use bvh

eventually I will work on thread stuff again and make threads for everything and workarounds to latency issues

Cargo.lock

@@ -1692,6 +1692,7 @@ dependencies = [
  "lazy-regex",
  "log",
  "obj",
+ "parking_lot",
  "pollster",
  "rbx_binary",
  "rbx_dom_weak",

Cargo.toml

@@ -14,6 +14,7 @@ glam = "0.24.1"
 lazy-regex = "3.0.2"
 log = "0.4.20"
 obj = "0.10.2"
+parking_lot = "0.12.1"
 pollster = "0.3.0"
 rbx_binary = "0.7.1"
 rbx_dom_weak = "2.5.0"
@@ -22,7 +23,7 @@ rbx_xml = "0.13.1"
 wgpu = "0.17.0"
 winit = "0.28.6"
 
-[profile.release]
-lto = true
-strip = true
-codegen-units = 1
+#[profile.release]
+#lto = true
+#strip = true
+#codegen-units = 1

src/aabb.rs

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

src/bvh.rs

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

src/instruction.rs

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

src/load_roblox.rs

@@ -30,7 +30,7 @@ fn get_texture_refs(dom:&rbx_dom_weak::WeakDom) -> Vec<rbx_dom_weak::types::Ref>
 	//next class
 	objects
 }
-fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3)->crate::model::CollisionAttributes{
+fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3,force_intersecting:bool)->crate::model::CollisionAttributes{
 	let mut general=crate::model::GameMechanicAttributes::default();
 	let mut intersecting=crate::model::IntersectingAttributes::default();
 	let mut contacting=crate::model::ContactingAttributes::default();
@@ -46,7 +46,7 @@ fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3)->crate::model:
 			behaviour:crate::model::StageElementBehaviour::Platform,
 		}),
 		other=>{
-			if let Some(captures)=lazy_regex::regex!(r"^(Force)?(SpawnAt|Trigger|Teleport|Platform)(\d+)$")
+			if let Some(captures)=lazy_regex::regex!(r"^(Force)?(Spawn|SpawnAt|Trigger|Teleport|Platform)(\d+)$")
 			.captures(other){
 				general.stage_element=Some(crate::model::GameMechanicStageElement{
 					mode_id:0,
@@ -56,7 +56,7 @@ fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3)->crate::model:
 						None=>false,
 					},
 					behaviour:match &captures[2]{
-						"SpawnAt"=>crate::model::StageElementBehaviour::SpawnAt,
+						"Spawn"|"SpawnAt"=>crate::model::StageElementBehaviour::SpawnAt,
 						"Trigger"=>crate::model::StageElementBehaviour::Trigger,
 						"Teleport"=>crate::model::StageElementBehaviour::Teleport,
 						"Platform"=>crate::model::StageElementBehaviour::Platform,
@@ -89,9 +89,21 @@ fn get_attributes(name:&str,can_collide:bool,velocity:glam::Vec3)->crate::model:
 					//WormholeIn#
 				}
 			}
-			return crate::model::CollisionAttributes::Contact{contacting,general};
+			crate::model::CollisionAttributes::Contact{contacting,general}
+		},
+		false=>if force_intersecting
+		||general.jump_limit.is_some()
+		||general.booster.is_some()
+		||general.zone.is_some()
+		||general.stage_element.is_some()
+		||general.wormhole.is_some()
+		||intersecting.water.is_some()
+		||intersecting.accelerator.is_some()
+		{
+			crate::model::CollisionAttributes::Intersect{intersecting,general}
+		}else{
+			crate::model::CollisionAttributes::Decoration
 		},
-		false=>return crate::model::CollisionAttributes::Decoration,
 	}
 }
 
@@ -219,6 +231,7 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 				);
 
