From 069705a31e846f8f8e774649ded11f65fe046b7c Mon Sep 17 00:00:00 2001
From: Vincent Loh <vincentmloh87@gmail.com>
Date: Mon, 20 May 2024 19:22:57 -0400
Subject: [PATCH] oopsie

---
 anchor.js       |  77 +++++++-
 craft.js        | 456 +++++++++++++++++++++++++++++++++++++++++++++++-
 craft_models.js |  74 +++++++-
 engine.js       |   1 -
 index.html      |  15 +-
 main.js         | 119 ++++++++++++-
 mirror.sh       |   2 +
 reactive.js     |  93 +++++++++-
 utils.js        |  78 ++++++++-
 9 files changed, 907 insertions(+), 8 deletions(-)
 mode change 120000 => 100644 anchor.js
 mode change 120000 => 100644 craft.js
 mode change 120000 => 100644 craft_models.js
 mode change 120000 => 100644 engine.js
 mode change 120000 => 100644 index.html
 mode change 120000 => 100644 main.js
 create mode 100755 mirror.sh
 mode change 120000 => 100644 reactive.js
 mode change 120000 => 100644 utils.js

diff --git a/anchor.js b/anchor.js
deleted file mode 120000
index 12fa2c9..0000000
--- a/anchor.js
+++ /dev/null
@@ -1 +0,0 @@
-../phys/anchor.js
\ No newline at end of file
diff --git a/anchor.js b/anchor.js
new file mode 100644
index 0000000..8875209
--- /dev/null
+++ b/anchor.js
@@ -0,0 +1,76 @@
+class Anchor{
+	constructor(opt={}){
+		this.p=opt.p||[0,0,0]
+		this.a=opt.a||[[1,0,0],[0,1,0]]
+		this.r=opt.r||[[0,0,0],[0,0,0]]
+		this.v=opt.v||[0,0,0]
+		this.forces=[[0,0,0],[0,0,0],[0,0,0]]
+		this.pr={p:[...this.p],a:[[...this.a[0]],[...this.a[1]],vcross(...this.a)]}
+	}
+	update(dt=1){
+		this.pr={p:[...this.p],a:[[...this.a[0]],[...this.a[1]],vcross(...this.a)]}
+		for(let i=0;i<2;i++){for(let j=0;j<3;j++){this.r[i][j]+=this.forces[i][j]*dt}}
+		for(let z=0;z<3;z++){this.v[z]+=this.forces[2][z]*dt}
+		this.forces=[[0,0,0],[0,0,0],[0,0,0]]
+		for(let i=0;i<2;i++){for(let j=0;j<3;j++){this.r[i][j]*=cnst.drag.rot;if(i)this.v[j]*=cnst.drag.mov}}
+		for(let z=0;z<3;z++){this.p[z]+=this.v[z]*dt}
+		let b=[[...this.a[0]],[...this.a[1]],vcross(...this.a)]
+		for(let i=0;i<2;i++){for(let j=0;j<3;j++){for(let z=0;z<3;z++){this.a[i][z]+=this.r[i][j]*b[j][z]*dt}}}
+		
+		this.a[1]=vnorm(vmultf(vcross(this.a[0],vcross(...this.a)),-1))
+		this.a[0]=vnorm(this.a[0])
+	}
+	applyForce(p,d){
+		this.forces[0][1]-=cnst.inertia.rot*p[1]*d[0]
+		this.forces[0][1]+=cnst.inertia.rot*p[0]*d[1]
+		this.forces[0][2]-=cnst.inertia.rot*p[2]*d[0]
+		this.forces[0][2]+=cnst.inertia.rot*p[0]*d[2]
+		this.forces[1][0]-=cnst.inertia.rot*p[1]*d[0]
+		this.forces[1][0]+=cnst.inertia.rot*p[0]*d[1]
+		this.forces[1][2]-=cnst.inertia.rot*p[2]*d[1]
+		this.forces[1][2]+=cnst.inertia.rot*p[1]*d[2]
+		let a=[...this.a,vcross(...this.a)]
+		for(let i=0;i<3;i++){for(let z=0;z<3;z++){this.forces[2][i]+=cnst.inertia.mov*d[z]*a[z][i]}}
+	}
+	applyWorldForce(p,d){
+		this.applyForce(toGrid(p),absolNormal(d))
+	}
+	//clarify: toGrid() is used to convert from world-space to internal grid space, fromGrid() is used to convert from internal grid space back to world space
+	toGrid(p){
+		let a=[p[0]-this.p[0],p[1]-this.p[1],p[2]-this.p[2]]
+		return [vdot(a,this.a[0]),vdot(a,this.a[1]),vdot(a,vcross(...this.a))]
+	}
+	fromGrid(p){
+		let a=[...this.p],b=[...this.a,vcross(...this.a)]
+		for(let z=0;z<3;z++){for(let i=0;i<3;i++){a[i]+=b[z][i]*p[z]}}
+		return a
+	}
+	//clarify: absolNormal() converts a world-space vector to a grid-space vector, for example you can use to apply a constant upwards force independent of rotation
+	//gridNormal() can be used to display a grid-space vector in world-space
+	absolNormal(p){
+		return [vdot(p,this.a[0]),vdot(p,this.a[1]),vdot(p,vcross(...this.a))]
+	}
+	gridNormal(p){
+		let a=[0,0,0],b=[...this.a,vcross(...this.a)]
+		for(let z=0;z<3;z++){for(let i=0;i<3;i++){a[i]+=b[z][i]*p[z]}}
+		return a
+	}
+	
+	pr_toGrid(p){
+		let a=[p[0]-this.pr.p[0],p[1]-this.pr.p[1],p[2]-this.pr.p[2]]
+		return [vdot(a,this.pr.a[0]),vdot(a,this.pr.a[1]),vdot(a,vcross(...this.pr.a))]
+	}
+	pr_fromGrid(p){
+		let a=[...this.pr.p],b=[...this.pr.a,vcross(...this.pr.a)]
+		for(let z=0;z<3;z++){for(let i=0;i<3;i++){a[i]+=b[z][i]*p[z]}}
+		return a
+	}
+	pr_absolNormal(p){
+		return [vdot(p,this.pr.a[0]),vdot(p,this.pr.a[1]),vdot(p,vcross(...this.pr.a))]
+	}
+	pr_gridNormal(p){
+		let a=[0,0,0],b=[...this.pr.a,vcross(...this.pr.a)]
+		for(let z=0;z<3;z++){for(let i=0;i<3;i++){a[i]+=b[z][i]*p[z]}}
+		return a
+	}
+}
diff --git a/craft.js b/craft.js
deleted file mode 120000
index ae0fde1..0000000
--- a/craft.js
+++ /dev/null
@@ -1 +0,0 @@
-../phys/craft.js
