debug-26

This reverts commit 0ddd41c1b6.

Cargo.toml

@@ -35,22 +35,3 @@ unused_lifetimes = "warn"
 unused_qualifications = "warn"
 # variant_size_differences = "warn"
 unexpected_cfgs = "warn"
-
-[workspace.dependencies]
-glam = "0.31.0"
-
-# engine
-strafesnet_graphics = { path = "engine/graphics", registry = "strafesnet" }
-strafesnet_physics = { version = "0.0.1", path = "engine/physics", registry = "strafesnet" }
-strafesnet_session = { path = "engine/session", registry = "strafesnet" }
-strafesnet_settings = { path = "engine/settings", registry = "strafesnet" }
-
-# lib
-fixed_wide = { version = "0.2.2", path = "lib/fixed_wide", registry = "strafesnet" }
-linear_ops = { version = "0.1.1", path = "lib/linear_ops", registry = "strafesnet" }
-ratio_ops = { version = "0.1.0", path = "lib/ratio_ops", registry = "strafesnet" }
-strafesnet_bsp_loader = { path = "lib/bsp_loader", registry = "strafesnet" }
-strafesnet_common = { version = "0.8.5", path = "lib/common", registry = "strafesnet" }
-strafesnet_deferred_loader = { version = "0.5.1", path = "lib/deferred_loader", registry = "strafesnet" }
-strafesnet_rbx_loader = { path = "lib/rbx_loader", registry = "strafesnet" }
-strafesnet_snf = { version = "0.3.2", path = "lib/snf", registry = "strafesnet" }

engine/graphics/Cargo.toml

@@ -1,14 +1,18 @@
 [package]
 name = "strafesnet_graphics"
-version = "0.0.2"
+version = "0.1.0"
 edition = "2024"
 
 [dependencies]
 bytemuck = { version = "1.13.1", features = ["derive"] }
 ddsfile = "0.5.1"
-glam.workspace = true
+glam = "0.30.0"
 id = { version = "0.1.0", registry = "strafesnet" }
-strafesnet_common.workspace = true
+strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
+strafesnet_physics = { path = "../physics", registry = "strafesnet" }
+strafesnet_rbx_loader = { path = "../../lib/rbx_loader", registry = "strafesnet" }
+strafesnet_session = { path = "../session", registry = "strafesnet" }
+strafesnet_settings = { path = "../settings", registry = "strafesnet" }
 wgpu = "28.0.0"
 
 [lints]

engine/graphics/shaders/shader.wgsl

@@ -1,112 +0,0 @@
-struct Camera {
-	// from camera to screen
-	proj: mat4x4<f32>,
-	// from screen to camera
-	proj_inv: mat4x4<f32>,
-	// from world to camera
-	view: mat4x4<f32>,
-	// from camera to world
-	view_inv: mat4x4<f32>,
-};
-
-//group 0 is the camera
-@group(0)
-@binding(0)
-var<uniform> camera: Camera;
-
-struct SkyOutput {
-	@builtin(position) position: vec4<f32>,
-	@location(0) sampledir: vec3<f32>,
-};
-
-@vertex
-fn vs_sky(@builtin(vertex_index) vertex_index: u32) -> SkyOutput {
-	// hacky way to draw a large triangle
-	let tmp1 = i32(vertex_index) / 2;
-	let tmp2 = i32(vertex_index) & 1;
-	let pos = vec4<f32>(
-		f32(tmp1) * 4.0 - 1.0,
-		f32(tmp2) * 4.0 - 1.0,
-		1.0,
-		1.0
-	);
-
-	let inv_model_view = mat3x3<f32>(camera.view_inv[0].xyz, camera.view_inv[1].xyz, camera.view_inv[2].xyz);
-	let unprojected = camera.proj_inv * pos;
-
-	var result: SkyOutput;
-	result.sampledir = inv_model_view * unprojected.xyz;
-	result.position = pos;
-	return result;
-}
-
-struct ModelInstance{
-	transform:mat4x4<f32>,
-	normal_transform:mat3x3<f32>,
-	color:vec4<f32>,
-}
-//my fancy idea is to create a megatexture for each model that includes all the textures each intance will need
-//the texture transform then maps the texture coordinates to the location of the specific texture
-//group 1 is the model
-const MAX_MODEL_INSTANCES=512;
-@group(2)
-@binding(0)
-var<uniform> model_instances: array<ModelInstance, MAX_MODEL_INSTANCES>;
-@group(2)
-@binding(1)
-var model_texture: texture_2d<f32>;
-@group(2)
-@binding(2)
-var model_sampler: sampler;
-
-struct EntityOutputTexture {
-	@builtin(position) position: vec4<f32>,
-	@location(1) texture: vec2<f32>,
-	@location(2) normal: vec3<f32>,
-	@location(3) view: vec3<f32>,
-	@location(4) color: vec4<f32>,
-	@location(5) @interpolate(flat) model_color: vec4<f32>,
-};
-@vertex
-fn vs_entity_texture(
-	@builtin(instance_index) instance: u32,
-	@location(0) pos: vec3<f32>,
-	@location(1) texture: vec2<f32>,
-	@location(2) normal: vec3<f32>,
-	@location(3) color: vec4<f32>,
-) -> EntityOutputTexture {
-	var position: vec4<f32> = model_instances[instance].transform * vec4<f32>(pos, 1.0);
-	var result: EntityOutputTexture;
-	result.normal = model_instances[instance].normal_transform * normal;
-	result.texture = texture;
-	result.color = color;
-	result.model_color = model_instances[instance].color;
-	result.view = position.xyz - camera.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)
-var cube_texture: texture_cube<f32>;
-@group(1)
-@binding(1)
-var cube_sampler: sampler;
-
-@fragment
-fn fs_sky(vertex: SkyOutput) -> @location(0) vec4<f32> {
-	return textureSample(cube_texture, cube_sampler, vertex.sampledir);
-}
-
-@fragment
-fn fs_entity_texture(vertex: EntityOutputTexture) -> @location(0) vec4<f32> {
-	let incident = normalize(vertex.view);
-	let normal = normalize(vertex.normal);
-	let d = dot(normal, incident);
-	let reflected = incident - 2.0 * d * normal;
-
-	let fragment_color = textureSample(model_texture, model_sampler, vertex.texture)*vertex.color;
-	let 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));
-}

engine/graphics/src/graphics.rs

@@ -1,12 +1,24 @@
 use std::borrow::Cow;
 use std::collections::{HashSet,HashMap};
 use strafesnet_common::map;
+use strafesnet_settings::settings;
+use strafesnet_session::session;
 use strafesnet_common::model::{self, ColorId, NormalId, PolygonIter, PositionId, RenderConfigId, TextureCoordinateId, VertexId};
 use wgpu::{util::DeviceExt,AstcBlock,AstcChannel};
-use crate::model::{self as model_graphics,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelColor4,GraphicsModelOwned,GraphicsVertex};
+use crate::model::{self as model_graphics,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelColor4,GraphicsModelOwned,GraphicsVertex,DebugGraphicsVertex};
 
 pub fn required_limits()->wgpu::Limits{
-	wgpu::Limits::default()
+	let mut limits=wgpu::Limits::default();
+	limits.max_task_invocations_per_dimension=1;
+	limits.max_task_invocations_per_workgroup=1;
+	limits.max_mesh_invocations_per_dimension=1;
+	limits.max_mesh_invocations_per_workgroup=1;
+	limits.max_task_mesh_workgroup_total_count=1;
+	limits.max_task_mesh_workgroups_per_dimension=1;
+	limits.max_task_payload_size=4;
+	limits.max_mesh_output_vertices=2*(3+2+4+8);
+	limits.max_mesh_output_primitives=2*(1+2+4+8)+2;
+	limits
 }
 
 struct Indices{
@@ -34,12 +46,135 @@ struct GraphicsModel{
 	instance_count:u32,
 }
 
+struct DebugGraphicsSubmesh{
+	verts:Vec<strafesnet_physics::model::MeshVertId>,
+	edges:Vec<[strafesnet_physics::model::MeshVertId;2]>,
+	faces:Vec<Indices>,
+}
+struct DebugGraphicsMesh{
+	vertices:Vec<DebugGraphicsVertex>,
+	indices:Indices,
+	submeshes:Vec<DebugGraphicsSubmesh>,
+	vertex_buf:wgpu::Buffer,
+}
+impl DebugGraphicsMesh{
+	fn new(device:&wgpu::Device,mesh:&model::Mesh)->Self{
+		let vertices:Vec<DebugGraphicsVertex>=mesh.unique_pos.iter().copied().map(|pos|{
+			DebugGraphicsVertex{
+				pos:pos.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,
+		});
+
+		macro_rules! indices{
+			($indices:expr)=>{
+				if (u32::MAX as usize)<vertices.len(){
+					panic!("Model has too many vertices!");
+				}else if (u16::MAX as usize)<vertices.len(){
+					Indices::new(device,&$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)
+				}
+			};
+		}
+
+
+		let mut all_indices=Vec::new();
+
+		let submeshes=if let Ok(physics_mesh)=strafesnet_physics::model::PhysicsMesh::try_from(mesh){
+			physics_mesh.submesh_views().into_iter().map(|submesh_view|DebugGraphicsSubmesh{
+				verts:submesh_view.verts().to_owned(),
+				edges:submesh_view.edge_vert_ids_iter().collect(),
+				faces:submesh_view.face_vert_ids_iter().map(|face_verts|{
+					// triangulate
+					let mut indices=Vec::new();
+					let mut poly_vertices=face_verts.into_iter();
+					if let (Some(a),Some(mut b))=(poly_vertices.next(),poly_vertices.next()){
+						for c in poly_vertices{
+							indices.extend([a,b,c]);
+							all_indices.extend([a,b,c]);
+							b=c;
+						}
+					}
+					indices!(indices)
+				}).collect(),
+			}).collect()
+		}else{
+			//idc
+			Vec::new()
+		};
+
+		let indices=indices!(all_indices);
+
+		DebugGraphicsMesh{
+			vertices,
+			indices,
+			submeshes,
+			vertex_buf,
+		}
+	}
+}
+
+struct DebugGraphicsModel{
+	debug_mesh_id:u32,
+	bind_group:wgpu::BindGroup,
+	// 32 bytes used to tell the mesh shader where to draw
+	// Vert: [vec4,_]
+	// Edge: [vec4,vec4]
+	debug_buf:wgpu::Buffer,
+	model_buf:wgpu::Buffer,
+}
+impl DebugGraphicsModel{
+	fn new(device:&wgpu::Device,layout:&wgpu::BindGroupLayout,model:&model::Model,model_id:usize,color:glam::Vec4)->Self{
+		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(color),
+		}]);
+		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 debug_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
+			label:Some(format!("Debug Model{} EV Buf",model_id).as_str()),
+			contents:bytemuck::cast_slice(&[0u8;32]),
+			usage:wgpu::BufferUsages::UNIFORM|wgpu::BufferUsages::COPY_DST,
+		});
+		let bind_group=device.create_bind_group(&wgpu::BindGroupDescriptor{
+			layout,
+			entries:&[
+				wgpu::BindGroupEntry{
+					binding:0,
+					resource:model_buf.as_entire_binding(),
+				},
+				wgpu::BindGroupEntry{
+					binding:1,
+					resource:debug_buf.as_entire_binding(),
+				},
+			],
+			label:Some(format!("Debug Model{} Bind Group",model_id).as_str()),
+		});
+		DebugGraphicsModel{
+			debug_mesh_id:model.mesh.get(),
+			bind_group,
+			debug_buf,
+			model_buf,
+		}
+	}
+}
+
 struct GraphicsSamplers{
 	repeat:wgpu::Sampler,
 }
 
 struct GraphicsBindGroupLayouts{
 	model:wgpu::BindGroupLayout,
+	debug_model:wgpu::BindGroupLayout,
 }
 
 struct GraphicsBindGroups{
@@ -50,12 +185,11 @@ struct GraphicsBindGroups{
 struct GraphicsPipelines{
 	skybox:wgpu::RenderPipeline,
 	model:wgpu::RenderPipeline,
+	debug:wgpu::RenderPipeline,
+	debug_edge:wgpu::RenderPipeline,
+	debug_vert:wgpu::RenderPipeline,
 }
 