 				//push TempIndexedAttributes
+				let mut force_intersecting=false;
 				let mut temp_indexing_attributes=Vec::new();
 				if let Some(attr)=match &object.name[..]{
 					"MapStart"=>{
@@ -227,11 +240,11 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 					},
 					"UnorderedCheckpoint"=>Some(crate::model::TempIndexedAttributes::UnorderedCheckpoint{mode_id:0}),
 					other=>{
-						let regman=lazy_regex::regex!(r"^(BonusStart|Spawn|OrderedCheckpoint)(\d+)$");
+						let regman=lazy_regex::regex!(r"^(BonusStart|Spawn|ForceSpawn|OrderedCheckpoint)(\d+)$");
 						if let Some(captures) = regman.captures(other) {
 							match &captures[1]{
 								"BonusStart"=>Some(crate::model::TempIndexedAttributes::Start{mode_id:captures[2].parse::<u32>().unwrap()}),
-								"Spawn"=>Some(crate::model::TempIndexedAttributes::Spawn{mode_id:0,stage_id:captures[2].parse::<u32>().unwrap()}),
+								"Spawn"|"ForceSpawn"=>Some(crate::model::TempIndexedAttributes::Spawn{mode_id:0,stage_id:captures[2].parse::<u32>().unwrap()}),
 								"OrderedCheckpoint"=>Some(crate::model::TempIndexedAttributes::OrderedCheckpoint{mode_id:0,checkpoint_id:captures[2].parse::<u32>().unwrap()}),
 								_=>None,
 							}
@@ -240,6 +253,7 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 						}
 					}
 				}{
+					force_intersecting=true;
 					temp_indexing_attributes.push(attr);
 				}
 
@@ -354,17 +368,17 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 					primitives::Primitives::Cylinder=>RobloxBasePartDescription::Cylinder,
 					//use front face texture first and use top face texture as a fallback
 					primitives::Primitives::Wedge=>RobloxBasePartDescription::Wedge([
-						f0,//Wedge::Right
-						if f5.is_some(){f5}else{f1},//Wedge::TopFront
-						f2,//Wedge::Back
-						f3,//Wedge::Left
-						f4,//Wedge::Bottom
+						f0,//Cube::Right->Wedge::Right
+						if f5.is_some(){f5}else{f1},//Cube::Front|Cube::Top->Wedge::TopFront
+						f2,//Cube::Back->Wedge::Back
+						f3,//Cube::Left->Wedge::Left
+						f4,//Cube::Bottom->Wedge::Bottom
 					]),
 					primitives::Primitives::CornerWedge=>RobloxBasePartDescription::CornerWedge([
-						f0,//CornerWedge::Right
-						f1,//CornerWedge::Top
-						f4,//CornerWedge::Bottom
-						f5,//CornerWedge::Front
+						f0,//Cube::Right->CornerWedge::Right
+						f1,//Cube::Top->CornerWedge::Top
+						f4,//Cube::Bottom->CornerWedge::Bottom
+						f5,//Cube::Front->CornerWedge::Front
 					]),
 				};
 				//make new model if unit cube has not been created before
@@ -440,7 +454,7 @@ pub fn generate_indexed_models(dom:rbx_dom_weak::WeakDom) -> crate::model::Index
 				indexed_models[model_id].instances.push(crate::model::ModelInstance {
 					transform:model_transform,
 					color:glam::vec4(color3.r as f32/255f32, color3.g as f32/255f32, color3.b as f32/255f32, 1.0-*transparency),
-					attributes:get_attributes(&object.name,*can_collide,glam::vec3(velocity.x,velocity.y,velocity.z)),
+					attributes:get_attributes(&object.name,*can_collide,glam::vec3(velocity.x,velocity.y,velocity.z),force_intersecting),
 					temp_indexing:temp_indexing_attributes,
 				});
 			}

src/main.rs

@@ -1,12 +1,15 @@
 use std::{borrow::Cow, time::Instant};
 use wgpu::{util::DeviceExt, AstcBlock, AstcChannel};
 use model::{Vertex,ModelInstance,ModelGraphicsInstance};
-use body::{InputInstruction, PhysicsInstruction};
+use physics::{InputInstruction, PhysicsInstruction};
 use instruction::{TimedInstruction, InstructionConsumer};
 
-mod body;
+mod bvh;
+mod aabb;
 mod model;
 mod zeroes;
+mod worker;
+mod physics;
 mod framework;
 mod primitives;
 mod instruction;
@@ -43,14 +46,65 @@ pub struct GraphicsPipelines{
 	model: wgpu::RenderPipeline,
 }
 
