fix lints

these were supposed to be 3 voxels but were on the order of 3 units

engine/graphics/src/graphics.rs

@@ -5,7 +5,7 @@ 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};
+use crate::model::{self as model_graphics,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelColor4,GraphicsModelOwned,GraphicsVertex,DebugGraphicsVertex};
 
 pub fn required_limits()->wgpu::Limits{
 	wgpu::Limits::default()
@@ -36,12 +36,22 @@ struct GraphicsModel{
 	instance_count:u32,
 }
 
+struct DebugGraphicsMesh{
+	indices:Indices,
+	vertex_buf:wgpu::Buffer,
+}
+struct DebugGraphicsModel{
+	debug_mesh_id:u32,
+	bind_group:wgpu::BindGroup,
+}
+
 struct GraphicsSamplers{
 	repeat:wgpu::Sampler,
 }
 
 struct GraphicsBindGroupLayouts{
 	model:wgpu::BindGroupLayout,
+	debug_model:wgpu::BindGroupLayout,
 }
 
 struct GraphicsBindGroups{
@@ -52,6 +62,7 @@ struct GraphicsBindGroups{
 struct GraphicsPipelines{
 	skybox:wgpu::RenderPipeline,
 	model:wgpu::RenderPipeline,
+	debug:wgpu::RenderPipeline,
 }
 
 struct GraphicsCamera{
@@ -132,6 +143,8 @@ pub struct GraphicsState{
 	camera_buf:wgpu::Buffer,
 	temp_squid_texture_view:wgpu::TextureView,
 	models:Vec<GraphicsModel>,
+	debug_meshes:Vec<DebugGraphicsMesh>,
+	debug_models:Vec<DebugGraphicsModel>,
 	depth_view:wgpu::TextureView,
 	staging_belt:wgpu::util::StagingBelt,
 }
@@ -166,6 +179,76 @@ impl GraphicsState{
 		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 debug meshes, each debug model refers to one
+		self.debug_meshes=map.meshes.iter().map(|mesh|{
+			let vertices:Vec<DebugGraphicsVertex>=mesh.unique_vertices.iter().map(|vertex|{
+				DebugGraphicsVertex{
+					pos:mesh.unique_pos[vertex.pos.get() as usize].to_array().map(Into::into),
+					normal:mesh.unique_normal[vertex.normal.get() as usize].to_array().map(Into::into),
+				}
+			}).collect();
+			let vertex_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
+				label:Some("Vertex"),
+				contents:bytemuck::cast_slice(&vertices),
+				usage:wgpu::BufferUsages::VERTEX,
+			});
+
+			let mut indices=Vec::new();
+			for physics_group in &mesh.physics_groups{
+				for polygon_group_id in &physics_group.groups{
+					for poly in mesh.polygon_groups[polygon_group_id.get() as usize].polys(){
+						// triangulate
+						let mut poly_vertices=poly.into_iter().copied();
+						if let (Some(a),Some(mut b))=(poly_vertices.next(),poly_vertices.next()){
+							for c in poly_vertices{
+								indices.extend([a,b,c]);
+								b=c;
+							}
+						}
+					}
+				}
+			}
+
+			DebugGraphicsMesh{
+				indices:if (u32::MAX as usize)<vertices.len(){
+					panic!("Model has too many vertices!")
+				}else if (u16::MAX as usize)<vertices.len(){
+					Indices::new(device,&indices.into_iter().map(|vertex_idx|vertex_idx.get() as u32).collect(),wgpu::IndexFormat::Uint32)
+				}else{
+					Indices::new(device,&indices.into_iter().map(|vertex_idx|vertex_idx.get() as u16).collect(),wgpu::IndexFormat::Uint16)
+				},
+				vertex_buf,
+			}
+		}).collect();
+
+		//generate debug models, only one will be rendered at a time
+		self.debug_models=map.models.iter().enumerate().map(|(model_id,model)|{
+			let model_uniforms=get_instances_buffer_data(&[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(glam::vec4(1.0,0.0,0.0,0.2)),
+			}]);
+			let model_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
+				label:Some(format!("Debug Model{} Buf",model_id).as_str()),
+				contents:bytemuck::cast_slice(&model_uniforms),
+				usage:wgpu::BufferUsages::UNIFORM|wgpu::BufferUsages::COPY_DST,
+			});
+			let bind_group=device.create_bind_group(&wgpu::BindGroupDescriptor{
+				layout:&self.bind_group_layouts.debug_model,
+				entries:&[
+					wgpu::BindGroupEntry{
+						binding:0,
+						resource:model_buf.as_entire_binding(),
+					},
+				],
+				label:Some(format!("Debug Model{} Bind Group",model_id).as_str()),
+			});
+			DebugGraphicsModel{
+				debug_mesh_id:model.mesh.get(),
+				bind_group,
+			}
+		}).collect();
+
 		//generate texture view per texture
 		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);
@@ -608,6 +691,21 @@ impl GraphicsState{
 				},
 			],
 		});
+		let debug_model_bind_group_layout=device.create_bind_group_layout(&wgpu::BindGroupLayoutDescriptor{
+			label:Some("Debug Model Bind Group Layout"),
+			entries:&[
+				wgpu::BindGroupLayoutEntry{
+					binding:0,
+					visibility:wgpu::ShaderStages::VERTEX_FRAGMENT,
+					ty:wgpu::BindingType::Buffer{
+						ty:wgpu::BufferBindingType::Uniform,
+						has_dynamic_offset:false,
+						min_binding_size:None,
+					},
+					count:None,
+				},
+			],
+		});
 