-pub fn view_inv(pos:glam::Vec3,angles:glam::Vec2)->glam::Mat4{
-	//f32 good enough for view matrix
-	glam::Mat4::from_mat3_translation(glam::Mat3::from_euler(glam::EulerRot::YXZ,angles.x,angles.y,0f32),pos)
-}
 struct GraphicsCamera{
 	screen_size:glam::UVec2,
 	fov:glam::Vec2,//slope
@@ -77,10 +211,15 @@ impl GraphicsCamera{
 	pub fn proj(&self)->glam::Mat4{
 		perspective_rh(self.fov.x,self.fov.y,0.4,4000.0)
 	}
+	pub fn world(&self,pos:glam::Vec3,angles:glam::Vec2)->glam::Mat4{
+		//f32 good enough for view matrix
+		glam::Mat4::from_translation(pos)*glam::Mat4::from_euler(glam::EulerRot::YXZ,angles.x,angles.y,0f32)
+	}
 
-	pub fn to_uniform_data(&self,view_inv:glam::Mat4)->[f32;16*4]{
+	pub fn to_uniform_data(&self,pos:glam::Vec3,angles:glam::Vec2)->[f32;16*4]{
 		let proj=self.proj();
 		let proj_inv=proj.inverse();
+		let view_inv=self.world(pos,angles);
 		let view=view_inv.inverse();
 
 		let mut raw=[0f32; 16 * 4];
@@ -129,6 +268,10 @@ pub struct GraphicsState{
 	camera_buf:wgpu::Buffer,
 	temp_squid_texture_view:wgpu::TextureView,
 	models:Vec<GraphicsModel>,
+	debug_meshes:Vec<DebugGraphicsMesh>,
+	debug_models:Vec<DebugGraphicsModel>,
+	hitbox_mesh:DebugGraphicsMesh,
+	hitbox_model:DebugGraphicsModel,
 	depth_view:wgpu::TextureView,
 	staging_belt:wgpu::util::StagingBelt,
 }
@@ -159,7 +302,20 @@ impl GraphicsState{
 	pub fn clear(&mut self){
 		self.models.clear();
 	}
+	pub fn load_user_settings(&mut self,user_settings:&settings::UserSettings){
+		self.camera.fov=user_settings.calculate_fov(1.0,&self.camera.screen_size).as_vec2();
+	}
 	pub 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|
+			DebugGraphicsMesh::new(device,mesh)
+		).collect();
+
+		//generate debug models, only one will be rendered at a time
+		self.debug_models=map.models.iter().enumerate().map(|(model_id,model)|{
+			DebugGraphicsModel::new(device,&self.bind_group_layouts.debug_model,model,model_id,glam::vec4(1.0,0.0,0.0,0.2))
+		}).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);
@@ -540,7 +696,7 @@ impl GraphicsState{
 			entries:&[
 				wgpu::BindGroupLayoutEntry{
 					binding:0,
-					visibility:wgpu::ShaderStages::VERTEX,
+					visibility:wgpu::ShaderStages::VERTEX|wgpu::ShaderStages::MESH,
 					ty:wgpu::BindingType::Buffer{
 						ty:wgpu::BufferBindingType::Uniform,
 						has_dynamic_offset:false,
@@ -602,6 +758,31 @@ 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|wgpu::ShaderStages::MESH,
+					ty:wgpu::BindingType::Buffer{
+						ty:wgpu::BufferBindingType::Uniform,
+						has_dynamic_offset:false,
+						min_binding_size:None,
+					},
+					count:None,
+				},
+				wgpu::BindGroupLayoutEntry{
+					binding:1,
+					visibility:wgpu::ShaderStages::MESH,
+					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"),
@@ -628,7 +809,7 @@ impl GraphicsState{
 		// Create the render pipeline
 		let shader=device.create_shader_module(wgpu::ShaderModuleDescriptor{
 			label:None,
-			source:wgpu::ShaderSource::Wgsl(Cow::Borrowed(include_str!("../shaders/shader.wgsl"))),
+			source:wgpu::ShaderSource::Wgsl(Cow::Borrowed(include_str!("../../../strafe-client/src/shader.wgsl"))),
 		});
 
 		//load textures
@@ -656,10 +837,10 @@ impl GraphicsState{
 				wgpu::TextureFormat::Astc{
 					block:AstcBlock::B4x4,
 					channel:AstcChannel::UnormSrgb,
-				}=>&include_bytes!("../images/astc.dds")[..],
-				wgpu::TextureFormat::Etc2Rgb8UnormSrgb=>&include_bytes!("../images/etc2.dds")[..],
-				wgpu::TextureFormat::Bc1RgbaUnormSrgb=>&include_bytes!("../images/bc1.dds")[..],
-				wgpu::TextureFormat::Bgra8UnormSrgb=>&include_bytes!("../images/bgra.dds")[..],
+				}=>&include_bytes!("../../../strafe-client/images/astc.dds")[..],
+				wgpu::TextureFormat::Etc2Rgb8UnormSrgb=>&include_bytes!("../../../strafe-client/images/etc2.dds")[..],
+				wgpu::TextureFormat::Bc1RgbaUnormSrgb=>&include_bytes!("../../../strafe-client/images/bc1.dds")[..],
+				wgpu::TextureFormat::Bgra8UnormSrgb=>&include_bytes!("../../../strafe-client/images/bgra.dds")[..],
 				_=>unreachable!(),
 			};
 
@@ -702,7 +883,7 @@ impl GraphicsState{
 
 		//squid
 		let squid_texture_view={
-			let bytes=include_bytes!("../images/squid.dds");
+			let bytes=include_bytes!("../../../strafe-client/images/squid.dds");
 
 			let image=ddsfile::Dds::read(&mut std::io::Cursor::new(bytes)).unwrap();
 
@@ -750,6 +931,14 @@ 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,
+				],
+				immediate_size:0,
+			});
 		let sky_pipeline_layout=device.create_pipeline_layout(&wgpu::PipelineLayoutDescriptor{
 			label:None,
 			bind_group_layouts:&[
@@ -825,9 +1014,95 @@ impl GraphicsState{
 			multiview_mask:None,
 			cache:None,
 		});
+		let debug_model_pipeline=device.create_render_pipeline(&wgpu::RenderPipelineDescriptor{
+			label:Some("Debug 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],
+				}],
+				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{
+				topology:wgpu::PrimitiveTopology::TriangleList,
+				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::LessEqual,
+				stencil:wgpu::StencilState::default(),
+				bias:wgpu::DepthBiasState::default(),
+			}),
+			multisample:wgpu::MultisampleState::default(),
+			multiview_mask:None,
+			cache:None,
+		});
+		let mut debug_model_pipeline_ms=wgpu::MeshPipelineDescriptor{
+			label:None,//filled in below
+			layout:Some(&debug_model_pipeline_layout),
+			task:Some(wgpu::TaskState{
+				module:&shader,
+				entry_point:Some("ts_main"),
+				compilation_options:wgpu::PipelineCompilationOptions::default(),
+			}),
+			mesh:wgpu::MeshState{
+				module:&shader,
+				entry_point:None,//filled in below
+				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{
+				topology:wgpu::PrimitiveTopology::TriangleList,
+				front_face:wgpu::FrontFace::Cw,
+				cull_mode:None,
+				..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,
+		};
+		debug_model_pipeline_ms.label=Some("Debug Vert Pipeline");
+		debug_model_pipeline_ms.mesh.entry_point=Some("ms_debug_vert");
+		let debug_model_pipeline_vert=device.create_mesh_pipeline(&debug_model_pipeline_ms);
+		debug_model_pipeline_ms.label=Some("Debug Edge Pipeline");
+		debug_model_pipeline_ms.mesh.entry_point=Some("ms_debug_edge");
+		let debug_model_pipeline_edge=device.create_mesh_pipeline(&debug_model_pipeline_ms);
 
 		let camera=GraphicsCamera::default();
-		let camera_uniforms=camera.to_uniform_data(view_inv(glam::Vec3::ZERO,glam::Vec2::ZERO));
+		let camera_uniforms=camera.to_uniform_data(glam::Vec3::ZERO,glam::Vec2::ZERO);
 		let camera_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
 			label:Some("Camera"),
 			contents:bytemuck::cast_slice(&camera_uniforms),
@@ -861,10 +1136,23 @@ impl GraphicsState{
 
 		let depth_view=Self::create_depth_texture(config,device);
 
+		// WHIP UP A CUBE
+		let cube_face_description=strafesnet_rbx_loader::primitives::CubeFaceDescription::new(Default::default(),RenderConfigId::new(0));
+		let hitbox_mesh=DebugGraphicsMesh::new(device,&strafesnet_rbx_loader::primitives::unit_cube(cube_face_description));
+		let hitbox_model=DebugGraphicsModel::new(device,&debug_model_bind_group_layout,&model::Model{
+			mesh:model::MeshId::new(u32::MAX),
+			attributes:strafesnet_common::gameplay_attributes::CollisionAttributesId::new(0),
+			color:glam::Vec4::new(0.0,0.0,1.0,0.2),
+			transform:strafesnet_common::integer::Planar64Affine3::IDENTITY,
+		},u32::MAX as usize,glam::vec4(0.0,1.0,0.0,0.2));
+
 		Self{
 			pipelines:GraphicsPipelines{
 				skybox:sky_pipeline,
-				model:model_pipeline
+				model:model_pipeline,
+				debug:debug_model_pipeline,
+				debug_edge:debug_model_pipeline_edge,
+				debug_vert:debug_model_pipeline_vert,
 			},
 			bind_groups:GraphicsBindGroups{
 				camera:camera_bind_group,
@@ -873,9 +1161,16 @@ impl GraphicsState{
 			camera,
 			camera_buf,
 			models:Vec::new(),
+			debug_meshes:Vec::new(),
+			debug_models:Vec::new(),
+			hitbox_mesh,
+			hitbox_model,
 			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,
 		}
@@ -884,25 +1179,28 @@ impl GraphicsState{
 		&mut self,
 		device:&wgpu::Device,
 		config:&wgpu::SurfaceConfiguration,
-		fov:glam::Vec2,
+		user_settings:&settings::UserSettings,
 	){
 		self.depth_view=Self::create_depth_texture(config,device);
 		self.camera.screen_size=glam::uvec2(config.width,config.height);
-		self.camera.fov=fov;
+		self.load_user_settings(user_settings);
 	}
 	pub fn render(
 		&mut self,
 		view:&wgpu::TextureView,
 		device:&wgpu::Device,
 		queue:&wgpu::Queue,
-		camera:glam::Mat4,
+		frame_state:session::FrameState,
 	){
 		//TODO:use scheduled frame times to create beautiful smoothing simulation physics extrapolation assuming no input
 
 		let mut encoder=device.create_command_encoder(&wgpu::CommandEncoderDescriptor{label:None});
 
