delete simul/

2026-08-27 05:37:39 +02:00 · 2026-04-27 11:13:10 +02:00 · 2026-04-27 11:13:10 +02:00 · a15d14dd86
commit a15d14dd86
parent 4de872cae1
21 changed files with 0 additions and 2492 deletions
--- a/simul/.gitignore
+++ b/simul/.gitignore
@ -1 +0,0 @@
 target/
--- a/simul/.vscode/launch.json
+++ b/simul/.vscode/launch.json
@ -1,31 +0,0 @@
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--- a/simul/Cargo.lock
+++ b/simul/Cargo.lock
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 f 60/18/10 17/17/10 18/15/10
 f 11/16/11 59/19/11 15/21/11
 f 15/21/13 14/20/13 19/25/13
 f 17/17/14 22/31/14 23/27/14
 f 16/22/15 15/21/15 20/26/15
 f 16/22/18 21/28/18 22/31/18
 f 22/31/19 27/37/19 28/32/19
 f 20/26/20 25/38/20 26/33/20
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 f 25/38/26 30/45/26 31/41/26
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 f 46/73/51 51/78/51 52/74/51
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 f 52/74/56 51/78/56 56/81/56
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 f 53/72/58 52/74/58 57/82/58
 f 50/76/59 55/83/59 56/81/59
 f 57/82/62 56/81/62 11/16/62
 f 54/85/63 10/23/63 59/19/63
 f 58/80/64 57/82/64 60/18/64
 f 55/83/65 59/19/65 11/16/65
 f 5/1/1 7/88/1 3/2/1
 f 3/2/2 7/89/2 8/4/2
 f 7/6/3 5/12/3 6/7/3
 f 2/9/4 4/5/4 8/10/4
 f 1/3/5 3/2/5 4/5/5
 f 5/12/6 1/3/6 2/9/6
--- a/simul/assets/inputs_moving.csv
+++ b/simul/assets/inputs_moving.csv
@ -1,202 +0,0 @@
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 40000,0.2018,-0.3476,-0.9196,88.5151,19.3227,2.0870
--- a/simul/assets/inputs_still.csv
+++ b/simul/assets/inputs_still.csv
@ -1,202 +0,0 @@
 time_delta_us,accel_x,accel_y,accel_z,rotation_x,rotation_y,rotation_z
 40024,-0.0034,-0.0021,-0.9975,0.0803,-0.1545,-0.3072
 39995,0.0030,0.0010,-1.0006,-0.2174,-0.0324,-0.1392
 40002,0.0005,-0.0073,-1.0006,-0.0418,0.1585,0.1508
 39998,-0.0007,-0.0033,-0.9940,0.0269,0.0058,0.0898
 40000,0.0025,0.0008,-0.9960,-0.1411,0.0516,0.1356
 40000,-0.0014,0.0020,-1.0070,0.0116,0.0287,0.1356
 40000,0.0008,-0.0024,-0.9879,0.0650,0.1661,0.0134
 40000,-0.0004,-0.0002,-0.9970,-0.0953,-0.0095,0.0134
 40000,-0.0051,-0.0055,-1.0036,0.0498,-0.0324,-0.0018
 40000,0.0052,0.0030,-1.0050,0.0879,-0.1545,-0.2232
 40000,0.0032,-0.0033,-0.9967,0.0116,0.0440,0.0592
 40000,-0.0012,0.0052,-1.0060,0.0879,-0.0247,-0.0629
 40000,-0.0009,-0.0046,-0.9923,-0.1258,0.0211,-0.2461
 40000,-0.0002,-0.0031,-0.9994,-0.0724,-0.0095,0.0592
 40000,0.0045,-0.0092,-0.9965,0.1108,-0.1850,0.0058
 40000,0.0025,0.0001,-1.0019,-0.1487,0.0974,0.0592
 40000,-0.0026,-0.0075,-0.9965,0.0727,-0.0324,0.1127
 40000,0.0001,0.0001,-0.9975,-0.0418,0.1203,-0.1698
 40000,0.0042,-0.0051,-1.0033,0.0345,-0.0095,0.0821
 40000,-0.0007,-0.0026,-0.9999,0.0574,0.0134,-0.0782
 40000,0.0088,-0.0002,-0.9992,-0.0113,0.0287,-0.0095
 40000,0.0005,-0.0038,-1.0038,-0.1258,-0.0782,-0.0553
 40000,0.0005,-0.0063,-0.9984,0.2253,-0.0553,-0.3072
 40000,0.0071,-0.0036,-0.9938,0.0345,0.0211,-0.0171
 40000,0.0020,-0.0014,-0.9870,-0.1182,0.1585,-0.0324
 40000,0.0020,-0.0041,-0.9994,-0.0113,-0.2079,-0.1240
 40000,-0.0063,-0.0046,-1.0019,-0.0113,0.1585,0.0821
 40000,-0.0019,-0.0014,-0.9921,-0.0953,-0.2003,0.0745
 40000,0.0081,0.0045,-1.0043,-0.0418,0.1508,-0.2003
 40000,-0.0017,0.0013,-0.9992,-0.1563,-0.0705,-0.1469
 40000,0.0020,-0.0026,-0.9972,-0.1869,0.0745,0.0058
 40000,-0.0026,-0.0024,-0.9982,-0.0495,-0.0095,-0.1545
 40000,0.0042,0.0008,-0.9979,-0.0495,-0.0934,0.0592
 40000,0.0086,0.0010,-0.9977,0.1948,-0.0324,-0.1163
 40000,0.0064,-0.0021,-1.0014,-0.0418,-0.0171,-0.1240
 40000,0.0030,0.0040,-0.9950,-0.0266,-0.0095,0.1279
 40000,-0.0017,-0.0060,-0.9943,0.0040,0.1661,-0.1011
 40000,0.0003,-0.0055,-0.9999,-0.1258,-0.0018,-0.0705
 40000,-0.0002,-0.0046,-0.9982,-0.0037,-0.0247,0.0516
 40000,0.0001,-0.0021,-1.0065,0.1185,-0.1011,0.0440
 40000,-0.0002,0.0030,-1.0023,-0.1182,0.0211,0.0974
 40000,0.0005,-0.0060,-1.0001,-0.0647,0.2272,0.1432
 40000,-0.0007,-0.0041,-1.0004,-0.0113,0.0134,-0.0400
 40000,0.0010,-0.0014,-0.9926,-0.0647,-0.1011,-0.1469
 40000,-0.0017,-0.0009,-0.9933,0.0650,0.1432,-0.0324
 40000,-0.0038,-0.0077,-0.9958,0.1566,-0.0705,-0.0934
 40000,-0.0004,-0.0090,-0.9955,0.1032,-0.0018,-0.1774