+pub struct GraphicsCamera{
+	screen_size: glam::UVec2,
+	fov: glam::Vec2,//slope
+	//camera angles and such are extrapolated and passed in every time
+}
+
+#[inline]
+fn perspective_rh(fov_x_slope: f32, fov_y_slope: f32, z_near: f32, z_far: f32) -> glam::Mat4 {
+	//glam_assert!(z_near > 0.0 && z_far > 0.0);
+	let r = z_far / (z_near - z_far);
+	glam::Mat4::from_cols(
+		glam::Vec4::new(1.0/fov_x_slope, 0.0, 0.0, 0.0),
+		glam::Vec4::new(0.0, 1.0/fov_y_slope, 0.0, 0.0),
+		glam::Vec4::new(0.0, 0.0, r, -1.0),
+		glam::Vec4::new(0.0, 0.0, r * z_near, 0.0),
+	)
+}
+impl GraphicsCamera{
+	pub fn new(screen_size:glam::UVec2,fov_y:f32)->Self{
+		Self{
+			screen_size,
+			fov: glam::vec2(fov_y*(screen_size.x as f32)/(screen_size.y as f32),fov_y),
+		}
+	}
+	pub fn proj(&self)->glam::Mat4{
+		perspective_rh(self.fov.x, self.fov.y, 0.5, 2000.0)
+	}
+	pub fn view(&self,pos:glam::Vec3,angles:glam::Vec2)->glam::Mat4{
+		//f32 good enough for view matrix
+		glam::Mat4::from_translation(pos) * glam::Mat4::from_euler(glam::EulerRot::YXZ, angles.x, angles.y, 0f32)
+	}
+	pub fn set_screen_size(&mut self,screen_size:glam::UVec2){
+		self.screen_size=screen_size;
+		self.fov.x=self.fov.y*(screen_size.x as f32)/(screen_size.y as f32);
+	}
+
+	pub fn to_uniform_data(&self,(pos,angles): (glam::Vec3,glam::Vec2)) -> [f32; 16 * 3 + 4] {
+		let proj=self.proj();
+		let proj_inv = proj.inverse();
+		let view=self.view(pos,angles);
+		let view_inv = view.inverse();
+
+		let mut raw = [0f32; 16 * 3 + 4];
+		raw[..16].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj)[..]);
+		raw[16..32].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj_inv)[..]);
+		raw[32..48].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&view_inv)[..]);
+		raw[48..52].copy_from_slice(AsRef::<[f32; 4]>::as_ref(&view.col(3)));
+		raw
+	}
+}
+
 pub struct GraphicsState{
-	screen_size: (u32, u32),
 	pipelines: GraphicsPipelines,
 	bind_groups: GraphicsBindGroups,
 	bind_group_layouts: GraphicsBindGroupLayouts,
 	samplers: GraphicsSamplers,
-	temp_squid_texture_view: wgpu::TextureView,
+	camera:GraphicsCamera,
 	camera_buf: wgpu::Buffer,
+	temp_squid_texture_view: wgpu::TextureView,
 	models: Vec<ModelGraphics>,
 	depth_view: wgpu::TextureView,
 	staging_belt: wgpu::util::StagingBelt,
@@ -65,8 +119,9 @@ impl GraphicsState{
 pub struct GlobalState{
 	start_time: std::time::Instant,
 	manual_mouse_lock:bool,
+	mouse:physics::MouseState,
 	graphics:GraphicsState,
-	physics:body::PhysicsState,
+	physics_thread:worker::CompatWorker<TimedInstruction<InputInstruction>,physics::PhysicsOutputState,Box<dyn FnMut(TimedInstruction<InputInstruction>)->physics::PhysicsOutputState>>,
 }
 
 impl GlobalState{
@@ -94,71 +149,6 @@ impl GlobalState{
 		depth_texture.create_view(&wgpu::TextureViewDescriptor::default())
 	}
 
