0;
-	const BACKOFF_MUL:f32=1.3956124250860895286;//exp(1/3)
-	let mut backoff=1000f32;
-	loop{
-		let asset_result=context.get_asset(rbx_asset::cookie::GetAssetRequest{
-			asset_id,
-			version:None,
-		}).await;
-		match asset_result{
-			Ok(asset_result)=>{
-				stats.downloaded_assets+=1;
-				let data=asset_result.to_vec()?;
-				tokio::fs::write(path,&data).await?;
-				break Ok(DownloadResult::Data(data));
-			},
-			Err(rbx_asset::cookie::GetError::Response(rbx_asset::types::ResponseError::StatusCodeWithUrlAndBody(scwuab)))=>{
-				if scwuab.status_code.as_u16()==429{
-					if retry==12{
-						println!("Giving up asset download {asset_id}");
-						stats.timed_out_downloads+=1;
-						break Ok(DownloadResult::Failed);
-					}
-					println!("Hit roblox rate limit, waiting {:.0}ms...",backoff);
-					tokio::time::sleep(std::time::Duration::from_millis(backoff as u64)).await;
-					backoff*=BACKOFF_MUL;
-					retry+=1;
-				}else{
-					stats.failed_downloads+=1;
-					println!("weird scuwab error: {scwuab:?}");
-					break Ok(DownloadResult::Failed);
-				}
-			},
-			Err(e)=>{
-				stats.failed_downloads+=1;
-				println!("sadly error: {e}");
-				break Ok(DownloadResult::Failed);
-			},
-		}
-	}
-}
-#[derive(Debug,thiserror::Error)]
-enum ConvertTextureError{
-	#[error("Io error {0:?}")]
-	Io(#[from]std::io::Error),
-	#[error("Image error {0:?}")]
-	Image(#[from]image::ImageError),
-	#[error("DDS create error {0:?}")]
-	DDS(#[from]image_dds::CreateDdsError),
-	#[error("DDS write error {0:?}")]
-	DDSWrite(#[from]image_dds::ddsfile::Error),
-}
-async fn convert_texture(RobloxAssetId(asset_id):RobloxAssetId,download_result:DownloadResult)->Result<(),ConvertTextureError>{
-	let data=match download_result{
-		DownloadResult::Cached(path)=>tokio::fs::read(path).await?,
-		DownloadResult::Data(data)=>data,
-		DownloadResult::Failed=>return Ok(()),
-	};
-	// image::ImageFormat::Png
-	// image::ImageFormat::Jpeg
-	let image=image::load_from_memory(&data)?.to_rgba8();
-
-	// pick format
-	let format=if image.width()%4!=0||image.height()%4!=0{
-		image_dds::ImageFormat::Rgba8UnormSrgb
-	}else{
-		image_dds::ImageFormat::BC7RgbaUnormSrgb
-	};
-
-	//this fails if the image dimensions are not a multiple of 4
-	let dds=image_dds::dds_from_image(
-		&image,
-		format,
-		image_dds::Quality::Slow,
-		image_dds::Mipmaps::GeneratedAutomatic,
-	)?;
-
-	let file_name=format!("textures/{asset_id}.dds");
-	let mut file=std::fs::File::create(file_name)?;
-	dds.write(&mut file)?;
-	Ok(())
-}
-async fn download_assets(paths:Vec<PathBuf>,cookie:rbx_asset::cookie::Cookie)->AResult<()>{
-	tokio::try_join!(
-		tokio::fs::create_dir_all("downloaded_textures"),
-		tokio::fs::create_dir_all("textures"),
-		tokio::fs::create_dir_all("meshes"),
-		tokio::fs::create_dir_all("unions"),
-	)?;
-	// use mpsc
-	let thread_limit=std::thread::available_parallelism()?.get();
-	let (send_assets,mut recv_assets)=tokio::sync::mpsc::channel(DOWNLOAD_LIMIT);
-	let (send_texture,mut recv_texture)=tokio::sync::mpsc::channel(thread_limit);
-	// map decode dispatcher
-	// read files multithreaded
-	// produce UniqueAssetsResult per file
-	tokio::spawn(async move{
-		// move send so it gets dropped when all maps have been decoded
-		// closing the channel
-		let mut it=paths.into_iter();
-		static SEM:tokio::sync::Semaphore=tokio::sync::Semaphore::const_new(0);
-		SEM.add_permits(thread_limit);
-		while let (Ok(permit),Some(path))=(SEM.acquire().await,it.next()){
-			let send=send_assets.clone();
-			tokio::spawn(async move{
-				let result=unique_assets(path.as_path()).await;
-				_=send.send(result).await;
-				drop(permit);
-			});
-		}
-	});
-	// download manager
-	// insert into global unique assets guy
-	// add to download queue if the asset is globally unique and does not already exist on disk
-	let mut stats=Stats::default();
-	let context=rbx_asset::cookie::Context::new(cookie);
-	let mut globally_unique_assets=UniqueAssets::default();
-	// pop a job = retry_queue.pop_front() or ingest(recv.recv().await)
-	// SLOW MODE:
-	// acquire all permits
-	// drop all permits
-	// pop one job
-	// if it succeeds go into fast mode
-	// FAST MODE:
-	// acquire one permit
-	// pop a job
-	let download_thread=tokio::spawn(async move{
-		while let Some(result)=recv_assets.recv().await{
-			let unique_assets=match result{
-				Ok(unique_assets)=>unique_assets,
-				Err(e)=>{
-					println!("error: {e:?}");
-					continue;
-				},
-			};
-			for texture_id in unique_assets.textures{
-				if globally_unique_assets.textures.insert(texture_id){
-					let data=download_retry(&mut stats,&context,DownloadType::Texture(texture_id)).await?;
-					send_texture.send((texture_id,data)).await?;
-				}
-			}
-			for mesh_id in unique_assets.meshes{
-				if globally_unique_assets.meshes.insert(mesh_id){
-					download_retry(&mut stats,&context,DownloadType::Mesh(mesh_id)).await?;
-				}
-			}
-			for union_id in unique_assets.unions{
-				if globally_unique_assets.unions.insert(union_id){
-					download_retry(&mut stats,&context,DownloadType::Union(union_id)).await?;
-				}
-			}
-		}
-		dbg!(stats);
-		Ok::<(),anyhow::Error>(())
-	});
-	static SEM:tokio::sync::Semaphore=tokio::sync::Semaphore::const_new(0);
-	SEM.add_permits(thread_limit);
-	while let (Ok(permit),Some((asset_id,download_result)))=(SEM.acquire().await,recv_texture.recv().await){
-		tokio::spawn(async move{
-			let result=convert_texture(asset_id,download_result).await;
-			drop(permit);
-			result.unwrap();
-		});
-	}
-	download_thread.await??;
-	_=SEM.acquire_many(thread_limit as u32).await.unwrap();
-	Ok(())
-}
-
-#[derive(Debug)]
-#[allow(dead_code)]
-enum ConvertError{
-	IO(std::io::Error),
-	SNFMap(strafesnet_snf::map::Error),
-	RobloxRead(strafesnet_rbx_loader::ReadError),
-	RobloxLoad(strafesnet_rbx_loader::LoadError),
-}
-impl std::fmt::Display for ConvertError{
-	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
-		write!(f,"{self:?}")
-	}
-}
-impl std::error::Error for ConvertError{}
-async fn convert_to_snf(path:&Path,output_folder:PathBuf)->AResult<()>{
-	let entire_file=tokio::fs::read(path).await?;
-
-	let model=strafesnet_rbx_loader::read(
-		std::io::Cursor::new(entire_file)
-	).map_err(ConvertError::RobloxRead)?;
-
-	let mut place=strafesnet_rbx_loader::Place::from(model);
-	place.run_scripts();
-
-	let map=place.to_snf(LoadFailureMode::DefaultToNone).map_err(ConvertError::RobloxLoad)?;
-
-	let mut dest=output_folder;
-	dest.push(path.file_stem().unwrap());
-	dest.set_extension("snfm");
-	let file=std::fs::File::create(dest).map_err(ConvertError::IO)?;
-
-	strafesnet_snf::map::write_map(file,map).map_err(ConvertError::SNFMap)?;
-
-	Ok(())
-}
-
-async fn roblox_to_snf(paths:Vec<std::path::PathBuf>,output_folder:PathBuf)->AResult<()>{
-	let start=std::time::Instant::now();
-
-	let thread_limit=std::thread::available_parallelism()?.get();
-	let mut it=paths.into_iter();
-	static SEM:tokio::sync::Semaphore=tokio::sync::Semaphore::const_new(0);
-	SEM.add_permits(thread_limit);
-
-	while let (Ok(permit),Some(path))=(SEM.acquire().await,it.next()){
-		let output_folder=output_folder.clone();
-		tokio::spawn(async move{
-			let result=convert_to_snf(path.as_path(),output_folder).await;
-			drop(permit);
-			match result{
-				Ok(())=>(),
-				Err(e)=>println!("Convert error: {e:?}"),
-			}
-		});
-	}
-	_=SEM.acquire_many(thread_limit as u32).await.unwrap();
-
-	println!("elapsed={:?}", start.elapsed());
-	Ok(())
-}

map-tool/src/roblox/cli.rs

@@ -0,0 +1,383 @@
+use std::path::PathBuf;
+use std::io::Cursor;
+use anyhow::Result as AResult;
+use rbxassetid::RobloxAssetId;
+use strafesnet_deferred_loader::deferred_loader::{LoadFailureMode,MeshDeferredLoader,RenderConfigDeferredLoader};
+
+use super::{convert_texture_to_dds,get_unique_assets};
+use super::{ConvertTextureError,UniqueAssets};
+
+const DOWNLOAD_LIMIT:usize=16;
+
+#[derive(clap::Subcommand)]
+pub enum Commands{
+	RobloxToSNF(RobloxToSNFSubcommand),
+	DownloadAssets(DownloadAssetsSubcommand),
+	ExtractUnionData(ExtractUnionData),
+}
+
+#[derive(clap::Args)]
+pub struct RobloxToSNFSubcommand{
+	#[arg(long)]