 		// update rotation
-		let camera_uniforms=self.camera.to_uniform_data(camera);
+		let camera_uniforms=self.camera.to_uniform_data(
+			frame_state.body.extrapolated_position(frame_state.time).map(Into::<f32>::into).to_array().into(),
+			frame_state.camera.simulate_move_angles(glam::IVec2::ZERO)
+		);
 		self.staging_belt
 			.write_buffer(
 				&mut encoder,
@@ -926,6 +1224,66 @@ impl GraphicsState{
 				.copy_from_slice(bytemuck::cast_slice(&model_uniforms));
 		}
 		*/
+
+		// update hitbox mesh transform
+		if let Some(debug_hitbox_position)=frame_state.debug_hitbox_position{
+			let model_uniforms=get_instances_buffer_data(&[GraphicsModelOwned{
+				transform:debug_hitbox_position.into(),
+				normal_transform:glam::Mat3::IDENTITY,
+				color:GraphicsModelColor4::new(glam::vec4(1.0,0.0,0.0,0.2)),
+			}]);
+			let debug_slice=bytemuck::cast_slice(&model_uniforms);
+			self.staging_belt.write_buffer(
+				&mut encoder,
+				&self.hitbox_model.model_buf,
+				0,
+				wgpu::BufferSize::new(debug_slice.len() as wgpu::BufferAddress).unwrap(),
+			).copy_from_slice(debug_slice);
+		}
+
+		// upload the edge or vertex for the mesh shader to highlight
+		if let Some(hit)=&frame_state.hit{
+			if let Some(closest_fev)=&hit.closest_fev{
+				let model_id:model::ModelId=hit.convex_mesh_id.model_id.into();
+				if let Some(model)=self.debug_models.get(model_id.get() as usize){
+					let mesh=&self.debug_meshes[model.debug_mesh_id as usize];
+					match closest_fev{
+						strafesnet_physics::model::FEV::Face(_face)=>{
+							// face is rendered normally
+						},
+						strafesnet_physics::model::FEV::Edge(edge)=>{
+							let [v0_id,v1_id]=mesh.submeshes[hit.convex_mesh_id.submesh_id.get() as usize].edges[edge.get() as usize];
+							let v0_pos=mesh.vertices[v0_id.get() as usize].pos;
+							let v1_pos=mesh.vertices[v1_id.get() as usize].pos;
+							let debug_data=[glam::Vec3A::from_array(v0_pos).extend(1.0).to_array(),glam::Vec3A::from_array(v1_pos).extend(1.0).to_array()];
+							let debug_slice=bytemuck::cast_slice(&debug_data);
+							self.staging_belt
+								.write_buffer(
+									&mut encoder,
+									&model.debug_buf,
+									0,
+									wgpu::BufferSize::new(debug_slice.len() as wgpu::BufferAddress).unwrap(),
+								)
+								.copy_from_slice(debug_slice);
+						},
+						strafesnet_physics::model::FEV::Vert(vert)=>{
+							let vert_id=mesh.submeshes[hit.convex_mesh_id.submesh_id.get() as usize].verts[vert.get() as usize].get();
+							let pos=mesh.vertices[vert_id as usize].pos;
+							let debug_data=[glam::Vec3A::from_array(pos).extend(1.0).to_array()];
+							let debug_slice=bytemuck::cast_slice(&debug_data);
+							self.staging_belt
+								.write_buffer(
+									&mut encoder,
+									&model.debug_buf,
+									0,
+									wgpu::BufferSize::new(debug_slice.len() as wgpu::BufferAddress).unwrap(),
+								)
+								.copy_from_slice(debug_slice);
+						},
+					}
+				}
+			}
+		}
 		self.staging_belt.finish();
 
 		{
@@ -961,6 +1319,7 @@ 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,&[]);
@@ -972,6 +1331,46 @@ impl GraphicsState{
 
 			rpass.set_pipeline(&self.pipelines.skybox);
 			rpass.draw(0..3,0..1);
+
+			// render a single debug_model in red
+			if let Some(hit)=&frame_state.hit{
+				if let Some(closest_fev)=&hit.closest_fev{
+					let model_id:model::ModelId=hit.convex_mesh_id.model_id.into();
+					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_bind_group(1,&model.bind_group,&[]);
+						rpass.set_vertex_buffer(0,mesh.vertex_buf.slice(..));
+						match closest_fev{
+							strafesnet_physics::model::FEV::Face(face)=>{
+								rpass.set_pipeline(&self.pipelines.debug);
+								let indices=&mesh.submeshes[hit.convex_mesh_id.submesh_id.get() as usize].faces[face.get() as usize];
+								rpass.set_index_buffer(indices.buf.slice(..),indices.format);
+								//TODO: loop over triangle strips
+								rpass.draw_indexed(0..indices.count,0,0..1);
+							},
+							strafesnet_physics::model::FEV::Edge(_edge)=>{
+								rpass.set_pipeline(&self.pipelines.debug_edge);
+								// the data has already been primed by the staging belt
+								rpass.draw_mesh_tasks(1, 1, 1);
+							},
+							strafesnet_physics::model::FEV::Vert(_vert)=>{
+								rpass.set_pipeline(&self.pipelines.debug_vert);
+								// the data has already been primed by the staging belt
+								rpass.draw_mesh_tasks(1, 1, 1);
+							},
+						}
+					}
+				}
+			}
+
+			if frame_state.debug_hitbox_position.is_some(){
+				rpass.set_bind_group(1,&self.hitbox_model.bind_group,&[]);
+				rpass.set_vertex_buffer(0,self.hitbox_mesh.vertex_buf.slice(..));
+				rpass.set_pipeline(&self.pipelines.debug);
+				rpass.set_index_buffer(self.hitbox_mesh.indices.buf.slice(..),self.hitbox_mesh.indices.format);
+				//TODO: loop over triangle strips
+				rpass.draw_indexed(0..self.hitbox_mesh.indices.count,0,0..1);
+			}
 		}
 
 		queue.submit(std::iter::once(encoder.finish()));

engine/graphics/src/lib.rs

@@ -1,3 +1,2 @@
 pub mod model;
-pub mod setup;
 pub mod graphics;

engine/graphics/src/model.rs

@@ -8,6 +8,11 @@ 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],
+}
 #[derive(Clone,Copy,id::Id)]
 pub struct IndexedGraphicsMeshOwnedRenderConfigId(u32);
 pub struct IndexedGraphicsMeshOwnedRenderConfig{

engine/graphics/src/setup.rs

@@ -1,112 +0,0 @@
-fn optional_features()->wgpu::Features{
-	wgpu::Features::TEXTURE_COMPRESSION_ASTC
-	|wgpu::Features::TEXTURE_COMPRESSION_ETC2
-}
-fn required_features()->wgpu::Features{
-	wgpu::Features::TEXTURE_COMPRESSION_BC
-}
-fn required_downlevel_capabilities()->wgpu::DownlevelCapabilities{
-	wgpu::DownlevelCapabilities{
-		flags:wgpu::DownlevelFlags::empty(),
-		shader_model:wgpu::ShaderModel::Sm5,
-		..wgpu::DownlevelCapabilities::default()
-	}
-}
-
-pub mod step1{
-	pub fn create_instance()->wgpu::Instance{
-		Default::default()
-	}
-}
-
-pub mod step2{
-	pub fn create_surface<'window>(instance:&wgpu::Instance,target:impl Into<wgpu::SurfaceTarget<'window>>)->Result<wgpu::Surface<'window>,wgpu::CreateSurfaceError>{
-		instance.create_surface(target)
-	}
-}
-
-pub mod step3{
-	pub async fn pick_adapter(instance:&wgpu::Instance,surface:&wgpu::Surface<'_>)->Option<wgpu::Adapter>{
-		let backends=wgpu::Backends::from_env().unwrap_or_default();
-		//TODO: prefer adapter that implements optional features
-		//let optional_features=optional_features();
-		let required_features=super::required_features();
-		let required_downlevel_capabilities=super::required_downlevel_capabilities();
-
-		//no helper function smh gotta write it myself
-		let adapters=instance.enumerate_adapters(backends).await;
-
-		let adapter=adapters.into_iter()
-			// reverse because we want to select adapters that appear first in ties,
-			// and max_by_key selects the last equal element in the iterator.
-			.rev()
-			.filter(|adapter|
-				adapter.is_surface_supported(surface)
-				&&adapter.features().contains(required_features)
-				&&{
-					let downlevel_capabilities=adapter.get_downlevel_capabilities();
-					downlevel_capabilities.shader_model>=required_downlevel_capabilities.shader_model
-					&&downlevel_capabilities.flags.contains(required_downlevel_capabilities.flags)
-				}
-			)
-			.max_by_key(|adapter|match adapter.get_info().device_type{
-				wgpu::DeviceType::IntegratedGpu=>3,
-				wgpu::DeviceType::DiscreteGpu=>4,
-				wgpu::DeviceType::VirtualGpu=>2,
-				wgpu::DeviceType::Other|wgpu::DeviceType::Cpu=>1,
-			})?;
-
-		let adapter_info=adapter.get_info();
-		println!("Using {} ({:?})", adapter_info.name, adapter_info.backend);
-
-		Some(adapter)
-	}
-}
-
-pub mod step4{
-	pub async fn request_device(adapter:&wgpu::Adapter)->(wgpu::Device,wgpu::Queue){
-		let optional_features=super::optional_features();
-		let required_features=super::required_features();
-
-		// Make sure we use the texture resolution limits from the adapter, so we can support images the size of the surface.
-		let needed_limits=crate::graphics::required_limits().using_resolution(adapter.limits());
-
-		let (device, queue)=adapter
-			.request_device(
-				&wgpu::DeviceDescriptor{
-					label:None,
-					required_features:(optional_features&adapter.features())|required_features,
-					required_limits:needed_limits,
-					memory_hints:wgpu::MemoryHints::Performance,
-					trace:wgpu::Trace::Off,
-					experimental_features:wgpu::ExperimentalFeatures::disabled(),
-				},
-			).await
-			.expect("Unable to find a suitable GPU adapter!");
-
-		(
-			device,
-			queue,
-		)
-	}
-}
-
-pub mod step5{
-	pub fn configure_surface(
-		adapter:&wgpu::Adapter,
-		device:&wgpu::Device,
-		surface:&wgpu::Surface<'_>,
-		(width,height):(u32,u32),
-	)->wgpu::SurfaceConfiguration{
-		let mut config=surface
-			.get_default_config(adapter, width, height)
-			.expect("Surface isn't supported by the adapter.");
-
-		let surface_view_format=config.format.add_srgb_suffix();
-		config.view_formats.push(surface_view_format);
-		config.present_mode=wgpu::PresentMode::AutoNoVsync;
-		surface.configure(device,&config);
-
-		config
-	}
-}

engine/physics/Cargo.toml

@@ -1,13 +1,13 @@
 [package]
 name = "strafesnet_physics"
-version = "0.0.1"
+version = "0.1.0"
 edition = "2024"
 
 [dependencies]
 arrayvec = "0.7.6"
-glam.workspace = true
+glam = "0.30.0"
 id = { version = "0.1.0", registry = "strafesnet" }
-strafesnet_common.workspace = true
+strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
 
 [lints]
 workspace = true

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 +1,26 @@
-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 fev(self)->FEV<M>{
+		match self{
+			CrawlResult::Miss(fev)=>fev,
+			CrawlResult::Hit(face,_)=>FEV::Face(face),
+		}
+	}
 	pub fn hit(self)->Option<(M::Face,GigaTime)>{
 		match self{
 			CrawlResult::Miss(_)=>None,
@@ -65,18 +70,17 @@ 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 +92,29 @@ 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 +123,15 @@ 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 +142,8 @@ 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 +155,28 @@ 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

@@ -1,8 +1,6 @@
 mod body;
 mod face_crawler;
-mod mesh_query;
-mod minkowski;
-mod model;
+pub 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
@@ -527,10 +516,7 @@ 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)),
@@ -545,11 +531,11 @@ 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 +555,7 @@ 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 +579,7 @@ 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 +602,10 @@ 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 +618,14 @@ 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 +646,10 @@ 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 +658,8 @@ 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 +676,7 @@ 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
@@ -812,16 +787,13 @@ pub fn contains_point(mesh:&MinkowskiMesh<'_>,point:Planar64Vec3)->bool{
 // 	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