-	fn generate_model_physics(&mut self,indexed_models:&model::IndexedModelInstances){
-		let mut starts=Vec::new();
-		let mut spawns=Vec::new();
-		let mut ordered_checkpoints=Vec::new();
-		let mut unordered_checkpoints=Vec::new();
-		for model in &indexed_models.models{
-			//make aabb and run vertices to get realistic bounds
-			for model_instance in &model.instances{
-				if let Some(model_physics)=body::ModelPhysics::from_model(model,model_instance){
-					let model_id=self.physics.models.len() as u32;
-					//snoop it before it gets stolen
-					for attr in model_instance.temp_indexing.iter(){
-						match attr{
-							model::TempIndexedAttributes::Start{mode_id}=>starts.push((*mode_id,model_id)),
-							model::TempIndexedAttributes::Spawn{mode_id,stage_id}=>spawns.push((*mode_id,model_id,*stage_id)),
-							model::TempIndexedAttributes::OrderedCheckpoint{mode_id,checkpoint_id}=>ordered_checkpoints.push((*mode_id,model_id,*checkpoint_id)),
-							model::TempIndexedAttributes::UnorderedCheckpoint{mode_id}=>unordered_checkpoints.push((*mode_id,model_id)),
-						}
-					}
-					//steal it
-					self.physics.models.push(model_physics);
-				}
-			}
-		}
-		//I don't wanna write structs for temporary structures
-		//this code builds ModeDescriptions from the unsorted lists at the top of the function
-		starts.sort_by_key(|tup|tup.0);
-		let mut eshmep=std::collections::HashMap::new();
-		let mut modedatas:Vec<(u32,Vec<(u32,u32)>,Vec<(u32,u32)>,Vec<u32>)>=starts.into_iter().enumerate().map(|(i,tup)|{
-			eshmep.insert(tup.0,i);
-			(tup.1,Vec::new(),Vec::new(),Vec::new())
-		}).collect();
-		for tup in spawns{
-			if let Some(mode_id)=eshmep.get(&tup.0){
-				if let Some(modedata)=modedatas.get_mut(*mode_id){
-					modedata.1.push((tup.2,tup.1));
-				}
-			}
-		}
-		for tup in ordered_checkpoints{
-			if let Some(mode_id)=eshmep.get(&tup.0){
-				if let Some(modedata)=modedatas.get_mut(*mode_id){
-					modedata.2.push((tup.2,tup.1));
-				}
-			}
-		}
-		for tup in unordered_checkpoints{
-			if let Some(mode_id)=eshmep.get(&tup.0){
-				if let Some(modedata)=modedatas.get_mut(*mode_id){
-					modedata.3.push(tup.1);
-				}
-			}
-		}
-		self.physics.modes.append(&mut modedatas.into_iter().map(|mut tup|{
-			tup.1.sort_by_key(|tup|tup.0);
-			tup.2.sort_by_key(|tup|tup.0);
-			model::ModeDescription{
-				start:tup.0,
-				spawns:tup.1.into_iter().map(|tup|tup.1).collect(),
-				ordered_checkpoints:tup.2.into_iter().map(|tup|tup.1).collect(),
-				unordered_checkpoints:tup.3,
-			}
-		}).collect());
-		println!("Physics Objects: {}",self.physics.models.len());
-	}
 	fn generate_model_graphics(&mut self,device:&wgpu::Device,queue:&wgpu::Queue,indexed_models:model::IndexedModelInstances){
 		//generate texture view per texture
 
@@ -228,7 +218,7 @@ impl GlobalState{
 		//the models received here are supposed to be tightly packed, i.e. no code needs to check if two models are using the same groups.
 		let indexed_models_len=indexed_models.models.len();
 		let mut unique_texture_models=Vec::with_capacity(indexed_models_len);
-		for mut model in indexed_models.models.into_iter(){
+		for model in indexed_models.models.into_iter(){
 			//convert ModelInstance into ModelGraphicsInstance
 			let instances:Vec<ModelGraphicsInstance>=model.instances.into_iter().filter_map(|instance|{
 				if instance.color.w==0.0{
@@ -401,20 +391,6 @@ fn get_instances_buffer_data(instances:&[ModelGraphicsInstance]) -> Vec<f32> {
 	raw
 }
 
