debug

Completely replace the janky closest fev crawl from infinity algorithm with a dedicated purpose-built algorithm.  Finding the closest point on a MinkowskiMesh is equivalent to finding the closest point between two meshes.

Reviewed-on: #25
Co-authored-by: Rhys Lloyd <krakow20@gmail.com>
Co-committed-by: Rhys Lloyd <krakow20@gmail.com>

engine/graphics/Cargo.toml

@@ -11,7 +11,7 @@ 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 = "27.0.0"
+wgpu = "28.0.0"
 
 [lints]
 workspace = true

engine/graphics/src/graphics.rs

@@ -616,7 +616,7 @@ 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{
@@ -626,7 +626,7 @@ 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()
 		});
@@ -754,7 +754,7 @@ impl GraphicsState{
 				&skybox_texture_bind_group_layout,
 				&model_bind_group_layout,
 			],
-			push_constant_ranges:&[],
+			immediate_size:0,
 		});
 		let sky_pipeline_layout=device.create_pipeline_layout(&wgpu::PipelineLayoutDescriptor{
 			label:None,
@@ -762,7 +762,7 @@ impl GraphicsState{
 				&camera_bind_group_layout,
 				&skybox_texture_bind_group_layout,
 			],
-			push_constant_ranges:&[],
+			immediate_size:0,
 		});
 
 		// Create the render pipelines
@@ -793,7 +793,7 @@ impl GraphicsState{
 				bias:wgpu::DepthBiasState::default(),
 			}),
 			multisample:wgpu::MultisampleState::default(),
-			multiview:None,
+			multiview_mask:None,
 			cache:None,
 		});
 		let model_pipeline=device.create_render_pipeline(&wgpu::RenderPipelineDescriptor{
@@ -828,7 +828,7 @@ impl GraphicsState{
 				bias:wgpu::DepthBiasState::default(),
 			}),
 			multisample:wgpu::MultisampleState::default(),
-			multiview:None,
+			multiview_mask:None,
 			cache:None,
 		});
 
@@ -880,7 +880,7 @@ impl GraphicsState{
 			camera_buf,
 			models:Vec::new(),
 			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,
@@ -918,7 +918,6 @@ impl GraphicsState{
 				&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
@@ -965,6 +964,7 @@ impl GraphicsState{
 				}),
 				timestamp_writes:Default::default(),
 				occlusion_query_set:Default::default(),
+				multiview_mask:None,
 			});
 
 			rpass.set_bind_group(0,&self.bind_groups.camera,&[]);

engine/physics/Cargo.toml

@@ -7,6 +7,7 @@ edition = "2024"
 arrayvec = "0.7.6"
 glam = "0.30.0"
 id = { version = "0.1.0", registry = "strafesnet" }
+mlua = { version = "0.11.5", features = ["luau"] }
 strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
 
 [lints]

engine/physics/src/lib.rs

@@ -3,6 +3,7 @@ mod face_crawler;
 mod model;
 mod push_solve;
 mod minimum_difference;
+mod minimum_difference_lua;
 
 pub mod physics;
 

engine/physics/src/minimum_difference.rs

@@ -3,12 +3,14 @@ use strafesnet_common::integer::vec3::Vector3;
 use strafesnet_common::integer::{Fixed,Planar64,Planar64Vec3};
 
 use crate::model::{DirectedEdge,FEV,MeshQuery};
+// TODO: remove mesh invert
+use crate::model::{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)]
+#[derive(Clone,Copy,Debug)]
 enum Simplex1_3<Vert>{
 	Simplex1(Simplex<1,Vert>),
 	Simplex2(Simplex<2,Vert>),
@@ -98,17 +100,51 @@ const fn choose_any_direction()->Planar64Vec3{
 	vec3::X
 }
 
+fn narrow_dir2(dir:Vector3<Fixed<2,64>>)->Planar64Vec3{
+	if dir==vec3::zero(){
+		return dir.narrow_1().unwrap();
+	}
+	let x=dir.x.as_bits().unsigned_abs().bits();
+	let y=dir.y.as_bits().unsigned_abs().bits();
+	let z=dir.z.as_bits().unsigned_abs().bits();
+	let big=x.max(y).max(z);
+	const MAX_BITS:u32=64+31;
+	if MAX_BITS<big{
+		dir>>(big-MAX_BITS)
+	}else{
+		dir
+	}.narrow_1().unwrap()
+}
+fn narrow_dir3(dir:Vector3<Fixed<3,96>>)->Planar64Vec3{
+	if dir==vec3::zero(){
+		return dir.narrow_1().unwrap();
+	}
+	let x=dir.x.as_bits().unsigned_abs().bits();
+	let y=dir.y.as_bits().unsigned_abs().bits();
+	let z=dir.z.as_bits().unsigned_abs().bits();
+	let big=x.max(y).max(z);
+	const MAX_BITS:u32=96+31;
+	if MAX_BITS<big{
+		dir>>(big-MAX_BITS)
+	}else{
+		dir
+	}.narrow_1().unwrap()
+}
+
 fn reduce1<M:MeshQuery>(
 	[v0]:Simplex<1,M::Vert>,
 	mesh:&M,
 	point:Planar64Vec3,
 )->Reduced<M::Vert>{
+	println!("reduce1");
 	// --debug.profilebegin("reduceSimplex0")
 	// local a = a1 - a0
 	let p0=mesh.vert(v0);
 
