tmp: add most recent progressexperiments

15 files changed, 2383 insertions, 89 deletions

diff --git a/physics/Cargo.lock b/physics/Cargo.lock
index 98fe5af..9f69cd7 100644
--- a/physics/Cargo.lock
+++ b/physics/Cargo.lock
@@ -24,6 +24,37 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b37c88a63ffd85d15b406896cc343916d7cf57838a847b3a6f2ca5d39a5695a"
 
 [[package]]
+name = "crossbeam-deque"
+version = "0.8.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9dd111b7b7f7d55b72c0a6ae361660ee5853c9af73f70c3c2ef6858b950e2e51"
+dependencies = [
+ "crossbeam-epoch",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-epoch"
+version = "0.9.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5b82ac4a3c2ca9c3460964f020e1402edd5753411d7737aa39c3714ad1b5420e"
+dependencies = [
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-utils"
+version = "0.8.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d0a5c400df2834b80a4c3327b3aad3a4c4cd4de0629063962b03235697506a28"
+
+[[package]]
+name = "either"
+version = "1.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60b1af1c220855b6ceac025d3f6ecdd2b7c4894bfe9cd9bda4fbb4bc7c0d4cf0"
+
+[[package]]
 name = "matrixmultiply"
 version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -119,6 +150,7 @@ name = "physics"
 version = "0.1.0"
 dependencies = [
  "nalgebra",
+ "rayon",
 ]
 
 [[package]]
@@ -146,6 +178,26 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
 
 [[package]]
+name = "rayon"
+version = "1.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b418a60154510ca1a002a752ca9714984e21e4241e804d32555251faf8b78ffa"
+dependencies = [
+ "either",
+ "rayon-core",
+]
+
+[[package]]
+name = "rayon-core"
+version = "1.12.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1465873a3dfdaa8ae7cb14b4383657caab0b3e8a0aa9ae8e04b044854c8dfce2"
+dependencies = [
+ "crossbeam-deque",
+ "crossbeam-utils",
+]
+
+[[package]]
 name = "safe_arch"
 version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
diff --git a/physics/Cargo.toml b/physics/Cargo.toml
index e5db63e..08749b8 100644
--- a/physics/Cargo.toml
+++ b/physics/Cargo.toml
@@ -5,3 +5,4 @@ edition = "2021"
 
 [dependencies]
 nalgebra = "0.33.2"
+rayon = "1.10.0"
diff --git a/physics/README.md b/physics/README.md
index 59d5c16..bf14ff7 100644
--- a/physics/README.md
+++ b/physics/README.md
@@ -2,3 +2,53 @@
 ## Constrained dynamics
  - [A lot of pictures to get general idea and familiarize, but not very understandable](https://danielchappuis.ch/download/ConstraintsDerivationRigidBody3D.pdf)
  - [More text and math but very well written and understandable](https://graphics.pixar.com/pbm2001/pdf/notesf.pdf)
+
+
+ ## TODO:
+ - Camera perspective rendering:
+     - Subspace intersection
+     - Instead of orthogonal projection, intersect camera plane with the ray (S2 x S1 interesection)
+     - Scale radius:
+         - Take a right-most point (particle.pos + camera.right * true_radius)
+         - Project this point
+         - projected(radius) = projected(particle.pos) - projected(right_most_point)
+     - More generic `fn draw_sphere(radius, world_pos)`
+
+ - Implement vector drawing for debug:
+    - Line + small dot at the end
+    - Display particle forces
+    - Display particle velocities
+    - Display jacobians for each constraint (render constraint jacobian at each related particle)
+    - (?) Toggleable gradient for each constraint:
+        - Artificially take C(q) with some grid
+        - Grid should be on a plane, need an ability to control this plane as well
+
+ - (?) Refactor: subspace distance constraint:
+    - beam = distance to point
+    - slider = distance to a line
+    - But constraint has to act on 1 particle and 1 subspace, I will need dynamic subspaces (from point)
+    - Hold this for now
+
+
+### Better scene design
+What defines a scene:
+ - List of particles - points with mass that are affected by gravity
+ - List of global forces (gravity, drag, etc.)
+ - List of other renderable objects: beams, springs, lines, planes (each object may depend on some particle position):
+    - Each object may depend on particle position or some static point (line passing through a particle, spring between particle and static point)
+    - Each objects knows how to compute its subspace (point/line/plane)
+    - Beams automatically add constraints to particles
+    - Springs automatically register extra forces between particles
+    - Collision planes setup necessary routines
+
+ - List of additional constraints between particles and subspaces (e.g particle tied to a line)
+
+ <!-- - List of subspaces (special points, lines, planes etc.) - used as connectors for constraints -->
+ <!-- - (?) List of dynamic subspaces based on particle positions (i.e a plane that passes through a particle) -->
+ - Camera spec (lens etc.), position and orientation - defines how the scene is projected on the picture plane
+
+What the we should see on the screen:
+ - Particles (rendered as spheres with some small radius)
+ - Subspaces - points, lines, planes(?)
+ - Some constraints (beams represented as lines)
+ - Some forces (like springs)
diff --git a/physics/plots/plot_errors.py b/physics/plots/plot_errors.py
new file mode 100644
index 0000000..2632489
--- /dev/null
+++ b/physics/plots/plot_errors.py
@@ -0,0 +1,25 @@
+import sys
+import matplotlib.pyplot as plt
+import numpy as np
+
+# Read the errors from the file
+
+fig = plt.figure(figsize=(10, 6))
+ax = fig.add_subplot()
+
+for filename in sys.argv[1:]:
+    print(filename)
+    try:
+        data = np.loadtxt(filename)
+        ax.plot(range(0, len(data[0])), data[0], data[1], label=f"{filename}")
+    except Exception as e:
+        print(f"Error loading {filename}: {e}")
+    continue
+
+
+ax.set_xlabel("Time")
+ax.set_ylabel("Y")
+# ax.set_zlabel("Z")
+ax.legend()
+ax.grid(True)
+plt.show()
diff --git a/physics/src/algebra/distance_field.rs b/physics/src/algebra/distance_field.rs
new file mode 100644
index 0000000..3b511f1
--- /dev/null
+++ b/physics/src/algebra/distance_field.rs
@@ -0,0 +1,11 @@
+use super::{Point, Scalar};
+
+pub trait DistanceField {
+    fn distance(&self, point: Point) -> Scalar;
+}
+
+impl DistanceField for Point {
+    fn distance(&self, point: Point) -> Scalar {
+        (self - point).norm()
+    }
+}
diff --git a/physics/src/algebra/mod.rs b/physics/src/algebra/mod.rs
index 47efba8..116d44d 100644
--- a/physics/src/algebra/mod.rs
+++ b/physics/src/algebra/mod.rs
@@ -1,9 +1,10 @@
 use nalgebra::{Point as PointBase, SVector};
 