+	output_folder:PathBuf,
+	#[arg(required=true)]
+	input_files:Vec<PathBuf>,
+}
+#[derive(clap::Args)]
+pub struct DownloadAssetsSubcommand{
+	#[arg(required=true)]
+	roblox_files:Vec<PathBuf>,
+	#[arg(long,group="cookie",required=true)]
+	cookie_literal:Option<String>,
+	#[arg(long,group="cookie",required=true)]
+	cookie_envvar:Option<String>,
+	#[arg(long,group="cookie",required=true)]
+	cookie_file:Option<PathBuf>,
+}
+#[derive(clap::Args)]
+pub struct ExtractUnionData{
+	#[arg(long)]
+	output_folder:PathBuf,
+	#[arg(long)]
+	input_file:PathBuf,
+}
+
+impl Commands{
+	pub async fn run(self)->AResult<()>{
+		match self{
+			Commands::RobloxToSNF(subcommand)=>roblox_to_snf(subcommand.input_files,subcommand.output_folder).await,
+			Commands::DownloadAssets(subcommand)=>download_assets(
+				subcommand.roblox_files,
+				cookie_from_args(
+					subcommand.cookie_literal,
+					subcommand.cookie_envvar,
+					subcommand.cookie_file,
+				).await?,
+			).await,
+			Commands::ExtractUnionData(subcommand)=>extract_union_data(subcommand.input_file,subcommand.output_folder).await,
+		}
+	}
+}
+
+async fn cookie_from_args(literal:Option<String>,environment:Option<String>,file:Option<PathBuf>)->AResult<rbx_asset::cookie::Cookie>{
+	let cookie=match (literal,environment,file){
+		(Some(cookie_literal),None,None)=>cookie_literal,
+		(None,Some(cookie_environment),None)=>std::env::var(cookie_environment)?,
+		(None,None,Some(cookie_file))=>tokio::fs::read_to_string(cookie_file).await?,
+		_=>Err(anyhow::Error::msg("Illegal cookie argument triple"))?,
+	};
+	Ok(rbx_asset::cookie::Cookie::new(cookie))
+}
+
+enum DownloadType{
+	Texture(RobloxAssetId),
+	Mesh(RobloxAssetId),
+	Union(RobloxAssetId),
+}
+impl DownloadType{
+	fn path(&self)->PathBuf{
+		match self{
+			DownloadType::Texture(RobloxAssetId(asset_id))=>format!("downloaded_textures/{asset_id}").into(),
+			DownloadType::Mesh(RobloxAssetId(asset_id))=>format!("meshes/{asset_id}").into(),
+			DownloadType::Union(RobloxAssetId(asset_id))=>format!("unions/{asset_id}").into(),
+		}
+	}
+	fn asset_id(&self)->u64{
+		match self{
+			&DownloadType::Texture(RobloxAssetId(asset_id))=>asset_id,
+			&DownloadType::Mesh(RobloxAssetId(asset_id))=>asset_id,
+			&DownloadType::Union(RobloxAssetId(asset_id))=>asset_id,
+		}
+	}
+}
+enum DownloadResult{
+	Cached(PathBuf),
+	Data(Vec<u8>),
+	Failed,
+}
+#[derive(Default,Debug)]
+struct Stats{
+	total_assets:u32,
+	cached_assets:u32,
+	downloaded_assets:u32,
+	failed_downloads:u32,
+	timed_out_downloads:u32,
+}
+async fn download_retry(stats:&mut Stats,context:&rbx_asset::cookie::Context,download_instruction:DownloadType)->Result<DownloadResult,std::io::Error>{
+	stats.total_assets+=1;
+	// check if file exists on disk
+	let path=download_instruction.path();
+	if tokio::fs::try_exists(path.as_path()).await?{
+		stats.cached_assets+=1;
+		return Ok(DownloadResult::Cached(path));
+	}
+	let asset_id=download_instruction.asset_id();
+	// if not, download file
+	let mut retry=0;
+	let mut backoff=1000f32;
+	loop{
+		let asset_result=context.get_asset(rbx_asset::cookie::GetAssetRequest{
+			asset_id,
+			version:None,
+		}).await;
+		match asset_result{
+			Ok(asset_result)=>{
+				stats.downloaded_assets+=1;
+				let data=asset_result.to_vec()?;
+				tokio::fs::write(path,&data).await?;
+				break Ok(DownloadResult::Data(data));
+			},
+			Err(rbx_asset::cookie::GetError::Response(rbx_asset::types::ResponseError::Details{status_code,url_and_body}))=>{
+				if status_code.as_u16()==429{
+					if retry==12{
+						println!("Giving up asset download {asset_id}");
+						stats.timed_out_downloads+=1;
+						break Ok(DownloadResult::Failed);
+					}
+					println!("Hit roblox rate limit, waiting {:.0}ms...",backoff);
+					tokio::time::sleep(std::time::Duration::from_millis(backoff as u64)).await;
+					backoff*=super::BACKOFF_MUL;
+					retry+=1;
+				}else{
+					stats.failed_downloads+=1;
+					println!("weird status_code error: status_code={status_code} url={} body={}",url_and_body.url,url_and_body.body);