 		let clamp_sampler=device.create_sampler(&wgpu::SamplerDescriptor{
 			label:Some("Clamp Sampler"),
@@ -756,6 +854,14 @@ impl GraphicsState{
 			],
 			immediate_size:0,
 		});
+		let debug_model_pipeline_layout=device.create_pipeline_layout(&wgpu::PipelineLayoutDescriptor{
+				label:None,
+				bind_group_layouts:&[
+					&camera_bind_group_layout,
+					&debug_model_bind_group_layout,
+				],
+				push_constant_ranges:&[],
+			});
 		let sky_pipeline_layout=device.create_pipeline_layout(&wgpu::PipelineLayoutDescriptor{
 			label:None,
 			bind_group_layouts:&[
@@ -831,6 +937,45 @@ impl GraphicsState{
 			multiview_mask:None,
 			cache:None,
 		});
+		let debug_model_pipeline=device.create_render_pipeline(&wgpu::RenderPipelineDescriptor{
+			label:Some("Debug Model Pipeline"),
+			layout:Some(&debug_model_pipeline_layout),
+			vertex:wgpu::VertexState{
+				module:&shader,
+				entry_point:Some("vs_debug"),
+				buffers:&[wgpu::VertexBufferLayout{
+					array_stride:size_of::<DebugGraphicsVertex>() as wgpu::BufferAddress,
+					step_mode:wgpu::VertexStepMode::Vertex,
+					attributes:&wgpu::vertex_attr_array![0=>Float32x3,1=>Float32x3],
+				}],
+				compilation_options:wgpu::PipelineCompilationOptions::default(),
+			},
+			fragment:Some(wgpu::FragmentState{
+				module:&shader,
+				entry_point:Some("fs_debug"),
+				targets:&[Some(wgpu::ColorTargetState{
+					format:config.view_formats[0],
+					blend:Some(wgpu::BlendState::ALPHA_BLENDING),
+					write_mask:wgpu::ColorWrites::default(),
+				})],
+				compilation_options:wgpu::PipelineCompilationOptions::default(),
+			}),
+			primitive:wgpu::PrimitiveState{
+				front_face:wgpu::FrontFace::Cw,
+				cull_mode:Some(wgpu::Face::Front),
+				..Default::default()
+			},
+			depth_stencil:Some(wgpu::DepthStencilState{
+				format:Self::DEPTH_FORMAT,
+				depth_write_enabled:true,
+				depth_compare:wgpu::CompareFunction::Always,
+				stencil:wgpu::StencilState::default(),
+				bias:wgpu::DepthBiasState::default(),
+			}),
+			multisample:wgpu::MultisampleState::default(),
+			multiview:None,
+			cache:None,
+		});
 
 		let camera=GraphicsCamera::default();
 		let camera_uniforms=camera.to_uniform_data(glam::Vec3::ZERO,glam::Vec2::ZERO);
@@ -870,7 +1015,8 @@ impl GraphicsState{
 		Self{
 			pipelines:GraphicsPipelines{
 				skybox:sky_pipeline,
-				model:model_pipeline
+				model:model_pipeline,
+				debug:debug_model_pipeline,
 			},
 			bind_groups:GraphicsBindGroups{
 				camera:camera_bind_group,
@@ -879,9 +1025,14 @@ impl GraphicsState{
 			camera,
 			camera_buf,
 			models:Vec::new(),
+			debug_meshes:Vec::new(),
+			debug_models:Vec::new(),
 			depth_view,
 			staging_belt:wgpu::util::StagingBelt::new(device.clone(),0x100),
-			bind_group_layouts:GraphicsBindGroupLayouts{model:model_bind_group_layout},
+			bind_group_layouts:GraphicsBindGroupLayouts{
+				model:model_bind_group_layout,
+				debug_model:debug_model_bind_group_layout,
+			},
 			samplers:GraphicsSamplers{repeat:repeat_sampler},
 			temp_squid_texture_view:squid_texture_view,
 		}
@@ -909,7 +1060,7 @@ impl GraphicsState{
 
 		// update rotation
 		let camera_uniforms=self.camera.to_uniform_data(
-			frame_state.trajectory.extrapolated_position(frame_state.time).map(Into::<f32>::into).to_array().into(),
+			frame_state.body.extrapolated_position(frame_state.time).map(Into::<f32>::into).to_array().into(),
 			frame_state.camera.simulate_move_angles(glam::IVec2::ZERO)
 		);
 		self.staging_belt
@@ -970,6 +1121,7 @@ impl GraphicsState{
 			rpass.set_bind_group(0,&self.bind_groups.camera,&[]);
 			rpass.set_bind_group(1,&self.bind_groups.skybox_texture,&[]);
 
+			// Draw all models.
 			rpass.set_pipeline(&self.pipelines.model);
 			for model in &self.models{
 				rpass.set_bind_group(2,&model.bind_group,&[]);
@@ -981,6 +1133,19 @@ impl GraphicsState{
 
 			rpass.set_pipeline(&self.pipelines.skybox);
 			rpass.draw(0..3,0..1);
+
+			// render a single debug_model in red
+			if let Some(model_id)=frame_state.debug_model{
+				if let Some(model)=self.debug_models.get(model_id.get() as usize){
+					let mesh=&self.debug_meshes[model.debug_mesh_id as usize];
+					rpass.set_pipeline(&self.pipelines.debug);
+					rpass.set_bind_group(1,&model.bind_group,&[]);
+					rpass.set_vertex_buffer(0,mesh.vertex_buf.slice(..));
+					rpass.set_index_buffer(mesh.indices.buf.slice(..),mesh.indices.format);
+					//TODO: loop over triangle strips
+					rpass.draw_indexed(0..mesh.indices.count,0,0..1);
+				}
+			}
 		}
 
 		queue.submit(std::iter::once(encoder.finish()));

engine/graphics/src/model.rs

@@ -8,6 +8,12 @@ pub struct GraphicsVertex{
 	pub normal:[f32;3],
 	pub color:[f32;4],
 }
+#[derive(Clone,Copy,Pod,Zeroable)]
+#[repr(C)]
+pub struct DebugGraphicsVertex{
+	pub pos:[f32;3],
+	pub normal:[f32;3],
+}
 #[derive(Clone,Copy,id::Id)]
 pub struct IndexedGraphicsMeshOwnedRenderConfigId(u32);
 pub struct IndexedGraphicsMeshOwnedRenderConfig{

engine/physics/src/body.rs

@@ -2,18 +2,12 @@ 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,
-	pub velocity:Planar64Vec3,
-	pub time:Time<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!
 }
-#[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>{
+impl<T> std::ops::Neg for Body<T>{
 	type Output=Self;
 	fn neg(self)->Self::Output{
 		Self{
@@ -24,10 +18,10 @@ impl<T> std::ops::Neg for Trajectory<T>{
 		}
 	}
 }
-impl<T:Copy> std::ops::Neg for &Trajectory<T>{
-	type Output=Trajectory<T>;
+impl<T:Copy> std::ops::Neg for &Body<T>{
+	type Output=Body<T>;
 	fn neg(self)->Self::Output{
-		Trajectory{
+		Body{
 			position:self.position,
 			velocity:-self.velocity,
 			acceleration:self.acceleration,
@@ -38,32 +32,6 @@ impl<T:Copy> std::ops::Neg for &Trajectory<T>{
 