@@ -1,407 +0,0 @@
-use core::ops::{Bound,RangeBounds};
-
-use strafesnet_common::integer::{Planar64Vec3,Ratio,Fixed,vec3::Vector3};
-use crate::model::into_giga_time;
-use crate::model::{SubmeshVertId,SubmeshEdgeId,SubmeshDirectedEdgeId,SubmeshFaceId,TransformedMesh,GigaTime};
-use crate::mesh_query::{MeshQuery,MeshTopology,DirectedEdge,UndirectedEdge};
-use crate::physics::{Time,Trajectory};
-
-struct AsRefHelper<T>(T);
-impl<T> AsRef<T> for AsRefHelper<T>{
-	fn as_ref(&self)->&T{
-		&self.0
-	}
-}
-
-//Note that a face on a minkowski mesh refers to a pair of fevs on the meshes it's summed from
-//(face,vertex)
-//(edge,edge)
-//(vertex,face)
-#[derive(Clone,Copy,Debug,Eq,PartialEq)]
-pub enum MinkowskiVert{
-	VertVert(SubmeshVertId,SubmeshVertId),
-}
-// TODO: remove this
-impl core::ops::Neg for MinkowskiVert{
-	type Output=Self;
-	fn neg(self)->Self::Output{
-		match self{
-			MinkowskiVert::VertVert(v0,v1)=>MinkowskiVert::VertVert(v1,v0),
-		}
-	}
-}
-#[derive(Clone,Copy,Debug)]
-pub enum MinkowskiEdge{
-	VertEdge(SubmeshVertId,SubmeshEdgeId),
-	EdgeVert(SubmeshEdgeId,SubmeshVertId),
-	//EdgeEdge when edges are parallel
-}
-impl UndirectedEdge for MinkowskiEdge{
-	type DirectedEdge=MinkowskiDirectedEdge;
-	fn as_directed(self,parity:bool)->Self::DirectedEdge{
-		match self{
-			MinkowskiEdge::VertEdge(v0,e1)=>MinkowskiDirectedEdge::VertEdge(v0,e1.as_directed(parity)),
-			MinkowskiEdge::EdgeVert(e0,v1)=>MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),v1),
-		}
-	}
-}
-#[derive(Clone,Copy,Debug)]
-pub enum MinkowskiDirectedEdge{
-	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
-	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
-	//EdgeEdge when edges are parallel
-}
-impl DirectedEdge for MinkowskiDirectedEdge{
-	type UndirectedEdge=MinkowskiEdge;
-	fn as_undirected(self)->Self::UndirectedEdge{
-		match self{
-			MinkowskiDirectedEdge::VertEdge(v0,e1)=>MinkowskiEdge::VertEdge(v0,e1.as_undirected()),
-			MinkowskiDirectedEdge::EdgeVert(e0,v1)=>MinkowskiEdge::EdgeVert(e0.as_undirected(),v1),
-		}
-	}
-	fn parity(&self)->bool{
-		match self{
-			MinkowskiDirectedEdge::VertEdge(_,e)
-			|MinkowskiDirectedEdge::EdgeVert(e,_)=>e.parity(),
-		}
-	}
-}
-#[derive(Clone,Copy,Debug,Hash)]
-pub enum MinkowskiFace{
-	VertFace(SubmeshVertId,SubmeshFaceId),
-	EdgeEdge(SubmeshEdgeId,SubmeshEdgeId,bool),
-	FaceVert(SubmeshFaceId,SubmeshVertId),
-	//EdgeFace
-	//FaceEdge
-	//FaceFace
-}
-
-#[derive(Debug)]
-pub struct MinkowskiMesh<'a>{
-	mesh0:TransformedMesh<'a>,
-	mesh1:TransformedMesh<'a>,
-}
-
-// TODO: remove this
-impl<'a> core::ops::Neg for &MinkowskiMesh<'a>{
-	type Output=MinkowskiMesh<'a>;
-	fn neg(self)->Self::Output{
-		MinkowskiMesh::minkowski_sum(self.mesh1,self.mesh0)
-	}
-}
-
-impl MinkowskiMesh<'_>{
-	pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
-		MinkowskiMesh{
-			mesh0,
-			mesh1,
-		}
-	}
-	pub fn predict_collision_in(&self,trajectory:&Trajectory,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
-		let start_position=match range.start_bound(){
-			Bound::Included(time)=>trajectory.extrapolated_position(*time),
-			Bound::Excluded(time)=>trajectory.extrapolated_position(*time),
-			Bound::Unbounded=>trajectory.position,
-		};
-		let fev=crate::minimum_difference::closest_fev_not_inside(self,start_position)?;
-		//continue forwards along the body parabola
-		fev.crawl(self,trajectory,range.start_bound(),range.end_bound()).hit()
-	}
-	pub fn predict_collision_out(&self,trajectory:&Trajectory,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
-		let (lower_bound,upper_bound)=(range.start_bound(),range.end_bound());
-		// TODO: handle unbounded collision using infinity fev
-		let start_position=match upper_bound{
-			Bound::Included(time)=>trajectory.extrapolated_position(*time),
-			Bound::Excluded(time)=>trajectory.extrapolated_position(*time),
-			Bound::Unbounded=>trajectory.position,
-		};
-		let fev=crate::minimum_difference::closest_fev_not_inside(self,start_position)?;
-		// swap and negate bounds to do a time inversion
-		let (lower_bound,upper_bound)=(upper_bound.map(|&t|-t),lower_bound.map(|&t|-t));
-		let time_reversed_trajectory=-trajectory;
-		//continue backwards along the body parabola
-		fev.crawl(self,&time_reversed_trajectory,lower_bound.as_ref(),upper_bound.as_ref()).hit()
-			//no need to test -time<time_limit because of the first step
-			.map(|(face,time)|(face,-time))
-	}
-	pub fn predict_collision_face_out(&self,trajectory:&Trajectory,range:impl RangeBounds<Time>,contact_face_id:MinkowskiFace)->Option<(MinkowskiDirectedEdge,GigaTime)>{
-		// TODO: make better
-		use crate::face_crawler::{low,upp};
-		//no algorithm needed, there is only one state and two cases (Edge,None)
-		//determine when it passes an edge ("sliding off" case)
-		let start_time=range.start_bound().map(|&t|(t-trajectory.time).to_ratio());
-		let mut best_time=range.end_bound().map(|&t|into_giga_time(t,trajectory.time));
-		let mut best_edge=None;
-		let face_n=self.face_nd(contact_face_id).0;
-		self.for_each_face_edge(contact_face_id,|directed_edge_id|{
-			let edge_n=self.directed_edge_n(directed_edge_id);
-			//f x e points in
-			let n=face_n.cross(edge_n);
-			let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
-			let d=n.dot(self.vert(v0)+self.vert(v1));
-			//WARNING! d outside of *2
-			//WARNING: truncated precision
-			//wrap for speed
-			for dt in Fixed::<4,128>::zeroes2(((n.dot(trajectory.position))*2-d).wrap_4(),n.dot(trajectory.velocity).wrap_4()*2,n.dot(trajectory.acceleration).wrap_4()){
-				if low(&start_time,&dt)&&upp(&dt,&best_time)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-					best_time=Bound::Included(dt);
-					best_edge=Some((directed_edge_id,dt));
-					break;
-				}
-			}
-		});
-		best_edge
-	}
-	pub fn contains_point(&self,point:Planar64Vec3)->bool{
-		crate::minimum_difference::contains_point(self,point)
-	}
-}
-impl MeshQuery for MinkowskiMesh<'_>{
-	type Direction=Planar64Vec3;
-	type Position=Planar64Vec3;
-	type Normal=Vector3<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.hint_point()-self.mesh1.hint_point()
-	}
-	fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
-		MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
-	}
-	fn edge_n(&self,edge_id:Self::Edge)->Self::Direction{
-		let &[v0,v1]=self.edge_verts(edge_id).as_ref();
-		self.vert(v1)-self.vert(v0)
-	}
-	fn directed_edge_n(&self,directed_edge_id:Self::DirectedEdge)->Self::Direction{
-		let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
-		(self.vert(v1)-self.vert(v0))*((directed_edge_id.parity() as i64)*2-1)
-	}
-}
-impl MeshTopology for MinkowskiMesh<'_>{
-	type Face=MinkowskiFace;
-	type Edge=MinkowskiEdge;
-	type DirectedEdge=MinkowskiDirectedEdge;
-	type Vert=MinkowskiVert;
-	fn for_each_vert_edge(&self,vert_id:Self::Vert,mut f:impl FnMut(Self::DirectedEdge)){
-		match vert_id{
-			MinkowskiVert::VertVert(v0,v1)=>{
-				//detect shared volume when the other mesh is mirrored along a test edge dir
-				let v0f={
-					let mut faces=Vec::new();
-					self.mesh0.for_each_vert_face(v0,|face|faces.push(face));
-					faces
-				};
-				let v1f={
-					let mut faces=Vec::new();
-					self.mesh1.for_each_vert_face(v1,|face|faces.push(face));
-					faces
-				};
-				let v0f_n:Vec<_>=v0f.iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
-				let v1f_n:Vec<_>=v1f.iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
-				// scratch vector
-				let mut face_normals=Vec::with_capacity(v0f.len()+v1f.len());
-				face_normals.clone_from(&v0f_n);
-				self.mesh0.for_each_vert_edge(v0,|directed_edge_id|{
-					let n=self.mesh0.directed_edge_n(directed_edge_id);
-					let nn=n.dot(n);
-					// TODO: there's gotta be a better way to do this
-					// drop faces beyond v0f_n
-					face_normals.truncate(v0f.len());
-					// make a set of faces from mesh0's perspective
-					for face_n in &v1f_n{
-						//add reflected mesh1 faces
-						//wrap for speed
-						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().wrap_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))
-				)
-			},
-		}
-	}
-}
-
-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(){
-	use strafesnet_common::integer::vec3;
-	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/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,Clone)]
+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 +75,32 @@ 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.
+	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
@@ -394,9 +444,28 @@ pub struct PhysicsMeshView<'a>{
 	data:&'a PhysicsMeshData,
 	topology:&'a PhysicsMeshTopology,
 }
+impl PhysicsMeshView<'_>{
+	pub fn verts(&self)->&[MeshVertId]{
+		&self.topology.verts
+	}
+	pub fn edge_vert_ids_iter(&self)->impl Iterator<Item=[MeshVertId;2]>+'_{
+		self.topology.edge_topology.iter().map(|edge|{
+			edge.verts.map(|vert_id|self.topology.verts[vert_id.get() as usize])
+		})
+	}
+	pub fn face_vert_ids_iter(&self)->impl Iterator<Item=impl Iterator<Item=MeshVertId>>+'_{
+		self.topology.face_topology.iter().map(|face|{
+			face.edges.iter().map(|edge_id|{
+				let vert_id=self.topology.edge_topology[edge_id.as_undirected().get() as usize].verts[edge_id.parity() as usize];
+				self.topology.verts[vert_id.get() as usize]
+			})
+		})
+	}
+}
 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 +493,20 @@ 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 +544,14 @@ 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){
@@ -523,42 +579,119 @@ 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)]
+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>,
+}
+
+impl FEV<MinkowskiMesh<'_>>{
+	pub fn mesh0<'a>(self)->FEV<TransformedMesh<'a>>{
+		match self{
+			FEV::Face(face)=>{
+				match face{
+					MinkowskiFace::VertFace(submesh_vert_id,_)=>FEV::Vert(submesh_vert_id),
+					MinkowskiFace::EdgeEdge(submesh_edge_id,..)=>FEV::Edge(submesh_edge_id),
+					MinkowskiFace::FaceVert(submesh_face_id,_)=>FEV::Face(submesh_face_id),
+				}
+			},
+			FEV::Edge(edge)=>{
+				match edge{
+					MinkowskiEdge::VertEdge(submesh_vert_id,_)=>FEV::Vert(submesh_vert_id),
+					MinkowskiEdge::EdgeVert(submesh_edge_id,_)=>FEV::Edge(submesh_edge_id),
+				}
+			},
+			FEV::Vert(vert)=>{
+				match vert{
+					MinkowskiVert::VertVert(submesh_vert_id,_)=>FEV::Vert(submesh_vert_id),
+				}
+			},
+		}
 	}
 }
 