+	println!("p0={p0}");
 	// local p = -a
 	let p=-(p0+point);
+	println!("p={p}");
 
 	// local direction = p
 	let mut dir=p;
@@ -132,6 +168,7 @@ fn reduce2<M:MeshQuery>(
 	mesh:&M,
 	point:Planar64Vec3,
 )->Reduced<M::Vert>{
+	println!("reduce2");
 	// --debug.profilebegin("reduceSimplex1")
 	// local a = a1 - a0
 	// local b = b1 - b0
@@ -163,7 +200,7 @@ fn reduce2<M:MeshQuery>(
 		// -- modify the direction to take into account a0R and b0R
 		// return direction, a0, a1, b0, b1
 		return Reduced{
-			dir:direction.narrow_1().unwrap(),
+			dir:narrow_dir3(direction),
 			simplex:Simplex1_3::Simplex2([v0,v1]),
 		};
 	}
@@ -189,6 +226,7 @@ fn reduce3<M:MeshQuery>(
 	mesh:&M,
 	point:Planar64Vec3,
 )->Reduced<M::Vert>{
+	println!("reduce3");
 	// --debug.profilebegin("reduceSimplex2")
 	// local a = a1 - a0
 	// local b = b1 - b0
@@ -229,7 +267,7 @@ fn reduce3<M:MeshQuery>(
 
 		// return direction, a0, a1, b0, b1, c0, c1
 		return Reduced{
-			dir:direction.narrow_1().unwrap(),
+			dir:narrow_dir2(direction),
 			simplex:Simplex1_3::Simplex3([v0,v1,v2]),
 		};
 	}
@@ -263,14 +301,14 @@ fn reduce3<M:MeshQuery>(
 		if direction==vec3::zero(){
 			// direction = uv
 			return Reduced{
-				dir:uv.narrow_1().unwrap(),
+				dir:narrow_dir2(uv),
 				simplex:Simplex1_3::Simplex2([v0,v1]),
 			};
 		}
 
 		// return direction, a0, a1, b0, b1
 		return Reduced{
-			dir:direction.narrow_1().unwrap(),
+			dir:narrow_dir3(direction),
 			simplex:Simplex1_3::Simplex2([v0,v1]),
 		};
 	}
@@ -281,7 +319,7 @@ fn reduce3<M:MeshQuery>(
 	if dir==vec3::zero(){
 		// direction = uv
 		return Reduced{
-			dir:uv.narrow_1().unwrap(),
+			dir:narrow_dir2(uv),
 			simplex:Simplex1_3::Simplex1([v0]),
 		};
 	}
@@ -298,6 +336,7 @@ fn reduce4<M:MeshQuery>(
 	mesh:&M,
 	point:Planar64Vec3,
 )->Reduce<M::Vert>{
+	println!("reduce4");
 	// --debug.profilebegin("reduceSimplex3")
 	// local a = a1 - a0
 	// local b = b1 - b0
@@ -334,8 +373,8 @@ fn reduce4<M:MeshQuery>(
 
 	// 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(){
+	 &&!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
@@ -363,8 +402,6 @@ fn reduce4<M:MeshQuery>(
 			// b0, c0 = c0, d0
 			// b1, c1 = c1, d1
 			(v1,v2)=(v2,v3);
-		}else{
-			v2=v3;
 		}
 	}else{
 		// elseif wuDist == minDist3 then
@@ -377,8 +414,6 @@ fn reduce4<M:MeshQuery>(
 			// before [a,b,c,d]
 			(v1,v2)=(v3,v1);
 			// after [a,d,b]
-		}else{
-			v2=v3;
 		}
 	}
 
@@ -395,17 +430,15 @@ fn reduce4<M:MeshQuery>(
 	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
-		if uv_w.is_negative(){
-			return Reduce::Reduced(Reduced{
-				dir:uv.narrow_1().unwrap(),
-				simplex:Simplex1_3::Simplex3([v0,v1,v2]),
-			});
+		let dir=if uv_w.is_negative(){
+			narrow_dir2(uv)
 		}else{
-			return Reduce::Reduced(Reduced{
-				dir:-uv.narrow_1().unwrap(),
-				simplex:Simplex1_3::Simplex3([v0,v1,v2]),
-			});
-		}
+			narrow_dir2(-uv)
+		};
+		return Reduce::Reduced(Reduced{
+			dir,
+			simplex:Simplex1_3::Simplex3([v0,v1,v2]),
+		});
 	}
 