-fn to_uniform_data(camera: &body::Camera, pos: glam::Vec3) -> [f32; 16 * 3 + 4] {
-	let proj=camera.proj();
-	let proj_inv = proj.inverse();
-	let view=camera.view(pos);
-	let view_inv = view.inverse();
-
-	let mut raw = [0f32; 16 * 3 + 4];
-	raw[..16].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj)[..]);
-	raw[16..32].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&proj_inv)[..]);
-	raw[32..48].copy_from_slice(&AsRef::<[f32; 16]>::as_ref(&view_inv)[..]);
-	raw[48..52].copy_from_slice(AsRef::<[f32; 4]>::as_ref(&view.col(3)));
-	raw
-}
-
 impl framework::Example for GlobalState {
 	fn optional_features() -> wgpu::Features {
 		wgpu::Features::TEXTURE_COMPRESSION_ASTC
@@ -575,23 +551,6 @@ impl framework::Example for GlobalState {
 			source: wgpu::ShaderSource::Wgsl(Cow::Borrowed(include_str!("shader.wgsl"))),
 		});
 
-		let physics = body::PhysicsState {
-			spawn_point:glam::vec3(0.0,50.0,0.0),
-			body: body::Body::with_pva(glam::vec3(0.0,50.0,0.0),glam::vec3(0.0,0.0,0.0),glam::vec3(0.0,-100.0,0.0)),
-			time: 0,
-			style:body::StyleModifiers::default(),
-			grounded: false,
-			contacts: std::collections::HashSet::new(),
-			models: Vec::new(),
-			walk: body::WalkState::new(),
-			camera: body::Camera::from_offset(glam::vec3(0.0,4.5-2.5,0.0),(config.width as f32)/(config.height as f32)),
-			mouse_interpolation: body::MouseInterpolationState::new(),
-			controls: 0,
-			world:body::WorldState{},
-			game:body::GameMechanicsState::default(),
-			modes:Vec::new(),
-		};
-
 		//load textures
 		let device_features = device.features();
 
@@ -786,7 +745,10 @@ impl framework::Example for GlobalState {
 			multiview: None,
 		});
 
-		let camera_uniforms = to_uniform_data(&physics.camera,physics.body.extrapolated_position(0));
+		let mut physics = physics::PhysicsState::default();
+
+		let camera=GraphicsCamera::new(glam::uvec2(config.width,config.height), 1.0);
+		let camera_uniforms = camera.to_uniform_data(physics.output().adjust_mouse(&physics.next_mouse));
 		let camera_buf = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
 			label: Some("Camera"),
 			contents: bytemuck::cast_slice(&camera_uniforms),
@@ -802,6 +764,7 @@ impl framework::Example for GlobalState {
 			],
 			label: Some("Camera"),
 		});
+
 		let skybox_texture_bind_group = device.create_bind_group(&wgpu::BindGroupDescriptor {
 			layout: &skybox_texture_bind_group_layout,
 			entries: &[
@@ -820,7 +783,6 @@ impl framework::Example for GlobalState {
 		let depth_view = Self::create_depth_texture(config, device);
 
 		let graphics=GraphicsState {
-			screen_size: (config.width,config.height),
 			pipelines:GraphicsPipelines{
 				skybox:sky_pipeline,
 				model:model_pipeline
@@ -829,6 +791,7 @@ impl framework::Example for GlobalState {
 				camera:camera_bind_group,
 				skybox_texture:skybox_texture_bind_group,
 			},
+			camera,
 			camera_buf,
 			models: Vec::new(),
 			depth_view,
@@ -838,20 +801,30 @@ impl framework::Example for GlobalState {
 			temp_squid_texture_view: squid_texture_view,
 		};
 