@@ -567,3 +700,302 @@ 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 start_position=match range.start_bound(){
+			Bound::Included(time)=>relative_body.extrapolated_position(*time),
+			Bound::Excluded(time)=>relative_body.extrapolated_position(*time),
+			Bound::Unbounded=>relative_body.position,
+		};
+		let fev=crate::minimum_difference::closest_fev_not_inside(self,start_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 start_position=match upper_bound{
+			Bound::Included(time)=>relative_body.extrapolated_position(*time),
+			Bound::Excluded(time)=>relative_body.extrapolated_position(*time),
+			Bound::Unbounded=>relative_body.position,
+		};
+		let fev=crate::minimum_difference::closest_fev_not_inside(self,start_position)?;
+		// swap and negate bounds to do a time inversion
+		let (lower_bound,upper_bound)=(upper_bound.map(|&t|-t),lower_bound.map(|&t|-t));
+		let 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/Cargo.toml

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

engine/session/src/session.rs

@@ -48,6 +48,7 @@ pub enum SessionControlInstruction{
 	StopSpectate,
 	SaveReplay,
 	LoadIntoReplayState,
+	DebugSimulation,
 }
 pub enum SessionPlaybackInstruction{
 	SkipForward,
@@ -57,17 +58,11 @@ pub enum SessionPlaybackInstruction{
 }
 
 pub struct FrameState{
-	pub trajectory:physics::Trajectory,
+	pub body:physics::Body,
 	pub camera:physics::PhysicsCamera,
 	pub time:PhysicsTime,
-}
-impl FrameState{
-	pub fn pos(&self)->glam::Vec3{
-		self.trajectory.extrapolated_position(self.time).map(Into::<f32>::into).to_array().into()
-	}
-	pub fn angles(&self)->glam::Vec2{
-		self.camera.simulate_move_angles(glam::IVec2::ZERO)
-	}
+	pub hit:Option<Hit>,
+	pub debug_hitbox_position:Option<strafesnet_common::integer::Planar64Affine3>,
 }
 
 pub struct Simulation{
@@ -84,11 +79,38 @@ 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<Hit>,
+		debug_hitbox_position:Option<strafesnet_common::integer::Planar64Affine3>,
+	)->FrameState{
 		FrameState{
-			trajectory:self.physics.camera_trajectory(data),
+			body:self.physics.camera_body(),
 			camera:self.physics.camera(),
 			time:self.timer.time(time),
+			hit:debug_model,
+			debug_hitbox_position,
+		}
+	}
+}
+
+// a paused simulation which displays a period of its future traced over the model under the cursor
+struct DebugSimulation{
+	physics:physics::PhysicsState,
+	timer:strafesnet_common::timer::TimerFixed<Scaled<SessionTimeInner,PhysicsTimeInner>,strafesnet_common::timer::Paused>,
+	cycle_duration:PhysicsTime,
+}
+impl DebugSimulation{
+	pub fn new(simulation:&Simulation,time:SessionTime,cycle_duration:PhysicsTime)->Self{
+		let timer=match &simulation.timer{
+			Timer::Paused(timer_fixed)=>*timer_fixed,
+			Timer::Unpaused(timer_fixed)=>timer_fixed.into_paused(time),
+		};
+		Self{
+			physics:simulation.physics.clone(),
+			timer,
+			cycle_duration,
 		}
 	}
 }
@@ -156,6 +178,12 @@ enum ViewState{
 	Replay(BotId),
 }
 
+#[derive(Clone)]
+pub struct Hit{
+	pub convex_mesh_id:physics::ConvexMeshId<physics::PhysicsModelId>,
+	pub closest_fev:Option<strafesnet_physics::model::FEV<strafesnet_physics::model::TransformedMesh<'static>>>
+}
+
 pub struct Session{
 	directories:Directories,
 	user_settings:UserSettings,
@@ -168,6 +196,8 @@ pub struct Session{
 	recording:Recording,
 	//players:HashMap<PlayerId,Simulation>,
 	replays:HashMap<BotId,Replay>,
+	last_ray_hit:Option<Hit>,
+	debug_simulation:Option<DebugSimulation>,
 }
 impl Session{
 	pub fn new(
@@ -184,6 +214,8 @@ impl Session{
 			view_state:ViewState::Play,
 			recording:Default::default(),
 			replays:HashMap::new(),
+			last_ray_hit:None,
+			debug_simulation:None,
 		}
 	}
 	fn clear_recording(&mut self){
@@ -194,13 +226,45 @@ impl Session{
 		self.geometry_shared=PhysicsData::new(map);
 	}
 	pub fn get_frame_state(&self,time:SessionTime)->Option<FrameState>{
+		let debug_hitbox_position=self.debug_simulation.as_ref().map(|debug_simulation|{
+			let simulation_time=debug_simulation.timer.time();
+			let loop_time=simulation_time+PhysicsTime::raw(time.get().rem_euclid(debug_simulation.cycle_duration.get())>>1);
+			let transform=self.geometry_shared.vertex_transform();
+			strafesnet_common::integer::Planar64Affine3::new(transform.matrix3,debug_simulation.physics.body().extrapolated_position(loop_time))
+		});
 		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.clone(),debug_hitbox_position)),
 			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,debug_hitbox_position)
 			),
 		}
 	}
+	pub fn debug_raycast_print_model_id_if_changed(&mut self,time:SessionTime){
+		let Some(debug_simulation)=&self.debug_simulation else{
+			return;
+		};
+		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,
+			};
+			match self.geometry_shared.trace_ray(ray){
+				Some(convex_mesh_id)=>{
+					if self.last_ray_hit.as_ref().map_or(true,|last|last.convex_mesh_id!=convex_mesh_id){
+						println!("MeshId={convex_mesh_id:?}");
+					}
+					let simulation_time=debug_simulation.timer.time();
+					let loop_time=simulation_time+PhysicsTime::raw(time.get().rem_euclid(debug_simulation.cycle_duration.get())>>1);
+					let closest_fev=self.geometry_shared.trace(convex_mesh_id,debug_simulation.physics.body(),loop_time);
+					self.last_ray_hit=Some(Hit{
+						convex_mesh_id,
+						closest_fev:closest_fev.map(|fev|fev.mesh0()),
+					});
+				},
+				None=>self.last_ray_hit=None,
+			}
+		}
+	}
 	pub fn user_settings(&self)->&UserSettings{
 		&self.user_settings
 	}
@@ -246,16 +310,12 @@ 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));
@@ -420,6 +480,10 @@ impl InstructionConsumer<Instruction<'_>> for Session{
 				// begin spectate
 				self.view_state=ViewState::Replay(bot_id);
 			},
+			Instruction::Control(SessionControlInstruction::DebugSimulation)=>{
+				println!("Body={}",self.simulation.physics.body());
+				self.debug_simulation=Some(DebugSimulation::new(&self.simulation,ins.time,PhysicsTime::ONE_SECOND<<1));
+			},
 			Instruction::Idle=>{
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Idle);
 				// this just refreshes the replays

engine/settings/Cargo.toml

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

integration-testing/Cargo.toml

@@ -4,12 +4,12 @@ version = "0.1.0"
 edition = "2024"
 
 [dependencies]
-glam.workspace = true
-strafesnet_common.workspace = true
-strafesnet_physics.workspace = true
-strafesnet_snf.workspace = true
+glam = "0.30.0"
+strafesnet_common = { path = "../lib/common", registry = "strafesnet" }
+strafesnet_physics = { path = "../engine/physics", registry = "strafesnet" }
+strafesnet_snf = { path = "../lib/snf", registry = "strafesnet" }
 # this is just for the primitive constructor
-strafesnet_rbx_loader.workspace = true
+strafesnet_rbx_loader = { path = "../lib/rbx_loader", registry = "strafesnet" }
 
 [lints]
 workspace = true

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);
@@ -65,6 +66,7 @@ fn physics_bug_3()->Result<(),ReplayError>{
 		// Actual bug 3 repro
 		vec3::raw_xyz(-2505538624455,3357963283914,557275711118),
 		vec3::raw_xyz(204188283920,-282280474198,166172785440),
+		vec3::raw_xyz(0,-429496729600,0),
 		Time::ZERO,
 	);
 	let mut physics=PhysicsState::new_with_body(body);

lib/bsp_loader/Cargo.toml

@@ -10,9 +10,9 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-glam.workspace = true
-strafesnet_common.workspace = true
-strafesnet_deferred_loader.workspace = true
+glam = "0.30.0"
+strafesnet_common = { version = "0.7.0", path = "../common", registry = "strafesnet" }
+strafesnet_deferred_loader = { version = "0.5.1", path = "../deferred_loader", registry = "strafesnet" }
 vbsp = "0.9.1"
 vbsp-entities-css = "0.6.0"
 vmdl = "0.2.0"

lib/common/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "strafesnet_common"
-version = "0.8.5"
+version = "0.7.0"
 edition = "2024"
 repository = "https://git.itzana.me/StrafesNET/strafe-project"
 license = "MIT OR Apache-2.0"
@@ -12,10 +12,10 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 [dependencies]
 arrayvec = "0.7.4"
 bitflags = "2.6.0"
-fixed_wide = { workspace = true, features = ["deferred-division","zeroes","wide-mul"] }
-linear_ops = { workspace = true, features = ["deferred-division","named-fields"] }
-ratio_ops = { workspace = true }
-glam.workspace = true
+fixed_wide = { version = "0.2.0", path = "../fixed_wide", registry = "strafesnet", features = ["deferred-division","zeroes","wide-mul"] }
+linear_ops = { version = "0.1.1", path = "../linear_ops", registry = "strafesnet", features = ["deferred-division","named-fields"] }
+ratio_ops = { version = "0.1.0", path = "../ratio_ops", registry = "strafesnet" }
+glam = "0.30.0"
 id = { version = "0.1.0", registry = "strafesnet" }
 
 [lints]

lib/common/src/integer.rs

@@ -56,14 +56,6 @@ impl<T> Time<T>{
 	pub const fn coerce<U>(self)->Time<U>{
 		Time::raw(self.0)
 	}
-	#[inline]
-	pub const fn div_euclid(self,other:Self)->Self{
-		Time::raw(self.0.div_euclid(other.0))
-	}
-	#[inline]
-	pub const fn rem_euclid(self,other:Self)->Self{
-		Time::raw(self.0.rem_euclid(other.0))
-	}
 }
 impl<T> From<Planar64> for Time<T>{
 	#[inline]
@@ -157,23 +149,10 @@ impl_time_i64_rhs_operator!(Shr,shr);
 impl_time_i64_rhs_operator!(Shl,shl);
 impl<T> core::ops::Mul<Time<T>> for Planar64{
 	type Output=Ratio<Fixed<2,64>,Planar64>;
-	#[inline]
 	fn mul(self,rhs:Time<T>)->Self::Output{
 		Ratio::new(self*Fixed::raw(rhs.0),Planar64::raw(1_000_000_000))
 	}
 }
-impl<T> From<Time<T>> for f32{
-	#[inline]
-	fn from(value:Time<T>)->Self{
-		value.get() as f32/Time::<T>::ONE_SECOND.get() as f32
-	}
-}
-impl<T> From<Time<T>> for f64{
-	#[inline]
-	fn from(value:Time<T>)->Self{
-		value.get() as f64/Time::<T>::ONE_SECOND.get() as f64
-	}
-}
 #[cfg(test)]
 mod test_time{
 	use super::*;
@@ -235,11 +214,11 @@ impl Ratio64{
 	}
 	#[inline]
 	pub const fn mul_int(&self,rhs:i64)->i64{
-		(rhs as i128*self.num as i128/self.den as i128) as i64
+		rhs*self.num/(self.den as i64)
 	}
 	#[inline]
 	pub const fn rhs_div_int(&self,rhs:i64)->i64{
-		(rhs as i128*self.den as i128/self.num as i128) as i64
+		rhs*(self.den as i64)/self.num
 	}
 	#[inline]
 	pub const fn mul_ref(&self,rhs:&Ratio64)->Ratio64{
@@ -284,6 +263,7 @@ fn integer_decode_f64(f: f64) -> (u64, i16, i8) {
 pub enum Ratio64TryFromFloatError{
 	Nan,
 	Infinite,
+	Subnormal,
 	HighlyNegativeExponent(i16),
 	HighlyPositiveExponent(i16),
 }
@@ -318,10 +298,8 @@ fn ratio64_from_mes((m,e,s):(u64,i16,i8))->Result<Ratio64,Ratio64TryFromFloatErr
 