\ No newline at end of file
diff --git a/craft.js b/craft.js
new file mode 100644
index 0000000..a442788
--- /dev/null
+++ b/craft.js
@@ -0,0 +1,455 @@
+class Craft{
+	constructor(opt={}){
+		this.fix=opt.fix||[]
+		this.edges=opt.edges||[]
+		this.faces=opt.faces||[]
+		this.joints=opt.joints||[]
+		this.complexEdges=[]
+		this.complexFaces=[]
+		this.p_jt=[[],[],[]]
+		this.o_jt=[[],[],[]]
+		this.fc=[]
+		this.weight=0;this.m_center=[0,0,0]
+		this.reactive=false
+		this.reactSetup=opt.reactive||{}
+		this.reactSetup.generateFriction=this.reactSetup.generateFriction||'vmultf(vadd(this.anchor.pr_fromGrid(this.p_fix[psz[i][2]]),vmultf(this.anchor.fromGrid(psz[i][0]),-1)),1)'
+	}
+	addFixture(p,c={},joint=-1){
+		if(!(this.joints[joint]||joint<0))return -1
+		let y=p,jt=joint,t=0,x=this.joints.length
+		while(t<x){
+			t++
+			y=vadd(y,jt<0?[0,0,0]:vmultf(this.joints[jt].offset,-1))
+			if(jt<0)break
+			else jt=this.joints[jt].joint
+		}
+		this.fix.push({joint:joint,grip:c.grip||cnst.grip,rebound:c.rebound||cnst.rebound,slide:c.slide||cnst.slide,offset:y,ptCol:['#FF0',-1]})
+		return this.fix.length-1
+	}
+	addJoint(p,axis=[0,1,0],joint=-1,opt={}){
+		if(!(this.joints[joint]||joint<0))return -1
+		let y=p,jt=joint,t=0,x=this.joints.length
+		while(t<x){
+			t++
+			y=vadd(y,jt<0?[0,0,0]:vmultf(this.joints[jt].offset,-1))
+			if(jt<0)break
+			else jt=this.joints[jt].joint
+		}
+		this.joints.push({t:0,joint:joint,axis:axis,offset:y,friction:opt.friction||10,stiff:opt.stiff||0.7,a:new Anchor(),weight:0,m_center:[0,0,0],chain:[]})
+		return this.joints.length-1
+	}
+	addEdge(a,b,w=1,c='#FF0'){
+		this.edges.push({p:[a,b],w:w,c:c})
+		if(this.fix[a].ptCol[1]<w)this.fix[a].ptCol=[c,w]
+		if(this.fix[b].ptCol[1]<w)this.fix[b].ptCol=[c,w]
+		return this.edges.length-1
+	}
+	addFace(a,b,c,w=1,n=0,s="#BBB"){
+		this.faces.push({p:[a,b,c],w:w,n:n,c:s,offset:[0,0,0],norm:[0,0,0],force:0})
+		return this.faces.length-1
+	}
+	setup(){
+		this.reactive=new Reactive(this.reactSetup)
+		this.reactive.returnCollides=1
+		let x=this.edges.length
+		for(let i=0;i<x;i++){
+			if(this.fix[this.edges[i].p[0]].joint==this.fix[this.edges[i].p[1]].joint){
+				if(this.fix[this.edges[i].p[0]].joint<0){
+					let a=vmag(vadd(this.fix[this.edges[i].p[0]].offset,vmultf(this.fix[this.edges[i].p[1]].offset,-1)))*this.edges[i].w
+					this.weight+=a
+					this.m_center=vadd(this.m_center,vmultf(vadd(this.fix[this.edges[i].p[0]].offset,this.fix[this.edges[i].p[1]].offset),a/2))
+				}else{
+					let a=vmag(vadd(this.fix[this.edges[i].p[0]].offset,vmultf(this.fix[this.edges[i].p[1]].offset,-1)))*this.edges[i].w
+					this.joints[this.fix[this.edges[i].p[0]].joint].weight+=a
+					this.joints[this.fix[this.edges[i].p[0]].joint].m_center=vadd(this.joints[this.fix[this.edges[i].p[0]].joint].m_center,
+						vmultf(vadd(this.fix[this.edges[i].p[0]].offset,this.fix[this.edges[i].p[1]].offset),a/2))
+				}
+			}else{
+				this.complexEdges.push(this.edges[i])
+			}
+		}
+		x=this.faces.length
+		for(let i=0;i<x;i++){
+			if(this.fix[this.faces[i].p[0]].joint==this.fix[this.faces[i].p[1]].joint&&this.fix[this.faces[i].p[2]].joint==this.fix[this.faces[i].p[1]].joint){
+				if(this.fix[this.faces[i].p[0]].joint<0){
+					let a=(
+						vmag(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))*
+						vmag(vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))*
+						Math.sqrt(1-sqrx(vdot(
+							vnorm(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1))),
+							vnorm(vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))
+						)))
+								)/8
+					this.faces[i].force=a*this.faces[i].n
+					this.faces[i].norm=vnorm(vcross(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)),vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1))))
+					this.faces[i].offset=vmultf(vadd(
+						this.fix[this.faces[i].p[0]].offset,vadd(this.fix[this.faces[i].p[1]].offset,this.fix[this.faces[i].p[2]].offset)
+					),1/3)
+					this.weight+=a
+					this.m_center=vadd(this.m_center,vmultf(vadd(
+						this.fix[this.faces[i].p[0]].offset,vadd(this.fix[this.faces[i].p[1]].offset,this.fix[this.faces[i].p[2]].offset)
+					),a*this.faces[i].w/3))
+				}else{
+					let a=(
+						vmag(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))*
+						vmag(vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))*
+						Math.sqrt(1-sqrx(vdot(
+							vnorm(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1))),
+							vnorm(vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))