-pub const N: usize = 2;
+pub const N: usize = 3;
 pub type Scalar = f64;
 
 pub type Vector = SVector<Scalar, N>;
 pub type Point = PointBase<Scalar, N>;
 
 pub mod subspace;
+pub mod distance_field;
diff --git a/physics/src/algebra/subspace.rs b/physics/src/algebra/subspace.rs
index 9fb944e..3d36b52 100644
--- a/physics/src/algebra/subspace.rs
+++ b/physics/src/algebra/subspace.rs
@@ -1,6 +1,6 @@
 use nalgebra::SMatrix;
 
-use super::{Scalar, N, Point, Vector};
+use super::{distance_field::DistanceField, Point, Scalar, Vector, N};
 
 
 type ProjectionMatrix = SMatrix<Scalar, N, N>;
@@ -36,7 +36,10 @@ impl<const DIM: usize> Subspace<DIM> {
         self.projection_matrix * (point - self.point.coords) + self.point.coords
     }
 
-    pub fn distance(&self, point: Point) -> Scalar {
+}
+
+impl<const DIM: usize> DistanceField for Subspace<DIM> {
+    fn distance(&self, point: Point) -> Scalar {
         let projected = self.project_point(point);
         (projected - point).norm()
     }
@@ -44,13 +47,13 @@ impl<const DIM: usize> Subspace<DIM> {
 
 #[cfg(test)]
 mod tests {
-    use crate::algebra::{subspace::Line, Point, Vector};
+    use crate::algebra::{subspace::Line, Point, Vector, distance_field::DistanceField};
 
     #[test]
     fn test_projection_onto_line() {
-        let line = Line::new(Point::new(1.0, 0.0), [Vector::new(3.0, 1.0)]);
-        let point = Point::new(3.0, 4.0);
-
+        let line = Line::new(Point::new(1.0, 0.0, 0.0), [Vector::new(3.0, 1.0, 0.0)]);
+        let point = Point::new(3.0, 4.0, 0.0);
+        
         let matrix = line.projection_matrix;
         {
             let diff = matrix * matrix - matrix;
@@ -63,8 +66,21 @@ mod tests {
 
         {
             let projected = line.project_point(point);
-            let diff = projected - Point::new(4.0, 1.0);
+            let diff = projected - Point::new(4.0, 1.0, 0.0);
             assert!(diff.norm() < 0.001, "Point projected incorrectly");
         }
     }
+
+    #[test]
+    fn test_distance() {
+        let origin = Point::new(0.0, 0.0, 0.0);
+        let line = Line::new(origin, [Vector::x()]);
+        
+        let dq = 0.001;
+        let dx = line.distance(origin + Vector::x() * dq);
+        let dy = line.distance(origin + Vector::y() * dq);
+        let dz = line.distance(origin + Vector::z() * dq);
+        assert_eq!(dx, 0.0);
+        assert_eq!(dy, dz);
+    }
 }
diff --git a/physics/src/constraint/distance.rs b/physics/src/constraint/distance.rs
new file mode 100644
index 0000000..abdbdeb
--- /dev/null
+++ b/physics/src/constraint/distance.rs
@@ -0,0 +1,50 @@
+use nalgebra::{DVector, RowDVector};
+
+use crate::algebra::distance_field::DistanceField;
+use crate::algebra::subspace::{Line, Subspace};
+use crate::algebra::{Point, Scalar, N};
+use crate::particle_system::ParticleSystem;
+
+use super::Constraint;
+
+/// Keep a particle at certain distance within distance field
+pub struct DistanceConstraint<D: DistanceField> {
+    particle_id: usize,
+    distance_field: D,
+    distance: Scalar,
+}
+
+impl ParticleSystem {
+    pub fn add_distance_constraint<const DIM: usize>(&mut self, particle_id: usize, subspace: Subspace<DIM>, distance: Scalar) {
+        let particle = &self.particles[particle_id];
+
+        self.constraints.push(Box::new(DistanceConstraint {
+            particle_id,
+            distance,
+            distance_field: subspace,
+        }));
+    }
+}
+
+impl<D: DistanceField> Constraint for DistanceConstraint<D> {
+    fn get_particles(&self) -> Vec<usize> {
+        vec![self.particle_id]
+    }
+
+    fn c(&self, q: &DVector<Scalar>) -> Scalar {
+        let position = q.fixed_rows::<N>(self.particle_id * N);
+
+        self.distance_field.distance(Point::from_coordinates(position.into())) - self.distance
+    }
+
+    fn jacobian(&self, q: &DVector<Scalar>) -> RowDVector<Scalar> {
+        let point = Point::from_coordinates(q.fixed_rows::<N>(self.particle_id * N).into());
+        let normal = self.distance_field.project_point(point) - point;
+
+        let mut result = RowDVector::zeros(q.len());
+        for i in 0..N {
+            result[self.particle_id * N + i] = normal[i];
+        }
+        result
+    }
+}
diff --git a/physics/src/constraint/mod.rs b/physics/src/constraint/mod.rs
index ed9e603..3f76d33 100644
--- a/physics/src/constraint/mod.rs
+++ b/physics/src/constraint/mod.rs
@@ -4,6 +4,7 @@ use crate::algebra::{Scalar, N};
 use crate::particle_system::ParticleSystem;
 pub mod beam;
 pub mod slider;
+// pub mod distance;
 