 impl<T> Body<T>
 	where Time<T>:Copy,
-{
-	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{
@@ -74,14 +42,13 @@ impl<T> Trajectory<T>
 			time,
 		}
 	}
-	pub fn relative_to(&self,trj0:&Self,time:Time<T>)->Self{
+	pub const fn relative_to<'a>(&'a self,body0:&'a Body<T>)->VirtualBody<'a,T>{
 		//(p0,v0,a0,t0)
 		//(p1,v1,a1,t1)
-		Trajectory::new(
-			self.extrapolated_position(time)-trj0.extrapolated_position(time),
-			self.extrapolated_velocity(time)-trj0.extrapolated_velocity(time),
-			self.acceleration-trj0.acceleration,
-			time)
+		VirtualBody{
+			body0,
+			body1:self,
+		}
 	}
 	pub fn extrapolated_position(&self,time:Time<T>)->Planar64Vec3{
 		let dt=time-self.time;
@@ -93,12 +60,10 @@ impl<T> Trajectory<T>
 		let dt=time-self.time;
 		self.velocity+(self.acceleration*dt).map(|elem|elem.divide().clamp_1())
 	}
-	pub fn extrapolated_body(&self,time:Time<T>)->Body<T>{
-		Body::new(
-			self.extrapolated_position(time),
-			self.extrapolated_velocity(time),
-			time,
-		)
+	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_position_ratio_dt<Num,Den,N1,D1,N2,N3,D2,N4,T1>(&self,dt:integer::Ratio<Num,Den>)->Planar64Vec3
 		where
@@ -136,12 +101,10 @@ impl<T> Trajectory<T>
 		// a*dt + v
 		self.acceleration.map(|elem|(dt*elem).divide().clamp())+self.velocity
 	}
-	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 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 infinity_dir(&self)->Option<Planar64Vec3>{
 		if self.velocity==vec3::zero(){
@@ -181,12 +144,28 @@ impl<T> Trajectory<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

@@ -1,21 +1,20 @@
-use crate::model::{into_giga_time,GigaTime};
-use strafesnet_common::integer::{Fixed,Ratio,vec3::Vector3,Planar64Vec3};
-use crate::physics::{Time,Trajectory};
-use crate::mesh_query::{FEV,DirectedEdge,MeshQuery,MeshTopology};
+use crate::model::{into_giga_time,GigaTime,FEV,MeshQuery,DirectedEdge};
+use strafesnet_common::integer::{Fixed,Ratio,vec3::Vector3};
+use crate::physics::{Time,Body};
 
 use core::ops::Bound;
 
-enum Transition<M:MeshTopology>{
+enum Transition<M:MeshQuery>{
 	Miss,
 	Next(FEV<M>,GigaTime),
 	Hit(M::Face,GigaTime),
 }
 
-pub enum CrawlResult<M:MeshTopology>{
+pub enum CrawlResult<M:MeshQuery>{
 	Miss(FEV<M>),
 	Hit(M::Face,GigaTime),
 }
-impl<M:MeshTopology> CrawlResult<M>{
+impl<M:MeshQuery> CrawlResult<M>{
 	pub fn hit(self)->Option<(M::Face,GigaTime)>{
 		match self{
 			CrawlResult::Miss(_)=>None,
@@ -65,18 +64,17 @@ where
 	}
 }
 
-impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>,Position=Planar64Vec3,Direction=Planar64Vec3>> FEV<M>
+impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> 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::Offset:core::ops::Sub<<F as std::ops::Mul<Fixed<1,32>>>::Output>,
 {
-	fn next_transition(&self,mesh:&M,trajectory:&Trajectory,lower_bound:Bound<GigaTime>,mut upper_bound:Bound<GigaTime>)->Transition<M>{
+	fn next_transition(&self,mesh:&M,body:&Body,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;
@@ -88,29 +86,29 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>,Position=Planar64V
 				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(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(){
+				for dt in Fixed::<4,128>::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
+					if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.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
-				mesh.for_each_face_edge(face_id,|directed_edge_id|{
+				for &directed_edge_id in mesh.face_edges(face_id).as_ref(){
 					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(trajectory.position*2-(mesh.vert(v0)+mesh.vert(v1))).wrap_4(),n.dot(trajectory.velocity).wrap_4()*2,n.dot(trajectory.acceleration).wrap_4()){
-						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					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 low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.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)=>{
@@ -119,15 +117,15 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>,Position=Planar64V
 				let &[ev0,ev1]=edge_verts.as_ref();
 				let (v0,v1)=(mesh.vert(ev0),mesh.vert(ev1));
 				let edge_n=v1-v0;
-				let delta_pos=trajectory.position*2-(v0+v1);
+				let delta_pos=body.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(trajectory.velocity).wrap_4()*2,n.dot(trajectory.acceleration).wrap_4()){
-						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					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 low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Face(edge_face_id),dt);
 							break;
@@ -138,8 +136,8 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>,Position=Planar64V
 				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(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(){
+					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 low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 							let dt=Ratio::new(dt.num.widen_4(),dt.den.widen_4());
 							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Vert(vert_id),dt);
@@ -151,28 +149,28 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>,Position=Planar64V
 			},
 			&FEV::Vert(vert_id)=>{
 				//test each edge collision time, ignoring roots with zero or conflicting derivative
-				mesh.for_each_vert_edge(vert_id,|directed_edge_id|{
+				for &directed_edge_id in mesh.vert_edges(vert_id).as_ref(){
 					//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(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(){
+					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 low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 							let dt=Ratio::new(dt.num.widen_4(),dt.den.widen_4());
 							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,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));
+	pub fn crawl(mut self,mesh:&M,relative_body:&Body,lower_bound:Bound<&Time>,upper_bound:Bound<&Time>)->CrawlResult<M>{
+		let mut lower_bound=lower_bound.map(|&t|into_giga_time(t,relative_body.time));
+		let upper_bound=upper_bound.map(|&t|into_giga_time(t,relative_body.time));
 		for _ in 0..20{
-			match self.next_transition(mesh,trajectory,lower_bound,upper_bound){
+			match self.next_transition(mesh,relative_body,lower_bound,upper_bound){
 				Transition::Miss=>return CrawlResult::Miss(self),
 				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 +1,5 @@
 mod body;
 mod face_crawler;
-mod mesh_query;
-mod minkowski;
 mod model;
 mod push_solve;
 mod minimum_difference;

engine/physics/src/mesh_query.rs

@@ -1,56 +0,0 @@
-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

@@ -2,9 +2,9 @@ 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};
+use crate::model::{DirectedEdge,FEV,MeshQuery};
 // TODO: remove mesh invert
-use crate::minkowski::{MinkowskiMesh,MinkowskiVert};
+use crate::model::{MinkowskiMesh,MinkowskiVert};
 
 // This algorithm is based on Lua code
 // written by Trey Reynolds in 2021
@@ -46,7 +46,7 @@ local function absDet(r, u, v, w)
 end
 */
 impl<Vert> Simplex2_4<Vert>{
-	fn det_is_zero<M:MeshQuery<Vert=Vert,Position=Planar64Vec3>>(self,mesh:&M)->bool{
+	fn det_is_zero<M:MeshQuery<Vert=Vert>>(self,mesh:&M)->bool{
 		match self{
 			Self::Simplex4([p0,p1,p2,p3])=>{
 				let p0=mesh.vert(p0);
@@ -131,13 +131,11 @@ fn narrow_dir3(dir:Vector3<Fixed<3,96>>)->Planar64Vec3{
 	}.narrow_1().unwrap()
 }
 