+						)))
+								)/8
+					this.faces[i].force=a*this.faces[i].n
+					this.faces[i].norm=vnorm(vcross(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)),vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1))))
+					this.faces[i].offset=vmultf(vadd(
+						this.fix[this.faces[i].p[0]].offset,vadd(this.fix[this.faces[i].p[1]].offset,this.fix[this.faces[i].p[2]].offset)
+					),1/3)
+					this.m_center=vadd(this.m_center,vmultf(vadd(
+						this.fix[this.faces[i].p[0]].offset,vadd(this.fix[this.faces[i].p[1]].offset,this.fix[this.faces[i].p[2]].offset)
+					),a*this.faces[i].w/3))
+					this.joints[this.fix[this.faces[i].p[0]].joint].weight+=a
+					this.joints[this.fix[this.faces[i].p[0]].joint].m_center=vadd(this.joints[this.fix[this.faces[i].p[0]].joint].m_center,vmultf(vadd(
+						this.fix[this.faces[i].p[0]].offset,vadd(this.fix[this.faces[i].p[1]].offset,this.fix[this.faces[i].p[2]].offset)
+					),a/3))
+				}
+			}else{
+				this.complexFaces.push(this.faces[i])
+			}
+		}
+		x=this.joints.length
+		for(let i=0;i<x;i++){
+			if(this.joints[i].weight)this.joints[i].m_center=vmultf(this.joints[i].m_center,1/this.joints[i].weight)
+			let c=0,z=this.joints[i].joint;this.joints[i].chain=[]
+			while(z>-1||c>x){
+				c++
+				this.joints[i].chain.push(z)
+				z=this.joints[z].joint
+			}
+		}
+		this.m_center=this.weight?vmultf(this.m_center,1/this.weight):[0,0,0]
+		this.weld()
+		this.weld()
+		this.reactive.p_fix=[]
+		x=this.reactive.fix.length
+		for(let i=0;i<x;i++){
+			this.fc.push(this.fix[i].ptCol[0])
+			this.reactive.p_fix.push(this.reactive.fix[i])
+		}
+	}
+	weld(){
+		this.reactive.p_fix=[]
+		let x=this.reactive.fix.length
+		for(let i=0;i<x;i++){
+			this.reactive.p_fix.push(this.reactive.fix[i])
+		}
+		this.reactive.fix=[]
+		this.reactive.edges=[...this.edges]
+		let jp=[],jr=[],offset=[0,0,0],axes=[[1,0,0],[0,1,0]],c,t
+		x=this.joints.length
+		for(let i=0;i<x;i++){
+			this.joints[i].a.p=[0,0,0]
+			this.joints[i].a.v=[0,0,0]
+			let z=this.joints[i].joint
+			offset=[...this.joints[i].offset]
+			axes=this.joints[i].a.a
+			c=0
+			while(z>-1&&c<x){
+				c++
+				if(jp[z]){
+					offset=vadd(jp[z],vtransform(jr[z],[0,0,0],offset))
+					axes=[vnorm(vtransform(jr[z],[0,0,0],axes[0])),vnorm(vtransform(jr[z],[0,0,0],axes[1]))]
+					break
+				}
+				offset=vadd(this.joints[z].offset,this.joints[z].a.gridNormal(offset))
+				axes=[this.joints[z].a.gridNormal(axes[0]),this.joints[z].a.gridNormal(axes[1])]
+				z=this.joints[z].joint
+			}
+			jp.push(offset)
+			jr.push(axes)
+		}
+		this.o_jt=[[],[],[...this.p_jt[2]]]
+		for(let i=0;i<this.p_jt[0].length;i++){
+			this.o_jt[0].push([...this.p_jt[0][i]])
+		}
+		for(let i=0;i<this.p_jt[1].length;i++){
+			this.o_jt[1].push([...this.p_jt[1][i]])
+		}
+		this.p_jt=[jp,jr]
+		x=this.fix.length
+		for(let i=0;i<x;i++){
+			if(this.fix[i].joint<0){
+				this.reactive.fix.push(this.fix[i].offset)
+			}else{
+				this.reactive.fix.push(vtransform(jr[this.fix[i].joint],jp[this.fix[i].joint],this.fix[i].offset))
+			}
+		}
+		offset=[0,0,0];c=0
+		x=this.joints.length
+		for(let i=0;i<x;i++){
+			c+=this.joints[i].weight
+			offset=vadd(offset,vmultf(vadd(jp[i],vtransform(jr[i],[0,0,0],this.joints[i].m_center)),this.joints[i].weight))
+		}
+		c+=this.weight
+		offset=vadd(offset,vmultf(this.m_center,this.weight))
+		offset=vmultf(offset,-1/c)
+		this.p_jt.push(offset)
+		x=this.reactive.fix.length
+		for(let i=0;i<x;i++){
+			this.reactive.fix[i]=vadd(this.reactive.fix[i],offset)
+		}
+	}
+	center(){
+		let offset=[0,0,0],c=0,x=this.joints.length
+		for(let i=0;i<x;i++){
+			c+=this.joints[i].weight
+			offset=vadd(offset,vmultf(vadd(this.p_jt[0][i],vtransform(this.p_jt[1][i],[0,0,0],this.joints[i].m_center)),this.joints[i].weight))
+		}
+		c+=this.weight
+		offset=vadd(offset,vmultf(this.m_center,this.weight))
+		offset=vmultf(offset,-1/c)
+		this.m_center=vadd(this.m_center,offset)
+		x=this.fix.length
+		for(let i=0;i<x;i++){
+			if(this.fix[i].joint<0)this.fix[i].offset=vadd(this.fix[i].offset,offset)
+		}
+		x=this.joints.length
+		for(let i=0;i<x;i++){
+			this.joints[i].offset=vadd(this.joints[i].offset,offset)
+		}
+	}
+	update(dt=1){
+		let t_weight=this.weight
+		for(let i=0;i<this.joints.length;i++){
+			t_weight+=this.joints[i].weight
+		}
+		for(let i=0;i<this.faces.length;i++){
+			if(this.faces[i].force){
+				let p=[0,0,0],op=[0,0,0],d=[0,0,0]
+				if(this.fix[this.faces[i].p[0]].joint<0){