 	// local u_u = u:Dot(u)
@@ -437,22 +470,20 @@ fn reduce4<M:MeshQuery>(
 		if direction==vec3::zero(){
 			// direction = uvw < 0 and uv or -uv
 			// return direction, a0, a1, b0, b1
-			if uv_w.is_negative(){
-				return Reduce::Reduced(Reduced{
-					dir:uv.narrow_1().unwrap(),
-					simplex:Simplex1_3::Simplex2([v0,v1]),
-				});
+			let dir=if uv_w.is_negative(){
+				narrow_dir2(uv)
 			}else{
-				return Reduce::Reduced(Reduced{
-					dir:-uv.narrow_1().unwrap(),
-					simplex:Simplex1_3::Simplex2([v0,v1]),
-				});
-			}
+				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:direction.narrow_1().unwrap(),
+			dir:narrow_dir3(direction),
 			simplex:Simplex1_3::Simplex2([v0,v1]),
 		});
 	}
@@ -462,17 +493,15 @@ fn reduce4<M:MeshQuery>(
 	// if direction.magnitude == 0 then
 	if dir==vec3::zero(){
 		// direction = uvw < 0 and uv or -uv
-		if uv_w.is_negative(){
-			return Reduce::Reduced(Reduced{
-				dir:uv.narrow_1().unwrap(),
-				simplex:Simplex1_3::Simplex1([v0]),
-			});
+		let dir=if uv_w.is_negative(){
+			narrow_dir2(uv)
 		}else{
-			return Reduce::Reduced(Reduced{
-				dir:-uv.narrow_1().unwrap(),
-				simplex:Simplex1_3::Simplex1([v0]),
-			});
-		}
+			narrow_dir2(-uv)
+		};
+		return Reduce::Reduced(Reduced{
+			dir,
+			simplex:Simplex1_3::Simplex1([v0]),
+		});
 	}
 
 	// return direction, a0, a1
@@ -502,24 +531,6 @@ impl<Vert> Simplex2_4<Vert>{
 	}
 }
 
-pub fn contains_point<M:MeshQuery>(mesh:&M,point:Planar64Vec3)->bool{
-	const ENABLE_FAST_FAIL:bool=true;
-	// TODO: remove mesh negation
-	minimum_difference::<ENABLE_FAST_FAIL,_,M>(&-mesh,point,
-		// on_exact
-		|is_intersecting,_simplex|{
-			is_intersecting
-		},
-		// on_escape
-		|_simplex|{
-			// intersection is guaranteed at this point
-			true
-		},
-		// fast_fail value
-		||false
-	)
-}
-
 //infinity fev algorithm state transition
 #[derive(Debug)]
 enum Transition<Vert>{
@@ -672,7 +683,7 @@ fn crawl_to_closest_ev<M:MeshQuery>(mesh:&M,simplex:Simplex<2,M::Vert>,point:Pla
 }
 
 /// 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 crawl_to_closest_fev<M:MeshQuery>(mesh:&M,simplex:Simplex<3,M::Vert>,point:Planar64Vec3)->FEV::<M>{
+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.
@@ -719,12 +730,22 @@ fn crawl_to_closest_fev<M:MeshQuery>(mesh:&M,simplex:Simplex<3,M::Vert>,point:Pl
 	}
 }
 
-pub fn closest_fev_not_inside<M:MeshQuery>(mesh:&M,point:Planar64Vec3)->Option<FEV<M>>{
+pub fn closest_fev_not_inside<'a>(mesh:&MinkowskiMesh<'a>,point:Planar64Vec3)->Option<FEV<MinkowskiMesh<'a>>>{
+	println!("=== LUA ===");
+	let (hits,_details)=crate::minimum_difference_lua::minimum_difference_details(mesh,point).unwrap();
+	println!("=== RUST ===");
+	let closest_fev_not_inside=closest_fev_not_inside_inner(mesh,point);
+	assert_eq!(hits,closest_fev_not_inside.is_none(),"algorithms disagree");
+	closest_fev_not_inside
+}
+
+fn closest_fev_not_inside_inner<'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,_,M>(&-mesh,point,
+	minimum_difference::<ENABLE_FAST_FAIL,_,_>(&-mesh,point,
 		// on_exact
 		|is_intersecting,simplex|{
+			println!("on_exact is_intersecting={is_intersecting} simplex={simplex:?}");
 			if is_intersecting{
 				return None;
 			}
@@ -735,11 +756,7 @@ pub fn closest_fev_not_inside<M:MeshQuery>(mesh:&M,point:Planar64Vec3)->Option<F
 				Simplex1_3::Simplex2([v0,v1])=>{
 					// invert
 					let (v0,v1)=(-v0,-v1);
-					let ev=crawl_to_closest_ev(mesh,[v0,v1],point);
-					if !matches!(ev,EV::Edge(_)){
-						println!("I can't believe it's not an edge!");
-					}
-					ev.into()
+					crawl_to_closest_ev(mesh,[v0,v1],point).into()
 				},
 				Simplex1_3::Simplex3([v0,v1,v2])=>{
 					// invert
@@ -747,11 +764,7 @@ pub fn closest_fev_not_inside<M:MeshQuery>(mesh:&M,point:Planar64Vec3)->Option<F
 					// 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
-					let fev=crawl_to_closest_fev(mesh,[v0,v1,v2],point);
-					if !matches!(fev,FEV::Face(_)){
-						println!("I can't believe it's not a face!");
-					}
-					fev
+					crawl_to_closest_fev(mesh,[v0,v1,v2],point)
 				},
 			})
 		},
@@ -767,6 +780,24 @@ pub fn closest_fev_not_inside<M:MeshQuery>(mesh:&M,point:Planar64Vec3)->Option<F
 	)
 }
 