 pub const SPRING_CONSTANT: Scalar = 16.0;
 pub const DAMPING_CONSTANT: Scalar = 4.0;
diff --git a/physics/src/constraint/slider.rs b/physics/src/constraint/slider.rs
index be8e261..a50a840 100644
--- a/physics/src/constraint/slider.rs
+++ b/physics/src/constraint/slider.rs
@@ -1,7 +1,7 @@
 use nalgebra::{DVector, RowDVector};
 
 use crate::{
-    algebra::{subspace::Line, Point, Scalar, Vector, N},
+    algebra::{distance_field::DistanceField, subspace::Line, Point, Scalar, Vector, N},
     particle_system::ParticleSystem,
 };
 
diff --git a/physics/src/renderer/mod.rs b/physics/src/renderer/mod.rs
index 63894b3..72b922d 100644
--- a/physics/src/renderer/mod.rs
+++ b/physics/src/renderer/mod.rs
@@ -45,21 +45,23 @@ impl Camera {
 
 #[cfg(test)]
 mod tests {
-    use crate::algebra::{Point, Vector};
+    use nalgebra::Point2;
+
+    use crate::algebra::{Point, Scalar, Vector};
 
     use super::Camera;
 
     #[test]
     fn test_projection() {
         let camera = Camera::new(
-            Point::new(1.0, 0.0),
-            Vector::new(1.0, 2.0),
-            Vector::new(2.0, -1.0),
+            Point::new(1.0, 0.0, 0.0),
+            Vector::new(1.0, 2.0, 0.0),
+            Vector::new(2.0, -1.0, 0.0),
         );
 
-        let point = Point::new(3.0, 1.0);
+        let point = Point::new(3.0, 1.0, 0.0);
 
-        let diff = camera.world_to_screen_space * point - Point::new(1.0, 1.0);
+        let diff = camera.world_to_screen_space * point - Point2::<Scalar>::new(1.0, 1.0);
         assert!(
             diff.norm() < 0.001,
             "Camera translated point into screen_space incorrectly"
diff --git a/physics/src/solver/mod.rs b/physics/src/solver/mod.rs
index 527bb06..50fe9a7 100644
--- a/physics/src/solver/mod.rs
+++ b/physics/src/solver/mod.rs
@@ -84,7 +84,7 @@ mod tests {
     #[test]
     fn test_collect_phase_space() {
         let system = ParticleSystem {
-            particles: vec![Particle::new(Point::new(2.0, 3.0), 1.0)],
+            particles: vec![Particle::new(Point::new(2.0, 3.0, 0.0), 1.0)],
             constraints: vec![],
             forces: vec![],
             t: 0.0,
@@ -100,12 +100,12 @@ mod tests {
     #[test]
     fn test_scatter_phase_space() {
         let mut phase_space = PhaseSpace::new(2);
-        phase_space.set_particle(1, Point::new(5.0, 7.0), Vector::x());
+        phase_space.set_particle(1, Point::new(5.0, 7.0, 0.0), Vector::x());
 
         let mut system = ParticleSystem {
             particles: vec![
-                Particle::new(Point::new(0.0, 0.0), 1.0),
-                Particle::new(Point::new(0.0, 0.0), 1.0),
+                Particle::new(Point::new(0.0, 0.0, 0.0), 1.0),
+                Particle::new(Point::new(0.0, 0.0, 0.0), 1.0),
             ],
             constraints: vec![],
             forces: vec![],
diff --git a/playground/Cargo.lock b/playground/Cargo.lock
index 51c385d..7190140 100644
--- a/playground/Cargo.lock
+++ b/playground/Cargo.lock
@@ -3,12 +3,40 @@
 version = 3
 
 [[package]]
+name = "addr2line"
+version = "0.24.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dfbe277e56a376000877090da837660b4427aad530e3028d44e0bffe4f89a1c1"
+dependencies = [
+ "gimli",
+]
+
+[[package]]
+name = "adler2"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "512761e0bb2578dd7380c6baaa0f4ce03e84f95e960231d1dec8bf4d7d6e2627"
+
+[[package]]
 name = "ahash"
 version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e8fd72866655d1904d6b0997d0b07ba561047d070fbe29de039031c641b61217"
 
 [[package]]
+name = "ahash"
+version = "0.8.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e89da841a80418a9b391ebaea17f5c112ffaaa96f621d2c285b5174da76b9011"
+dependencies = [
+ "cfg-if 1.0.0",
+ "getrandom",
+ "once_cell",
+ "version_check",
+ "zerocopy",
+]
+
+[[package]]
 name = "aho-corasick"
 version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -18,6 +46,76 @@ dependencies = [
 ]
 
 [[package]]
+name = "alloc-no-stdlib"
+version = "2.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cc7bb162ec39d46ab1ca8c77bf72e890535becd1751bb45f64c597edb4c8c6b3"
+
+[[package]]
+name = "alloc-stdlib"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "94fb8275041c72129eb51b7d0322c29b8387a0386127718b096429201a5d6ece"
+dependencies = [
+ "alloc-no-stdlib",
+]
+
+[[package]]
+name = "anstream"
+version = "0.6.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8acc5369981196006228e28809f761875c0327210a891e941f4c683b3a99529b"
+dependencies = [
+ "anstyle",
+ "anstyle-parse",
+ "anstyle-query",
+ "anstyle-wincon",
+ "colorchoice",
+ "is_terminal_polyfill",
+ "utf8parse",
+]
+
+[[package]]
+name = "anstyle"
+version = "1.0.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "55cc3b69f167a1ef2e161439aa98aed94e6028e5f9a59be9a6ffb47aef1651f9"
+
+[[package]]
+name = "anstyle-parse"
+version = "0.2.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3b2d16507662817a6a20a9ea92df6652ee4f94f914589377d69f3b21bc5798a9"
+dependencies = [
+ "utf8parse",
+]
+
+[[package]]
+name = "anstyle-query"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "79947af37f4177cfead1110013d678905c37501914fba0efea834c3fe9a8d60c"
+dependencies = [
+ "windows-sys 0.59.0",
+]
+
+[[package]]
+name = "anstyle-wincon"
+version = "3.0.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2109dbce0e72be3ec00bed26e6a7479ca384ad226efdd66db8fa2e3a38c83125"
+dependencies = [
+ "anstyle",
+ "windows-sys 0.59.0",
+]
+
+[[package]]
+name = "anyhow"
+version = "1.0.94"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c1fd03a028ef38ba2276dce7e33fcd6369c158a1bca17946c4b1b701891c1ff7"
+
+[[package]]
 name = "approx"
 version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -33,18 +131,65 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "23b62fc65de8e4e7f52534fb52b0f3ed04746ae267519eef2a83941e8085068b"
 