+					p=this.faces[i].offset
+					op=this.faces[i].offset
+					d=this.faces[i].norm
+				}else{
+					p=vadd(this.p_jt[0][this.fix[this.faces[i].p[0]].joint],vtransform(this.p_jt[1][this.fix[this.faces[i].p[0]].joint],[0,0,0],this.faces[i].offset))
+					op=vadd(this.o_jt[0][this.fix[this.faces[i].p[0]].joint],vtransform(this.o_jt[1][this.fix[this.faces[i].p[0]].joint],[0,0,0],this.faces[i].offset))
+					d=vtransform(this.p_jt[1][this.fix[this.faces[i].p[0]].joint],[0,0,0],this.faces[i].norm)
+					op=vadd(p,vmultf(vadd(op,vmultf(p,-1)),20))
+				}
+				this.applyGlobForce(
+					this.fix[this.faces[i].p[0]].joint,
+					vadd(p,vmultf(this.p_jt[2],1)),
+					vmultf(d,vdot(
+						vadd(this.reactive.anchor.pr_fromGrid(vadd(op,vmultf(this.p_jt[2],-1))),vmultf(this.reactive.anchor.fromGrid(vadd(p,vmultf(this.p_jt[2],-1))),-1)),
+						this.reactive.anchor.gridNormal(d)
+					)*this.faces[i].force/t_weight*20)
+				)
+			}
+		}
+		this.weld()
+		if(this.reactive){
+			this.reactive.anchor.update(dt)
+			for(let i=0;i<this.joints.length;i++){
+				this.joints[i].a.update(dt)
+				if(this.joints[i].axis[0]!=0){
+					this.joints[i].a.a[0]=this.joints[i].axis
+					this.joints[i].a.a[1]=vsnap(this.joints[i].a.a[1],this.joints[i].axis)
+				}
+				if(this.joints[i].axis[1]!=0){
+					this.joints[i].a.a[1]=this.joints[i].axis
+					this.joints[i].a.a[0]=vsnap(this.joints[i].a.a[0],this.joints[i].axis)
+				}
+				if(this.joints[i].axis[2]!=0){
+					this.joints[i].a.a[0]=vsnap(this.joints[i].a.a[0],this.joints[i].axis)
+					this.joints[i].a.a[1]=vsnap(this.joints[i].a.a[1],this.joints[i].axis)
+					if(vmag(vadd(vcross(...this.joints[i].a.a),this.joints[i].axis))<1)this.joints[i].a.a[1]=vmultf(this.joints[i].a.a[1],-1)
+				}
+			}
+		}
+	}
+	applyJointForce(j,p2,d2){
+		let p=[...p2],d=[...d2]
+		if(this.joints[j]){
+			let axes=this.p_jt[1][j]
+			p=vtransform(axes,[0,0,0],p);d=vtransform(axes,[0,0,0],d)
+			let weightSum=this.weight,weightJoint=0,x=this.joints.length
+			for(let i=0;i<x;i++){
+				weightSum+=this.joints[i].weight
+				if(i==j||this.joints[i].chain.includes(j))weightJoint+=this.joints[i].weight
+			}
+			this.joints[j].a.applyForce(p2,vmultf(d2,weightJoint/weightSum/2-1/2))
+			this.joints[j].a.applyForce(vmultf(p2,-1),vmultf(d2,1/2-weightJoint/weightSum/2))
+			this.reactive.applyForce(p,vmultf(d,weightJoint/weightSum/2))
+			this.reactive.applyForce(vmultf(p,-1),vmultf(d,-weightJoint/weightSum/2))
+		}
+	}
+	/*
+	applyAbsolJointForce(j,p,d2){
+		let d=vsnap(vdetransform(
+			this.p_jt[1][j],
+			[0,0,0],
+			d2
+		),this.joints[j].axis)
+		this.applyJointForce(j,p,d)
+	}
+	applyWorldJointForce(j,p,d2){
+		let np=vsnap(vdetransform(
+			this.p_jt[1][j],
+			[0,0,0],
+			vadd(p,vadd(vmultf(this.p_jt[0][j],-1),vmultf(this.p_jt[2],-1)))
+		),this.joints[j].axis),
+		d=vsnap(vdetransform(
+			this.p_jt[1][j],
+			[0,0,0],
+			d2
+		),this.joints[j].axis)
+		this.applyJointForce(j,np,d)
+	}
+	*/
+	turnJoint(j,target2,reference2,force,damping){
+		if(!this.joints[j])return
+		if(this.joints[j].t==0){
+			let target=vmultf(vnorm(target2),-1),reference=vnorm(reference2)
+			this.applyJointForce(j,vsnap(reference,this.joints[j].axis),vmultf(vsnap(this.joints[j].a.absolNormal(target),this.joints[j].axis),force))
+			this.applyJointForce(j,this.joints[j].axis[0]?[0,1,0]:[1,0,0],vmultf(this.joints[j].a.r[this.joints[j].axis[0]?1:0],damping))
+		}
+	}
+	applyGlobForce(j,p,d){
+		let jt=j,c=0
+		while(jt>-1&&c<this.joints.length){
+			this.applyJointForce(
+				jt,
+				vsnap(vdetransform(
+					this.p_jt[1][jt],
+					[0,0,0],
+					vadd(p,vadd(vmultf(this.p_jt[0][jt],-1),vmultf(this.p_jt[2],-1)))
+				),this.joints[jt].axis),
+				vmultf(
+					vsnap(vdetransform(
+						this.p_jt[1][jt],
+						[0,0,0],
+						d
+					),this.joints[jt].axis),
+					-this.joints[jt].stiff
+				)
+			)
+			jt=this.joints[jt].joint
+			c++
+		}
+		this.reactive.anchor.applyForce(p,d)
+	}
+	collide(dt,p,d){
+		let dt2=1//(1+(dt-1)*3)
+		if(this.reactive){
+			let collides=this.reactive.collide(p,d)
+			if(!collides.length)return
+			let z=collides.length,n=[0]
+			for(let i=0;i<this.joints.length;i++){
+				n.push(0)
+			}
+			for(let i=0;i<z;i++){
+				n[this.fix[collides[i][0][2]].joint+1]++
+			}
+			for(let i=0;i<z;i++){
+				let rebound=this.fix[collides[i][0][2]].rebound,grip=this.fix[collides[i][0][2]].grip/dt,jt=this.fix[collides[i][0][2]].joint,c=0
+				while(jt>-1&&c<this.joints.length){
+					let np=vsnap(vdetransform(