+					break Ok(DownloadResult::Failed);
+				}
+			},
+			Err(e)=>{
+				stats.failed_downloads+=1;
+				println!("sadly error: {e}");
+				break Ok(DownloadResult::Failed);
+			},
+		}
+	}
+}
+
+async fn cli_convert_texture(RobloxAssetId(asset_id):RobloxAssetId,download_result:DownloadResult)->Result<(),CliConvertTextureError>{
+	let data=match download_result{
+		DownloadResult::Cached(path)=>tokio::fs::read(path).await?,
+		DownloadResult::Data(data)=>data,
+		DownloadResult::Failed=>return Ok(()),
+	};
+	let dds=convert_texture_to_dds(&data)?;
+
+	let file_name=format!("textures/{asset_id}.dds");
+	tokio::fs::write(file_name,&dds).await?;
+	Ok(())
+}
+#[derive(Debug,thiserror::Error)]
+enum CliConvertTextureError{
+	#[error("Io error {0:?}")]
+	Io(#[from]std::io::Error),
+	#[error("ConvertTexture error {0:?}")]
+	ConvertTexture(#[from]ConvertTextureError),
+}
+
+async fn download_assets(paths:Vec<PathBuf>,cookie:rbx_asset::cookie::Cookie)->AResult<()>{
+	tokio::try_join!(
+		tokio::fs::create_dir_all("downloaded_textures"),
+		tokio::fs::create_dir_all("textures"),
+		tokio::fs::create_dir_all("meshes"),
+		tokio::fs::create_dir_all("unions"),
+	)?;
+	// use mpsc
+	let thread_limit=std::thread::available_parallelism()?.get();
+	let (send_assets,mut recv_assets)=tokio::sync::mpsc::channel(DOWNLOAD_LIMIT);
+	let (send_texture,mut recv_texture)=tokio::sync::mpsc::channel(thread_limit);
+	// map decode dispatcher
+	// read files multithreaded
+	// produce UniqueAssetsResult per file
+	tokio::spawn(async move{
+		// move send so it gets dropped when all maps have been decoded
+		// closing the channel
+		let mut it=paths.into_iter();
+		static SEM:tokio::sync::Semaphore=tokio::sync::Semaphore::const_new(0);
+		SEM.add_permits(thread_limit);
+		while let (Ok(permit),Some(path))=(SEM.acquire().await,it.next()){
+			let send=send_assets.clone();
+			tokio::spawn(async move{
+				let result=match tokio::fs::read(&path).await{
+					Ok(data)=>super::load_dom(&data).map(|dom|get_unique_assets(&dom)).map_err(|e|format!("{e:?}")),
+					Err(e)=>Err(format!("{e:?}")),
+				};
+				_=send.send(result).await;
+				drop(permit);
+			});
+		}
+	});
+	// download manager
+	let mut stats=Stats::default();
+	let context=rbx_asset::cookie::Context::new(cookie);
+	let mut globally_unique_assets=UniqueAssets::default();
+	let download_thread=tokio::spawn(async move{
+		while let Some(result)=recv_assets.recv().await{
+			let unique_assets=match result{
+				Ok(unique_assets)=>unique_assets,
+				Err(e)=>{
+					println!("error: {e:?}");
+					continue;
+				},
+			};
+			for texture_id in unique_assets.textures{
+				if globally_unique_assets.textures.insert(texture_id){
+					let data=download_retry(&mut stats,&context,DownloadType::Texture(texture_id)).await?;
+					send_texture.send((texture_id,data)).await?;
+				}
+			}
+			for mesh_id in unique_assets.meshes{
+				if globally_unique_assets.meshes.insert(mesh_id){
+					download_retry(&mut stats,&context,DownloadType::Mesh(mesh_id)).await?;
+				}
+			}
+			for union_id in unique_assets.unions{
+				if globally_unique_assets.unions.insert(union_id){
+					download_retry(&mut stats,&context,DownloadType::Union(union_id)).await?;
+				}
+			}
+		}
+		dbg!(stats);
+		Ok::<(),anyhow::Error>(())
+	});
+	static SEM:tokio::sync::Semaphore=tokio::sync::Semaphore::const_new(0);
+	SEM.add_permits(thread_limit);
+	while let (Ok(permit),Some((asset_id,download_result)))=(SEM.acquire().await,recv_texture.recv().await){
+		tokio::spawn(async move{
+			let result=cli_convert_texture(asset_id,download_result).await;
+			drop(permit);
+			result.unwrap();
+		});
+	}
+	download_thread.await??;
+	_=SEM.acquire_many(thread_limit as u32).await.unwrap();
+	Ok(())
+}
+
+async fn roblox_to_snf(paths:Vec<PathBuf>,output_folder:PathBuf)->AResult<()>{
+	let start=std::time::Instant::now();
+
+	let thread_limit=std::thread::available_parallelism()?.get();
+	let mut it=paths.into_iter();
+	static SEM:tokio::sync::Semaphore=tokio::sync::Semaphore::const_new(0);