-fn reduce1<M:MeshQuery<Position=Planar64Vec3>>(
+fn reduce1<M:MeshQuery>(
 	[v0]:Simplex<1,M::Vert>,
 	mesh:&M,
 	point:Planar64Vec3,
-)->Reduced<M::Vert>
-	where M::Vert:Copy,
-{
+)->Reduced<M::Vert>{
 	// --debug.profilebegin("reduceSimplex0")
 	// local a = a1 - a0
 	let p0=mesh.vert(v0);
@@ -162,14 +160,11 @@ fn reduce1<M:MeshQuery<Position=Planar64Vec3>>(
 }
 
 // local function reduceSimplex1(a0, a1, b0, b1)
-fn reduce2<M:MeshQuery<Position=Planar64Vec3>>(
+fn reduce2<M:MeshQuery>(
 	[v0,v1]:Simplex<2,M::Vert>,
 	mesh:&M,
 	point:Planar64Vec3,
-)->Reduced<M::Vert>
-	where
-		M::Vert:Copy
-{
+)->Reduced<M::Vert>{
 	// --debug.profilebegin("reduceSimplex1")
 	// local a = a1 - a0
 	// local b = b1 - b0
@@ -222,14 +217,11 @@ fn reduce2<M:MeshQuery<Position=Planar64Vec3>>(
 }
 
 // local function reduceSimplex2(a0, a1, b0, b1, c0, c1)
-fn reduce3<M:MeshQuery<Position=Planar64Vec3>>(
+fn reduce3<M:MeshQuery>(
 	[v0,mut v1,v2]:Simplex<3,M::Vert>,
 	mesh:&M,
 	point:Planar64Vec3,
-)->Reduced<M::Vert>
-	where
-		M::Vert:Copy
-{
+)->Reduced<M::Vert>{
 	// --debug.profilebegin("reduceSimplex2")
 	// local a = a1 - a0
 	// local b = b1 - b0
@@ -334,14 +326,11 @@ fn reduce3<M:MeshQuery<Position=Planar64Vec3>>(
 }
 
 // local function reduceSimplex3(a0, a1, b0, b1, c0, c1, d0, d1)
-fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
+fn reduce4<M:MeshQuery>(
 	[v0,mut v1,mut v2,v3]:Simplex<4,M::Vert>,
 	mesh:&M,
 	point:Planar64Vec3,
-)->Reduce<M::Vert>
-	where
-		M::Vert:Copy
-{
+)->Reduce<M::Vert>{
 	// --debug.profilebegin("reduceSimplex3")
 	// local a = a1 - a0
 	// local b = b1 - b0
@@ -378,8 +367,8 @@ fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
 
 	// 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
@@ -407,6 +396,8 @@ fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
 			// b0, c0 = c0, d0
 			// b1, c1 = c1, d1
 			(v1,v2)=(v2,v3);
+		}else{
+			v2=v3;
 		}
 	}else{
 		// elseif wuDist == minDist3 then
@@ -419,6 +410,8 @@ fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
 			// before [a,b,c,d]
 			(v1,v2)=(v3,v1);
 			// after [a,d,b]
+		}else{
+			v2=v3;
 		}
 	}
 
@@ -435,15 +428,17 @@ fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
 	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)
+		if uv_w.is_negative(){
+			return Reduce::Reduced(Reduced{
+				dir:narrow_dir2(uv),
+				simplex:Simplex1_3::Simplex3([v0,v1,v2]),
+			});
 		}else{
-			narrow_dir2(-uv)
-		};
-		return Reduce::Reduced(Reduced{
-			dir,
-			simplex:Simplex1_3::Simplex3([v0,v1,v2]),
-		});
+			return Reduce::Reduced(Reduced{
+				dir:narrow_dir2(-uv),
+				simplex:Simplex1_3::Simplex3([v0,v1,v2]),
+			});
+		}
 	}
 
 	// local u_u = u:Dot(u)
@@ -475,15 +470,17 @@ fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
 		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)
+			if uv_w.is_negative(){
+				return Reduce::Reduced(Reduced{
+					dir:narrow_dir2(uv),
+					simplex:Simplex1_3::Simplex2([v0,v1]),
+				});
 			}else{
-				narrow_dir2(-uv)
-			};
-			return Reduce::Reduced(Reduced{
-				dir,
-				simplex:Simplex1_3::Simplex2([v0,v1]),
-			});
+				return Reduce::Reduced(Reduced{
+					dir:narrow_dir2(-uv),
+					simplex:Simplex1_3::Simplex2([v0,v1]),
+				});
+			}
 		}
 
 		// return direction, a0, a1, b0, b1
@@ -498,15 +495,17 @@ fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
 	// 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)
+		if uv_w.is_negative(){
+			return Reduce::Reduced(Reduced{
+				dir:narrow_dir2(uv),
+				simplex:Simplex1_3::Simplex1([v0]),
+			});
 		}else{
-			narrow_dir2(-uv)
-		};
-		return Reduce::Reduced(Reduced{
-			dir,
-			simplex:Simplex1_3::Simplex1([v0]),
-		});
+			return Reduce::Reduced(Reduced{
+				dir:narrow_dir2(-uv),
+				simplex:Simplex1_3::Simplex1([v0]),
+			});
+		}
 	}
 
 	// return direction, a0, a1
@@ -527,10 +526,7 @@ enum Reduce<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
-	{
+	fn reduce<M:MeshQuery<Vert=Vert>>(self,mesh:&M,point:Planar64Vec3)->Reduce<Vert>{
 		match self{
 			Self::Simplex2(simplex)=>Reduce::Reduced(reduce2(simplex,mesh,point)),
 			Self::Simplex3(simplex)=>Reduce::Reduced(reduce3(simplex,mesh,point)),
@@ -539,17 +535,35 @@ impl<Vert> Simplex2_4<Vert>{
 	}
 }
 