+						this.p_jt[1][jt],
+						[0,0,0],
+						vadd(collides[i][0][0],vadd(vmultf(this.p_jt[0][jt],-1),vmultf(this.p_jt[2],-1)))
+					),this.joints[jt].axis)
+					let fc=[
+						this.reactive.anchor.absolNormal(vmultf(collides[i][0][3],-collides[i][0][1][1]/z*rebound/cnst.inertia.mov)),
+						this.reactive.anchor.absolNormal(vmultf(collides[i][1],1/2/n[this.fix[collides[i][0][2]].joint+1]*grip/cnst.inertia.mov))
+					]
+					fc[0]=vsnap(vdetransform(
+						this.p_jt[1][jt],
+						[0,0,0],
+						fc[0]
+					),this.joints[jt].axis)
+					fc[1]=vsnap(vdetransform(
+						this.p_jt[1][jt],
+						[0,0,0],
+						fc[1]
+					),this.joints[jt].axis)
+					this.applyJointForce(jt,vnorm(np),vmultf(fc[0],-dt2*this.joints[jt].stiff))
+					this.applyJointForce(jt,vnorm(np),vmultf(fc[1],-dt2*dt2*this.joints[jt].stiff))
+					jt=this.joints[jt].joint
+					c++
+				}
+				this.reactive.anchor.applyForce(vnorm(collides[i][0][0]),this.reactive.anchor.absolNormal(vmultf(collides[i][0][3],-dt2*collides[i][0][1][1]/z*rebound/cnst.inertia.mov)))
+				this.reactive.anchor.applyForce(vnorm(collides[i][0][0]),this.reactive.anchor.absolNormal(vmultf(collides[i][1],dt2*dt2/2/n[this.fix[collides[i][0][2]].joint+1]*grip/cnst.inertia.mov)))
+			}
+		}
+	}
+	collidef(dt,g){
+		let dt2=1//(1+(dt-1)*3)
+		if(this.reactive){
+			let collides=this.reactive.collidef(g)
+			if(!collides.length)return
+			let z=collides.length,n=[0]
+			for(let i=0;i<this.joints.length;i++){
+				n.push(0)
+			}
+			for(let i=0;i<z;i++){
+				n[this.fix[collides[i][0][2]].joint+1]++
+			}
+			for(let i=0;i<z;i++){
+				let rebound=this.fix[collides[i][0][2]].rebound,grip=this.fix[collides[i][0][2]].grip,slide=this.fix[collides[i][0][2]].slide,jt=this.fix[collides[i][0][2]].joint,c=0
+				while(jt>-1&&c<this.joints.length){
+					let np=vsnap(vdetransform(
+						this.p_jt[1][jt],
+						[0,0,0],
+						vadd(collides[i][0][0],vadd(vmultf(this.p_jt[0][jt],-1),vmultf(this.p_jt[2],-1)))
+					),this.joints[jt].axis)
+					let fc=[
+						this.reactive.anchor.absolNormal(vmultf(collides[i][0][3],-collides[i][0][1][1]/z*rebound/cnst.inertia.mov)),
+						this.reactive.anchor.absolNormal(vmultf(collides[i][1],1/2/n[this.fix[collides[i][0][2]].joint+1]*grip/cnst.inertia.mov))
+					]
+					fc[0]=vsnap(vdetransform(
+						this.p_jt[1][jt],
+						[0,0,0],
+						fc[0]
+					),this.joints[jt].axis)
+					fc[1]=vsnap(vdetransform(
+						this.p_jt[1][jt],
+						[0,0,0],
+						fc[1]
+					),this.joints[jt].axis)
+					this.applyJointForce(jt,vnorm(np),vmultf(fc[0],-dt2*this.joints[jt].stiff))
+					this.applyJointForce(jt,vnorm(np),vmultf(fc[1],-dt2*dt2*this.joints[jt].stiff))
+					jt=this.joints[jt].joint
+					c++
+				}
+				this.reactive.anchor.applyForce(vnorm(collides[i][0][0]),this.reactive.anchor.absolNormal(vmultf(collides[i][0][3],-dt2*collides[i][0][1][1]/z*rebound/cnst.inertia.mov)))
+				this.reactive.anchor.applyForce(vnorm(collides[i][0][0]),this.reactive.anchor.absolNormal(vmultf(collides[i][0][3],vdot(collides[i][1],collides[i][0][3])/2/n[this.fix[collides[i][0][2]].joint+1]*grip/cnst.inertia.mov)))
+				this.reactive.anchor.applyForce(vnorm(collides[i][0][0]),this.reactive.anchor.absolNormal(vmultf(vsnap(collides[i][1],collides[i][0][3]),slide/2/n[this.fix[collides[i][0][2]].joint+1]*grip/cnst.inertia.mov)))
+			}
+		}
+	}
+	applyForce(p,d){
+		if(this.reactive)this.reactive.applyForce(p,d)
+	}
+	toGrid(p){
+		if(this.reactive)return this.reactive.toGrid(p)
+	}
+	fromGrid(p){
+		if(this.reactive)return this.reactive.fromGrid(p)
+	}
+	absolNormal(p){
+		if(this.reactive)return this.reactive.absolNormal(p)
+	}
+	gridNormal(p){
+		if(this.reactive)return this.reactive.gridNormal(p)
+	}
+	pr_toGrid(p){
+		if(this.reactive)return this.reactive.pr_toGrid(p)
+	}
+	pr_fromGrid(p){
+		if(this.reactive)return this.reactive.pr_fromGrid(p)
+	}
+	pr_absolNormal(p){
+		if(this.reactive)return this.reactive.pr_absolNormal(p)
+	}
+	pr_gridNormal(p){
+		if(this.reactive)return this.reactive.pr_gridNormal(p)
+	}
+}
diff --git a/craft_models.js b/craft_models.js
deleted file mode 120000
index cf17a74..0000000
--- a/craft_models.js
+++ /dev/null
@@ -1 +0,0 @@
-../phys/craft_models.js
\ No newline at end of file
diff --git a/craft_models.js b/craft_models.js
new file mode 100644
index 0000000..37cc736
--- /dev/null
+++ b/craft_models.js
@@ -0,0 +1,73 @@
+let sqr3 = Math.sqrt(3)
+
+genCraftModels=craft=>{
+	let uid=newUID(),models=[[]]
+	models[0].push(new p5.Geometry(