+	// This is wrong! Calling roblox_to_snf multiple times keeps adding permits
+	SEM.add_permits(thread_limit);
+
+	while let (Ok(permit),Some(path))=(SEM.acquire().await,it.next()){
+		let output_folder=output_folder.clone();
+		tokio::task::spawn_blocking(move||{
+			let result=std::fs::read(&path).and_then(|data|{
+				super::load_dom(&data).map_err(|e|std::io::Error::other(e))
+				.and_then(|dom|convert_to_snf(dom).map_err(|e|std::io::Error::other(e)))
+				.and_then(|output|{
+					let mut dest=output_folder;
+					dest.push(path.file_stem().unwrap());
+					dest.set_extension("snfm");
+					std::fs::write(dest,&output.snf)?;
+					Ok(output)
+				})
+			});
+			drop(permit);
+			match result{
+				Ok(output)=>{
+					for error in output.script_errors{
+						println!("Script error: {error}");
+					}
+					let error_count=output.convert_errors.count();
+					if error_count!=0{
+						println!("Error count: {error_count}");
+						println!("Errors: {}",output.convert_errors);
+					}
+				},
+				Err(e)=>println!("Convert error: {e:?}"),
+			}
+		});
+	}
+	_=SEM.acquire_many(thread_limit as u32).await.unwrap();
+
+	println!("elapsed={:?}", start.elapsed());
+	Ok(())
+}
+
+#[expect(dead_code)]
+#[derive(Debug)]
+pub enum ConvertError{
+	IO(std::io::Error),
+	SNFMap(strafesnet_snf::map::Error),
+	RobloxLoadMesh(super::loader::MeshError),
+	RobloxLoadTexture(super::loader::TextureError),
+}
+impl std::fmt::Display for ConvertError{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{self:?}")
+	}
+}
+impl std::error::Error for ConvertError{}
+
+pub struct ConvertOutput{
+	pub snf:Vec<u8>,
+	pub script_errors:Vec<strafesnet_rbx_loader::RunnerError>,
+	pub convert_errors:strafesnet_rbx_loader::RecoverableErrors,
+}
+
+pub fn convert_to_snf(dom:rbx_dom_weak::WeakDom)->Result<ConvertOutput,ConvertError>{
+	const FAILURE_MODE:LoadFailureMode=LoadFailureMode::DefaultToNone;
+
+	// run scripts
+	let model=strafesnet_rbx_loader::Model::new(dom);
+
+	let mut place=strafesnet_rbx_loader::Place::from(model);
+	let script_errors=place.run_scripts().unwrap_or_else(|e|vec![e]);
+
+	// convert
+	let mut texture_deferred_loader=RenderConfigDeferredLoader::new();
+	let mut mesh_deferred_loader=MeshDeferredLoader::new();
+
+	let map_step1=strafesnet_rbx_loader::rbx::convert(
+		place.as_ref(),
+		&mut texture_deferred_loader,
+		&mut mesh_deferred_loader,
+	);
+
+	let mut mesh_loader=super::loader::MeshLoader::new();
+	let meshpart_meshes=mesh_deferred_loader.into_meshes(&mut mesh_loader,FAILURE_MODE).map_err(ConvertError::RobloxLoadMesh)?;
+
+	let map_step2=map_step1.add_meshpart_meshes_and_calculate_attributes(meshpart_meshes);
+
+	let mut texture_loader=super::loader::TextureLoader::new();
+	let render_configs=texture_deferred_loader.into_render_configs(&mut texture_loader,FAILURE_MODE).map_err(ConvertError::RobloxLoadTexture)?;
+
+	let (map,convert_errors)=map_step2.add_render_configs_and_textures(render_configs);
+
+	let mut snf_buf=Vec::new();
+	strafesnet_snf::map::write_map(Cursor::new(&mut snf_buf),map).map_err(ConvertError::SNFMap)?;
+
+	Ok(ConvertOutput{
+		snf:snf_buf,
+		script_errors,
+		convert_errors,
+	})
+}
+
+async fn extract_union_data(input_file:PathBuf,output_folder:PathBuf)->AResult<()>{
+	let data=tokio::fs::read(&input_file).await?;
+
+	let dom=rbx_binary::from_reader(Cursor::new(data))?;
+	let &[referent]=dom.root().children()else{
+		panic!("Expected one child");
+	};
+	let Some(instance)=dom.get_by_ref(referent)else{
+		panic!("Missing instance");
+	};
+	let output_file=output_folder.join(input_file.file_stem().unwrap());
+	if let Some(rbx_dom_weak::types::Variant::BinaryString(data))=instance.properties.get(&rbx_dom_weak::ustr("PhysicsData")){
+		let mut physics_data_path=output_file.clone();
+		physics_data_path.set_extension("physicsdata");
+		tokio::fs::write(physics_data_path,data).await?;
+	}
+	if let Some(rbx_dom_weak::types::Variant::BinaryString(data))=instance.properties.get(&rbx_dom_weak::ustr("MeshData")){
+		let mut mesh_data_path=output_file.clone();
+		mesh_data_path.set_extension("meshdata");