+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
+	)
+}
+
 //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>{
+enum EV<M:MeshQuery>{
 	Vert(M::Vert),
-	Edge(M::Edge),
+	Edge(<M::Edge as DirectedEdge>::UndirectedEdge),
 }
-impl<M:MeshTopology> From<EV<M>> for FEV<M>{
+impl<M:MeshQuery> From<EV<M>> for FEV<M>{
 	fn from(value:EV<M>)->Self{
 		match value{
 			EV::Vert(minkowski_vert)=>FEV::Vert(minkowski_vert),
@@ -569,7 +583,7 @@ struct ThickPlane{
 	epsilon:Fixed<3,96>,
 }
 impl ThickPlane{
-	fn new<M:MeshQuery<Position=Planar64Vec3>>(mesh:&M,[v0,v1,v2]:Simplex<3,M::Vert>)->Self{
+	fn new<M:MeshQuery>(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);
@@ -593,7 +607,7 @@ struct ThickLine{
 	epsilon:Fixed<4,128>,
 }
 impl ThickLine{
-	fn new<M:MeshQuery<Position=Planar64Vec3>>(mesh:&M,[v0,v1]:Simplex<2,M::Vert>)->Self{
+	fn new<M:MeshQuery>(mesh:&M,[v0,v1]:Simplex<2,M::Vert>)->Self{
 		let p0=mesh.vert(v0);
 		let p1=mesh.vert(v1);
 		let point=p0;
@@ -616,14 +630,10 @@ struct EVFinder<'a,M,C>{
 	best_distance_squared:Fixed<2,64>,
 }
 
-impl<M:MeshQuery<Position=Planar64Vec3>,C:Contains> EVFinder<'_,M,C>
-	where
-		M::Vert:Copy,
-		M::DirectedEdge:Copy,
-{
+impl<M:MeshQuery,C:Contains> EVFinder<'_,M,C>{
 	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|{
+		for &directed_edge_id in self.mesh.vert_edges(vert_id).as_ref(){
 			//test if this edge's opposite vertex closer
 			let edge_verts=self.mesh.edge_verts(directed_edge_id.as_undirected());
 			//select opposite vertex
@@ -636,14 +646,14 @@ impl<M:MeshQuery<Position=Planar64Vec3>,C:Contains> EVFinder<'_,M,C>
 				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|{
+		for &directed_edge_id in self.mesh.vert_edges(vert_id).as_ref(){
 			//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];
@@ -664,13 +674,10 @@ impl<M:MeshQuery<Position=Planar64Vec3>,C:Contains> EVFinder<'_,M,C>
 					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
-	{
+	fn crawl_boundaries(&mut self,mut vert_id:M::Vert,point:Planar64Vec3)->EV<M>{
 		loop{
 			match self.next_transition_vert(vert_id,point){
 				Transition::Done=>return self.final_ev(vert_id,point),
@@ -679,12 +686,8 @@ impl<M:MeshQuery<Position=Planar64Vec3>,C:Contains> EVFinder<'_,M,C>
 		}
 	}
 }
-/// 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,
-{
+/// 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_ev<M:MeshQuery>(mesh:&M,simplex:Simplex<2,M::Vert>,point:Planar64Vec3)->EV<M>{
 	// 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.
@@ -701,7 +704,7 @@ fn crawl_to_closest_ev<M:MeshQuery<Position=Planar64Vec3>>(mesh:&M,simplex:Simpl
 	finder.crawl_boundaries(vert_id,point)
 }
 
-/// This function hops along connected vertices until it finds the FEV which contains the closest point to `point`.
+/// 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<'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
@@ -765,7 +768,11 @@ pub fn closest_fev_not_inside<'a>(mesh:&MinkowskiMesh<'a>,point:Planar64Vec3)->O
 				Simplex1_3::Simplex2([v0,v1])=>{
 					// invert
 					let (v0,v1)=(-v0,-v1);
-					crawl_to_closest_ev(mesh,[v0,v1],point).into()
+					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()
 				},
 				Simplex1_3::Simplex3([v0,v1,v2])=>{
 					// invert
@@ -773,7 +780,11 @@ pub fn closest_fev_not_inside<'a>(mesh:&MinkowskiMesh<'a>,point:Planar64Vec3)->O
 					// 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)
+					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
 				},
 			})
 		},
@@ -789,39 +800,18 @@ pub fn closest_fev_not_inside<'a>(mesh:&MinkowskiMesh<'a>,point:Planar64Vec3)->O
 	)
 }
 
-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>>(
+fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery>(
 	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
-{
+)->T{
 	// local initialAxis = queryQ() - queryP()
 	// local new_point_p = queryP(initialAxis)
 	// local new_point_q = queryQ(-initialAxis)

engine/physics/src/minkowski.rs

@@ -1,299 +0,0 @@
-use crate::mesh_query::{MeshQuery,MeshTopology,DirectedEdge,UndirectedEdge};
-
-struct AsRefHelper<T>(T);
-impl<T> AsRef<T> for AsRefHelper<T>{
-	fn as_ref(&self)->&T{
-		&self.0
-	}
-}
-
-#[derive(Clone,Copy)]
-pub struct MinkowskiVert<M0:MeshTopology,M1:MeshTopology>{
-	vert0:M0::Vert,
-	vert1:M1::Vert,
-}
-#[derive(Clone,Copy)]
-pub enum MinkowskiEdge<M0:MeshTopology,M1:MeshTopology>{
-	VertEdge(M0::Vert,M1::Edge),
-	EdgeVert(M0::Edge,M1::Vert),
-}
-#[derive(Clone,Copy)]
-pub enum MinkowskiDirectedEdge<M0:MeshTopology,M1:MeshTopology>{
-	VertEdge(M0::Vert,M1::DirectedEdge),
-	EdgeVert(M0::DirectedEdge,M1::Vert),
-}
-#[derive(Clone,Copy)]
-pub enum MinkowskiFace<M0:MeshTopology,M1:MeshTopology>{
-	VertFace(M0::Vert,M1::Face),
-	EdgeEdge(M0::Edge,M1::Edge,bool),
-	FaceVert(M0::Face,M1::Vert),
-}
-
-impl<M0:MeshTopology,M1:MeshTopology> UndirectedEdge for MinkowskiEdge<M0,M1>{
-	type DirectedEdge=MinkowskiDirectedEdge<M0,M1>;
-	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),
-		}
-	}
-}
-impl<M0:MeshTopology,M1:MeshTopology> DirectedEdge for MinkowskiDirectedEdge<M0,M1>{
-	type UndirectedEdge=MinkowskiEdge<M0,M1>;
-	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)=>e.parity(),
-			MinkowskiDirectedEdge::EdgeVert(e,_)=>e.parity(),
-		}
-	}
-}
-
-pub struct Minkowski<M0,M1>{
-	mesh0:M0,
-	mesh1:M1,
-}
-
-impl<M0,M1> Minkowski<M0,M1>{
-	pub fn sum(mesh0:M0,mesh1:M1)->Self{
-		Self{mesh0,mesh1}
-	}
-}
-impl<M0:MeshTopology,M1:MeshTopology> MeshTopology for Minkowski<M0,M1>{
-	type Vert=MinkowskiVert<M0,M1>;
-	type Edge=MinkowskiEdge<M0,M1>;
-	type DirectedEdge=MinkowskiDirectedEdge<M0,M1>;
-	type Face=MinkowskiFace<M0,M1>;
-	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_3());
-					}
-					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_3());
-					}
-					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<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{
-						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<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{
-						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))
-				)
-			},
-		}
-	}
-}
-
-use strafesnet_common::integer::vec3::Vector3;
-use strafesnet_common::integer::Fixed;
-impl<M0:MeshQuery,M1:MeshQuery> MeshQuery for Minkowski<M0,M1>
-where
-	M0:MeshQuery<
-		Direction=Vector3<Fixed<1,32>>,
-		Position=Vector3<Fixed<1,32>>,
-		Normal=Vector3<Fixed<3,96>>,
-		Offset=Fixed<4,128>,
-	>,
-	M1:MeshQuery<
-		Direction=Vector3<Fixed<1,32>>,
-		Position=Vector3<Fixed<1,32>>,
-		Normal=Vector3<Fixed<3,96>>,
-		Offset=Fixed<4,128>,
-	>,
-{
-	type Direction=M0::Direction;
-	type Position=M0::Position;
-	type Normal=M0::Normal;
-	type Offset=M0::Offset;
-	fn vert(&self,vert_id:MinkowskiVert<M0,M1>)->Planar64Vec3{
-		self.mesh0.vert(vert_id.vert0)-self.mesh1.vert(vert_id.vert1)
-	}
-	fn face_nd(&self,face_id:MinkowskiFace<M0,M1>)->(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 hint_point(&self)->Planar64Vec3{
-		self.mesh0.hint_point()-self.mesh1.hint_point()
-	}
-	fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
-		MinkowskiVert{
-			vert0:self.mesh0.farthest_vert(dir),
-			vert1: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)
-	}
-}