 40000,-0.0004,-0.0033,-1.0023,-0.0647,0.0592,-0.0247
 40000,0.0035,-0.0021,-0.9940,0.1566,-0.0934,0.2043
 40000,-0.0007,-0.0060,-0.9887,0.1337,0.0745,-0.0553
 40000,0.0013,0.0010,-0.9926,0.1108,-0.1927,0.0287
 40000,0.0030,-0.0004,-0.9962,0.0269,0.0287,-0.1927
 40000,0.0040,0.0010,-0.9987,-0.0418,0.0745,-0.0705
 40000,0.0018,0.0003,-0.9984,0.0269,0.1203,-0.0934
 40000,-0.0026,-0.0033,-0.9979,0.1261,-0.0171,0.0592
 40000,0.0030,-0.0068,-1.0001,-0.1411,0.0516,0.1356
 40000,0.0071,0.0018,-0.9955,-0.0113,0.0134,-0.1545
 40000,0.0001,-0.0016,-0.9958,0.0116,-0.1011,0.0821
 40000,0.0042,0.0015,-1.0004,0.0498,-0.0171,-0.1469
 40000,0.0032,-0.0063,-1.0094,-0.0953,0.0745,0.1585
 40000,-0.0031,-0.0070,-0.9933,-0.1334,0.0363,0.0898
 40000,0.0010,0.0003,-0.9892,0.0116,0.0058,-0.0553
 40000,0.0015,-0.0026,-0.9965,0.0956,0.0134,-0.1240
 40000,0.0010,-0.0009,-1.0009,0.2406,0.0287,-0.1392
 40000,0.0020,-0.0053,-0.9984,-0.1411,0.0363,-0.2003
 40000,0.0084,-0.0019,-0.9982,-0.0571,-0.1392,-0.2614
 40000,0.0074,-0.0038,-1.0077,-0.0342,0.0669,-0.2079
 40000,-0.0004,-0.0009,-1.0082,-0.1716,0.0058,0.3188
 40000,-0.0036,-0.0033,-0.9965,0.0956,-0.0018,0.0745
 40000,0.0018,-0.0087,-0.9992,-0.0647,-0.2079,-0.3606
 40000,0.0020,0.0047,-0.9997,0.0650,-0.1392,-0.0476
 40000,0.0013,-0.0002,-0.9999,-0.0495,0.1966,0.1661
 40000,-0.0034,-0.0024,-0.9999,0.0345,0.0898,-0.0247
 40000,0.0025,-0.0012,-0.9955,0.0269,-0.1469,-0.1087
 40000,0.0047,-0.0014,-0.9992,-0.0266,0.0287,-0.1163
 40000,-0.0017,-0.0021,-0.9999,0.1414,0.0821,-0.0782
 40000,0.0015,-0.0016,-0.9926,-0.0037,0.0134,0.1279
 40000,0.0027,-0.0051,-1.0019,-0.1792,-0.0324,-0.0934
 40000,-0.0009,-0.0051,-1.0006,-0.1792,-0.0476,0.1050
 40000,0.0010,-0.0038,-1.0014,-0.1258,0.2043,-0.0018
 40000,-0.0021,-0.0004,-0.9999,0.0116,0.0440,-0.0400
 40000,0.0023,-0.0016,-0.9945,-0.1182,-0.0476,0.0898
 40000,0.0001,0.0008,-0.9977,0.0727,0.0440,0.1508
 40000,-0.0024,-0.0024,-1.0006,-0.0953,0.0363,-0.2766
 40000,-0.0017,-0.0016,-1.0041,0.0116,0.0516,-0.1621
 40000,0.0074,0.0018,-0.9933,-0.0800,-0.0247,-0.0476
 40000,0.0052,-0.0048,-0.9928,0.0650,-0.1240,-0.0934
 40000,-0.0043,-0.0033,-0.9958,0.0269,0.0745,0.1585
 40000,0.0042,-0.0060,-0.9992,0.0727,-0.1011,0.0516
 40000,-0.0029,0.0015,-0.9967,-0.0876,-0.0476,0.1203
 40000,0.0023,-0.0031,-1.0067,-0.0495,0.0211,-0.0095
 40000,-0.0002,0.0003,-0.9997,-0.1411,0.2653,0.2119
 40006,0.0037,0.0023,-0.9940,-0.0724,0.2272,0.0363
 39994,0.0008,0.0018,-1.0004,0.1185,0.1127,0.0669
 40000,0.0005,-0.0033,-1.0016,0.0727,0.1890,-0.0171
 40000,-0.0004,0.0010,-1.0009,-0.0647,0.1127,0.0745
 40000,0.0027,-0.0107,-0.9982,0.2101,-0.0324,-0.1469
 40000,0.0015,0.0023,-0.9970,0.0803,0.0058,-0.2079
 40000,0.0040,0.0001,-0.9987,-0.0495,-0.0858,0.0669
 40000,0.0040,0.0025,-0.9970,0.1337,0.0134,-0.0553
 40000,0.0027,-0.0021,-0.9950,0.0345,0.0745,0.2653
 40000,0.0054,-0.0012,-0.9938,0.0421,-0.0247,0.0440
 40000,0.0023,0.0001,-1.0014,-0.0418,-0.0782,-0.0553
 40000,-0.0002,-0.0073,-1.0016,0.0421,0.1432,0.0440
 40000,-0.0024,-0.0021,-0.9938,-0.0189,0.1050,-0.0476
 40000,-0.0007,-0.0009,-0.9928,-0.0571,0.0134,0.2119
 40000,0.0027,0.0003,-1.0023,-0.0953,-0.2843,0.2043
 40000,0.0005,0.0008,-1.0023,-0.0189,-0.0018,-0.1774
 40000,0.0037,0.0001,-1.0031,-0.0342,0.0440,-0.0095
 40000,-0.0024,0.0028,-1.0006,-0.0953,0.0058,0.1203
 40000,0.0015,-0.0004,-0.9936,0.0421,0.0516,-0.0171
 40000,0.0042,-0.0053,-0.9979,0.0040,-0.0629,0.0516
 40000,0.0027,0.0025,-0.9926,0.0116,0.0745,-0.3072
 40000,-0.0021,-0.0065,-0.9960,-0.0418,0.0058,0.1356
 40000,-0.0009,-0.0060,-0.9972,-0.0800,0.1127,-0.0400
 40000,0.0005,-0.0065,-0.9950,0.0116,-0.0858,-0.1163
 40000,-0.0012,0.0020,-0.9958,0.0269,0.1356,0.1356
 40000,0.0013,-0.0016,-0.9943,0.0421,-0.1240,-0.0247
 40000,0.0062,-0.0085,-1.0016,-0.1411,0.2501,-0.0476
 40000,0.0005,-0.0004,-0.9933,0.0116,0.0898,0.0516
 40000,0.0018,-0.0009,-0.9977,0.0574,-0.2461,-0.1163
 40000,0.0040,0.0025,-0.9977,0.1643,0.0516,0.0974
 40000,-0.0014,-0.0024,-1.0023,0.1108,0.1585,-0.0171
 40000,-0.0021,-0.0007,-1.0014,-0.1029,-0.0476,-0.1698
 40000,0.0018,-0.0007,-0.9933,-0.2708,0.0440,-0.0705
 40000,0.0032,0.0015,-0.9945,-0.0495,0.0898,-0.0782
 40000,-0.0017,-0.0016,-0.9972,-0.0266,-0.0171,0.0974
 40000,0.0023,-0.0019,-0.9955,0.0574,0.1050,0.0745