+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,
@@ -788,6 +819,7 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery>(
 	if initial_axis==vec3::zero(){
 		initial_axis=choose_any_direction();
 	}
+	println!("initial_axis={initial_axis}");
 	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);
@@ -796,6 +828,8 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery>(
 	// exitRadius = testIntersection and 0 or exitRadius or 1/0
 	// for _ = 1, 100 do
 	loop{
+		println!("direction={direction}");
+
 		// new_point_p = queryP(-direction)
 		// new_point_q = queryQ(direction)
 		// local next_point = new_point_q - new_point_p
@@ -803,7 +837,11 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery>(
 		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(){
+		let d=direction.dot(next_pos+point);
+		let fast_fail=d.is_negative();
+		println!("ENABLE_FAST_FAIL={ENABLE_FAST_FAIL} fast_fail={fast_fail} next_point={} dot={d}",next_pos+point);
+		if ENABLE_FAST_FAIL&&fast_fail{
+			println!("on_fast_fail");
 			return on_fast_fail();
 		}
 
@@ -812,8 +850,11 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery>(
 		// 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){
+		let cond1=!direction.dot(next_pos-last_pos).is_positive();
+		let cond2=simplex_big.det_is_zero(mesh);
+		println!("cond1={cond1} cond2={cond2}");
+		if cond1||cond2{
+			println!("on_exact");
 			// Found enough information to compute the exact closest point.
 			// local norm = direction.unit
 			// local dist = a:Dot(norm)
@@ -826,6 +867,7 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery>(
 		match simplex_big.reduce(mesh,point){
 			// if a and b and c and d then
 			Reduce::Escape(simplex)=>{
+				println!("on_escape");
 				// Enough information to conclude that the meshes are intersecting.
 				// Topology information is computed if needed.
 				return on_escape(simplex);
@@ -841,4 +883,40 @@ fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery>(
 	}
 }
 
-// TODO: unit tests
+#[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/minimum_difference_lua.rs