+		1,1,
+		function createGeometry(){
+			for(let x=0;x<craft.faces.length;x++){
+				if(craft.fix[craft.faces[x].p[0]].joint==-1){
+					this.vertices.push(new p5.Vector(...craft.fix[craft.faces[x].p[0]].offset))
+					this.vertices.push(new p5.Vector(...craft.fix[craft.faces[x].p[1]].offset))
+					this.vertices.push(new p5.Vector(...craft.fix[craft.faces[x].p[2]].offset))
+					this.uvs.push([0,0])
+					this.uvs.push([1,0])
+					this.uvs.push([1/2,1/2*sqr3])
+					this.faces.push([this.vertices.length-1,this.vertices.length-2,this.vertices.length-3])
+				}
+			}
+			this.computeNormals()
+			this.gid='craft-geometry-faces-'+uid
+		}
+	))
+	models[0].push(new p5.Geometry(
+		1,1,
+		function createGeometry(){
+			for(let x=0;x<craft.edges.length;x++){
+				if(craft.fix[craft.edges[x].p[0]].joint==-1){
+					this.vertices.push(new p5.Vector(...craft.fix[craft.edges[x].p[0]].offset))
+					this.vertices.push(new p5.Vector(...craft.fix[craft.edges[x].p[1]].offset))
+					this.vertices.push(new p5.Vector(...craft.fix[craft.edges[x].p[1]].offset))
+					this.faces.push([this.vertices.length-1,this.vertices.length-2,this.vertices.length-3])
+				}
+			}
+			this.gid='craft-geometry-edges-'+uid
+		}
+	))
+	for(let i=0;i<craft.joints.length;i++){
+		models.push([])
+		models[i+1].push(new p5.Geometry(
+			1,1,
+			function createGeometry(){
+				for(let x=0;x<craft.faces.length;x++){
+					if(craft.fix[craft.faces[x].p[0]].joint==i){
+						this.vertices.push(new p5.Vector(...craft.fix[craft.faces[x].p[0]].offset))
+						this.vertices.push(new p5.Vector(...craft.fix[craft.faces[x].p[1]].offset))
+						this.vertices.push(new p5.Vector(...craft.fix[craft.faces[x].p[2]].offset))
+						this.uvs.push([0,0])
+						this.uvs.push([1,0])
+						this.uvs.push([1/2,1/2*sqr3])
+						this.faces.push([this.vertices.length-1,this.vertices.length-2,this.vertices.length-3])
+					}
+				}
+				this.computeNormals()
+				this.gid='craft-geometry-joint-faces-'+i.toString()+uid
+			}
+		))
+		models[i+1].push(new p5.Geometry(
+			1,1,
+			function createGeometry(){
+				for(let x=0;x<craft.edges.length;x++){
+					if(craft.fix[craft.edges[x].p[0]].joint==i){
+						this.vertices.push(new p5.Vector(...craft.fix[craft.edges[x].p[0]].offset))
+						this.vertices.push(new p5.Vector(...craft.fix[craft.edges[x].p[1]].offset))
+						this.vertices.push(new p5.Vector(...craft.fix[craft.edges[x].p[1]].offset))
+						this.faces.push([this.vertices.length-1,this.vertices.length-2,this.vertices.length-3])
+					}
+				}
+				this.gid='craft-geometry-joint-edges-'+i.toString()+uid
+			}
+		))
+	}
+	return models
+}
diff --git a/engine.js b/engine.js
deleted file mode 120000
index c90e1cf..0000000
--- a/engine.js
+++ /dev/null
@@ -1 +0,0 @@
-../phys/engine.js
\ No newline at end of file
diff --git a/engine.js b/engine.js
new file mode 100644
index 0000000..e69de29
diff --git a/index.html b/index.html
deleted file mode 120000
index 6de096e..0000000
--- a/index.html
+++ /dev/null
@@ -1 +0,0 @@
-../phys/index.html
\ No newline at end of file
diff --git a/index.html b/index.html
new file mode 100644
index 0000000..de5b586
--- /dev/null
+++ b/index.html
@@ -0,0 +1,14 @@
+<!DOCTYPE html>
+<html>
+	<head>
+		<script src="https://cdn.jsdelivr.net/npm/p5@1.9.3/lib/p5.js"></script>
+	</head>
+	<body>
+		<script src="utils.js"></script>
+		<script src="anchor.js"></script>
+		<script src="reactive.js"></script>
+		<script src="craft.js"></script>
+		<script src="craft_models.js"></script>
+		<script src="main.js"></script>
+	</body>
+</html>
diff --git a/main.js b/main.js
deleted file mode 120000
index 1d85800..0000000
--- a/main.js
+++ /dev/null
@@ -1 +0,0 @@
-../phys/main.js
\ No newline at end of file
diff --git a/main.js b/main.js
new file mode 100644
index 0000000..c25ea47
--- /dev/null
+++ b/main.js
@@ -0,0 +1,118 @@
+let reacts = [], dt = 1, paused = 1;
+
+function setup(){
+	let craftdata = {
+		fix: [
+			[1, 1, 1],   // 0
+			[1, 1, -1],  // 1
+			[1, -1, 1],  // 2
+			[1, -1, -1], // 3
+			[-1, 1, 1],  // 4
+			[-1, 1, -1], // 5
+			[-1, -1, 1], // 6
+			[-1, -1, -1] // 7
+		],
+		edges: [
+			[0, 1],
+			[0, 2],
+			[0, 4],
+			[1, 3],
+			[1, 5],
+			[2, 3],
+			[2, 6],
+			[3, 7],
+			[4, 5],
+			[4, 6],
+			[5, 7],
+			[6, 7]
+		],
+		faces: [
+			[0, 1, 2],
+			[4, 6, 7],
+		]
+	};
+
+	for(let i=0; i<4; ++i){
+		reacts.push(new Craft());
+		for(let fix of craftdata.fix) reacts[reacts.length-1].addFixture(fix);