 [[package]]
+name = "arrayvec"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
+
+[[package]]
+name = "async-compression"
+version = "0.4.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df895a515f70646414f4b45c0b79082783b80552b373a68283012928df56f522"
+dependencies = [
+ "brotli",
+ "flate2",
+ "futures-core",
+ "memchr",
+ "pin-project-lite",
+ "tokio",
+]
+
+[[package]]
 name = "autocfg"
 version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
 [[package]]
+name = "backtrace"
+version = "0.3.74"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8d82cb332cdfaed17ae235a638438ac4d4839913cc2af585c3c6746e8f8bee1a"
+dependencies = [
+ "addr2line",
+ "cfg-if 1.0.0",
+ "libc",
+ "miniz_oxide",
+ "object 0.36.5",
+ "rustc-demangle",
+ "windows-targets 0.52.6",
+]
+
+[[package]]
+name = "base64"
+version = "0.21.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9d297deb1925b89f2ccc13d7635fa0714f12c87adce1c75356b39ca9b7178567"
+
+[[package]]
+name = "binary-merge"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "597bb81c80a54b6a4381b23faba8d7774b144c94cbd1d6fe3f1329bd776554ab"
+
+[[package]]
 name = "bindgen"
 version = "0.69.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "271383c67ccabffb7381723dea0672a673f292304fcb45c01cc648c7a8d58088"
 dependencies = [
- "bitflags",
+ "bitflags 2.6.0",
  "cexpr",
  "clang-sys",
  "itertools",
@@ -63,17 +208,131 @@ dependencies = [
 
 [[package]]
 name = "bitflags"
+version = "1.3.2"
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+ "dashmap",
+ "indexmap",
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+ "num-format",
+ "once_cell",
+ "quick-xml",
+ "rgb",
+ "str_stack",
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+
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+checksum = "cf64c2edc8226891a71f127587a2861b132d2b942310843814d5001d99a1d307"
+dependencies = [
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+]
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+
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+
+[[package]]
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@@ -208,6 +1106,22 @@ dependencies = [
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d75a2a4b1b190afb6f5425f10f6a8f959d2ea0b9c2b1d79553551850539e4674"
+
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+checksum = "6717b6b5b077764fb5966237269cb3c64edddde4b14ce42647430a78ced9e7b7"
+dependencies = [
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+ "wasm-bindgen",
+]
+
+[[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -226,13 +1140,33 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5aaeb2981e0606ca11d79718f8bb01164f1d6ed75080182d3abf017e6d244b6d"
 
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "06085512b750d640299b79be4bad3d2fa90a9c00b1fd9e1b46364f66f0485c72"
+dependencies = [
+ "cc",
+ "pkg-config",
+]
+
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 checksum = "fc2f4eb4bc735547cfed7c0a4922cbd04a4655978c09b54f1f7b228750664c34"
 dependencies = [
  "cfg-if 1.0.0",
- "windows-targets",
+ "windows-targets 0.52.6",
+]
+
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c0ff37bd590ca25063e35af745c343cb7a0271906fb7b37e4813e8f79f00268d"
+dependencies = [
+ "bitflags 2.6.0",
+ "libc",
 ]
 
 [[package]]
@@ -242,6 +1176,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "78b3ae25bc7c8c38cec158d1f2757ee79e9b3740fbc7ccf0e59e4b08d793fa89"
 
 [[package]]
+name = "litemap"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ee93343901ab17bd981295f2cf0026d4ad018c7c31ba84549a4ddbb47a45104"
+
+[[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -258,6 +1198,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a7a70ba024b9dc04c27ea2f0c0548feb474ec5c54bba33a7f72f873a39d07b24"
 
 [[package]]
+name = "lzxd"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "784462f20dddd9dfdb45de963fa4ad4a288cb10a7889ac5d2c34fb6481c6b213"
+
+[[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -268,6 +1214,12 @@ dependencies = [
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 [[package]]
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+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4facc753ae494aeb6e3c22f839b158aebd4f9270f55cd3c79906c45476c47ab4"
+
+[[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -280,12 +1232,47 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
 
 [[package]]
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+checksum = "83faa42c0a078c393f6b29d5db232d8be22776a891f8f56e5284faee4a20b327"
+dependencies = [
+ "libc",
+]
+
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+checksum = "6877bb514081ee2a7ff5ef9de3281f14a4dd4bceac4c09388074a6b5df8a139a"
+
+[[package]]
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 [[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ffbe83022cedc1d264172192511ae958937694cd57ce297164951b8b3568394"
+dependencies = [
+ "adler2",
+]
+
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+checksum = "2886843bf800fba2e3377cff24abf6379b4c4d5c6681eaf9ea5b0d15090450bd"
+dependencies = [
+ "libc",
+ "wasi",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -329,6 +1316,15 @@ dependencies = [
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 [[package]]
+name = "normpath"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c8911957c4b1549ac0dc74e30db9c8b0e66ddcd6d7acc33098f4c63a64a6d7ed"
+dependencies = [
+ "windows-sys 0.59.0",
+]
+
+[[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -348,6 +1344,22 @@ dependencies = [
 ]
 