 40000,-0.0046,0.0025,-0.9962,0.2024,-0.1545,0.1661
 40000,-0.0026,-0.0007,-0.9994,0.0574,0.0592,0.0669
 40000,0.0037,-0.0070,-0.9953,0.0574,-0.1392,-0.0934
 40000,0.0032,-0.0048,-1.0006,-0.0876,0.0211,-0.0476
 40000,0.0027,-0.0077,-0.9931,-0.1792,0.0516,-0.1927
 40000,0.0025,0.0010,-0.9906,-0.1182,0.0669,0.0287
 40000,0.0010,-0.0046,-0.9938,0.0421,0.1127,0.0287
 40000,0.0032,-0.0004,-0.9999,0.0192,-0.0705,-0.2537
 40000,-0.0009,0.0047,-0.9901,-0.1029,0.1966,0.0745
 40000,0.0064,-0.0033,-0.9911,-0.0953,0.1356,0.0134
 40000,0.0008,-0.0048,-0.9962,-0.0189,0.0745,0.0134
 40000,0.0010,-0.0090,-0.9982,0.0727,0.0669,-0.1698
 40000,0.0010,-0.0002,-1.0019,0.0727,-0.0782,0.0058
 40000,0.0059,-0.0048,-1.0011,-0.0647,-0.0247,0.1127
 40000,0.0032,-0.0073,-0.9975,0.0421,-0.0782,0.2195
 40000,0.0045,-0.0012,-0.9945,0.0727,0.1432,-0.1469
 40000,-0.0002,-0.0082,-0.9918,-0.0953,-0.0018,0.2577
 40000,0.0008,-0.0043,-0.9953,0.0192,-0.1316,0.0821
 40000,-0.0021,-0.0016,-0.9936,0.0345,0.1203,0.3340
 40000,0.0040,-0.0014,-0.9962,-0.0724,0.0516,-0.1087
 40000,0.0013,-0.0065,-0.9999,-0.0647,-0.2308,0.2043
 40000,-0.0034,-0.0041,-0.9992,0.0421,0.0516,0.2806
 40000,-0.0043,-0.0002,-0.9955,-0.1563,0.0287,-0.1545
 40000,0.0020,-0.0031,-0.9926,0.0727,-0.0247,-0.0553
 40000,0.0042,-0.0026,-0.9904,0.0192,0.0974,0.1356
 40000,-0.0002,0.0032,-0.9967,-0.1563,0.0592,0.1203
 40000,0.0005,-0.0055,-0.9997,-0.0037,0.0821,0.0287
 40000,0.0015,0.0015,-0.9955,0.0574,0.0592,0.0440
 40000,0.0040,-0.0031,-0.9982,-0.0418,-0.0171,0.0821
 40000,-0.0007,0.0037,-1.0031,-0.0266,0.1508,-0.0171
 40000,-0.0070,-0.0048,-1.0045,-0.0800,0.0287,0.0592
 40000,0.0030,-0.0014,-0.9943,-0.0495,-0.1316,-0.2919
 40000,0.0025,-0.0007,-1.0067,-0.0495,-0.0247,-0.1545
 40000,-0.0029,0.0064,-0.9923,0.0192,0.0592,0.2195
 40000,-0.0012,-0.0026,-1.0016,-0.2250,-0.0171,-0.1163
 40000,0.0001,-0.0024,-1.0065,0.1261,-0.0171,0.0211
 40000,-0.0034,0.0025,-1.0060,0.0956,-0.0171,0.0592
 40000,0.0032,-0.0043,-0.9979,-0.0037,0.0974,0.0440
 40000,0.0003,0.0018,-1.0023,-0.0418,-0.0247,-0.1240
 40000,0.0027,-0.0012,-1.0006,0.0269,-0.0095,-0.1087
 40000,0.0015,-0.0009,-0.9911,0.0269,-0.0247,0.0058
 40000,-0.0012,-0.0014,-0.9987,0.0269,0.0592,0.2730
 40000,-0.0056,-0.0004,-1.0026,0.0803,-0.0247,-0.0476
 40000,0.0032,0.0076,-0.9965,-0.1945,0.0287,-0.1087
 40000,0.0010,0.0025,-0.9889,-0.1334,0.0287,-0.2079
 40000,0.0008,-0.0014,-0.9933,-0.0953,0.1737,-0.1698
 40000,-0.0004,-0.0031,-0.9931,0.0803,0.0974,-0.0629
 40000,-0.0007,-0.0016,-0.9989,-0.0495,-0.0705,0.0211
 40000,0.0015,-0.0058,-0.9979,0.1261,0.0974,-0.0782
 40000,0.0081,-0.0085,-1.0067,0.1108,-0.0476,0.0592
 40000,-0.0031,0.0042,-0.9994,-0.0113,-0.0018,-0.0476
 40000,0.0008,-0.0048,-0.9970,-0.0266,0.0363,-0.0171
 40000,-0.0014,0.0013,-0.9972,0.0116,-0.0934,0.0440
 40000,0.0005,0.0023,-0.9960,0.0345,-0.0247,-0.1240
 40000,0.0049,0.0003,-0.9948,0.0803,-0.0018,-0.2003
 40000,0.0037,-0.0014,-0.9992,0.1872,-0.0858,-0.2385
 40000,-0.0009,-0.0014,-1.0045,0.1490,-0.0858,-0.1163
 40000,-0.0004,-0.0004,-1.0104,-0.0953,0.1127,-0.0400
 40000,-0.0009,0.0047,-1.0036,-0.0113,-0.0858,0.0058
 40000,-0.0017,-0.0009,-1.0004,-0.0037,0.0440,-0.1850
 40000,0.0047,0.0018,-0.9914,-0.0037,0.0592,-0.0782
 40000,0.0047,0.0047,-0.9936,-0.1563,0.0745,-0.2079
 40000,0.0054,0.0008,-0.9955,0.0574,0.0898,-0.0553
 40000,-0.0009,0.0010,-0.9933,-0.0189,0.1737,-0.1621
 40000,0.0042,-0.0055,-1.0004,0.0574,-0.0247,-0.1240
 40000,0.0008,-0.0016,-0.9943,-0.0647,0.0974,0.1356
 40000,-0.0012,-0.0058,-0.9931,0.0956,0.1050,-0.2079
 40000,0.0008,0.0032,-1.0036,0.0345,0.1356,-0.0018
 40000,0.0013,-0.0029,-0.9989,-0.0647,0.0821,0.0516
 40000,0.0013,-0.0031,-0.9921,-0.0189,0.0898,-0.0171
 40000,0.0013,-0.0021,-0.9938,0.0192,0.0363,-0.1698
 40000,-0.0007,0.0020,-1.0045,-0.0495,0.1127,-0.0934
--- a/simul/assets/probe.mtl
+++ b/simul/assets/probe.mtl
@ -1,12 +0,0 @@
 # Blender 5.1.0 MTL File: 'None'
 # www.blender.org
 newmtl Material
 Ns 250.000000
 Ka 1.000000 1.000000 1.000000
 Kd 0.800000 0.800000 0.800000
 Ks 0.500000 0.500000 0.500000
 Ke 0.000000 0.000000 0.000000
 Ni 1.500000
 d 1.000000
 illum 2
--- a/simul/assets/probe.obj
+++ b/simul/assets/probe.obj
@ -1,400 +0,0 @@
 # Blender 5.1.0
 # www.blender.org
 mtllib probe.mtl