@@ -0,0 +1,173 @@
+use mlua::{Lua,FromLuaMulti,IntoLuaMulti,Function,Result as LuaResult,Vector};
+use strafesnet_common::integer::{Planar64,Planar64Vec3,FixedFromFloatError};
+
+use crate::model::{MeshQuery,MinkowskiMesh};
+
+pub fn contains_point(
+	mesh:&MinkowskiMesh,
+	point:Planar64Vec3,
+)->LuaResult<bool>{
+	Ok(minimum_difference(mesh,point,true)?.hits)
+}
+pub fn minimum_difference_details(
+	mesh:&MinkowskiMesh,
+	point:Planar64Vec3,
+)->LuaResult<(bool,Option<Details>)>{
+	let md=minimum_difference(mesh,point,false)?;
+	Ok((md.hits,md.details))
+}
+fn p64v3(v:Vector)->Result<Planar64Vec3,FixedFromFloatError>{
+	Ok(Planar64Vec3::new([
+		v.x().try_into()?,
+		v.y().try_into()?,
+		v.z().try_into()?,
+	]))
+}
+fn vec(v:Planar64Vec3)->Vector{
+	Vector::new(v.x.into(),v.y.into(),v.z.into())
+}
+struct MinimumDifference{
+	hits:bool,
+	details:Option<Details>
+}
+pub struct Details{
+	pub distance:Planar64,
+	pub p_pos:Planar64Vec3,
+	pub p_norm:Planar64Vec3,
+	pub q_pos:Planar64Vec3,
+	pub q_norm:Planar64Vec3,
+}
+impl FromLuaMulti for MinimumDifference{
+	fn from_lua_multi(mut values:mlua::MultiValue,_lua:&Lua)->LuaResult<Self>{
+		match values.make_contiguous(){
+			&mut [
+				mlua::Value::Boolean(hits),
+				mlua::Value::Nil,
+				mlua::Value::Nil,
+				mlua::Value::Nil,
+				mlua::Value::Nil,
+				mlua::Value::Nil,
+			]=>Ok(Self{hits,details:None}),
+			&mut [
+				mlua::Value::Boolean(hits),
+				mlua::Value::Number(distance),
+				mlua::Value::Vector(p_pos),
+				mlua::Value::Vector(p_norm),
+				mlua::Value::Vector(q_pos),
+				mlua::Value::Vector(q_norm),
+			]=>Ok(Self{
+				hits,
+				details:Some(Details{
+					distance:distance.try_into().unwrap(),
+					p_pos:p64v3(p_pos).unwrap(),
+					p_norm:p64v3(p_norm).unwrap(),
+					q_pos:p64v3(q_pos).unwrap(),
+					q_norm:p64v3(q_norm).unwrap(),
+				}),
+			}),
+			&mut [
+				mlua::Value::Boolean(hits),
+				mlua::Value::Integer(distance),
+				mlua::Value::Vector(p_pos),
+				mlua::Value::Vector(p_norm),
+				mlua::Value::Vector(q_pos),
+				mlua::Value::Vector(q_norm),
+			]=>Ok(Self{
+				hits,
+				details:Some(Details{
+					distance:distance.into(),
+					p_pos:p64v3(p_pos).unwrap(),
+					p_norm:p64v3(p_norm).unwrap(),
+					q_pos:p64v3(q_pos).unwrap(),
+					q_norm:p64v3(q_norm).unwrap(),
+				}),
+			}),
+			values=>Err(mlua::Error::runtime(format!("Invalid return values: {values:?}"))),
+		}
+	}
+}
+
+struct Args{
+	query_p:Function,
+	radius_p:f64,
+	query_q:Function,
+	radius_q:f64,
+	test_intersection:bool,
+}
+impl Args{
+	fn new(
+		lua:&Lua,
+		mesh:&'static MinkowskiMesh<'static>,
+		point:Planar64Vec3,
+		test_intersection:bool,
+	)->LuaResult<Self>{
+		let radius_p=0.0;
+		let radius_q=0.0;
+		// Query the farthest point on the mesh in the given direction.
+		let query_p=lua.create_function(move|_,dir:Option<Vector>|{
+			let Some(dir)=dir else{
+				return Ok(vec(mesh.mesh0.hint_point()));
+			};
+			let dir=p64v3(dir).unwrap();
+			let vert_id=mesh.mesh0.farthest_vert(dir);
+			let dir=mesh.mesh0.vert(vert_id);
+			Ok(vec(dir))
+		})?;
+		// query_q is different since it includes the test point offset.
+		let query_q=lua.create_function(move|_,dir:Option<Vector>|{
+			let Some(dir)=dir else{
+				return Ok(vec(mesh.mesh1.hint_point()+point));
+			};
+			let dir=p64v3(dir).unwrap();
+			let vert_id=mesh.mesh1.farthest_vert(dir);
+			let dir=mesh.mesh1.vert(vert_id)+point;
+			Ok(vec(dir))
+		})?;
+		Ok(Args{
+			query_p,
+			radius_p,
+			query_q,
+			radius_q,
+			test_intersection,
+		})
+	}
+}
+impl IntoLuaMulti for Args{
+	fn into_lua_multi(self,lua:&Lua)->LuaResult<mlua::MultiValue>{
+		use mlua::IntoLua;
+		Ok(mlua::MultiValue::from_vec(vec![
+			self.query_p.into_lua(lua)?,
+			self.radius_p.into_lua(lua)?,
+			self.query_q.into_lua(lua)?,
+			self.radius_q.into_lua(lua)?,
+			mlua::Value::Nil,
+			self.test_intersection.into_lua(lua)?,
+		]))
+	}
+}
+
+fn minimum_difference(
+	mesh:&MinkowskiMesh,
+	point:Planar64Vec3,
+	test_intersection:bool,
+)->LuaResult<MinimumDifference>{
+	let ctx=init_lua()?;
+	// SAFETY: mesh lifetime must outlive args usages
+	let mesh=unsafe{core::mem::transmute(mesh)};
+	let args=Args::new(&ctx.lua,mesh,point,test_intersection)?;
+	ctx.f.call(args)
+}
+
+struct Ctx{
+	lua:Lua,
+	f:Function,
+}
+fn init_lua()->LuaResult<Ctx>{
+	static SOURCE:std::sync::LazyLock<String>=std::sync::LazyLock::new(||std::fs::read_to_string("/home/quat/strafesnet/strafe-project/Trey-MinimumDifference.lua").unwrap());
+	let lua=Lua::new();
+	lua.sandbox(true)?;
+	let lib_f=lua.load(SOURCE.as_str()).set_name("Trey-MinimumDifference").into_function()?;
+	let lib:mlua::Table=lib_f.call(())?;
+	let f=lib.raw_get("difference")?;
+	Ok(Ctx{lua,f})
+}

engine/physics/src/model.rs

@@ -103,17 +103,21 @@ pub trait MeshQuery{
 }
 #[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)]
@@ -593,7 +597,7 @@ impl core::ops::Neg for MinkowskiVert{
 		}
 	}
 }
-#[derive(Clone,Copy,Debug,Eq,PartialEq)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiEdge{
 	VertEdge(SubmeshVertId,SubmeshEdgeId),
 	EdgeVert(SubmeshEdgeId,SubmeshVertId),
@@ -608,7 +612,7 @@ impl UndirectedEdge for MinkowskiEdge{
 		}
 	}
 }
-#[derive(Clone,Copy,Debug,Eq,PartialEq)]
+#[derive(Clone,Copy,Debug)]
 pub enum MinkowskiDirectedEdge{
 	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
 	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
@@ -641,8 +645,8 @@ pub enum MinkowskiFace{
 