 [[package]]
+name = "num-conv"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "51d515d32fb182ee37cda2ccdcb92950d6a3c2893aa280e540671c2cd0f3b1d9"
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a652d9771a63711fd3c3deb670acfbe5c30a4072e664d7a3bf5a9e1056ac72c3"
+dependencies = [
+ "arrayvec 0.7.6",
+ "itoa",
+]
+
+[[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -377,12 +1389,49 @@ dependencies = [
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 [[package]]
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+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "830b246a0e5f20af87141b25c173cd1b609bd7779a4617d6ec582abaf90870f3"
+
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+checksum = "03b4680b86d9cfafba8fc491dc9b6df26b68cf40e9e6cd73909194759a63c385"
+dependencies = [
+ "flate2",
+ "memchr",
+]
+
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+checksum = "aedf0a2d09c573ed1d8d85b30c119153926a2b36dce0ab28322c09a117a4683e"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
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 checksum = "1261fe7e33c73b354eab43b1273a57c8f967d0391e80353e51f764ac02cf6775"
 
 [[package]]
+name = "opener"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d0812e5e4df08da354c851a3376fead46db31c2214f849d3de356d774d057681"
+dependencies = [
+ "bstr",
+ "dbus",
+ "normpath",
+ "windows-sys 0.59.0",
+]
+
+[[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -402,7 +1451,7 @@ dependencies = [
  "libc",
  "redox_syscall",
  "smallvec",
- "windows-targets",
+ "windows-targets 0.52.6",
 ]
 
 [[package]]
@@ -412,21 +1461,84 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
+name = "pdb"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "82040a392923abe6279c00ab4aff62d5250d1c8555dc780e4b02783a7aa74863"
+dependencies = [
+ "fallible-iterator",
+ "scroll",
+ "uuid",
+]
+
+[[package]]
+name = "pdb-addr2line"
+version = "0.10.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c4e89a9f2f40b2389ba6da0814c8044bf942bece03dffa1514f84e3b525f4f9a"
+dependencies = [
+ "bitflags 1.3.2",
+ "elsa",
+ "maybe-owned",
+ "pdb",
+ "range-collections",
+ "thiserror 1.0.69",
+]
+
+[[package]]
+name = "percent-encoding"
+version = "2.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
+
+[[package]]
 name = "physics"
 version = "0.1.0"
 dependencies = [
  "nalgebra",
+ "rayon",
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 [[package]]
+name = "pin-project-lite"
+version = "0.2.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "915a1e146535de9163f3987b8944ed8cf49a18bb0056bcebcdcece385cece4ff"
+
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
+
+[[package]]
+name = "pkg-config"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "953ec861398dccce10c670dfeaf3ec4911ca479e9c02154b3a215178c5f566f2"
+
+[[package]]
 name = "playground"
 version = "0.1.0"
 dependencies = [
+ "flamegraph",
  "physics",
  "raylib",
 ]
 
 [[package]]
+name = "portable-atomic"
+version = "1.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"
+
+[[package]]
+name = "powerfmt"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "439ee305def115ba05938db6eb1644ff94165c5ab5e9420d1c1bcedbba909391"
+
+[[package]]
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 version = "0.2.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -446,6 +1558,15 @@ dependencies = [
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 [[package]]
+name = "quick-xml"
+version = "0.37.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f22f29bdff3987b4d8632ef95fd6424ec7e4e0a57e2f4fc63e489e75357f6a03"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
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 version = "1.0.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -455,6 +1576,17 @@ dependencies = [
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 [[package]]
+name = "range-collections"
+version = "0.2.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "61fdfd79629e2b44a1d34b4d227957174cb858e6b86ee45fad114edbcfc903ab"
+dependencies = [
+ "binary-merge",
+ "inplace-vec-builder",
+ "smallvec",
+]
+
+[[package]]
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 version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -488,12 +1620,43 @@ dependencies = [
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 [[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b418a60154510ca1a002a752ca9714984e21e4241e804d32555251faf8b78ffa"
+dependencies = [
+ "either",
+ "rayon-core",
+]
+
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1465873a3dfdaa8ae7cb14b4383657caab0b3e8a0aa9ae8e04b044854c8dfce2"
+dependencies = [
+ "crossbeam-deque",
+ "crossbeam-utils 0.8.21",
+]
+
+[[package]]
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 checksum = "03a862b389f93e68874fbf580b9de08dd02facb9a788ebadaf4a3fd33cf58834"
 dependencies = [
- "bitflags",
+ "bitflags 2.6.0",
+]
+
+[[package]]
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+
+[[package]]
+name = "wasm-bindgen-backend"
+version = "0.2.99"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5f89bb38646b4f81674e8f5c3fb81b562be1fd936d84320f3264486418519c79"
+dependencies = [
+ "bumpalo",
+ "log",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+ "wasm-bindgen-shared",
+]
+
+[[package]]
+name = "wasm-bindgen-futures"
+version = "0.4.49"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38176d9b44ea84e9184eff0bc34cc167ed044f816accfe5922e54d84cf48eca2"
+dependencies = [
+ "cfg-if 1.0.0",
+ "js-sys",
+ "once_cell",
+ "wasm-bindgen",
+ "web-sys",
+]
+
+[[package]]
+name = "wasm-bindgen-macro"
+version = "0.2.99"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2cc6181fd9a7492eef6fef1f33961e3695e4579b9872a6f7c83aee556666d4fe"
+dependencies = [
+ "quote",
+ "wasm-bindgen-macro-support",
+]
+
+[[package]]
+name = "wasm-bindgen-macro-support"
+version = "0.2.99"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "30d7a95b763d3c45903ed6c81f156801839e5ee968bb07e534c44df0fcd330c2"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+ "wasm-bindgen-backend",
+ "wasm-bindgen-shared",
+]
+
+[[package]]
+name = "wasm-bindgen-shared"
+version = "0.2.99"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "943aab3fdaaa029a6e0271b35ea10b72b943135afe9bffca82384098ad0e06a6"
+
+[[package]]
+name = "web-sys"
+version = "0.3.76"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "04dd7223427d52553d3702c004d3b2fe07c148165faa56313cb00211e31c12bc"
+dependencies = [
+ "js-sys",
+ "wasm-bindgen",
+]
+
+[[package]]
+name = "web-time"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a6580f308b1fad9207618087a65c04e7a10bc77e02c8e84e9b00dd4b12fa0bb"
+dependencies = [
+ "js-sys",
+ "wasm-bindgen",
+]
+
+[[package]]
+name = "webpki-roots"
+version = "0.25.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5f20c57d8d7db6d3b86154206ae5d8fba62dd39573114de97c2cb0578251f8e1"
+
+[[package]]
 name = "which"
 version = "4.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -701,12 +2457,52 @@ dependencies = [
 ]
 