+		tokio::fs::write(mesh_data_path,data).await?;
+	}
+
+	Ok(())
+}

map-tool/src/roblox/loader.rs

@@ -1,12 +1,13 @@
 use std::io::Read;
 use rbxassetid::{RobloxAssetId,RobloxAssetIdParseErr};
-use strafesnet_common::model::Mesh;
 use strafesnet_deferred_loader::{loader::Loader,texture::Texture};
 
-use crate::data::RobloxMeshBytes;
-use crate::rbx::RobloxPartDescription;
+use strafesnet_rbx_loader::mesh::{MeshIndex,MeshType,MeshWithSize};
 
-use rbx_dom_weak::hstr;
+// disallow non-static lifetimes
+fn static_ustr(s:&'static str)->rbx_dom_weak::Ustr{
+	rbx_dom_weak::ustr(s)
+}
 
 fn read_entire_file(path:impl AsRef<std::path::Path>)->Result<Vec<u8>,std::io::Error>{
 	let mut file=std::fs::File::open(path)?;
@@ -15,7 +16,7 @@ fn read_entire_file(path:impl AsRef<std::path::Path>)->Result<Vec<u8>,std::io::E
 	Ok(data)
 }
 
-#[allow(dead_code)]
+#[expect(dead_code)]
 #[derive(Debug)]
 pub enum TextureError{
 	Io(std::io::Error),
@@ -48,7 +49,7 @@ impl Loader for TextureLoader{
 	type Error=TextureError;
 	type Index<'a>=&'a str;
 	type Resource=Texture;
-	fn load<'a>(&mut self,index:Self::Index<'a>)->Result<Self::Resource,Self::Error>{
+	fn load(&mut self,index:Self::Index<'_>)->Result<Self::Resource,Self::Error>{
 		let RobloxAssetId(asset_id)=index.parse()?;
 		let file_name=format!("textures/{}.dds",asset_id);
 		let data=read_entire_file(file_name)?;
@@ -56,13 +57,13 @@ impl Loader for TextureLoader{
 	}
 }
 
-#[allow(dead_code)]
+#[expect(dead_code)]
 #[derive(Debug)]
 pub enum MeshError{
 	Io(std::io::Error),
 	RobloxAssetIdParse(RobloxAssetIdParseErr),
-	Mesh(crate::mesh::Error),
-	Union(crate::union::Error),
+	Mesh(strafesnet_rbx_loader::mesh::Error),
+	Union(strafesnet_rbx_loader::union::Error),
 	DecodeBinary(rbx_binary::DecodeError),
 	OneChildPolicy,
 	MissingInstance,
@@ -83,13 +84,13 @@ impl From<RobloxAssetIdParseErr> for MeshError{
 		Self::RobloxAssetIdParse(value)
 	}
 }
-impl From<crate::mesh::Error> for MeshError{
-	fn from(value:crate::mesh::Error)->Self{
+impl From<strafesnet_rbx_loader::mesh::Error> for MeshError{
+	fn from(value:strafesnet_rbx_loader::mesh::Error)->Self{
 		Self::Mesh(value)
 	}
 }
-impl From<crate::union::Error> for MeshError{
-	fn from(value:crate::union::Error)->Self{
+impl From<strafesnet_rbx_loader::union::Error> for MeshError{
+	fn from(value:strafesnet_rbx_loader::union::Error)->Self{
 		Self::Union(value)
 	}
 }
@@ -99,47 +100,6 @@ impl From<rbx_binary::DecodeError> for MeshError{
 	}
 }
 
-#[derive(Hash,Eq,PartialEq)]
-pub enum MeshType<'a>{
-	FileMesh,
-	Union{
-		mesh_data:&'a [u8],
-		physics_data:&'a [u8],
-		size_float_bits:[u32;3],
-		part_texture_description:RobloxPartDescription,
-	},
-}
-#[derive(Hash,Eq,PartialEq)]
-pub struct MeshIndex<'a>{
-	mesh_type:MeshType<'a>,
-	content:&'a str,
-}
-impl MeshIndex<'_>{
-	pub fn file_mesh(content:&str)->MeshIndex{
-		MeshIndex{
-			mesh_type:MeshType::FileMesh,
-			content,
-		}
-	}
-	pub fn union<'a>(
-		content:&'a str,
-		mesh_data:&'a [u8],
-		physics_data:&'a [u8],
-		size:&rbx_dom_weak::types::Vector3,
-		part_texture_description:RobloxPartDescription,
-	)->MeshIndex<'a>{
-		MeshIndex{
-			mesh_type:MeshType::Union{
-				mesh_data,
-				physics_data,
-				size_float_bits:[size.x.to_bits(),size.y.to_bits(),size.z.to_bits()],
-				part_texture_description,
-			},
-			content,
-		}
-	}
-}
-
 pub struct MeshLoader;
 impl MeshLoader{
 	pub fn new()->Self{
@@ -149,23 +109,23 @@ impl MeshLoader{
 impl Loader for MeshLoader{
 	type Error=MeshError;
 	type Index<'a>=MeshIndex<'a>;
-	type Resource=Mesh;
-	fn load<'a>(&mut self,index:Self::Index<'a>)->Result<Self::Resource,Self::Error>{
+	type Resource=MeshWithSize;
+	fn load(&mut self,index:Self::Index<'_>)->Result<Self::Resource,Self::Error>{
 		let mesh=match index.mesh_type{
 			MeshType::FileMesh=>{
 				let RobloxAssetId(asset_id)=index.content.parse()?;
 				let file_name=format!("meshes/{}",asset_id);
 				let data=read_entire_file(file_name)?;
-				crate::mesh::convert(RobloxMeshBytes::new(data))?
+				strafesnet_rbx_loader::mesh::convert(&data)?