 o Cube
 v 1.000000 0.101130 -1.527883
 v 1.000000 -0.101130 -1.527883
 v 1.000000 0.101130 1.527883
 v 1.000000 -0.101130 1.527883
 v -1.000000 0.101130 -1.527883
 v -1.000000 -0.101130 -1.527883
 v -1.000000 0.101130 1.527883
 v -1.000000 -0.101130 1.527883
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 v -0.174677 0.381848 -0.777891
 v -0.107153 0.449372 -0.777891
 vn -0.0000 -0.0000 1.0000
 vn -1.0000 -0.0000 -0.0000
 vn -0.0000 -1.0000 -0.0000
 vn 1.0000 -0.0000 -0.0000
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 vn 0.0938 -0.9444 0.3152
 vn 0.6679 -0.6898 0.2793
 vn -0.2467 -0.9491 0.1958
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 vn 0.8895 -0.3549 0.2878
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--- a/simul/src/m3x3.rs
+++ b/simul/src/m3x3.rs
@ -1,86 +0,0 @@
 use std::ops::{Mul, MulAssign};
 use crate::v3::V3;
 #[derive(Clone, Copy, Debug)]
 pub struct M3x3([[f64; 3]; 3]);
 impl M3x3 {
    pub fn init(v: f64) -> Self {
        Self([[v; 3]; 3])
    }
    pub fn identity() -> Self {
        Self([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]])
    }
    pub fn new(v: [[f64; 3]; 3]) -> Self {
        Self(v)
    }
    pub fn from_v3_rot(rot: V3) -> Self {
        M3x3::new_rotate_x(rot.0) * M3x3::new_rotate_y(rot.1) * M3x3::new_rotate_z(rot.2)
    }
    #[rustfmt::skip]
    pub fn new_rotate_x(angle: f64) -> Self {
        Self([
            [1.0,             0.0,              0.0],
            [0.0, f64::cos(angle), -f64::sin(angle)],
            [0.0, f64::sin(angle),  f64::cos(angle)],
        ])
    }
    #[rustfmt::skip]
    pub fn new_rotate_y(angle: f64) -> Self {
        Self([
            [ f64::cos(angle), 0.0, f64::sin(angle)],
            [             0.0, 1.0,             0.0],
            [-f64::sin(angle), 0.0, f64::cos(angle)],
        ])
    }
    #[rustfmt::skip]
    pub fn new_rotate_z(angle: f64) -> Self {
        Self([
            [f64::cos(angle), -f64::sin(angle), 0.0],
            [f64::sin(angle),  f64::cos(angle), 0.0],
            [            0.0,              0.0, 1.0],
        ])
    }
 }
 impl Mul for M3x3 {
    type Output = M3x3;
    fn mul(self, rhs: M3x3) -> Self::Output {
        let mut output = M3x3([[0.0; 3]; 3]);
        for i in 0..3 {
            for j in 0..3 {
                let v = &mut output.0[i][j];
                for k in 0..3 {
                    *v += self.0[i][k] * rhs.0[k][j];
                }
            }
        }
        output
    }
 }
 impl Mul<V3> for M3x3 {
    type Output = V3;
    fn mul(self, rhs: V3) -> Self::Output {
        let V3(x, y, z) = rhs;
        let [[xx, xy, xz], [yx, yy, yz], [zx, zy, zz]] = self.0;
        V3(
            x * xx + y * xy + z * xz,
            x * yx + y * yy + z * yz,
            x * zx + y * zy + z * zz,
        )
    }
 }
 impl MulAssign for M3x3 {
    fn mul_assign(&mut self, rhs: Self) {
        *self = *self * rhs;
    }
 }
--- a/simul/src/main.rs
+++ b/simul/src/main.rs
@ -1,237 +0,0 @@
 #![allow(unused)]
 use obj::{Obj, load_obj};
 use serde::Deserialize;
 use std::{collections::HashMap, f64::consts::PI, fs::File, io::BufReader};
 use crate::{
    m3x3::M3x3,
    quats::RadianQuat,
    scene::{Model, Scene},
    tri2::Tri2,
    tri3::Tri3,
    v2::V2,
    v3::V3,
    window::{Color, Event, Keycode, Renderer, Window},
 };
 mod m3x3;
 mod quats;
 mod scene;
 mod tri2;
 mod tri3;
 mod v2;
 mod v3;
 mod window;
 struct AssetStore {
    assets: HashMap<String, Obj>,
 }
 impl AssetStore {
    fn new() -> Self {
        Self {
            assets: HashMap::new(),
        }
    }
    fn load<S: Into<String>>(&mut self, path: S) -> Obj {
        let path = path.into();
        if self.assets.contains_key(&path) {
            return self.assets.get(&path).unwrap().clone();
        }
        let asset: Obj = load_obj(BufReader::new(File::open(&path).unwrap())).unwrap();
        self.assets.insert(path, asset.clone());
        asset
    }
    fn get<S: Into<String>>(&self, path: S) -> Option<Obj> {
        let path = path.into();
        self.assets.get(&path).cloned()
    }
 }
 pub struct App {
    assets: AssetStore,
    rot: V3,
    motion_dev: MotionDevice,
    dev_rot_rot: M3x3,
    dev_accel_rot: M3x3,