 [[package]]
+name = "winapi"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
+dependencies = [
+ "winapi-i686-pc-windows-gnu",
+ "winapi-x86_64-pc-windows-gnu",
+]
+
+[[package]]
+name = "winapi-i686-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
+
+[[package]]
+name = "winapi-x86_64-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
+
+[[package]]
+name = "windows"
+version = "0.44.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e745dab35a0c4c77aa3ce42d595e13d2003d6902d6b08c9ef5fc326d08da12b"
+dependencies = [
+ "windows-targets 0.42.2",
+]
+
+[[package]]
+name = "windows-sys"
+version = "0.48.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9"
+dependencies = [
+ "windows-targets 0.48.5",
+]
+
+[[package]]
 name = "windows-sys"
 version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
 dependencies = [
- "windows-targets",
+ "windows-targets 0.52.6",
 ]
 
 [[package]]
@@ -715,7 +2511,37 @@ version = "0.59.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1e38bc4d79ed67fd075bcc251a1c39b32a1776bbe92e5bef1f0bf1f8c531853b"
 dependencies = [
- "windows-targets",
+ "windows-targets 0.52.6",
+]
+
+[[package]]
+name = "windows-targets"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e5180c00cd44c9b1c88adb3693291f1cd93605ded80c250a75d472756b4d071"
+dependencies = [
+ "windows_aarch64_gnullvm 0.42.2",
+ "windows_aarch64_msvc 0.42.2",
+ "windows_i686_gnu 0.42.2",
+ "windows_i686_msvc 0.42.2",
+ "windows_x86_64_gnu 0.42.2",
+ "windows_x86_64_gnullvm 0.42.2",
+ "windows_x86_64_msvc 0.42.2",
+]
+
+[[package]]
+name = "windows-targets"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9a2fa6e2155d7247be68c096456083145c183cbbbc2764150dda45a87197940c"
+dependencies = [
+ "windows_aarch64_gnullvm 0.48.5",
+ "windows_aarch64_msvc 0.48.5",
+ "windows_i686_gnu 0.48.5",
+ "windows_i686_msvc 0.48.5",
+ "windows_x86_64_gnu 0.48.5",
+ "windows_x86_64_gnullvm 0.48.5",
+ "windows_x86_64_msvc 0.48.5",
 ]
 
 [[package]]
@@ -724,30 +2550,66 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
 dependencies = [
- "windows_aarch64_gnullvm",
- "windows_aarch64_msvc",
- "windows_i686_gnu",
+ "windows_aarch64_gnullvm 0.52.6",
+ "windows_aarch64_msvc 0.52.6",
+ "windows_i686_gnu 0.52.6",
  "windows_i686_gnullvm",
- "windows_i686_msvc",
- "windows_x86_64_gnu",
- "windows_x86_64_gnullvm",
- "windows_x86_64_msvc",
+ "windows_i686_msvc 0.52.6",
+ "windows_x86_64_gnu 0.52.6",
+ "windows_x86_64_gnullvm 0.52.6",
+ "windows_x86_64_msvc 0.52.6",
 ]
 
 [[package]]
 name = "windows_aarch64_gnullvm"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "597a5118570b68bc08d8d59125332c54f1ba9d9adeedeef5b99b02ba2b0698f8"
+
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
+
+[[package]]
+name = "windows_aarch64_gnullvm"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
 
 [[package]]
 name = "windows_aarch64_msvc"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e08e8864a60f06ef0d0ff4ba04124db8b0fb3be5776a5cd47641e942e58c4d43"
+
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
+
+[[package]]
+name = "windows_aarch64_msvc"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
 
 [[package]]
 name = "windows_i686_gnu"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c61d927d8da41da96a81f029489353e68739737d3beca43145c8afec9a31a84f"
+
+[[package]]
+name = "windows_i686_gnu"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
+
+[[package]]
+name = "windows_i686_gnu"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
@@ -760,24 +2622,181 @@ checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
 
 [[package]]
 name = "windows_i686_msvc"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "44d840b6ec649f480a41c8d80f9c65108b92d89345dd94027bfe06ac444d1060"
+
+[[package]]
+name = "windows_i686_msvc"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
+
+[[package]]
+name = "windows_i686_msvc"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
 
 [[package]]
 name = "windows_x86_64_gnu"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8de912b8b8feb55c064867cf047dda097f92d51efad5b491dfb98f6bbb70cb36"
+
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
+
+[[package]]
+name = "windows_x86_64_gnu"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
 
 [[package]]
 name = "windows_x86_64_gnullvm"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26d41b46a36d453748aedef1486d5c7a85db22e56aff34643984ea85514e94a3"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
 