engine/physics/src/model.rs

@@ -1,9 +1,11 @@
 use std::collections::{HashSet,HashMap};
+use core::ops::{Bound,RangeBounds};
 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;
-use crate::mesh_query::{MeshQuery,MeshTopology,DirectedEdge,UndirectedEdge};
+
+type Body=crate::body::Body<strafesnet_common::physics::TimeInner>;
 
 struct AsRefHelper<T>(T);
 impl<T> AsRef<T> for AsRefHelper<T>{
@@ -12,6 +14,20 @@ 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)]
@@ -29,13 +45,13 @@ 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{
@@ -43,6 +59,14 @@ 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,Copy,Debug,Hash,Eq,PartialEq)]
 struct Face{
@@ -51,6 +75,33 @@ struct Face{
 }
 #[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)
+	}
+	/// This must return a point inside the mesh.
+	#[expect(dead_code)]
+	fn hint_point(&self)->Planar64Vec3;
+	fn farthest_vert(&self,dir:Planar64Vec3)->Self::Vert;
+	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
@@ -395,8 +446,9 @@ pub struct PhysicsMeshView<'a>{
 	topology:&'a PhysicsMeshTopology,
 }
 impl MeshQuery for PhysicsMeshView<'_>{
-	type Position=Planar64Vec3;
-	type Direction=Planar64Vec3;
+	type Face=SubmeshFaceId;
+	type Edge=SubmeshDirectedEdgeId;
+	type Vert=SubmeshVertId;
 	type Normal=Planar64Vec3;
 	type Offset=Planar64;
 	fn face_nd(&self,face_id:SubmeshFaceId)->(Planar64Vec3,Planar64){
@@ -424,37 +476,20 @@ impl MeshQuery for PhysicsMeshView<'_>{
 		let vert_idx=self.topology.verts[vert_id.get() as usize].get() as usize;
 		self.data.verts[vert_idx].0
 	}
-	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 face_edges(&self,face_id:SubmeshFaceId)->impl AsRef<[SubmeshDirectedEdgeId]>{
+		self.topology.face_topology[face_id.get() as usize].edges.as_slice()
 	}
-	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]>{
+	fn edge_faces(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshFaceId;2]>{
 		AsRefHelper(self.topology.edge_topology[edge_id.get() as usize].faces)
 	}
-	fn edge_verts(&self,edge_id:Self::Edge)->impl AsRef<[Self::Vert;2]>{
+	fn edge_verts(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshVertId;2]>{
 		AsRefHelper(self.topology.edge_topology[edge_id.get() as usize].verts)
 	}
-	fn for_each_face_vert(&self,_face_id:Self::Face,_f:impl FnMut(Self::Vert)){
-		unimplemented!()
+	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_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);
+	fn vert_faces(&self,vert_id:SubmeshVertId)->impl AsRef<[SubmeshFaceId]>{
+		self.topology.vert_topology[vert_id.get() as usize].faces.as_slice()
 	}
 }
 
@@ -492,10 +527,14 @@ impl TransformedMesh<'_>{
 	pub fn verts<'a>(&'a self)->impl Iterator<Item=Vector3<Fixed<2,64>>>+'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 Face=SubmeshFaceId;
+	type Edge=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){
@@ -523,47 +562,393 @@ impl MeshQuery for 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 MeshTopology for TransformedMesh<'_>{
-	type Face=SubmeshFaceId;
-	type Edge=SubmeshEdgeId;
-	type DirectedEdge=SubmeshDirectedEdgeId;
-	type Vert=SubmeshVertId;
 	#[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)
+	fn face_edges(&self,face_id:SubmeshFaceId)->impl AsRef<[SubmeshDirectedEdgeId]>{
+		self.view.face_edges(face_id)
 	}
 	#[inline]
-	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:Self::Edge)->impl AsRef<[Self::Face;2]>{
+	fn edge_faces(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshFaceId;2]>{
 		self.view.edge_faces(edge_id)
 	}
 	#[inline]
-	fn edge_verts(&self,edge_id:Self::Edge)->impl AsRef<[Self::Vert;2]>{
+	fn edge_verts(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshVertId;2]>{
 		self.view.edge_verts(edge_id)
 	}
-	fn for_each_face_vert(&self,face_id:Self::Face,f:impl FnMut(Self::Vert)){
-		self.view.for_each_face_vert(face_id,f)
+	#[inline]
+	fn vert_edges(&self,vert_id:SubmeshVertId)->impl AsRef<[SubmeshDirectedEdgeId]>{
+		self.view.vert_edges(vert_id)
 	}
 	#[inline]
-	fn for_each_face_edge(&self,face_id:Self::Face,f:impl FnMut(Self::DirectedEdge)){
-		self.view.for_each_face_edge(face_id,f)
+	fn vert_faces(&self,vert_id:SubmeshVertId)->impl AsRef<[SubmeshFaceId]>{
+		self.view.vert_faces(vert_id)
 	}
 }
 