 		Ok(Ratio64::new(num as i64,den as u64).unwrap())
 	}else if e<0{
-		// simple exact representation
 		Ok(Ratio64::new((m as i64)*(s as i64),1<<-e).unwrap())
 	}else if (64-m.leading_zeros() as i16)+e<64{
-		// integer
 		Ok(Ratio64::new((m as i64)*(s as i64)*(1<<e),1).unwrap())
 	}else{
 		Err(Ratio64TryFromFloatError::HighlyPositiveExponent(e))
@@ -353,29 +331,6 @@ impl TryFrom<f64> for Ratio64{
 		}
 	}
 }
-#[cfg(test)]
-fn req(r0:Ratio64,r1:Ratio64){
-	println!("r0={r0:?} r1={r1:?}");
-	assert_eq!(r0.num(),r1.num(),"Nums not eq");
-	assert_eq!(r0.den(),r1.den(),"Dens not eq");
-}
-#[test]
-fn test_ratio64_from_float(){
-	req(2.0.try_into().unwrap(),Ratio64::new(2,1).unwrap());
-	req(1.0.try_into().unwrap(),Ratio64::new(1,1).unwrap());
-	req(0.5.try_into().unwrap(),Ratio64::new(1,2).unwrap());
-	req(1.1.try_into().unwrap(),Ratio64::new(2476979795053773,2251799813685248).unwrap());
-	req(0.8.try_into().unwrap(),Ratio64::new(3602879701896397,4503599627370496).unwrap());
-	req(0.61.try_into().unwrap(),Ratio64::new(5494391545392005,9007199254740992).unwrap());
-	req(0.01.try_into().unwrap(),Ratio64::new(5764607523034235,576460752303423488).unwrap());
-	req(0.001.try_into().unwrap(),Ratio64::new(1152921504606847,1152921504606846976).unwrap());
-	req(0.00001.try_into().unwrap(),Ratio64::new(89605456633725,8960545663372499267).unwrap());
-	req(0.00000000001.try_into().unwrap(),Ratio64::new(35204848,3520484800000000213).unwrap());
-	req(0.000000000000000001.try_into().unwrap(),Ratio64::new(11,10999999999999999213).unwrap());
-	req(2222222222222.0.try_into().unwrap(),Ratio64::new(2222222222222,1).unwrap());
-	req(core::f64::consts::PI.try_into().unwrap(),Ratio64::new(884279719003555,281474976710656).unwrap());
-}
-
 impl std::ops::Mul<Ratio64> for Ratio64{
 	type Output=Ratio64;
 	#[inline]

lib/common/src/model.rs

@@ -144,38 +144,10 @@ impl MeshBuilder{
 	}
 	pub fn build(
 		self,
-		mut polygon_groups:Vec<PolygonGroup>,
-		mut graphics_groups:Vec<IndexedGraphicsGroup>,
-		mut physics_groups:Vec<IndexedPhysicsGroup>,
+		polygon_groups:Vec<PolygonGroup>,
+		graphics_groups:Vec<IndexedGraphicsGroup>,
+		physics_groups:Vec<IndexedPhysicsGroup>,
 	)->Mesh{
-		let mut id=0;
-		let mut map=Vec::new();
-		polygon_groups.retain(|group|{
-			let keep=match group{
-				PolygonGroup::PolygonList(polygon_list)=>!polygon_list.0.is_empty(),
-			};
-			if keep{
-				map.push(Some(PolygonGroupId::new(id)));
-				id+=1;
-			}else{
-				map.push(None);
-			}
-			!keep
-		});
-		for group in &mut graphics_groups{
-			// drop empty groups
-			group.groups.retain(|polygon_group_id|map[polygon_group_id.get() as usize].is_some());
-			for polygon_group_id in &mut group.groups{
-				*polygon_group_id=map[polygon_group_id.get() as usize].unwrap();
-			}
-		}
-		for group in &mut physics_groups{
-			// drop empty groups
-			group.groups.retain(|polygon_group_id|map[polygon_group_id.get() as usize].is_some());
-			for polygon_group_id in &mut group.groups{
-				*polygon_group_id=map[polygon_group_id.get() as usize].unwrap();
-			}
-		}
 		let MeshBuilder{
 			unique_pos,
 			unique_normal,

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/common/src/run.rs

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

lib/common/src/timer.rs

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

lib/deferred_loader/Cargo.toml

@@ -10,7 +10,7 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-strafesnet_common.workspace = true
+strafesnet_common = { version = "0.7.0", path = "../common", registry = "strafesnet" }
 
 [lints]
 workspace = true

lib/fixed_wide/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "fixed_wide"
-version = "0.2.2"
+version = "0.2.1"
 edition = "2024"
 repository = "https://git.itzana.me/StrafesNET/strafe-project"
 license = "MIT OR Apache-2.0"
@@ -17,7 +17,7 @@ zeroes=["dep:arrayvec"]
 bnum = "0.13.0"
 arrayvec = { version = "0.7.6", optional = true }
 paste = "1.0.15"
-ratio_ops = { workspace = true, optional = true }
+ratio_ops = { version = "0.1.0", path = "../ratio_ops", registry = "strafesnet", optional = true }
 
 [lints]
 workspace = true

lib/fixed_wide/src/fixed.rs

@@ -7,7 +7,7 @@ const BNUM_DIGIT_WIDTH:usize=64;
 /// N is the number of u64s to use
 /// F is the number of fractional bits (always N*32 lol)
 pub struct Fixed<const N:usize,const F:usize>{
-	bits:BInt<{N}>,
+	pub(crate)bits:BInt<{N}>,
 }
 
 impl<const N:usize,const F:usize> Fixed<N,F>{
@@ -545,7 +545,7 @@ impl_shift_operator!( Fixed, Shr, shr, Self );
 
 // wide operators.  The result width is the sum of the input widths, i.e. none of the multiplication
 
-#[allow(unused_macros)]
+#[expect(unused_macros)]
 macro_rules! impl_wide_operators{
 	($lhs:expr,$rhs:expr)=>{
 		impl core::ops::Mul<Fixed<$rhs,{$rhs*32}>> for Fixed<$lhs,{$lhs*32}>{

lib/linear_ops/Cargo.toml

@@ -14,12 +14,12 @@ fixed-wide=["dep:fixed_wide","dep:paste"]
 deferred-division=["dep:ratio_ops"]
 
 [dependencies]
-ratio_ops = { workspace = true, optional = true }
-fixed_wide = { workspace = true, optional = true }
+ratio_ops = { version = "0.1.0", path = "../ratio_ops", registry = "strafesnet", optional = true }
+fixed_wide = { version = "0.2.0", path = "../fixed_wide", registry = "strafesnet", optional = true }
 paste = { version = "1.0.15", optional = true }
 
 [dev-dependencies]
-fixed_wide = { workspace = true, features = ["wide-mul"] }
+fixed_wide = { path = "../fixed_wide", registry = "strafesnet", features = ["wide-mul"] }
 
 [lints]
 workspace = true

lib/rbx_loader/Cargo.toml

@@ -11,13 +11,13 @@ authors = ["Rhys Lloyd <krakow20@gmail.com>"]
 
 [dependencies]
 bytemuck = "1.14.3"
-glam.workspace = true
+glam = "0.30.0"
 regex = { version = "1.11.3", default-features = false, features = ["unicode-perl"] }
 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" }
-strafesnet_common.workspace = true
-strafesnet_deferred_loader.workspace = true
+strafesnet_common = { version = "0.7.0", path = "../common", registry = "strafesnet" }
+strafesnet_deferred_loader = { version = "0.5.1", path = "../deferred_loader", registry = "strafesnet" }
 rbx_binary = "2.0.1"
 rbx_dom_weak = "4.1.0"
 rbx_reflection = "6.1.0"

lib/rbx_loader/src/rbx.rs

@@ -867,11 +867,6 @@ impl PartialMap1<'_>{
 				deferred_model_deferred_attributes.model.mesh,
 				deferred_model_deferred_attributes.render
 			)?;
-			// If the mesh size is zero we can't auto-scale it, throw it out.
-			if mesh_size.x==integer::Fixed::ZERO||mesh_size.y==integer::Fixed::ZERO||mesh_size.z==integer::Fixed::ZERO{
-				print!("[rbx_loader] Mesh with zero size!");
-				return None;
-			}
 			Some(ModelDeferredAttributes{
 				mesh,
 				deferred_attributes:deferred_model_deferred_attributes.model.deferred_attributes,

lib/rbx_loader/src/union.rs

@@ -104,7 +104,7 @@ fn build_mesh2(
 		if let Some(normal_id)=normal_agreement_checker.into_agreed_normal(){
 			polygon_groups_normal_id[normal_id as usize-1].push(face);
 		}else{
-			print!("[union] Empty face!");
+			panic!("Empty face!");
 		}
 	}
 	Ok(())
@@ -158,7 +158,7 @@ fn build_mesh5(
 		if let Some(normal_id)=normal_agreement_checker.into_agreed_normal(){
 			polygon_groups_normal_id[normal_id as usize-1].push(face);
 		}else{
-			print!("[union] Empty face!");
+			panic!("Empty face!");
 		}
 	}
 	Ok(())

lib/roblox_emulator/Cargo.toml

@@ -12,7 +12,7 @@ default=["run-service"]
 run-service=[]
 
 [dependencies]
-glam.workspace = true
+glam = "0.30.0"
 mlua = { version = "0.11.3", features = ["luau"] }
 phf = { version = "0.13.1", features = ["macros"] }
 rbx_dom_weak = "4.1.0"

lib/snf/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "strafesnet_snf"
-version = "0.3.2"
+version = "0.3.1"
 edition = "2024"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
@@ -8,7 +8,7 @@ edition = "2024"
 [dependencies]
 binrw = "0.15.0"
 id = { version = "0.1.0", registry = "strafesnet" }
-strafesnet_common.workspace = true
+strafesnet_common = { version = "0.7.0", path = "../common", registry = "strafesnet" }
 
 [lints]
 workspace = true

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(

map-tool/Cargo.toml

@@ -18,10 +18,10 @@ rbx_dom_weak = "4.1.0"
 rbx_reflection_database = "2.0.2"
 rbx_xml = "2.0.1"
 rbxassetid = { version = "0.1.0", registry = "strafesnet" }
-strafesnet_bsp_loader.workspace = true
-strafesnet_deferred_loader.workspace = true
-strafesnet_rbx_loader.workspace = true
-strafesnet_snf.workspace = true
+strafesnet_bsp_loader = { version = "0.3.1", path = "../lib/bsp_loader", registry = "strafesnet" }
+strafesnet_deferred_loader = { version = "0.5.1", path = "../lib/deferred_loader", registry = "strafesnet" }
+strafesnet_rbx_loader = { version = "0.7.0", path = "../lib/rbx_loader", registry = "strafesnet" }
+strafesnet_snf = { version = "0.3.1", path = "../lib/snf", registry = "strafesnet" }
 thiserror = "2.0.11"
 tokio = { version = "1.43.0", features = ["macros", "rt-multi-thread", "fs"] }
 vbsp = "0.9.1"

strafe-client/Cargo.toml

@@ -16,18 +16,18 @@ source = ["dep:strafesnet_deferred_loader", "dep:strafesnet_bsp_loader"]
 roblox = ["dep:strafesnet_deferred_loader", "dep:strafesnet_rbx_loader"]
 