 [[package]]
 name = "windows_x86_64_msvc"
+version = "0.42.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9aec5da331524158c6d1a4ac0ab1541149c0b9505fde06423b02f5ef0106b9f0"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
+
+[[package]]
+name = "windows_x86_64_msvc"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
+
+[[package]]
+name = "winreg"
+version = "0.50.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "524e57b2c537c0f9b1e69f1965311ec12182b4122e45035b1508cd24d2adadb1"
+dependencies = [
+ "cfg-if 1.0.0",
+ "windows-sys 0.48.0",
+]
+
+[[package]]
+name = "write16"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d1890f4022759daae28ed4fe62859b1236caebfc61ede2f63ed4e695f3f6d936"
+
+[[package]]
+name = "writeable"
+version = "0.5.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e9df38ee2d2c3c5948ea468a8406ff0db0b29ae1ffde1bcf20ef305bcc95c51"
+
+[[package]]
+name = "yoke"
+version = "0.7.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "120e6aef9aa629e3d4f52dc8cc43a015c7724194c97dfaf45180d2daf2b77f40"
+dependencies = [
+ "serde",
+ "stable_deref_trait",
+ "yoke-derive",
+ "zerofrom",
+]
+
+[[package]]
+name = "yoke-derive"
+version = "0.7.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2380878cad4ac9aac1e2435f3eb4020e8374b5f13c296cb75b4620ff8e229154"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+ "synstructure",
+]
+
+[[package]]
+name = "zerocopy"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+]
+
+[[package]]
+name = "zerofrom"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cff3ee08c995dee1859d998dea82f7374f2826091dd9cd47def953cae446cd2e"
+dependencies = [
+ "zerofrom-derive",
+]
+
+[[package]]
+name = "zerofrom-derive"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "595eed982f7d355beb85837f651fa22e90b3c044842dc7f2c2842c086f295808"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+ "synstructure",
+]
+
+[[package]]
+name = "zerovec"
+version = "0.10.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aa2b893d79df23bfb12d5461018d408ea19dfafe76c2c7ef6d4eba614f8ff079"
+dependencies = [
+ "yoke",
+ "zerofrom",
+ "zerovec-derive",
+]
+
+[[package]]
+name = "zerovec-derive"
+version = "0.10.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6eafa6dfb17584ea3e2bd6e76e0cc15ad7af12b09abdd1ca55961bed9b1063c6"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+]
diff --git a/playground/Cargo.toml b/playground/Cargo.toml
index 163ad90..9a727e5 100644
--- a/playground/Cargo.toml
+++ b/playground/Cargo.toml
@@ -4,5 +4,6 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
+flamegraph = "0.6.6"
 physics = { path = "../physics" }
 raylib = "5.0.2"
diff --git a/playground/src/main.rs b/playground/src/main.rs
index 8059417..3182b64 100644
--- a/playground/src/main.rs
+++ b/playground/src/main.rs
@@ -1,13 +1,16 @@
+use ::core::f64;
+
 use raylib::prelude::*;
 
 use physics::algebra::{Point, Scalar, Vector, N};
 use physics::force::{drag::Drag, gravity::Gravity, spring::Spring};
-use physics::nalgebra::Point as PointBase;
+use physics::nalgebra::{Point as PointBase, Rotation3, Unit};
 use physics::particle_system::{Particle, ParticleSystem};
 use physics::renderer::Camera;
 use physics::solver::Solver;
 
-const SCALE: Scalar = 10.0;
+const SCALE: Scalar = 25.0;
+const CAMERA_DISTANCE: Scalar = 20.0;
 fn screen_space_to_raylib(p: PointBase<Scalar, 2>, d: &RaylibDrawHandle) -> PointBase<i32, 2> {
     PointBase::<i32, 2>::new(
         ((d.get_screen_width() / 2) as Scalar + p.x * SCALE) as i32,
@@ -22,16 +25,14 @@ fn raylib_to_screen_space(p: PointBase<i32, 2>, d: &RaylibDrawHandle) -> PointBa
 }
 
 fn main() {
-    let dt = 0.0001;
+    let dt = 1e-5;
     let mut system = ParticleSystem {
         particles: vec![
-            Particle::new(Point::origin(), 4.0),
-            Particle::new(Point::new(-30.0, 0.0), 15.0),
-            Particle::new(Point::new(20.0, 0.0), 30.0),
-            Particle::new(Point::new(5.0, 20.0), 50.0),
-            Particle::new(Point::origin(), 25.0),
-            Particle::new(Point::new(50.0, 0.0), 10.0),
-            Particle::new(Point::new(-30.0, -30.0), 10.0),
+            Particle::new(Point::new(3.0, 0.0, 0.0), 1.0),
+            Particle::new(Point::new(0.0, 0.0, 0.0), 1.0),
+            Particle::new(Point::new(0.0, 4.0, 0.0), 1.0),
+            Particle::new(Point::new(-10.0, 00.0, 0.0), 1.0),
+            // Particle::new(Point::new(0.0, -100.0, -100.0), 1.0),
         ],
         constraints: vec![],
         forces: vec![
@@ -39,27 +40,43 @@ fn main() {
                 vector: Vector::y() * -9.8,
             }),
             Box::new(Drag { coefficient: 0.2 }),
-            Box::new(Spring {
-                particle_ids: [4, 2],
-                spring_constant: 0.75,
-                damping_constant: 0.3,
-                rest_length: 20.0,
-            }),
+            // Box::new(Spring {
+            //     particle_ids: [0, 3],
+            //     spring_constant: 1000.00,
+            //     damping_constant: 36.1,
+            //     rest_length: 13.0,
+            // }),
         ],
         t: 0.0,
     };
 
-    system.add_anchor_constraint(0, Point::origin());
-    system.add_beam_constraint([0, 2]);
+    system.add_beam_constraint([0, 1]);
     system.add_beam_constraint([1, 2]);
-    system.add_beam_constraint([1, 3]);
-    system.add_beam_constraint([2, 3]);
-    system.add_slider_constraint(5, Vector::x());
-    system.add_beam_constraint([5, 4]);
+    system.add_beam_constraint([2, 0]);
+
+    system.add_slider_constraint(3, Vector::x());
+    system.add_beam_constraint([3, 0]);
+
+    // system.add_beam_constraint([3, 4]);
+    // system.add_distsance_constraint(3, Line::new(Point::origin(), [Vector::x()]), 0.0);
+
+    // system.add_slider_constraint(5, Vector::x());
+    // system.add_anchor_constraint(2, Point::origin());
+    //
+    // system.add_beam_constraint([1, 2]);
+    // system.add_beam_constraint([1, 3]);
+    // system.add_beam_constraint([2, 3]);
+    // system.add_beam_constraint([5, 4]);
 
     let mut selected_particle_id = None;
     let mut watch_particle_id = None;
     let mouse_particle_id = system.particles.len() - 1;
+    let mut camera_right = Vector::x();
+
+    let trace_particle_id = 3;
+    let mut trace_particle_positions: Vec<PointBase<i32, 2>> = vec![];
+
+    let mut max_kinetic: Scalar = 0.0;
 
     let (mut rl, thread) = raylib::init()
         .size(640, 480)
@@ -68,33 +85,57 @@ fn main() {
         .build();
 
     while !rl.window_should_close() {
+        // sleep(Duration::from_millis(1));
+        // dbg!(&system.particles[3]);
+
         let mut d = rl.begin_drawing(&thread);
 