 }
 impl App {
    pub fn new(motion_dev: MotionDevice) -> Self {
        Self {
            assets: AssetStore::new(),
            rot: V3::init(0.0),
            motion_dev,
            dev_rot_rot: M3x3::identity(),
            dev_accel_rot: M3x3::identity(),
        }
    }
 }
 fn calculate_accel_axis_angle(axis: f64, tangent0: f64, tangent1: f64) -> f64 {
    (axis / (tangent0 * tangent0 + tangent1 * tangent1).sqrt()).atan()
 }
 impl<R: Renderer> window::App<R> for App {
    fn update(&mut self, delta_time: std::time::Duration) {
        self.rot.0 += PI * 2.0 * delta_time.as_secs_f64() * 0.05;
        // self.rot.2 += PI * 2.0 * delta_time.as_secs_f64() * 0.2;
        self.motion_dev
            .update(delta_time.as_micros() as i64, |m, dt| {
                self.dev_rot_rot *= M3x3::new_rotate_x(m.rotation().0 * dt);
                self.dev_rot_rot *= M3x3::new_rotate_y(m.rotation().1 * dt);
                self.dev_rot_rot *= M3x3::new_rotate_z(m.rotation().2 * dt);
                self.dev_accel_rot = M3x3::new_rotate_x(calculate_accel_axis_angle(
                    m.accel().0,
                    m.accel().1,
                    m.accel().2,
                ));
                self.dev_accel_rot *= M3x3::new_rotate_y(calculate_accel_axis_angle(
                    m.accel().1,
                    m.accel().0,
                    m.accel().2,
                ));
            });
    }
    fn render(&self, r: &mut R) {
        let mut scene = Scene::new();
        let mut cube = Model::new();
        let cube_obj = self.assets.get("assets/cube.obj").unwrap();
        cube.add_obj(&cube_obj, Color::RGB(165, 125, 165))
            .rotate_by_m3x3(self.dev_rot_rot)
            .scale(V3(0.4, 0.4, 0.4))
            .translate(V3(0.0, 0.0, 1.0));
        scene.draw_model(cube);
        let probe_obj = self.assets.get("assets/probe.obj").unwrap();
        let mut probe_rot = Model::new();
        probe_rot
            .add_obj(&probe_obj, Color::RGB(100, 160, 100))
            .rotate_by_m3x3(M3x3::new_rotate_x(PI * 1.5))
            .rotate_by_m3x3(M3x3::new_rotate_y(PI))
            .rotate_by_m3x3(self.dev_rot_rot)
            .scale(V3(0.15, 0.15, 0.15))
            .translate(V3(1.5, -0.8, 1.0));
        scene.draw_model(probe_rot);
        let mut probe_accel = Model::new();
        probe_accel
            .add_obj(&probe_obj, Color::RGB(160, 100, 100))
            .rotate_by_m3x3(M3x3::new_rotate_x(PI * 1.5))
            .rotate_by_m3x3(M3x3::new_rotate_y(PI))
            .rotate_by_m3x3(self.dev_accel_rot)
            .scale(V3(0.15, 0.15, 0.15))
            .translate(V3(1.0, -0.8, 1.0));
        scene.draw_model(probe_accel);
        scene.render(
            r,
            V3(0.0, 0.0, -1.0),
            M3x3::from_v3_rot(V3(0.0, 0.0, 0.0)),
            V3(0.0, 0.0, 0.0),
        );
        let mut draw_v3 = |name: &str, v: V3, pos: V2| {
            r.draw_text(
                format!("{}: [{: >7.2}, {: >7.2}, {: >7.2}]", name, v.0, v.1, v.2).as_str(),
                pos + V2(0.002, -0.002),
                Color::BLACK,
            );
            r.draw_text(
                format!("{}: [{: >7.2}, {: >7.2}, {: >7.2}]", name, v.0, v.1, v.2).as_str(),
                pos,
                Color::WHITE,
            );
        };
        let m = self.motion_dev.current();
        draw_v3("acceleration", m.accel(), V2(-0.99, -0.5));
        draw_v3("    rotation", m.rotation(), V2(-0.99, -0.53));
    }
    fn event(&mut self, event: Event) {}
 }
 #[derive(Debug, Deserialize)]
 pub struct Measurement {
    time_delta_us: i64,
    accel_x: f64,
    accel_y: f64,
    accel_z: f64,
    rotation_x: f64,
    rotation_y: f64,
    rotation_z: f64,
 }
 impl Measurement {
    pub fn accel(&self) -> V3 {
        V3(self.accel_x, self.accel_y, self.accel_z)
    }
    pub fn rotation(&self) -> V3 {
        V3(self.rotation_x, self.rotation_y, self.rotation_z)
    }
 }
 pub struct MotionDevice {
    measurements: Vec<Measurement>,
    idx: usize,
    timer_us: i64,
 }
 impl MotionDevice {
    pub fn new(measurements: Vec<Measurement>) -> Self {
        Self {
            measurements,
            idx: 0,
            timer_us: 0,