 [dependencies]
-glam.workspace = true
+glam = "0.30.0"
 parking_lot = "0.12.1"
 pollster = "0.4.0"
-strafesnet_bsp_loader = { workspace = true, optional = true }
-strafesnet_common.workspace = true
-strafesnet_deferred_loader = { workspace = true, optional = true }
-strafesnet_graphics.workspace = true
-strafesnet_physics.workspace = true
-strafesnet_rbx_loader = { workspace = true, optional = true }
-strafesnet_session.workspace = true
-strafesnet_settings.workspace = true
-strafesnet_snf = { workspace = true, optional = true }
+strafesnet_bsp_loader = { path = "../lib/bsp_loader", registry = "strafesnet", optional = true }
+strafesnet_common = { path = "../lib/common", registry = "strafesnet" }
+strafesnet_deferred_loader = { path = "../lib/deferred_loader", registry = "strafesnet", optional = true }
+strafesnet_graphics = { path = "../engine/graphics", registry = "strafesnet" }
+strafesnet_physics = { path = "../engine/physics", registry = "strafesnet" }
+strafesnet_rbx_loader = { path = "../lib/rbx_loader", registry = "strafesnet", optional = true }
+strafesnet_session = { path = "../engine/session", registry = "strafesnet" }
+strafesnet_settings = { path = "../engine/settings", registry = "strafesnet" }
+strafesnet_snf = { path = "../lib/snf", registry = "strafesnet", optional = true }
 wgpu = "28.0.0"
 winit = "0.30.7"
 

strafe-client/src/graphics_worker.rs

@@ -37,8 +37,7 @@ pub fn new(
 				config.width=size.width.max(1);
 				config.height=size.height.max(1);
 				surface.configure(&device,&config);
-				let fov=user_settings.calculate_fov(1.0,&glam::uvec2(config.width,config.height)).as_vec2();
-				graphics.resize(&device,&config,fov);
+				graphics.resize(&device,&config,&user_settings);
 				println!("Resize took {:?}",t0.elapsed());
 			}
 			Instruction::Render(frame_state)=>{
@@ -57,7 +56,7 @@ pub fn new(
 					..wgpu::TextureViewDescriptor::default()
 				});
 
-				graphics.render(&view,&device,&queue,graphics::view_inv(frame_state.pos(),frame_state.angles()));
+				graphics.render(&view,&device,&queue,frame_state);
 
 				frame.present();
 			}

strafe-client/src/main.rs

@@ -9,5 +9,5 @@ mod graphics_worker;
 const TITLE:&'static str=concat!("Strafe Client v",env!("CARGO_PKG_VERSION"));
 
 fn main(){
-	pollster::block_on(setup::setup_and_start(TITLE));
+	setup::setup_and_start(TITLE);
 }

strafe-client/src/physics_worker.rs

@@ -59,6 +59,10 @@ pub fn new<'a>(
 			},
 			Instruction::Render=>{
 				run_session_instruction!(ins.time,SessionInstruction::Idle);
+
+				// update model under cursor
+				session.debug_raycast_print_model_id_if_changed(ins.time);
+
 				if let Some(frame_state)=session.get_frame_state(ins.time){
 					run_graphics_worker_instruction!(GraphicsInstruction::Render(frame_state));
 				}

strafe-client/src/setup.rs

@@ -1,38 +1,199 @@
-use strafesnet_graphics::setup;
+fn optional_features()->wgpu::Features{
+	wgpu::Features::TEXTURE_COMPRESSION_ASTC
+	|wgpu::Features::TEXTURE_COMPRESSION_ETC2
+}
+fn required_features()->wgpu::Features{
+	wgpu::Features::TEXTURE_COMPRESSION_BC|wgpu::Features::EXPERIMENTAL_MESH_SHADER
+}
+fn required_downlevel_capabilities()->wgpu::DownlevelCapabilities{
+	wgpu::DownlevelCapabilities{
+		flags:wgpu::DownlevelFlags::empty(),
+		shader_model:wgpu::ShaderModel::Sm5,
+		..wgpu::DownlevelCapabilities::default()
+	}
+}
 
+struct SetupContextPartial1{
+	backends:wgpu::Backends,
+	instance:wgpu::Instance,
+}
 fn create_window(title:&str,event_loop:&winit::event_loop::EventLoop<()>)->Result<winit::window::Window,winit::error::OsError>{
 	let mut attr=winit::window::WindowAttributes::default();
 	attr=attr.with_title(title);
 	event_loop.create_window(attr)
 }
+fn create_instance()->SetupContextPartial1{
+	let backends=wgpu::Backends::from_env().unwrap_or_default();
+	SetupContextPartial1{
+		backends,
+		instance:Default::default(),
+	}
+}
+impl SetupContextPartial1{
+	fn create_surface<'a>(self,window:&'a winit::window::Window)->Result<SetupContextPartial2<'a>,wgpu::CreateSurfaceError>{
+		Ok(SetupContextPartial2{
+			backends:self.backends,
+			surface:self.instance.create_surface(window)?,
+			instance:self.instance,
+		})
+	}
+}
+struct SetupContextPartial2<'a>{
+	backends:wgpu::Backends,
+	instance:wgpu::Instance,
+	surface:wgpu::Surface<'a>,
+}
+impl<'a> SetupContextPartial2<'a>{
+	fn pick_adapter(self)->SetupContextPartial3<'a>{
+		let adapter;
 
-pub async fn setup_and_start(title:&str){
+		//TODO: prefer adapter that implements optional features
+		//let optional_features=optional_features();
+		let required_features=required_features();
+
+		//no helper function smh gotta write it myself
+		let adapters=pollster::block_on(self.instance.enumerate_adapters(self.backends));
+
+		let mut chosen_adapter=None;
+		let mut chosen_adapter_score=0;
+		for adapter in adapters {
+			if !adapter.is_surface_supported(&self.surface) {
+				continue;
+			}
+
+			let score=match adapter.get_info().device_type{
+				wgpu::DeviceType::IntegratedGpu=>3,
+				wgpu::DeviceType::DiscreteGpu=>4,
+				wgpu::DeviceType::VirtualGpu=>2,
+				wgpu::DeviceType::Other|wgpu::DeviceType::Cpu=>1,
+			};
+
+			let adapter_features=adapter.features();
+			if chosen_adapter_score<score&&adapter_features.contains(required_features) {
+				chosen_adapter_score=score;
+				chosen_adapter=Some(adapter);
+			}
+		}
+
+		if let Some(maybe_chosen_adapter)=chosen_adapter{
+			adapter=maybe_chosen_adapter;
+		}else{
+			panic!("No suitable GPU adapters found on the system!");
+		}
+
+
+		let adapter_info=adapter.get_info();
+		println!("Using {} ({:?})", adapter_info.name, adapter_info.backend);
+
+		let required_downlevel_capabilities=required_downlevel_capabilities();
+		let downlevel_capabilities=adapter.get_downlevel_capabilities();
+		assert!(
+			downlevel_capabilities.shader_model >= required_downlevel_capabilities.shader_model,
+			"Adapter does not support the minimum shader model required to run this example: {:?}",
+			required_downlevel_capabilities.shader_model
+		);
+		assert!(
+			downlevel_capabilities
+				.flags
+				.contains(required_downlevel_capabilities.flags),
+			"Adapter does not support the downlevel capabilities required to run this example: {:?}",
+			required_downlevel_capabilities.flags - downlevel_capabilities.flags
+		);
+		SetupContextPartial3{
+			surface:self.surface,
+			adapter,
+		}
+	}
+}
+struct SetupContextPartial3<'a>{
+	surface:wgpu::Surface<'a>,
+	adapter:wgpu::Adapter,
+}
+impl<'a> SetupContextPartial3<'a>{
+	fn request_device(self)->SetupContextPartial4<'a>{
+		let optional_features=optional_features();
+		let required_features=required_features();
+
+		// Make sure we use the texture resolution limits from the adapter, so we can support images the size of the surface.
+		let needed_limits=strafesnet_graphics::graphics::required_limits().using_resolution(self.adapter.limits());
+
+		let (device, queue)=pollster::block_on(self.adapter
+			.request_device(
+				&wgpu::DeviceDescriptor{
+					label:None,
+					required_features:(optional_features&self.adapter.features())|required_features,
+					required_limits:needed_limits,
+					memory_hints:wgpu::MemoryHints::Performance,
+					trace:wgpu::Trace::Off,
+					experimental_features:unsafe{wgpu::ExperimentalFeatures::enabled()},
+				},
+			))
+			.expect("Unable to find a suitable GPU adapter!");
+
+		SetupContextPartial4{
+			surface:self.surface,
+			adapter:self.adapter,
+			device,
+			queue,
+		}
+	}
+}
+struct SetupContextPartial4<'a>{
+	surface:wgpu::Surface<'a>,
+	adapter:wgpu::Adapter,
+	device:wgpu::Device,
+	queue:wgpu::Queue,
+}
+impl<'a> SetupContextPartial4<'a>{
+	fn configure_surface(self,size:&'a winit::dpi::PhysicalSize<u32>)->SetupContext<'a>{
+		let mut config=self.surface
+			.get_default_config(&self.adapter, size.width, size.height)
+			.expect("Surface isn't supported by the adapter.");
+		let surface_view_format=config.format.add_srgb_suffix();
+		config.view_formats.push(surface_view_format);
+		config.present_mode=wgpu::PresentMode::AutoNoVsync;
+		self.surface.configure(&self.device, &config);
+
+		SetupContext{
+			surface:self.surface,
+			device:self.device,
+			queue:self.queue,
+			config,
+		}
+	}
+}
+pub struct SetupContext<'a>{
+	pub surface:wgpu::Surface<'a>,
+	pub device:wgpu::Device,
+	pub queue:wgpu::Queue,
+	pub config:wgpu::SurfaceConfiguration,
+}
+
+pub fn setup_and_start(title:&str){
 	let event_loop=winit::event_loop::EventLoop::new().unwrap();
 
-	let window=create_window(title,&event_loop).unwrap();
-
 	println!("Initializing the surface...");
 
-	let instance=setup::step1::create_instance();
+	let partial_1=create_instance();
 
-	let surface=setup::step2::create_surface(&instance,&window).unwrap();
+	let window=create_window(title,&event_loop).unwrap();
 
-	let adapter=setup::step3::pick_adapter(&instance,&surface).await.expect("No suitable GPU adapters found on the system!");
+	let partial_2=partial_1.create_surface(&window).unwrap();
 
-	let (device,queue)=setup::step4::request_device(&adapter).await;
+	let partial_3=partial_2.pick_adapter();
+
+	let partial_4=partial_3.request_device();
 
 	let size=window.inner_size();
-	let config=setup::step5::configure_surface(&adapter,&device,&surface,(size.width,size.height));
+
+	let setup_context=partial_4.configure_surface(&size);
 
 	//dedicated thread to ping request redraw back and resize the window doesn't seem logical
 