 			},
 			MeshType::Union{mut physics_data,mut mesh_data,size_float_bits,part_texture_description}=>{
 				// decode asset
-				let size=glam::Vec3::from_array(size_float_bits.map(f32::from_bits));
+				let size=size_float_bits.map(f32::from_bits).into();
 				if !index.content.is_empty()&&(physics_data.is_empty()||mesh_data.is_empty()){
 					let RobloxAssetId(asset_id)=index.content.parse()?;
 					let file_name=format!("unions/{}",asset_id);
 					let data=read_entire_file(file_name)?;
-					let dom=rbx_binary::from_reader_default(data.as_slice())?;
+					let dom=rbx_binary::from_reader(std::io::Cursor::new(data))?;
 					let &[referent]=dom.root().children()else{
 						return Err(MeshError::OneChildPolicy);
 					};
@@ -173,18 +133,18 @@ impl Loader for MeshLoader{
 						return Err(MeshError::MissingInstance);
 					};
 					if physics_data.is_empty(){
-						if let Some(rbx_dom_weak::types::Variant::BinaryString(data))=instance.properties.get(hstr!("PhysicsData")){
+						if let Some(rbx_dom_weak::types::Variant::BinaryString(data))=instance.properties.get(&static_ustr("PhysicsData")){
 							physics_data=data.as_ref();
 						}
 					}
 					if mesh_data.is_empty(){
-						if let Some(rbx_dom_weak::types::Variant::BinaryString(data))=instance.properties.get(hstr!("MeshData")){
+						if let Some(rbx_dom_weak::types::Variant::BinaryString(data))=instance.properties.get(&static_ustr("MeshData")){
 							mesh_data=data.as_ref();
 						}
 					}
-					crate::union::convert(physics_data,mesh_data,size,part_texture_description)?
+					strafesnet_rbx_loader::union::convert(physics_data,mesh_data,size,part_texture_description)?
 				}else{
-					crate::union::convert(physics_data,mesh_data,size,part_texture_description)?
+					strafesnet_rbx_loader::union::convert(physics_data,mesh_data,size,part_texture_description)?
 				}
 			},
 		};

map-tool/src/roblox/mod.rs

@@ -0,0 +1,210 @@
+#[cfg(feature="cli")]
+mod cli;
+#[cfg(feature="cli")]
+pub use cli::Commands;
+#[cfg(feature="cli")]
+mod loader;
+
+use std::io::{Cursor,Read,Seek};
+use std::collections::HashSet;
+pub use rbxassetid::RobloxAssetId;
+use rbx_dom_weak::Instance;
+
+// disallow non-static lifetimes
+fn static_ustr(s:&'static str)->rbx_dom_weak::Ustr{
+	rbx_dom_weak::ustr(s)
+}
+
+#[derive(Debug)]
+pub enum LoadDomError{
+	IO(std::io::Error),
+	Binary(rbx_binary::DecodeError),
+	Xml(rbx_xml::DecodeError),
+	UnknownFormat,
+}
+impl std::fmt::Display for LoadDomError{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{self:?}")
+	}
+}
+impl std::error::Error for LoadDomError{}
+pub fn load_dom(data:&[u8])->Result<rbx_dom_weak::WeakDom,LoadDomError>{
+	let mut input=Cursor::new(data);
+	let mut first_8=[0u8;8];
+	input.read_exact(&mut first_8).map_err(LoadDomError::IO)?;
+	input.rewind().map_err(LoadDomError::IO)?;
+	match &first_8{
+		b"<roblox!"=>rbx_binary::from_reader(input).map_err(LoadDomError::Binary),
+		b"<roblox "=>rbx_xml::from_reader(input,rbx_xml::DecodeOptions::default()).map_err(LoadDomError::Xml),
+		_=>Err(LoadDomError::UnknownFormat),
+	}
+}
+
+fn accumulate_content(content_list:&mut HashSet<RobloxAssetId>,object:&Instance,property:&'static str){
+	let Some(rbx_dom_weak::types::Variant::Content(content))=object.properties.get(&static_ustr(property))else{
+		println!("property={} does not exist for class={}",property,object.class.as_str());
+		return;
+	};
+	let rbx_dom_weak::types::ContentType::Uri(uri)=content.value()else{
+		println!("ContentType is not Uri");
+		return;
+	};
+	let Ok(asset_id)=uri.parse()else{
+		println!("Content failed to parse into AssetID: {:?}",content);
+		return;
+	};
+	content_list.insert(asset_id);
+}
+fn accumulate_content_id(content_list:&mut HashSet<RobloxAssetId>,object:&Instance,property:&'static str){
+	let Some(rbx_dom_weak::types::Variant::ContentId(content))=object.properties.get(&static_ustr(property))else{
+		println!("property={} does not exist for class={}",property,object.class.as_str());
+		return;
+	};
+	let Ok(asset_id)=content.as_str().parse()else{
+		println!("Content failed to parse into AssetID: {:?}",content);
+		return;
+	};
+	content_list.insert(asset_id);
+}
+
+#[derive(Default)]
+pub struct UniqueAssets{
+	pub meshes:HashSet<RobloxAssetId>,
+	pub unions:HashSet<RobloxAssetId>,
+	pub textures:HashSet<RobloxAssetId>,
+}
+impl UniqueAssets{
+	fn collect(&mut self,object:&Instance){
+		match object.class.as_str(){
+			"Beam"=>accumulate_content_id(&mut self.textures,object,"Texture"),