+		for(let edge of craftdata.edges) reacts[reacts.length-1].addEdge(...edge);
+		for(let face of craftdata.faces) reacts[reacts.length-1].addFace(...face);
+		reacts[reacts.length-1].setup();
+		reacts[reacts.length-1].reactive.anchor.p[1] = -5
+		reacts[reacts.length-1].applyForce([Math.random()*10-5, 0, Math.random()*10-5],
+			reacts[reacts.length-1].reactive.absolNormal([0, -Math.random()*10-20, 0]));
+	}
+
+	createCanvas(400, 400, WEBGL);
+
+	lt = Date.now();
+}
+
+function draw(){
+	background(200);
+	scale(10);
+
+	for(let i=0; i<10; ++i)
+		point(Math.cos(TWO_PI/10*i)*10, 4, Math.sin(TWO_PI/10*i)*10);
+
+	for(let react of reacts){
+		if(!paused){
+			react.applyForce([0, 0, 0], react.reactive.absolNormal([0, 8, 0]));
+			react.collide(1/dt, [0, 4, 0], [[0, 0, 1], [0, 1, 0]]);
+			react.update(1/dt);
+		}
+
+		push();
+		applyMatrix(mlookAt(react.reactive.anchor.p,react.reactive.anchor.a));
+		if(!react.models||!react.models.length)
+			react.models=genCraftModels(react)
+		strokeWeight(5);
+		push();
+		translate(...react.p_jt[2]);
+		fill(100, 100, 100); noStroke();
+		model(react.models[0][0]);
+		noFill(); stroke(255, 255, 0); strokeWeight(1);
+		model(react.models[0][1]);
+		pop();
+		for(let f=0; f<react.joints.length; ++f){
+			push();
+			applyMatrix(mlookAt(vadd(react.p_jt[0][f],react.p_jt[2]),react.p_jt[1][f]))
+			fill(100); noStroke();
+			model(react.models[f+1][0]);
+			noFill(); stroke(255, 255, 0); strokeWeight(1);
+			model(react.models[f+1][1]);
+			pop();
+			strokeWeight(1.5);
+			stroke(255, 0, 0);
+			point(...vadd(react.p_jt[0][f], react.p_jt[2]));
+		}
+		pop();
+		push();
+		push();
+		applyMatrix(mlookAt(react.reactive.anchor.p,react.reactive.anchor.a));
+		translate(react.p_jt[2][0], 4, react.p_jt[2][2]);
+		pop();
+		translate(-4.1*.3, 4.1, -4.1*.3);
+		applyMatrix([
+			1, 0, 0, 0,
+			.3, 0, .3, 0,
+			0, 0, 1, 0,
+			0, 0, 0, 1
+		]);
+		applyMatrix(mlookAt(react.reactive.anchor.p,react.reactive.anchor.a));
+		fill(150, 150, 150); noStroke();
+		model(react.models[0][0]);
+		noFill(); stroke(150, 150, 150); strokeWeight(1);
+		model(react.models[0][1]);
+		pop();
+	}
+
+	orbitControl();
+}
+
+function keyReleased(){
+	if(key == 'a') paused = !paused;
+	if(key == 's'){
+		paused = false; dt = 6 - dt;
+	}
+}
diff --git a/mirror.sh b/mirror.sh
new file mode 100755
index 0000000..d5b035a
--- /dev/null
+++ b/mirror.sh
@@ -0,0 +1,2 @@
+cp ~/misc/phys/*.js ./
+cp ~/misc/phys/index.html ./
diff --git a/reactive.js b/reactive.js
deleted file mode 120000
index 7d2b962..0000000
--- a/reactive.js
+++ /dev/null
@@ -1 +0,0 @@
-../phys/reactive.js
\ No newline at end of file
diff --git a/reactive.js b/reactive.js
new file mode 100644
index 0000000..d9dd8d3
--- /dev/null
+++ b/reactive.js
@@ -0,0 +1,92 @@
+class Reactive{
+	constructor(opt={}){
+		this.anchor=new Anchor(opt.anchor||{})
+		this.fix=opt.fix||[]
+		this.edges=opt.edges||[]
+		this.returnCollides=opt.returnCollides||0
+		this.generateFriction=opt.generateFriction||'vadd(this.anchor.pr_fromGrid(psz[i][0]),vmultf(this.anchor.fromGrid(psz[i][0]),-1))'
+	}
+	collide(p,d2){
+		let collides=[],d=[vnorm(d2[0]),vnorm(d2[1])],psz=[],x,tc=0,getOrient=i=>{let x=vadd(i,vmultf(p,-1));return [vdot(x,d[0]),vdot(x,d[1]),vdot(x,vcross(...d))]}
+		for(let i=0;i<this.fix.length;i++){
+			x=getOrient(this.anchor.fromGrid(this.fix[i]))
+			let r=vmag(this.fix[i])
+			if(x[1]>0)psz.push([this.fix[i],vmultf(x,1/r),i,d[1],r])
+		}
+		for(let i=0;i<psz.length;i++){
+			let z=vmultf(eval(this.generateFriction),1/psz[i][4])
+			if(this.returnCollides){
+				collides.push([psz[i],z])
+			}else{
+				this.anchor.applyForce(vnorm(psz[i][0]),this.anchor.absolNormal(vmultf(d[1],-psz[i][1][1]/psz.length*cnst.rebound/cnst.inertia.mov)))
+				this.anchor.applyForce(vnorm(psz[i][0]),this.anchor.absolNormal(vmultf(z,1/psz.length*cnst.grip/cnst.inertia.mov)))
+			}
+		}
+		if(psz.length==0){
+			x=getOrient(this.anchor.p)
+			if(x[1]>0){
+				this.anchor.applyForce([0,0,0],this.anchor.absolNormal(vmultf([0,-x[1],0],cnst.rebound/cnst.inertia.mov)))
+				this.anchor.applyForce([0,0,0],this.anchor.absolNormal(vmultf(this.anchor.v,cnst.grip/cnst.inertia.mov)))
+			}
+		}
+		return collides
+	}
+	collidef(g/*generation function for input p, returns {p[3] position d[2][3] anchors}*/){
+		let collides=[],psz=[],x,tc=0,getOrient=i=>{let y=g(i);y.d=[vnorm(y.d[0]),vnorm(y.d[1])];x=vadd(i,vmultf(y.p,-1));return [vdot(x,y.d[0]),vdot(x,y.d[1]),vdot(x,vcross(...y.d))]}
+		for(let i=0;i<this.fix.length;i++){