+//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,Eq,PartialEq)]
+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,Eq,PartialEq)]
+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>,
+}
+
 pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
 pub fn into_giga_time(time:Time,relative_to:Time)->GigaTime{
 	let r=(time-relative_to).to_ratio();
 	Ratio::new(r.num.widen_4(),r.den.widen_4())
 }
+
+// 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,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
+		let fev=crate::minimum_difference::closest_fev_not_inside(self,relative_body.position)?;
+		//continue forwards along the body parabola
+		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 (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;
+		//continue backwards along the body parabola
+		fev.crawl(self,&infinity_body,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,relative_body:&Body,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-relative_body.time).to_ratio());
+		let mut best_time=range.end_bound().map(|&t|into_giga_time(t,relative_body.time));
+		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 low(&start_time,&dt)&&upp(&dt,&best_time)&&n.dot(relative_body.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 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 hint_point(&self)->Planar64Vec3{
+		self.mesh0.transform.vertex.translation-self.mesh1.transform.vertex.translation
+	}
+	fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
+		MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
+	}
+	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_thing=self.mesh0.vert_faces(v0);
+				let v1f_thing=self.mesh1.vert_faces(v1);
+				let v0f=v0f_thing.as_ref();
+				let v1f=v1f_thing.as_ref();
+				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);
+				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
+					// 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_3());
+					}
+					if is_empty_volume(&face_normals){
+						edges.push(MinkowskiDirectedEdge::EdgeVert(directed_edge_id,v1));
+					}
+				}
+				face_normals.clone_from(&v1f_n);
+				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);
+					// 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_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!();
+		#[expect(unreachable_code)]
+		Vec::new()
+	}
+}
+
+fn is_empty_volume(normals:&[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()]));
+	assert!(is_empty_volume(&[vec3::X.widen_3(),vec3::Y.widen_3(),vec3::Z.widen_3(),vec3::NEG_X.widen_3()]));
+}

engine/physics/src/push_solve.rs

@@ -15,7 +15,6 @@ type Conts<'a>=arrayvec::ArrayVec<&'a Contact,4>;
 const RATIO_ZERO:Ratio<Fixed<1,32>,Fixed<1,32>>=Ratio::new(Fixed::ZERO,Fixed::EPSILON);
 
 /// Information about a contact restriction
-#[derive(Debug,PartialEq)]
 pub struct Contact{
 	pub position:Planar64Vec3,
 	pub velocity:Planar64Vec3,
@@ -282,16 +281,16 @@ fn get_first_touch<'a>(contacts:&'a [Contact],ray:&Ray,conts:&Conts)->Option<(Ra
 		.min_by_key(|&(t,_)|t)
 }
 
-pub fn push_solve(contacts:&[Contact],point:Planar64Vec3)->(Planar64Vec3,Conts<'_>){
+pub fn push_solve(contacts:&[Contact],point:Planar64Vec3)->Planar64Vec3{
 	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,conts),
+			None=>return ray.origin,
 		};
 
 		if RATIO_ZERO.le_ratio(next_t){
-			return (ray.origin,conts);
+			return ray.origin;
 		}
 
 		//push_front
@@ -307,7 +306,7 @@ pub fn push_solve(contacts:&[Contact],point:Planar64Vec3)->(Planar64Vec3,Conts<'
 		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,conts),
+			None=>return meet_point,
 		}
 	}
 }
@@ -324,8 +323,9 @@ mod tests{
 				normal:vec3::Y,
 			}
 		];
-		let (point,conts)=push_solve(&contacts,vec3::NEG_Y);
-		assert_eq!(point,vec3::zero());
-		assert_eq!(conts.as_slice(),[&contacts[0]].as_slice());
+		assert_eq!(
+			vec3::zero(),
+			push_solve(&contacts,vec3::NEG_Y)
+		);
 	}
 }

engine/session/src/session.rs

@@ -2,6 +2,7 @@ use std::collections::HashMap;
 
 use strafesnet_common::gameplay_modes::{ModeId,StageId};
 use strafesnet_common::instruction::{InstructionConsumer,InstructionEmitter,InstructionFeedback,TimedInstruction};
+use strafesnet_common::model::ModelId;
 // session represents the non-hardware state of the client.
 // Ideally it is a deterministic state which is atomically updated by instructions, same as the simulation state.
 use strafesnet_common::physics::{
@@ -52,14 +53,16 @@ pub enum SessionControlInstruction{
 pub enum SessionPlaybackInstruction{
 	SkipForward,
 	SkipBack,
+	TogglePaused,
 	DecreaseTimescale,
 	IncreaseTimescale,
 }
 
 pub struct FrameState{
-	pub trajectory:physics::Trajectory,
+	pub body:physics::Body,
 	pub camera:physics::PhysicsCamera,
 	pub time:PhysicsTime,
+	pub debug_model:Option<ModelId>,
 }
 
 pub struct Simulation{
@@ -76,11 +79,12 @@ impl Simulation{
 			physics,
 		}
 	}
-	pub fn get_frame_state(&self,time:SessionTime,data:&PhysicsData)->FrameState{
+	pub fn get_frame_state(&self,time:SessionTime,debug_model:Option<ModelId>)->FrameState{
 		FrameState{
-			trajectory:self.physics.camera_trajectory(data),
+			body:self.physics.camera_body(),
 			camera:self.physics.camera(),
 			time:self.timer.time(time),
+			debug_model,
 		}
 	}
 }
@@ -160,6 +164,7 @@ pub struct Session{
 	recording:Recording,
 	//players:HashMap<PlayerId,Simulation>,
 	replays:HashMap<BotId,Replay>,
+	last_ray_hit:Option<ModelId>,
 }
 impl Session{
 	pub fn new(
@@ -176,6 +181,7 @@ impl Session{
 			view_state:ViewState::Play,
 			recording:Default::default(),
 			replays:HashMap::new(),
+			last_ray_hit:None,
 		}
 	}
 	fn clear_recording(&mut self){
@@ -187,12 +193,25 @@ impl Session{
 	}
 	pub fn get_frame_state(&self,time:SessionTime)->Option<FrameState>{
 		match &self.view_state{
-			ViewState::Play=>Some(self.simulation.get_frame_state(time,&self.geometry_shared)),
+			ViewState::Play=>Some(self.simulation.get_frame_state(time,self.last_ray_hit)),
 			ViewState::Replay(bot_id)=>self.replays.get(bot_id).map(|replay|
-				replay.simulation.get_frame_state(time,&self.geometry_shared)
+				replay.simulation.get_frame_state(time,None)
 			),
 		}
 	}
+	pub fn debug_raycast_print_model_id_if_changed(&mut self,time:SessionTime){
+		if let Some(frame_state)=self.get_frame_state(time){
+			let ray=strafesnet_common::ray::Ray{
+				origin:frame_state.body.extrapolated_position(self.simulation.timer.time(time)),
+				direction:-frame_state.camera.rotation().z_axis,
+			};
+			let model_id=self.geometry_shared.trace_ray(ray);
+			if model_id!=self.last_ray_hit{
+				println!("hit={model_id:?}");
+				self.last_ray_hit=model_id;
+			}
+		}
+	}
 	pub fn user_settings(&self)->&UserSettings{
 		&self.user_settings
 	}
@@ -238,16 +257,12 @@ 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));
@@ -256,14 +271,7 @@ 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
-				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);
-					},
-				}
+				_=self.simulation.timer.set_paused(ins.time,paused);
 			},
 			Instruction::Control(SessionControlInstruction::CopyRecordingIntoReplayAndSpectate)=> if let ViewState::Play=self.view_state{
 				// Bind: B
@@ -384,6 +392,14 @@ 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);