        }
    }
    pub fn update<F: FnMut(&Measurement, f64) -> ()>(&mut self, delta_time_us: i64, mut func: F) {
        self.timer_us += delta_time_us;
        while self.timer_us >= self.measurements[self.idx].time_delta_us {
            func(
                &self.measurements[self.idx],
                self.measurements[self.idx].time_delta_us as f64 / 1_000_000.0,
            );
            self.timer_us -= self.measurements[self.idx].time_delta_us;
            self.step();
        }
    }
    fn step(&mut self) {
        self.idx += 1;
        if self.idx >= self.measurements.len() {
            self.idx = 0;
        }
    }
    pub fn current(&self) -> &Measurement {
        &self.measurements[self.idx]
    }
 }
 fn main() {
    let mut reader = csv::Reader::from_path("assets/inputs_still.csv").unwrap();
    let mut measurements = Vec::<Measurement>::new();
    for entry in reader.deserialize::<Measurement>() {
        let entry: Measurement = entry.unwrap();
        measurements.push(entry);
    }
    let motion_dev = MotionDevice::new(measurements);
    let mut window = Window::new();
    let mut app = App::new(motion_dev);
    app.assets.load("assets/cube.obj");
    app.assets.load("assets/probe.obj");
    window.run(&mut app);
 }
--- a/simul/src/quats.rs
+++ b/simul/src/quats.rs
@ -1,54 +0,0 @@
 use crate::v3::V3;
 const I: V3 = V3(1.0, 0.0, 0.0);
 const J: V3 = V3(0.0, 1.0, 0.0);
 const K: V3 = V3(0.0, 0.0, 1.0);
 #[derive(Copy, Clone)]
 pub struct RadianQuat {
    pub rad: f64,
    pub u: V3,
 }
 #[derive(Copy, Clone)]
 pub struct Quat {
    pub a: f64,
    pub u: V3,
 }
 impl Quat {
    fn len(&self) -> f64 {
        (self.a.powi(2) + self.u.0.powi(2) + self.u.1.powi(2) + self.u.2.powi(2)).sqrt()
    }
    fn as_unit(&self) -> Quat {
        let len = self.len();
        Quat {
            a: self.a / len,
            u: self.u.map(|x| x / len),
        }
    }
 }
 impl RadianQuat {
    pub fn as_quat(&self) -> Quat {
        let RadianQuat { rad, u } = self.as_unit();
        Quat {
            a: rad.cos(),
            u: u.map(|x| x * rad.sin()),
        }
    }
    fn as_unit(&self) -> Self {
        let len = self.u.0 + self.u.1 + self.u.2;
        let u = self.u.map(|x| x / len);
        RadianQuat { rad: self.rad, u }
    }
    pub fn as_inverse_quat(&self) -> Quat {
        let RadianQuat { rad, u } = self.as_unit();
        let u = u.map(|x| x * -1.0 * rad.sin());
        Quat { a: -rad.cos(), u }
    }
    pub fn vector_quat(&self) -> V3 {
        self.u
    }
 }
--- a/simul/src/scene.rs
+++ b/simul/src/scene.rs
@ -1,171 +0,0 @@
 use std::f64::consts::PI;
 use obj::Obj;
 use crate::{
    m3x3::M3x3,
    quats::RadianQuat,
    tri2::Tri2,
    tri3::Tri3,
    v3::V3,
    window::{Color, Renderer},
 };
 pub struct Scene {
    tris: Vec<(Tri3, V3, Color)>,
 }
 impl Scene {
    pub fn new() -> Self {
        Self { tris: Vec::new() }
    }
    pub fn render(
        &self,
        r: &mut impl Renderer,
        camera_pos: V3,
        camera_rot: M3x3,
        screen_rel_pos: V3,
    ) {
        let mut indices_with_scores = self
            .tris
            .iter()
            .enumerate()
            .map(|(i, (tri, ..))| {
                let mut score = (camera_pos - tri.middle()).len();
                (i, score)
            })
            .rev()
            .collect::<Vec<_>>();
        indices_with_scores.sort_by(|a, b| b.1.total_cmp(&a.1));
        for (i, _) in indices_with_scores {
            let (tri3, normal, color) = &self.tris[i];
            // if !(tri3.0.2 >= -1.0 && tri3.1.2 >= -1.0 && tri3.2.2 >= -1.0) {
            //     continue;
            // }
            if normal.dot(camera_pos - tri3.0) < 0.0 {
                continue;
            }
            let light = V3(1.0, 1.0, -1.0);
            let exposure = 1.5 - normal.angle(light) / PI;
            let (red, green, blue) = color.rgb();
            let color = Color::RGB(
                (red as f64 * exposure).clamp(0.0, 255.0) as _,
                (green as f64 * exposure).clamp(0.0, 255.0) as _,
                (blue as f64 * exposure).clamp(0.0, 255.0) as _,
            );
            let tri2 = tri3.project_2d(camera_pos, camera_rot, screen_rel_pos);