-		let mut state=GlobalState{
-			start_time:Instant::now(),
-			manual_mouse_lock:false,
-			graphics,
-			physics,
-		};
-
 		let indexed_model_instances=model::IndexedModelInstances{
 			textures:Vec::new(),
 			models:indexed_models,
 			spawn_point:glam::Vec3::Y*50.0,
 			modes:Vec::new(),
 		};
-		state.generate_model_physics(&indexed_model_instances);
+
+		//how to multithread
+
+		//1. build
+		physics.generate_models(&indexed_model_instances);
+
+		//2. move
+		let physics_thread=physics.into_worker();
+
+		//3. forget
+
+		let mut state=GlobalState{
+			start_time:Instant::now(),
+			manual_mouse_lock:false,
+			mouse:physics::MouseState::default(),
+			graphics,
+			physics_thread,
+		};
 		state.generate_model_graphics(&device,&queue,indexed_model_instances);
 
 		let args:Vec<String>=std::env::args().collect();
@@ -875,7 +848,6 @@ impl framework::Example for GlobalState {
 			//.snf = "SNMF"
 			//.snf = "SNBF"
 			if let (Ok(()),Ok(()))=(std::io::Read::read_exact(&mut input, &mut first_8),std::io::Seek::rewind(&mut input)){
-				//
 				if let Some(indexed_model_instances)={
 					match &first_8[0..4]{
 						b"<rob"=>{
@@ -902,20 +874,20 @@ impl framework::Example for GlobalState {
 				}{
 					let spawn_point=indexed_model_instances.spawn_point;
 					//if generate_indexed_models succeeds, clear the previous ones
-					self.physics.clear();
 					self.graphics.clear();
-					self.generate_model_physics(&indexed_model_instances);
+
+					let mut physics=physics::PhysicsState::default();
+					physics.game.stage_id=0;
+					physics.spawn_point=spawn_point;
+					physics.process_instruction(instruction::TimedInstruction{
+						time:physics.time,
+						instruction: PhysicsInstruction::Input(physics::PhysicsInputInstruction::Reset),
+					});
+					physics.generate_models(&indexed_model_instances);
+					self.physics_thread=physics.into_worker();
+
 					self.generate_model_graphics(device,queue,indexed_model_instances);
 					//manual reset
-					let time=self.physics.time;
-					instruction::InstructionConsumer::process_instruction(&mut self.physics, instruction::TimedInstruction{
-						time,
-						instruction: body::PhysicsInstruction::SetSpawnPosition(spawn_point),
-					});
-					instruction::InstructionConsumer::process_instruction(&mut self.physics, instruction::TimedInstruction{
-						time,
-						instruction: body::PhysicsInstruction::Input(body::InputInstruction::Reset),
-					});
 				}else{
 					println!("No modeldatas were generated");
 				}
@@ -976,7 +948,7 @@ impl framework::Example for GlobalState {
 					15=>{//Tab
 						if s{
 							self.manual_mouse_lock=false;
-							match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.screen_size.0 as f32/2.0, self.graphics.screen_size.1 as f32/2.0)){
+							match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.camera.screen_size.x as f32/2.0, self.graphics.camera.screen_size.y as f32/2.0)){
 								Ok(())=>(),
 								Err(e)=>println!("Could not set cursor position: {:?}",e),
 							}
@@ -1005,18 +977,17 @@ impl framework::Example for GlobalState {
 					},
 					_ => {println!("scancode {}",keycode);None},
 				}{
-					self.physics.run(time);
-					self.physics.process_instruction(TimedInstruction{
+					self.physics_thread.send(TimedInstruction{
 						time,
-						instruction:PhysicsInstruction::Input(input_instruction),
-					})
+						instruction:input_instruction,
+					}).unwrap();
 				}
 			},
 			winit::event::DeviceEvent::MouseMotion {
 			    delta,//these (f64,f64) are integers on my machine
 			} => {
 				if self.manual_mouse_lock{
-					match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.screen_size.0 as f32/2.0, self.graphics.screen_size.1 as f32/2.0)){
+					match window.set_cursor_position(winit::dpi::PhysicalPosition::new(self.graphics.camera.screen_size.x as f32/2.0, self.graphics.camera.screen_size.y as f32/2.0)){
 						Ok(())=>(),
 						Err(e)=>println!("Could not set cursor position: {:?}",e),
 					}
@@ -1024,21 +995,22 @@ impl framework::Example for GlobalState {
 				//do not step the physics because the mouse polling rate is higher than the physics can run.
 				//essentially the previous input will be overwritten until a true step runs
 				//which is fine because they run all the time.
-				self.physics.process_instruction(TimedInstruction{
+				let delta=glam::ivec2(delta.0 as i32,delta.1 as i32);
+				self.mouse.pos+=delta;
+				self.physics_thread.send(TimedInstruction{
 					time,
-					instruction:PhysicsInstruction::Input(InputInstruction::MoveMouse(glam::ivec2(delta.0 as i32,delta.1 as i32))),
-				})
+					instruction:InputInstruction::MoveMouse(self.mouse.pos),
+				}).unwrap();
 			},
 			winit::event::DeviceEvent::MouseWheel {
 			    delta,
 			} => {
 				println!("mousewheel {:?}",delta);
 				if false{//self.physics.style.use_scroll{
-					self.physics.run(time);
-					self.physics.process_instruction(TimedInstruction{
+					self.physics_thread.send(TimedInstruction{
 						time,
-						instruction:PhysicsInstruction::Input(InputInstruction::Jump(true)),//activates the immediate jump path, but the style modifier prevents controls&CONTROL_JUMP bit from being set to auto jump
-					})
+						instruction:InputInstruction::Jump(true),//activates the immediate jump path, but the style modifier prevents controls&CONTROL_JUMP bit from being set to auto jump
+					}).unwrap();
 				}
 			}
 			_=>(),
@@ -1052,8 +1024,7 @@ impl framework::Example for GlobalState {
 		_queue: &wgpu::Queue,
 	) {
 		self.graphics.depth_view = Self::create_depth_texture(config, device);
-		self.graphics.screen_size = (config.width, config.height);
-		self.physics.camera.set_fov_aspect(1.0,(config.width as f32)/(config.height as f32));
+		self.graphics.camera.set_screen_size(glam::uvec2(config.width, config.height));
 	}
 