+			"Decal"=>accumulate_content(&mut self.textures,object,"TextureContent"),
+			"FileMesh"=>accumulate_content_id(&mut self.textures,object,"TextureId"),
+			"MeshPart"=>{
+				accumulate_content(&mut self.textures,object,"TextureContent");
+				accumulate_content(&mut self.meshes,object,"MeshContent");
+			},
+			"ParticleEmitter"=>accumulate_content_id(&mut self.textures,object,"Texture"),
+			"SpecialMesh"=>accumulate_content_id(&mut self.meshes,object,"MeshId"),
+			"Sky"=>{
+				accumulate_content_id(&mut self.textures,object,"MoonTextureId");
+				accumulate_content_id(&mut self.textures,object,"SkyboxBk");
+				accumulate_content_id(&mut self.textures,object,"SkyboxDn");
+				accumulate_content_id(&mut self.textures,object,"SkyboxFt");
+				accumulate_content_id(&mut self.textures,object,"SkyboxLf");
+				accumulate_content_id(&mut self.textures,object,"SkyboxRt");
+				accumulate_content_id(&mut self.textures,object,"SkyboxUp");
+				accumulate_content_id(&mut self.textures,object,"SunTextureId");
+			},
+			"SurfaceAppearance"=>{
+				accumulate_content(&mut self.textures,object,"ColorMapContent");
+				accumulate_content(&mut self.textures,object,"MetalnessMapContent");
+				accumulate_content(&mut self.textures,object,"NormalMapContent");
+				accumulate_content(&mut self.textures,object,"RoughnessMapContent");
+			}
+			"Texture"=>accumulate_content(&mut self.textures,object,"TextureContent"),
+			"UnionOperation"=>accumulate_content_id(&mut self.unions,object,"AssetId"),
+			_=>(),
+		}
+	}
+}
+
+pub fn get_unique_assets(dom:&rbx_dom_weak::WeakDom)->UniqueAssets{
+	let mut assets=UniqueAssets::default();
+	for object in dom.descendants(){
+		assets.collect(object);
+	}
+	assets
+}
+
+#[derive(Debug,thiserror::Error)]
+pub enum ConvertTextureError{
+	#[error("Image error {0:?}")]
+	Image(#[from]image::ImageError),
+	#[error("DDS encode error {0:?}")]
+	DDSEncode(#[from]image_dds::error::SurfaceError),
+	#[error("DDS create error {0:?}")]
+	DDS(#[from]image_dds::CreateDdsError),
+	#[error("DDS write error {0:?}")]
+	DDSWrite(#[from]image_dds::ddsfile::Error),
+}
+pub fn convert_texture_to_dds(data:&[u8])->Result<Vec<u8>,ConvertTextureError>{
+	let image=image::load_from_memory(data)?.to_rgba8();
+
+	let format=if image.width()%4!=0||image.height()%4!=0{
+		image_dds::ImageFormat::Rgba8UnormSrgb
+	}else{
+		image_dds::ImageFormat::BC7RgbaUnormSrgb
+	};
+
+	let dds=image_dds::SurfaceRgba8{
+		width:image.width(),
+		height:image.height(),
+		depth:1,
+		layers:1,
+		mipmaps:1,
+		data:image.as_raw(),
+	}.encode(format,image_dds::Quality::Slow,image_dds::Mipmaps::GeneratedAutomatic)?.to_dds()?;
+
+	let mut buf=Vec::new();
+	dds.write(&mut Cursor::new(&mut buf))?;
+	Ok(buf)
+}
+
+#[derive(Debug)]
+pub enum DownloadAssetError{
+	Get(rbx_asset::cookie::GetError),
+	IO(std::io::Error),
+}
+impl std::fmt::Display for DownloadAssetError{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"{self:?}")
+	}
+}
+impl std::error::Error for DownloadAssetError{}
+
+pub async fn download_asset(context:&rbx_asset::cookie::Context,asset_id:u64)->Result<Vec<u8>,DownloadAssetError>{
+	let data=context.get_asset(rbx_asset::cookie::GetAssetRequest{
+		asset_id,
+		version:None,
+	}).await.map_err(DownloadAssetError::Get)?;
+	Ok(data.to_vec().map_err(DownloadAssetError::IO)?)
+}
+
+pub(crate) const BACKOFF_MUL:f32=1.3956124250860895286;//exp(1/3)
+const RETRY_LIMIT:u32=12;
+
+pub enum DownloadRetryResult{
+	Ok(Vec<u8>),
+	TimedOut,
+}
+
+pub async fn download_asset_retry(context:&rbx_asset::cookie::Context,asset_id:u64)->Result<DownloadRetryResult,DownloadAssetError>{
+	let mut retry=0u32;
+	let mut backoff=1000f32;
+	loop{
+		match context.get_asset(rbx_asset::cookie::GetAssetRequest{
+			asset_id,
+			version:None,
+		}).await{
+			Ok(data)=>{
+				let bytes=data.to_vec().map_err(DownloadAssetError::IO)?;
+				break Ok(DownloadRetryResult::Ok(bytes));
+			},
+			Err(rbx_asset::cookie::GetError::Response(rbx_asset::types::ResponseError::Details{status_code,url_and_body}))=>{
+				if status_code.as_u16()==429{
+					if retry==RETRY_LIMIT{
+						break Ok(DownloadRetryResult::TimedOut);
+					}
+					tokio::time::sleep(std::time::Duration::from_millis(backoff as u64)).await;
+					backoff*=BACKOFF_MUL;
+					retry+=1;
+				}else{
+					break Err(DownloadAssetError::Get(rbx_asset::cookie::GetError::Response(rbx_asset::types::ResponseError::Details{status_code,url_and_body})));
+				}
+			},
+			Err(e)=>{
+				break Err(DownloadAssetError::Get(e));
+			},
+		}
+	}
+}