            r.draw_triangles(&[tri2], color);
            // r.draw_line(tri2.0, tri2.1, Color::BLACK);
            // r.draw_line(tri2.1, tri2.2, Color::BLACK);
            // r.draw_line(tri2.2, tri2.0, Color::BLACK);
        }
    }
    pub fn draw_model(&mut self, model: Model) {
        self.tris.extend(model.tris());
    }
    pub fn draw_triangle(&mut self, tri: Tri3, color: Color) {
        self.tris.push((tri, tri.normal(), color));
    }
 }
 pub struct Model {
    tris: Vec<(Tri3, V3, Color)>,
 }
 impl Model {
    pub fn new() -> Self {
        Self { tris: Vec::new() }
    }
    pub fn tris(&self) -> impl Iterator<Item = (Tri3, V3, Color)> {
        self.tris.iter().copied()
    }
    pub fn translate(&mut self, offset: V3) -> &mut Self {
        for tri in &mut self.tris {
            tri.0 = tri.0.translate(offset);
        }
        self
    }
    pub fn rotate_by_m3x3(&mut self, rot: M3x3) -> &mut Self {
        for tri in &mut self.tris {
            tri.0 = tri.0.rotate_by_m3x3(rot);
            tri.1 = tri.1.rotate_by_m3x3(rot);
        }
        self
    }
    pub fn rotate_by_quat(&mut self, rot: RadianQuat) -> &mut Self {
        for tri in &mut self.tris {
            tri.0 = tri.0.rotate_by_quat(rot);
            tri.1 = tri.1.rotate_by_quat(rot);
        }
        self
    }
    pub fn scale(&mut self, scale: V3) -> &mut Self {
        for tri in &mut self.tris {
            tri.0 = tri.0.scale(scale);
        }
        self
    }
    pub fn add_tri(&mut self, tri: Tri3, color: Color) -> &mut Self {
        self.tris.push((tri, tri.normal(), color));
        self
    }
    pub fn add_obj(&mut self, obj: &Obj, color: Color) -> &mut Self {
        // if our triangle definition convention is [0, 1, 2]
        // obj's is [2, 1, 0].
        //
        // likewise, if our coordinate system is [x, y, z],
        // obj's is [x, z, y].
        let count = obj.indices.len() / 3;
        for i in 0..count {
            let v2 = obj.vertices[obj.indices[i * 3] as usize];
            let v1 = obj.vertices[obj.indices[i * 3 + 1] as usize];
            let v0 = obj.vertices[obj.indices[i * 3 + 2] as usize];
            let tri = Tri3(
                V3(
                    v0.position[0] as _,
                    v0.position[2] as _,
                    v0.position[1] as _,
                ),
                V3(
                    v1.position[0] as _,
                    v1.position[2] as _,
                    v1.position[1] as _,
                ),
                V3(
                    v2.position[0] as _,
                    v2.position[2] as _,
                    v2.position[1] as _,
                ),
            );
            let normal = V3(v0.normal[0] as _, v0.normal[2] as _, v0.normal[1] as _)
                + V3(v1.normal[0] as _, v1.normal[2] as _, v1.normal[1] as _)
                + V3(v2.normal[0] as _, v2.normal[2] as _, v2.normal[1] as _);
            self.tris.push((tri, normal, color));
        }
        self
    }
 }
--- a/simul/src/tri2.rs
+++ b/simul/src/tri2.rs
@ -1,4 +0,0 @@
 use crate::v2::V2;
 #[derive(Clone, Copy, Debug)]
 pub struct Tri2(pub V2, pub V2, pub V2);
--- a/simul/src/tri3.rs
+++ b/simul/src/tri3.rs
@ -1,60 +0,0 @@
 use crate::{m3x3::M3x3, quats::RadianQuat, tri2::Tri2, v3::V3};
 #[derive(Clone, Copy, Debug)]
 pub struct Tri3(pub V3, pub V3, pub V3);
 impl Tri3 {
    pub fn init(v: V3) -> Self {
        Self(v, v, v)
    }
    pub fn map<F: Fn(V3) -> V3>(&self, func: F) -> Self {
        Self(func(self.0), func(self.1), func(self.2))
    }
    pub fn zip<F: Fn(V3, V3) -> V3>(&self, rhs: Tri3, func: F) -> Self {
        Self(
            func(self.0, rhs.0),
            func(self.1, rhs.1),
            func(self.2, rhs.2),
        )
    }
    pub fn rotate_by_v3(&self, rot: V3) -> Self {
        self.map(|v| v.rotate_by_v3(rot))
    }
    pub fn rotate_by_m3x3(&self, rot: M3x3) -> Self {
        self.map(|v| v.rotate_by_m3x3(rot))
    }
    pub fn rotate_by_quat(&self, rot: RadianQuat) -> Self {
        self.map(|v| v.rotate_by_quat(rot))
    }
    pub fn project_2d(&self, camera_pos: V3, camera_rot: M3x3, screen_rel_pos: V3) -> Tri2 {
        Tri2(
            self.0.project_2d(camera_pos, camera_rot, screen_rel_pos),