 	fn render(
@@ -1063,15 +1034,20 @@ impl framework::Example for GlobalState {
 		queue: &wgpu::Queue,
 		_spawner: &framework::Spawner,
 	) {
+		//ideally this would be scheduled to execute and finish right before the render.
 		let time=self.start_time.elapsed().as_nanos() as i64;
-
-		self.physics.run(time);
+		self.physics_thread.send(TimedInstruction{
+			time,
+			instruction:InputInstruction::Idle,
+		}).unwrap();
+		//update time lol
+		self.mouse.time=time;
 
 		let mut encoder =
 			device.create_command_encoder(&wgpu::CommandEncoderDescriptor { label: None });
 
 		// update rotation
-		let camera_uniforms = to_uniform_data(&self.physics.camera,self.physics.body.extrapolated_position(time));
+		let camera_uniforms = self.graphics.camera.to_uniform_data(self.physics_thread.grab_clone().adjust_mouse(&self.mouse));
 		self.graphics.staging_belt
 			.write_buffer(
 				&mut encoder,
@@ -1082,6 +1058,7 @@ impl framework::Example for GlobalState {
 			)
 			.copy_from_slice(bytemuck::cast_slice(&camera_uniforms));
 		//This code only needs to run when the uniforms change
+		/*
 		for model in self.graphics.models.iter() {
 			let model_uniforms = get_instances_buffer_data(&model.instances);
 			self.graphics.staging_belt
@@ -1094,6 +1071,7 @@ impl framework::Example for GlobalState {
 				)
 				.copy_from_slice(bytemuck::cast_slice(&model_uniforms));
 		}
+		*/
 		self.graphics.staging_belt.finish();
 
 		{

src/model.rs

@@ -85,6 +85,24 @@ pub struct ModeDescription{
 	pub spawns:Vec<u32>,//spawns[spawn_id]=model_id
 	pub ordered_checkpoints:Vec<u32>,//ordered_checkpoints[checkpoint_id]=model_id
 	pub unordered_checkpoints:Vec<u32>,//unordered_checkpoints[checkpoint_id]=model_id
+	pub spawn_from_stage_id:std::collections::HashMap::<u32,usize>,
+	pub ordered_checkpoint_from_checkpoint_id:std::collections::HashMap::<u32,usize>,
+}
+impl ModeDescription{
+	pub fn get_spawn_model_id(&self,stage_id:u32)->Option<&u32>{
+		if let Some(&spawn)=self.spawn_from_stage_id.get(&stage_id){
+			self.spawns.get(spawn)
+		}else{
+			None
+		}
+	}
+	pub fn get_ordered_checkpoint_model_id(&self,checkpoint_id:u32)->Option<&u32>{
+		if let Some(&checkpoint)=self.ordered_checkpoint_from_checkpoint_id.get(&checkpoint_id){
+			self.ordered_checkpoints.get(checkpoint)
+		}else{
+			None
+		}
+	}
 }
 pub enum TempIndexedAttributes{
 	Start{