 #[derive(Debug)]
 pub struct MinkowskiMesh<'a>{
-	mesh0:TransformedMesh<'a>,
-	mesh1:TransformedMesh<'a>,
+	pub mesh0:TransformedMesh<'a>,
+	pub mesh1:TransformedMesh<'a>,
 }
 
 pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
@@ -672,8 +676,14 @@ impl MinkowskiMesh<'_>{
 		fev.crawl(self,relative_body,range.start_bound(),range.end_bound()).hit()
 	}
 	pub fn predict_collision_out(&self,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
-		let fev=crate::minimum_difference::closest_fev_not_inside(self,relative_body.position)?;
 		let (lower_bound,upper_bound)=(range.start_bound(),range.end_bound());
+		// TODO: handle unbounded collision using infinity fev
+		let time=match upper_bound{
+			Bound::Included(&time)=>time,
+			Bound::Excluded(&time)=>time,
+			Bound::Unbounded=>unimplemented!("unbounded collision out"),
+		};
+		let fev=crate::minimum_difference::closest_fev_not_inside(self,relative_body.extrapolated_position(time))?;
 		// 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 infinity_body=-relative_body;

engine/session/src/session.rs

@@ -52,7 +52,6 @@ pub enum SessionControlInstruction{
 pub enum SessionPlaybackInstruction{
 	SkipForward,
 	SkipBack,
-	TogglePaused,
 	DecreaseTimescale,
 	IncreaseTimescale,
 }
@@ -253,7 +252,14 @@ 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 +380,6 @@ 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);

lib/fixed_wide/src/fixed.rs

@@ -366,7 +366,7 @@ impl_additive_operator!( Fixed, BitXor, bitxor, Self );
 // non-wide operators.  The result is the same width as the inputs.
 
 // This macro is not used in the default configuration.
-#[allow(unused_macros)]
+#[expect(unused_macros)]
 macro_rules! impl_multiplicative_operator_not_const_generic {
 	( ($struct: ident, $trait: ident, $method: ident, $output: ty ), $width:expr ) => {
 		impl<const F:usize> core::ops::$trait for $struct<$width,F>{
@@ -545,7 +545,7 @@ impl_shift_operator!( Fixed, Shr, shr, Self );
 
 // wide operators.  The result width is the sum of the input widths, i.e. none of the multiplication
 
-#[allow(unused_macros)]
+#[expect(unused_macros)]
 macro_rules! impl_wide_operators{
 	($lhs:expr,$rhs:expr)=>{
 		impl core::ops::Mul<Fixed<$rhs,{$rhs*32}>> for Fixed<$lhs,{$lhs*32}>{

lib/rbx_loader/Cargo.toml

@@ -12,17 +12,17 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 [dependencies]
 bytemuck = "1.14.3"
 glam = "0.30.0"
-regex = { version = "1.11.3", default-features = false }
-rbx_binary = { version = "1.0.1-sn5", registry = "strafesnet" }
-rbx_dom_weak =  { version = "3.0.1-sn5", registry = "strafesnet" }
+regex = { version = "1.11.3", default-features = false, features = ["unicode-perl"] }
 rbx_mesh = "0.5.0"
-rbx_reflection = "5.0.0"
-rbx_reflection_database = "1.0.0"
-rbx_xml = { version = "1.0.1-sn5", registry = "strafesnet" }
 rbxassetid = { version = "0.1.0", path = "../rbxassetid", registry = "strafesnet" }
 roblox_emulator = { version = "0.5.1", path = "../roblox_emulator", default-features = false, registry = "strafesnet" }
 strafesnet_common = { version = "0.7.0", path = "../common", registry = "strafesnet" }
 strafesnet_deferred_loader = { version = "0.5.1", path = "../deferred_loader", registry = "strafesnet" }
+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/rbx.rs

@@ -559,7 +559,7 @@ pub fn convert<'a>(
 	//just going to leave it like this for now instead of reworking the data structures for this whole thing
 	let textureless_render_group=render_config_deferred_loader.acquire_render_config_id(None);
 
-	let db=rbx_reflection_database::get();
+	let db=rbx_reflection_database::get().unwrap();
 	let basepart=&db.classes["BasePart"];
 	let baseparts=dom.descendants().filter(|&instance|
 		db.classes.get(instance.class.as_str()).is_some_and(|class|

lib/roblox_emulator/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "roblox_emulator"
-version = "0.5.1"
+version = "0.5.2"
 edition = "2024"
 repository = "https://git.itzana.me/StrafesNET/strafe-project"
 license = "MIT OR Apache-2.0"
@@ -15,10 +15,10 @@ run-service=[]
 glam = "0.30.0"
 mlua = { version = "0.11.3", features = ["luau"] }
 phf = { version = "0.13.1", features = ["macros"] }
-rbx_dom_weak = { version = "3.0.1-sn5", registry = "strafesnet" }
-rbx_reflection = "5.0.0"
-rbx_reflection_database = "1.0.0"
-rbx_types = "2.0.0"
+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

@@ -52,7 +52,7 @@ impl Context{
 	}
 	/// Creates an iterator over all items of a particular class.
 	pub fn superclass_iter<'a>(&'a self,superclass:&'a str)->impl Iterator<Item=Ref>+'a{
-		let db=rbx_reflection_database::get();
+		let db=rbx_reflection_database::get().unwrap();
 		let Some(superclass)=db.classes.get(superclass)else{
 			panic!("Invalid class");
 		};

lib/roblox_emulator/src/runner/enum.rs

@@ -37,7 +37,7 @@ impl PartialEq for EnumItem<'_>{
 pub struct Enums;
 impl Enums{
 	pub fn get(&self,index:&str)->Option<EnumItems<'static>>{
-		let db=rbx_reflection_database::get();
+		let db=rbx_reflection_database::get().unwrap();
 		db.enums.get(index).map(|ed|EnumItems{ed})
 	}
 }