+			x=getOrient(this.anchor.fromGrid(this.fix[i]))
+			let r=vmag(this.fix[i])
+			if(x[1]>0)psz.push([this.fix[i],vmultf(x,1/r),i,g(this.anchor.fromGrid(this.fix[i])).d[1],r])
+		}
+		for(let i=0;i<psz.length;i++){
+			let z=vmultf(eval(this.generateFriction),1/psz[i][4])
+			if(this.returnCollides){
+				collides.push([psz[i],z])
+			}else{
+				this.anchor.applyForce(vnorm(psz[i][0]),this.anchor.absolNormal(vmultf(psz[i][3],-psz[i][1][1]/psz.length*cnst.rebound/cnst.inertia.mov)))
+				this.anchor.applyForce(vnorm(psz[i][0]),this.anchor.absolNormal(vmultf(z,1/psz.length*cnst.grip/cnst.inertia.mov)))
+			}
+		}
+		if(psz.length==0){
+			x=getOrient(this.anchor.p)
+			if(x[1]>0){
+				this.anchor.applyForce([0,0,0],this.anchor.absolNormal(vmultf([0,-x[1],0],cnst.rebound/cnst.inertia.mov)))
+				this.anchor.applyForce([0,0,0],this.anchor.absolNormal(vmultf(this.anchor.v,cnst.grip/cnst.inertia.mov)))
+			}
+		}
+		return collides
+	}
+	update(dt=1){
+		this.anchor.update(dt)
+	}
+	applyForce(p,d){
+		this.anchor.applyForce(p,d)
+	}
+	applyWorldForce(p,d){
+		this.anchor.applyWorldForce(p,d)
+	}
+	toGrid(p){
+		return this.anchor.toGrid(p)
+	}
+	fromGrid(p){
+		return this.anchor.fromGrid(p)
+	}
+	absolNormal(p){
+		return this.anchor.absolNormal(p)
+	}
+	gridNormal(p){
+		return this.anchor.gridNormal(p)
+	}
+	pr_toGrid(p){
+		return this.anchor.pr_toGrid(p)
+	}
+	pr_fromGrid(p){
+		return this.anchor.pr_fromGrid(p)
+	}
+	pr_absolNormal(p){
+		return this.anchor.pr_absolNormal(p)
+	}
+	pr_gridNormal(p){
+		return this.anchor.pr_gridNormal(p)
+	}
+}
diff --git a/utils.js b/utils.js
deleted file mode 120000
index 0154596..0000000
--- a/utils.js
+++ /dev/null
@@ -1 +0,0 @@
-../phys/utils.js
\ No newline at end of file
diff --git a/utils.js b/utils.js
new file mode 100644
index 0000000..57e581c
--- /dev/null
+++ b/utils.js
@@ -0,0 +1,77 @@
+const cnst={
+	inertia:{
+		rot:1/1000,
+		mov:1/1000
+	},
+	drag:{
+    rot:1,
+    mov:1
+  },
+  grip:0.7,
+  rebound:0.7,
+  slide:0.7
+}
+vdot=(a,b)=>a.map((x,i)=>a[i]*b[i]).reduce((m,n)=>m+n)
+vcross=(a,b)=>[a[1]*b[2]-a[2]*b[1],a[2]*b[0]-a[0]*b[2],a[0]*b[1]-a[1]*b[0]]
+vnorm=a=>{let b=Math.sqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2]);if(b==0)return [0,0,0];return [a[0]/b,a[1]/b,a[2]/b]}
+vadd=(a,b)=>[a[0]+b[0],a[1]+b[1],a[2]+b[2]]
+vmult=(a,b)=>[a[0]*b[0],a[1]*b[1],a[2]*b[2]]
+vmultf=(a,b)=>[a[0]*b,a[1]*b,a[2]*b]
+vmag=a=>Math.sqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2])
+vsnap=(a,b)=>vadd(a,vmultf(b,-vdot(b,a)))
+vtransform=(a,p,v)=>{
+  let x=[...p],b=[...a,vcross(...a)]
+  for(let z=0;z<3;z++){for(let i=0;i<3;i++){x[i]+=b[z][i]*v[z]}}
+  return x
+}
+vdetransform=(a,p,v)=>{
+	let x=[v[0]-p[0],v[1]-p[1],v[2]-p[2]]
+  return [vdot(x,a[0]),vdot(x,a[1]),vdot(x,vcross(...a))]
+}
+pointAt=(p,c)=>{
+  rnd.rotateY(-Math.atan2(p[2]-c[2],p[0]-c[0]))
+  rnd.rotateZ(Math.atan2(p[1]-c[1],Math.sqrt((p[0]-c[0])*(p[0]-c[0])+(p[2]-c[2])*(p[2]-c[2]))))
+}
+drawScreenAt=(p,c)=>{
+  rnd.translate(...p)
+  pointAt(p,c)
+}
+build_pointAt=(p,c)=>{
+  build_rnd.rotateY(-Math.atan2(p[2]-c[2],p[0]-c[0]))
+  build_rnd.rotateZ(Math.atan2(p[1]-c[1],Math.sqrt((p[0]-c[0])*(p[0]-c[0])+(p[2]-c[2])*(p[2]-c[2]))))
+}
+build_drawScreenAt=(p,c)=>{
+  build_rnd.translate(...p)
+  build_pointAt(p,c)
+}
+let currUID=0
+newUID=_=>{
+	currUID++
+	return 'UID_'+currUID.toString()
+}
+keyToCode=(dir,n)=>{
+  let mapTable=(`RIGHT 39_LEFT 37_DOWN 40_UP 38_SHIFT 16_SPACE 32_0 48_1 49_2 50_3 51_4 52_5 53_6 54_7 55_8 56_9 57_a 65_b 66_c 67_d 68_e 69_f 70_g 71_h 72_i 73_j 74_k 75_l 76_m 77_n 78_o 79_p 80_q 81_r 82_s 83_t 84_u 85_v 86_w 87_x 88_y 89_z 90`).split('_')
+  if(dir=='key'){for(let i=0;i<mapTable.length;i++){if(mapTable[i].endsWith(n.toString()))return mapTable[i].split(' ')[0]}}
+  else if(dir=='code'){for(let i=0;i<mapTable.length;i++){if(mapTable[i].startsWith(n))return parseInt(mapTable[i].slice(mapTable[i].length-2,mapTable[i].length))}}
+  return 0
+}
+mlookAt=(p2,a2)=>{
+	let a=[],p=[...p2]
+	a.push([...a2[0]],[...a2[1]])
+	a.push(vcross(...a))
+	a[0]=vnorm(a[0])
+	a[1]=vnorm(a[1])
+	return [...a[0],0,...a[1],0,...a[2],0,...p,1]
+}
+line3d=(r,a,b,w=0.03)=>{
+	r.push()
+	let x=[vnorm(vadd(a,vmultf(b,-1)))],c=vmultf(vadd(a,b),1/2)
+	if(x[0][0]>0.9)x.push([0,1,0])
+	else x.push([1,0,0])
+	x[1]=vnorm(vcross(...x))
+	x.push(vnorm(vcross(...x)))
+	r.applyMatrix([...x[0],0,...x[1],0,...x[2],0,...c,1])
+	r.box(vmag(vadd(a,vmultf(b,-1))),w,w)
+	r.pop()
+}
+sqrx=a=>a*a