src/worker.rs

@@ -0,0 +1,107 @@
+use std::thread;
+use std::sync::{mpsc,Arc};
+use parking_lot::Mutex;
+
+//The goal here is to have a worker thread that parks itself when it runs out of work.
+//The worker thread publishes the result of its work back to the worker object for every item in the work queue.
+//The physics (target use case) knows when it has not changed the body, so not updating the value is also an option.
+
+pub struct Worker<Task:Send,Value:Clone> {
+	sender: mpsc::Sender<Task>,
+	value:Arc<Mutex<Value>>,
+}
+
+impl<Task:Send+'static,Value:Clone+Send+'static> Worker<Task,Value> {
+	pub fn new<F:FnMut(Task)->Value+Send+'static>(value:Value,mut f:F) -> Self {
+		let (sender, receiver) = mpsc::channel::<Task>();
+		let ret=Self {
+			sender,
+			value:Arc::new(Mutex::new(value)),
+		};
+		let value=ret.value.clone();
+		thread::spawn(move || {
+			loop {
+				match receiver.recv() {
+					Ok(task) => {
+						let v=f(task);//make sure function is evaluated before lock is acquired
+						*value.lock()=v;
+					}
+					Err(_) => {
+						println!("Worker stopping.",);
+						break;
+					}
+				}
+			}
+		});
+		ret
+	}
+
+	pub fn send(&self,task:Task)->Result<(), mpsc::SendError<Task>>{
+		self.sender.send(task)
+	}
+
+	pub fn grab_clone(&self)->Value{
+		self.value.lock().clone()
+	}
+}
+
+pub struct CompatWorker<Task,Value:Clone,F>{
+	data:std::marker::PhantomData<Task>,
+	f:F,
+	value:Value,
+}
+
+impl<Task,Value:Clone,F:FnMut(Task)->Value> CompatWorker<Task,Value,F> {
+	pub fn new(value:Value,f:F) -> Self {
+		Self {
+			f,
+			value,
+			data:std::marker::PhantomData,
+		}
+	}
+
+	pub fn send(&mut self,task:Task)->Result<(),()>{
+		self.value=(self.f)(task);
+		Ok(())
+	}
+
+	pub fn grab_clone(&self)->Value{
+		self.value.clone()
+	}
+}
+
+#[test]//How to run this test with printing: cargo test --release -- --nocapture
+fn test_worker() {
+	println!("hiiiii");
+	// Create the worker thread
+	let worker = Worker::new(crate::physics::Body::with_pva(glam::Vec3::ZERO,glam::Vec3::ZERO,glam::Vec3::ZERO),
+		|_|crate::physics::Body::with_pva(glam::Vec3::ONE,glam::Vec3::ONE,glam::Vec3::ONE)
+	);
+
+	// Send tasks to the worker
+	for i in 0..5 {
+		let task = crate::instruction::TimedInstruction{
+			time:0,
+			instruction:crate::physics::PhysicsInstruction::StrafeTick,
+		};
+		worker.send(task).unwrap();
+	}
+
+	// Optional: Signal the worker to stop (in a real-world scenario)
+	// sender.send("STOP".to_string()).unwrap();
+
+	// Sleep to allow the worker thread to finish processing
+	thread::sleep(std::time::Duration::from_secs(2));
+
+	// Send a new task
+	let task = crate::instruction::TimedInstruction{
+		time:0,
+		instruction:crate::physics::PhysicsInstruction::StrafeTick,
+	};
+	worker.send(task).unwrap();
+
+	println!("value={:?}",worker.grab_clone());
+
+	// wait long enough to see print from final task
+	thread::sleep(std::time::Duration::from_secs(1));
+}