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

@@ -37,7 +37,7 @@ 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 db=rbx_reflection_database::get().unwrap();
 	let (Some(class),Some(superclass))=(db.classes.get(class),db.classes.get(superclass))else{
 		return false;
 	};
@@ -80,14 +80,14 @@ pub fn find_first_descendant_of_class<'a>(dom:&'a WeakDom,instance:&rbx_dom_weak
 }
 
 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();
+	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.as_str()).is_some_and(|descriptor|db.has_superclass(descriptor,superclass_descriptor))
 	})
 }
 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();
+	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.as_str()).is_some_and(|descriptor|db.has_superclass(descriptor,superclass_descriptor))
@@ -282,7 +282,7 @@ 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 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
@@ -344,7 +344,7 @@ 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 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)

map-tool/Cargo.toml

@@ -13,10 +13,10 @@ futures = "0.3.31"
 image = "0.25.2"
 image_dds = "0.7.1"
 rbx_asset = { version = "0.5.0", registry = "strafesnet" }
-rbx_binary  = { version = "1.0.1-sn5", registry = "strafesnet" }
-rbx_dom_weak =  { version = "3.0.1-sn5", registry = "strafesnet" }
-rbx_reflection_database = "1.0.0"
-rbx_xml = { version = "1.0.1-sn5", registry = "strafesnet" }
+rbx_binary = "2.0.1"
+rbx_dom_weak = "4.1.0"
+rbx_reflection_database = "2.0.2"
+rbx_xml = "2.0.1"
 rbxassetid = { version = "0.1.0", registry = "strafesnet" }
 strafesnet_bsp_loader = { version = "0.3.1", path = "../lib/bsp_loader", registry = "strafesnet" }
 strafesnet_deferred_loader = { version = "0.5.1", path = "../lib/deferred_loader", registry = "strafesnet" }

strafe-client/Cargo.toml

@@ -28,7 +28,7 @@ strafesnet_rbx_loader = { path = "../lib/rbx_loader", registry = "strafesnet", o
 strafesnet_session = { path = "../engine/session", registry = "strafesnet" }
 strafesnet_settings = { path = "../engine/settings", registry = "strafesnet" }
 strafesnet_snf = { path = "../lib/snf", registry = "strafesnet", optional = true }
-wgpu = "27.0.0"
+wgpu = "28.0.0"
 winit = "0.30.7"
 
 [profile.dev]

strafe-client/models/teslacyberv3.0.mtl

@@ -1,62 +0,0 @@
-# Blender MTL File: 'teslacyberv3.0.blend'
-# Material Count: 6
-
-newmtl Material
-Ns 65.476285
-Ka 1.000000 1.000000 1.000000
-Kd 0.411568 0.411568 0.411568
-Ks 0.614679 0.614679 0.614679
-Ke 0.000000 0.000000 0.000000
-Ni 36.750000
-d 1.000000
-illum 3
-
-newmtl Материал
-Ns 323.999994
-Ka 1.000000 1.000000 1.000000
-Kd 0.800000 0.800000 0.800000
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.000000
-d 1.000000
-illum 2
-
-newmtl Материал.001
-Ns 900.000000
-Ka 1.000000 1.000000 1.000000
-Kd 0.026240 0.026240 0.026240
-Ks 0.000000 0.000000 0.000000
-Ke 0.000000 0.000000 0.000000
-Ni 1.450000
-d 1.000000
-illum 1
-
-newmtl Материал.002
-Ns 0.000000
-Ka 1.000000 1.000000 1.000000
-Kd 0.031837 0.032429 0.029425
-Ks 0.169725 0.169725 0.169725
-Ke 0.000000 0.000000 0.000000
-Ni 0.000000
-d 1.000000
-illum 2
-
-newmtl Материал.003
-Ns 900.000000
-Ka 1.000000 1.000000 1.000000
-Kd 0.023585 0.083235 0.095923
-Ks 1.000000 1.000000 1.000000
-Ke 0.000000 0.000000 0.000000
-Ni 45.049999
-d 1.000000
-illum 3
-
-newmtl Материал.004
-Ns 323.999994
-Ka 1.000000 1.000000 1.000000
-Kd 0.800000 0.800000 0.800000
-Ks 0.500000 0.500000 0.500000
-Ke 0.000000 0.000000 0.000000
-Ni 1.000000
-d 1.000000
-illum 2

strafe-client/src/setup.rs

@@ -52,7 +52,7 @@ impl<'a> SetupContextPartial2<'a>{
 		let required_features=required_features();
 