+        let kinetic = system.get_kinetic_energy();
+        max_kinetic = max_kinetic.max(kinetic);
+
         d.clear_background(Color::WHITE);
-        d.draw_text(
-            format!(
-                "Time: {:03.3}\n\nFPS: {}\n\nKinetic energy: {:03.0}",
+        let fps = d.get_fps();
+        let mut text = format!(
+                "Time: {:03.3}\n\nFPS: {}\n\nKinetic energy: {:03.0}\n\nMax kinetic energy: {:03.0}\n\n",
                 system.t,
-                d.get_fps(),
-                system.get_kinetic_energy()
-            )
-            .as_str(),
-            12,
-            12,
-            20,
-            Color::BLACK,
-        );
+                fps,
+                kinetic,
+                max_kinetic,
+            );
+
+        {
+            let (q, _) = system.collect_q();
+            for (id, constraint) in system.constraints.iter().enumerate() {
+                let c = constraint.c(&q);
+                text += &format!("Constraint {}: {:.05}\n\n", id, c);
+            }
+        }
+
+        d.draw_text(text.as_str(), 12, 12, 20, Color::BLACK);
+
+        if d.is_key_down(KeyboardKey::KEY_L) {
+            camera_right = Rotation3::from_axis_angle(
+                &Unit::new_normalize(Vector::y()),
+                (f64::consts::PI / 180.0 / 10.0) as Scalar,
+            ) * camera_right;
+        }
+        if d.is_key_down(KeyboardKey::KEY_H) {
+            camera_right = Rotation3::from_axis_angle(
+                &Unit::new_normalize(Vector::y()),
+                (-f64::consts::PI / 180.0 / 10.0) as Scalar,
+            ) * camera_right;
+        }
 
         let camera = Camera::new(
             match watch_particle_id {
                 Some(id) => {
                     let particle: &Particle = &system.particles[id];
                     particle.position
-                },
+                }
                 None => Point::origin(),
             },
             Vector::y(),
-            Vector::x(),
+            camera_right,
         );
 
         match selected_particle_id {
@@ -118,11 +159,17 @@ fn main() {
             None => (),
         }
 
-        for _ in 0..10 {
+        for _ in 0..500 as usize {
             system.apply_forces();
+            if d.is_key_down(KeyboardKey::KEY_Z) {
+                for particle in &mut system.particles {
+                    particle.apply_force(Vector::z() * 20.0);
+                }
+            }
             system.enforce_constraints();
             system.step(dt);
         }
+        // panic!("HALT");
 
         match selected_particle_id {
             Some(_) => {
@@ -138,7 +185,10 @@ fn main() {
         for (particle_id, particle) in system.particles.iter().enumerate() {
             let position =
                 screen_space_to_raylib(camera.world_to_screen_space(particle.position), &d);
-            let radius = particle.mass.powf(1.0 / (N as f64)) as f32 * SCALE as f32;
+            let radius_factor = (CAMERA_DISTANCE - particle.position.z) / CAMERA_DISTANCE;
+            let radius = particle.mass.powf(1.0 / (N as Scalar)) as f32
+                * SCALE as f32
+                * radius_factor as f32;
 
             if d.is_mouse_button_down(MouseButton::MOUSE_BUTTON_LEFT)
                 && selected_particle_id.is_none()
@@ -169,9 +219,24 @@ fn main() {
                 } else if watch_particle_id.is_some_and(|v| v == particle_id) {
                     Color::YELLOW
                 } else {
-                    Color::BLACK
+                    Color::new(
+                        0,
+                        0,
+                        (particle.position.z / CAMERA_DISTANCE * 255.0) as u8,
+                        255,
+                    )
                 },
             );
+
+            let force_end = screen_space_to_raylib(camera.world_to_screen_space(particle.position + particle.velocity), &d);
+            d.draw_line(position.x, position.y, force_end.x, force_end.y, Color::BLUE);
+
+            if particle_id == trace_particle_id {
+                trace_particle_positions.push(position);
+                if trace_particle_positions.len() > 500 {
+                    trace_particle_positions.remove(0);
+                }
+            }
         }
         for c in &system.constraints {
             let particle_ids = c.get_particles();
@@ -188,20 +253,20 @@ fn main() {
                 d.draw_line(a.x, a.y, b.x, b.y, Color::GRAY);
             }
         }
-
-        {
-            // Hard-coded spring
-            let particle_ids = [4, 2];
-            let a = screen_space_to_raylib(
-                camera.world_to_screen_space(system.particles[particle_ids[0]].position),
-                &d,
-            );
-            let b = screen_space_to_raylib(
-                camera.world_to_screen_space(system.particles[particle_ids[1]].position),
-                &d,
+        for (i, pos) in trace_particle_positions.iter().enumerate() {
+            d.draw_circle(
+                pos.x,
+                pos.y,
+                1.0,
+                Color::new(
+                    0,
+                    255,
+                    0,
+                    (i as f32 / trace_particle_positions.len() as f32 * 255.0) as u8,
+                ),
             );
-            d.draw_line(a.x, a.y, b.x, b.y, Color::GREEN);
         }
+
         {
             // Hard-coded spring
             match selected_particle_id {