integration-testing/src/main.rs

@@ -71,16 +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_trajectory(physics_data);
-				let b1=physics_filtered.camera_trajectory(physics_data);
+				let b0=physics_deterministic.camera_body();
+				let b1=physics_filtered.camera_body();
 				if b0.position!=b1.position{
 					let nanoseconds=start.elapsed().as_nanos() as u64;
 					println!("desync at instruction #{}",i);

integration-testing/src/test_scenes.rs

@@ -73,6 +73,7 @@ fn simultaneous_collision(){
 	let body=strafesnet_physics::physics::Body::new(
 		(vec3::int(5+2,0,0)>>1)+vec3::int(1,1,0),
 		vec3::int(-1,-1,0),
+		vec3::int(0,0,0),
 		Time::ZERO,
 	);
 	let mut physics=PhysicsState::new_with_body(body);
@@ -87,6 +88,7 @@ fn simultaneous_collision(){
 	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.acceleration,vec3::int(0,0,0));
 	assert_eq!(body.time,Time::from_secs(1));
 }
 #[test]
@@ -95,6 +97,7 @@ fn bug_3(){
 	let body=strafesnet_physics::physics::Body::new(
 		(vec3::int(5+2,0,0)>>1)+vec3::int(1,2,0),
 		vec3::int(-1,-1,0),
+		vec3::int(0,0,0),
 		Time::ZERO,
 	);
 	let mut physics=PhysicsState::new_with_body(body);
@@ -109,5 +112,6 @@ fn bug_3(){
 	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.acceleration,vec3::int(0,0,0));
 	assert_eq!(body.time,Time::from_secs(2));
 }

integration-testing/src/tests.rs

@@ -22,6 +22,7 @@ fn physics_bug_2()->Result<(),ReplayError>{
 	let body=strafesnet_physics::physics::Body::new(
 		vec3::raw_xyz(555690659654,1490485868773,1277783839382),
 		vec3::int(0,0,0),
+		vec3::int(0,-100,0),
 		Time::ZERO,
 	);
 	let mut physics=PhysicsState::new_with_body(body);
@@ -59,12 +60,9 @@ fn physics_bug_3()->Result<(),ReplayError>{
 		// 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),
+		vec3::raw_xyz(-1392580080675,3325402529458,-2444727738679),
+		vec3::raw_xyz(-30259028820,-22950929553,-71141663007),
+		vec3::raw_xyz(0,-429496729600,0),
 		Time::ZERO,
 	);
 	let mut physics=PhysicsState::new_with_body(body);

lib/common/src/physics.rs

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

lib/rbx_loader/Cargo.toml

@@ -12,7 +12,7 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 [dependencies]
 bytemuck = "1.14.3"
 glam = "0.30.0"
-regex = { version = "1.11.3", default-features = false, features = ["unicode-perl"] }
+regex = { version = "1.11.3", default-features = false }
 rbx_mesh = "0.5.0"
 rbxassetid = { version = "0.1.0", path = "../rbxassetid", registry = "strafesnet" }
 roblox_emulator = { version = "0.5.1", path = "../roblox_emulator", default-features = false, registry = "strafesnet" }

lib/snf/src/newtypes/physics.rs

@@ -88,11 +88,6 @@ 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,
 }
@@ -121,7 +116,6 @@ 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(
@@ -148,7 +142,6 @@ 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(

strafe-client/models/teslacyberv3.0.mtl

@@ -0,0 +1,62 @@
+# 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/physics_worker.rs

@@ -77,5 +77,8 @@ pub fn new<'a>(
 				run_session_instruction!(ins.time,SessionInstruction::LoadReplay(bot));
 			}
 		}
+
+		//whatever just do it
+		session.debug_raycast_print_model_id_if_changed(ins.time);
 	})
 }

strafe-client/src/shader.wgsl

@@ -86,6 +86,29 @@ fn vs_entity_texture(
 	return result;
 }
 
+@group(1)
+@binding(0)
+var<uniform> model_instance: ModelInstance;
+
+struct DebugEntityOutput {
+	@builtin(position) position: vec4<f32>,
+	@location(1) normal: vec3<f32>,
+	@location(2) view: vec3<f32>,
+};
+
+@vertex
+fn vs_debug(
+	@location(0) pos: vec3<f32>,
+	@location(1) normal: vec3<f32>,
+) -> DebugEntityOutput {
+	var position: vec4<f32> = model_instance.transform * vec4<f32>(pos, 1.0);
+	var result: DebugEntityOutput;
+	result.normal = model_instance.normal_transform * normal;
+	result.view = position.xyz - camera.view_inv[3].xyz;//col(3)
+	result.position = camera.proj * camera.view * position;
+	return result;
+}
+
 //group 2 is the skybox texture
 @group(1)
 @binding(0)
@@ -110,3 +133,8 @@ fn fs_entity_texture(vertex: EntityOutputTexture) -> @location(0) vec4<f32> {
 	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));
 }
+
+@fragment
+fn fs_debug(vertex: DebugEntityOutput) -> @location(0) vec4<f32> {
+	return model_instance.color;
+}

strafe-client/src/window.rs

@@ -15,7 +15,6 @@ 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>>,
@@ -25,35 +24,6 @@ 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)=>{
@@ -64,10 +34,6 @@ 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,
@@ -80,8 +46,35 @@ impl WindowContext<'_>{
 				..
 			}=>{
 				match (logical_key,state){
-					(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::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::F11),winit::event::ElementState::Pressed)=>{
 						if self.window.fullscreen().is_some(){
 							self.window.set_fullscreen(None);
@@ -138,18 +131,8 @@ impl WindowContext<'_>{
 
 						if let Some(session_instruction)=match keycode{
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Space)=>input_ctrl!(SetJump,s),
-							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Shift)=>input_ctrl!(SetSprint,s),
 							// TODO: bind system so playback pausing can use spacebar
-							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::Enter)=>session_playback!(TogglePaused,s),
 							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),
@@ -258,7 +241,6 @@ 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,