 	//the thread that spawns the physics thread
 	let mut window_thread=crate::window::worker(
 		&window,
-		device,
-		queue,
-		surface,
-		config,
+		setup_context,
 	);
 
 	for arg in std::env::args().skip(1){

strafe-client/src/shader.wgsl

@@ -0,0 +1,279 @@
+enable wgpu_mesh_shader;
+
+struct Camera {
+	// from camera to screen
+	proj: mat4x4<f32>,
+	// from screen to camera
+	proj_inv: mat4x4<f32>,
+	// from world to camera
+	view: mat4x4<f32>,
+	// from camera to world
+	view_inv: mat4x4<f32>,
+};
+
+//group 0 is the camera
+@group(0)
+@binding(0)
+var<uniform> camera: Camera;
+
+struct SkyOutput {
+	@builtin(position) position: vec4<f32>,
+	@location(0) sampledir: vec3<f32>,
+};
+
+@vertex
+fn vs_sky(@builtin(vertex_index) vertex_index: u32) -> SkyOutput {
+	// hacky way to draw a large triangle
+	let tmp1 = i32(vertex_index) / 2;
+	let tmp2 = i32(vertex_index) & 1;
+	let pos = vec4<f32>(
+		f32(tmp1) * 4.0 - 1.0,
+		f32(tmp2) * 4.0 - 1.0,
+		1.0,
+		1.0
+	);
+
+	let inv_model_view = mat3x3<f32>(camera.view_inv[0].xyz, camera.view_inv[1].xyz, camera.view_inv[2].xyz);
+	let unprojected = camera.proj_inv * pos;
+
+	var result: SkyOutput;
+	result.sampledir = inv_model_view * unprojected.xyz;
+	result.position = pos;
+	return result;
+}
+
+struct ModelInstance{
+	transform:mat4x4<f32>,
+	normal_transform:mat3x3<f32>,
+	color:vec4<f32>,
+}
+//my fancy idea is to create a megatexture for each model that includes all the textures each intance will need
+//the texture transform then maps the texture coordinates to the location of the specific texture
+//group 1 is the model
+const MAX_MODEL_INSTANCES=512;
+@group(2)
+@binding(0)
+var<uniform> model_instances: array<ModelInstance, MAX_MODEL_INSTANCES>;
+@group(2)
+@binding(1)
+var model_texture: texture_2d<f32>;
+@group(2)
+@binding(2)
+var model_sampler: sampler;
+
+struct EntityOutputTexture {
+	@builtin(position) position: vec4<f32>,
+	@location(1) texture: vec2<f32>,
+	@location(2) normal: vec3<f32>,
+	@location(3) view: vec3<f32>,
+	@location(4) color: vec4<f32>,
+	@location(5) @interpolate(flat) model_color: vec4<f32>,
+};
+@vertex
+fn vs_entity_texture(
+	@builtin(instance_index) instance: u32,
+	@location(0) pos: vec3<f32>,
+	@location(1) texture: vec2<f32>,
+	@location(2) normal: vec3<f32>,
+	@location(3) color: vec4<f32>,
+) -> EntityOutputTexture {
+	var position: vec4<f32> = model_instances[instance].transform * vec4<f32>(pos, 1.0);
+	var result: EntityOutputTexture;
+	result.normal = model_instances[instance].normal_transform * normal;
+	result.texture = texture;
+	result.color = color;
+	result.model_color = model_instances[instance].color;
+	result.view = position.xyz - camera.view_inv[3].xyz;//col(3)
+	result.position = camera.proj * camera.view * position;
+	return result;
+}
+
+@group(1)
+@binding(0)
+var<uniform> model_instance: ModelInstance;
+
+@group(1)
+@binding(1)
+var<uniform> ve_verts: array<vec4<f32>, 2>;
+
+struct DebugEntityOutput {
+	@builtin(position) position: vec4<f32>,
+};
+
+@vertex
+fn vs_debug(
+	@location(0) pos: vec3<f32>,
+) -> DebugEntityOutput {
+	var position: vec4<f32> = model_instance.transform * vec4<f32>(pos, 1.0);
+	var result: DebugEntityOutput;
+	result.position = camera.proj * camera.view * position;
+	return result;
+}
+
+struct TaskPayload {
+    four_bytes: u32,
+}
+
+var<task_payload> taskPayload: TaskPayload;
+
+@task
+@payload(taskPayload)
+@workgroup_size(1)
+fn ts_main() -> @builtin(mesh_task_size) vec3<u32> {
+	taskPayload.four_bytes = 0;
+	return vec3(1, 1, 1);
+}
+
+struct VertexOutput {
+	@builtin(position) position: vec4<f32>,
+	@location(0) color: vec4<f32>,
+}
+struct PrimitiveOutput {
+	@builtin(triangle_indices) indices: vec3<u32>,
+}
+
+struct CircleOutput {
+	@builtin(vertices) vertices: array<VertexOutput, 24>,
+	@builtin(primitives) primitives: array<PrimitiveOutput, 22>,
+	@builtin(vertex_count) vertex_count: u32,
+	@builtin(primitive_count) primitive_count: u32,
+}
+
+var<workgroup> mesh_output: CircleOutput;
+
+const tau: f32 = 3.141592653589793 * 2.0;
+
+fn modulo(value:u32,modulus:u32)->u32{
+	return value-value/modulus*modulus;
+}
+
+@mesh(mesh_output)
+@payload(taskPayload)
+@workgroup_size(1)
+fn ms_debug_vert(){
+	// circle with 24 vertices.
+	const LAYERS:u32 = 3;
+	const N:u32 = 3*(1<<LAYERS);
+	mesh_output.vertex_count = N;
+	mesh_output.primitive_count = N-2;
+
+	var vertex_world_position: vec4<f32> = model_instance.transform * ve_verts[0];
+	var vertex_screen_position: vec4<f32> = camera.proj * camera.view * vertex_world_position;
+
+	for (var i:u32 = 0; i<N/4; i++){
+		// draw a 1 unit redius circle
+		var theta: f32 = f32(i) * tau / f32(N);
+		var cos_sin: vec2<f32> = vec2(cos(theta), sin(theta));
+		var offset: vec2<f32> = 0.5 * cos_sin;
+		mesh_output.vertices[i].position = vertex_screen_position + vec4<f32>(offset, 0.0, 0.0);
+		mesh_output.vertices[i+N/4].position = vertex_screen_position + vec4<f32>(-offset.y, offset.x, 0.0, 0.0);
+		mesh_output.vertices[i+N/4*2].position = vertex_screen_position + vec4<f32>(-offset, 0.0, 0.0);
+		mesh_output.vertices[i+N/4*3].position = vertex_screen_position + vec4<f32>(offset.y, -offset.x, 0.0, 0.0);
+	}
+
+	// max area triangle indices
+
+	// the big triangle
+	mesh_output.primitives[0].indices = vec3<u32>(0, N/3, N/3*2);
+
+	// 3 layers of infill triangles to approximate circle better than 1 triangle.
+	// we start on the outer layer because it's easier to construct this way
+	var count:u32=N;
+	var base:u32=1;
+	for (var layer:u32 = 0; layer<LAYERS; layer++){
+		count=count>>1;
+		var step:u32=N/count;
+		for (var i:u32 = 0; i<count; i++){
+			mesh_output.primitives[base+i].indices = vec3<u32>(i*step, i*step+(step>>1), modulo(i*step+step,N));
+		}
+		base+=count;
+	}
+}
+
+@mesh(mesh_output)
+@payload(taskPayload)
+@workgroup_size(1)
+fn ms_debug_edge(){
+	// draw two circles for now.
+	const LAYERS:u32 = 3;
+	const N:u32 = 2*(1<<LAYERS);
+	mesh_output.vertex_count = 2*(3+2+4+8);
+	mesh_output.primitive_count = 2*(1+2+4+8)+2;
+
+	var v0_world_position: vec4<f32> = model_instance.transform * ve_verts[0];
+	var v1_world_position: vec4<f32> = model_instance.transform * ve_verts[1];
+
+	var v0_screen_position: vec4<f32> = camera.proj * camera.view * v0_world_position;
+	var v1_screen_position: vec4<f32> = camera.proj * camera.view * v1_world_position;
+
+	var edge_dir_world: vec4<f32> = normalize(v0_world_position - v1_world_position);
+	var edge_dir_screen: vec4<f32> = camera.proj * camera.view * edge_dir_world;
+
+	for (var i:u32 = 0; i<=N/2; i++){
+		// two half circles that make a whole
+		var theta: f32 = f32(i) * tau / f32(N);
+		var cos_sin: vec2<f32> = vec2(cos(theta), sin(theta));
+
+		// construct basis vectors
+		var y_axis: vec2<f32> = edge_dir_screen.xy;
+		var x_axis: vec2<f32> = y_axis.yx;
+		x_axis.x = -x_axis.x;
+
+		var offset: vec4<f32> = vec4<f32>(0.5 * (x_axis * cos_sin.x + y_axis * cos_sin.y), 0.0, 0.0);;
+
+		mesh_output.vertices[i].position = v0_screen_position + offset;
+		mesh_output.vertices[N/2+1+i].position = v1_screen_position - offset;
+	}
+
+	// max area triangle indices
+	// number of primitives per circle half
+	const P:u32 = N/2;
+	// the big triangles between the circles
+	mesh_output.primitives[0].indices = vec3<u32>(0, N/2+1, P);
+	mesh_output.primitives[P].indices = vec3<u32>(N/2+1, 0, P + N/2+1);
+
+	// 3 layers of infill triangles to approximate circle better than 1 triangle.
+	// we start on the outer layer because it's easier to construct this way
+	var count:u32=P;
+	var base:u32=1;
+	for (var layer:u32 = 0; layer<LAYERS; layer++){
+		count=count>>1;
+		var step:u32=P/count;
+		for (var i:u32 = 0; i<count; i++){
+			var indices = vec3<u32>(i*step, i*step+(step>>1), i*step+step);
+			mesh_output.primitives[base+i].indices = indices;
+			mesh_output.primitives[P+base+i].indices = indices + N/2+1;
+		}
+		base+=count;
+	}
+}
+
+//group 2 is the skybox texture
+@group(1)
+@binding(0)
+var cube_texture: texture_cube<f32>;
+@group(1)
+@binding(1)
+var cube_sampler: sampler;
+
+@fragment
+fn fs_sky(vertex: SkyOutput) -> @location(0) vec4<f32> {
+	return textureSample(cube_texture, cube_sampler, vertex.sampledir);
+}
+
+@fragment
+fn fs_entity_texture(vertex: EntityOutputTexture) -> @location(0) vec4<f32> {
+	let incident = normalize(vertex.view);
+	let normal = normalize(vertex.normal);
+	let d = dot(normal, incident);
+	let reflected = incident - 2.0 * d * normal;
+
+	let fragment_color = textureSample(model_texture, model_sampler, vertex.texture)*vertex.color;
+	let 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

@@ -138,7 +138,6 @@ 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;
@@ -172,6 +171,7 @@ impl WindowContext<'_>{
 								"X"|"x"=>session_ctrl!(StopSpectate,s),
 								"N"|"n"=>session_ctrl!(SaveReplay,s),
 								"J"|"j"=>session_ctrl!(LoadIntoReplayState,s),
+								"H"|"h"=>session_ctrl!(DebugSimulation,s),
 								_=>None,
 							},
 							_=>None,
@@ -239,10 +239,7 @@ impl WindowContext<'_>{
 }
 pub fn worker<'a>(
 	window:&'a winit::window::Window,
-	device:wgpu::Device,
-	queue:wgpu::Queue,
-	surface:wgpu::Surface<'a>,
-	config:wgpu::SurfaceConfiguration,
+	setup_context:crate::setup::SetupContext<'a>,
 )->crate::compat_worker::QNWorker<'a,TimedInstruction<Instruction,SessionTime>>{
 	// WindowContextSetup::new
 	#[cfg(feature="user-install")]
@@ -252,13 +249,12 @@ pub fn worker<'a>(
 
 	let user_settings=directories.settings();
 
-	let mut graphics=strafesnet_graphics::graphics::GraphicsState::new(&device,&queue,&config);
+	let mut graphics=strafesnet_graphics::graphics::GraphicsState::new(&setup_context.device,&setup_context.queue,&setup_context.config);
+	graphics.load_user_settings(&user_settings);
 
 	//WindowContextSetup::into_context
-	let screen_size=glam::uvec2(config.width,config.height);
-	let fov=user_settings.calculate_fov(1.0,&screen_size).as_vec2();
-	graphics.resize(&device,&config,fov);
-	let graphics_thread=crate::graphics_worker::new(graphics,config,surface,device,queue);
+	let screen_size=glam::uvec2(setup_context.config.width,setup_context.config.height);
+	let graphics_thread=crate::graphics_worker::new(graphics,setup_context.config,setup_context.surface,setup_context.device,setup_context.queue);
 	let mut window_context=WindowContext{
 		manual_mouse_lock:false,
 		mouse_pos:glam::DVec2::ZERO,