 		//no helper function smh gotta write it myself
-		let adapters=self.instance.enumerate_adapters(self.backends);
+		let adapters=pollster::block_on(self.instance.enumerate_adapters(self.backends));
 
 		let mut chosen_adapter=None;
 		let mut chosen_adapter_score=0;

strafe-client/src/window.rs

@@ -15,6 +15,7 @@ pub enum Instruction{
 struct WindowContext<'a>{
 	manual_mouse_lock:bool,
 	mouse_pos:glam::DVec2,
+	simulation_paused:bool,
 	screen_size:glam::UVec2,
 	window:&'a winit::window::Window,
 	physics_thread:crate::compat_worker::QNWorker<'a,TimedInstruction<PhysicsWorkerInstruction,SessionTime>>,
@@ -24,6 +25,35 @@ impl WindowContext<'_>{
 	fn get_middle_of_screen(&self)->winit::dpi::PhysicalPosition<u32>{
 		winit::dpi::PhysicalPosition::new(self.screen_size.x/2,self.screen_size.y/2)
 	}
+	fn free_mouse(&mut self){
+		self.manual_mouse_lock=false;
+		match self.window.set_cursor_position(self.get_middle_of_screen()){
+			Ok(())=>(),
+			Err(e)=>println!("Could not set cursor position: {:?}",e),
+		}
+		match self.window.set_cursor_grab(winit::window::CursorGrabMode::None){
+			Ok(())=>(),
+			Err(e)=>println!("Could not release cursor: {:?}",e),
+		}
+		self.window.set_cursor_visible(true);
+	}
+	fn lock_mouse(&mut self){
+		//if cursor is outside window don't lock but apparently there's no get pos function
+		//let pos=window.get_cursor_pos();
+		match self.window.set_cursor_grab(winit::window::CursorGrabMode::Locked){
+			Ok(())=>(),
+			Err(_)=>{
+				match self.window.set_cursor_grab(winit::window::CursorGrabMode::Confined){
+					Ok(())=>(),
+					Err(e)=>{
+						self.manual_mouse_lock=true;
+						println!("Could not confine cursor: {:?}",e)
+					},
+				}
+			}
+		}
+		self.window.set_cursor_visible(false);
+	}
 	fn window_event(&mut self,time:SessionTime,event:winit::event::WindowEvent){
 		match event{
 			winit::event::WindowEvent::DroppedFile(path)=>{
@@ -34,6 +64,10 @@ impl WindowContext<'_>{
 				}
 			},
 			winit::event::WindowEvent::Focused(state)=>{
+				// don't unpause if manually paused
+				if self.simulation_paused{
+					return;
+				}
 				//pause unpause
 				self.physics_thread.send(TimedInstruction{
 					time,
@@ -46,35 +80,8 @@ impl WindowContext<'_>{
 				..
 			}=>{
 				match (logical_key,state){
-					(winit::keyboard::Key::Named(winit::keyboard::NamedKey::Tab),winit::event::ElementState::Pressed)=>{
-						self.manual_mouse_lock=false;
-						match self.window.set_cursor_position(self.get_middle_of_screen()){
-							Ok(())=>(),
-							Err(e)=>println!("Could not set cursor position: {:?}",e),
-						}
-						match self.window.set_cursor_grab(winit::window::CursorGrabMode::None){
-							Ok(())=>(),
-							Err(e)=>println!("Could not release cursor: {:?}",e),
-						}
-						self.window.set_cursor_visible(state.is_pressed());
-					},
-					(winit::keyboard::Key::Named(winit::keyboard::NamedKey::Tab),winit::event::ElementState::Released)=>{
-						//if cursor is outside window don't lock but apparently there's no get pos function
-						//let pos=window.get_cursor_pos();
-						match self.window.set_cursor_grab(winit::window::CursorGrabMode::Locked){
-							Ok(())=>(),
-							Err(_)=>{
-								match self.window.set_cursor_grab(winit::window::CursorGrabMode::Confined){
-									Ok(())=>(),
-									Err(e)=>{
-										self.manual_mouse_lock=true;
-										println!("Could not confine cursor: {:?}",e)
-									},
-								}
-							}
-						}
-						self.window.set_cursor_visible(state.is_pressed());
-					},
+					(winit::keyboard::Key::Named(winit::keyboard::NamedKey::Tab),winit::event::ElementState::Pressed)=>self.free_mouse(),
+					(winit::keyboard::Key::Named(winit::keyboard::NamedKey::Tab),winit::event::ElementState::Released)=>self.lock_mouse(),
 					(winit::keyboard::Key::Named(winit::keyboard::NamedKey::F11),winit::event::ElementState::Pressed)=>{
 						if self.window.fullscreen().is_some(){
 							self.window.set_fullscreen(None);
@@ -132,7 +139,16 @@ impl WindowContext<'_>{
 						if let Some(session_instruction)=match keycode{
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Space)=>input_ctrl!(SetJump,s),
 							// TODO: bind system so playback pausing can use spacebar
-							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Enter)=>session_playback!(TogglePaused,s),
+							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Enter)=>if s{
+								let paused=!self.simulation_paused;
+								self.simulation_paused=paused;
+								if paused{
+									self.free_mouse();
+								}else{
+									self.lock_mouse();
+								}
+								Some(SessionInstructionSubset::Control(SessionControlInstruction::SetPaused(paused)))
+							}else{None},
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::ArrowUp)=>session_playback!(IncreaseTimescale,s),
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::ArrowDown)=>session_playback!(DecreaseTimescale,s),
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::ArrowLeft)=>session_playback!(SkipBack,s),
@@ -241,6 +257,7 @@ pub fn worker<'a>(
 	let mut window_context=WindowContext{
 		manual_mouse_lock:false,
 		mouse_pos:glam::DVec2::ZERO,
+		simulation_paused:false,
 		//make sure to update this!!!!!
 		screen_size,
 		window,