            self.1.project_2d(camera_pos, camera_rot, screen_rel_pos),
            self.2.project_2d(camera_pos, camera_rot, screen_rel_pos),
        )
    }
    pub fn translate(&self, offset: V3) -> Self {
        self.map(|v| v.translate(offset))
    }
    pub fn scale(&self, scale: V3) -> Self {
        self.map(|v| v.scale(scale))
    }
    pub fn points(&self) -> [V3; 3] {
        [self.0, self.1, self.2]
    }
    pub fn normal(&self) -> V3 {
        (self.1 - self.0).cross(self.2 - self.1)
    }
    pub fn middle(&self) -> V3 {
        (self.0 + self.1 + self.2).map(|v| v / 3.0)
    }
 }
--- a/simul/src/v2.rs
+++ b/simul/src/v2.rs
@ -1,84 +0,0 @@
 use std::ops::{Add, Div, Mul, Neg, Sub};
 #[derive(Clone, Copy, Debug)]
 pub struct V2(pub f64, pub f64);
 impl V2 {
    pub fn init(v: f64) -> Self {
        Self(v, v)
    }
    pub fn map<F: Fn(f64) -> f64>(&self, func: F) -> Self {
        Self(func(self.0), func(self.1))
    }
    pub fn zip<F: Fn(f64, f64) -> f64>(&self, rhs: Self, func: F) -> Self {
        Self(func(self.0, rhs.0), func(self.1, rhs.1))
    }
    pub fn iter(&self) -> impl Iterator<Item = f64> {
        [self.0, self.1].into_iter()
    }
    pub fn reduce<F: Fn(f64, f64) -> f64>(&self, initial: f64, func: F) -> f64 {
        let acc = initial;
        let acc = func(acc, self.0);
        func(acc, self.1)
    }
    pub fn normal(&self) -> V2 {
        V2(-self.1, self.0)
    }
    pub fn translate(&self, trans: V2) -> V2 {
        *self + trans
    }
    pub fn len(&self) -> f64 {
        self.map(|v| v.powi(2)).reduce(0.0, |acc, v| acc + v)
    }
    pub fn unit(&self) -> V2 {
        *self / self.len()
    }
 }
 impl Add for V2 {
    type Output = V2;
    fn add(self, rhs: V2) -> Self::Output {
        self.zip(rhs, |a, b| a + b)
    }
 }
 impl Sub for V2 {
    type Output = V2;
    fn sub(self, rhs: V2) -> Self::Output {
        self.zip(rhs, |a, b| a - b)
    }
 }
 impl Mul<f64> for V2 {
    type Output = V2;
    fn mul(self, rhs: f64) -> Self::Output {
        self.map(|v| v * rhs)
    }
 }
 impl Div<f64> for V2 {
    type Output = V2;
    fn div(self, rhs: f64) -> Self::Output {
        self.map(|v| v / rhs)
    }
 }
 impl Neg for V2 {
    type Output = V2;
    fn neg(self) -> Self::Output {
        V2::init(0.0) - self
    }
 }
--- a/simul/src/v3.rs
+++ b/simul/src/v3.rs
@ -1,141 +0,0 @@
 use crate::{
    m3x3::M3x3,
    quats::{Quat, RadianQuat},
    v2::V2,
 };
 use std::ops::{Add, Div, Mul, Neg, Sub};
 #[derive(Clone, Copy, Debug)]
 pub struct V3(pub f64, pub f64, pub f64);
 impl V3 {
    pub fn init(v: f64) -> Self {
        Self(v, v, v)
    }
    pub fn map<F: Fn(f64) -> f64>(&self, func: F) -> Self {
        Self(func(self.0), func(self.1), func(self.2))
    }
    pub fn zip<F: Fn(f64, f64) -> f64>(&self, rhs: V3, func: F) -> Self {
        Self(
            func(self.0, rhs.0),
            func(self.1, rhs.1),
            func(self.2, rhs.2),
        )
    }
    pub fn iter(&self) -> impl Iterator<Item = f64> {
        [self.0, self.1, self.2].into_iter()
    }
    pub fn reduce<F: Fn(f64, f64) -> f64>(&self, initial: f64, func: F) -> f64 {
        let mut acc = initial;
        for v in self.iter() {
            acc = func(acc, v);
        }
        acc
    }
    pub fn cross(&self, rhs: V3) -> Self {
        let V3(ax, ay, az) = self;
        let V3(bx, by, bz) = rhs;
        V3(ay * bz - az * by, az * bx - ax * bz, ax * by - ay * bx)
    }
    pub fn rotate_by_v3(&self, rot: V3) -> Self {
        M3x3::new_rotate_z(rot.2)
            * (M3x3::new_rotate_y(rot.1) * (M3x3::new_rotate_x(rot.0) * *self))
    }
    pub fn rotate_by_quat(&self, rot: RadianQuat) -> Self {
        let u = rot.vector_quat();
        let theta = rot.rad;
        let q_real = theta.cos();
        let q_vector = u * theta.sin();
        let p = *self;
        let r = p
            + (u.cross(p)) * 2.0 * theta.cos() * theta.sin()
            + (u * 2.0 * theta.sin().powi(2)).cross(u.cross(p));
        r
    }
    pub fn rotate_by_m3x3(&self, rot: M3x3) -> Self {
        rot * *self
    }
    /// See https://en.wikipedia.org/wiki/3D_projection#Mathematical_formula
    /// for details on the implementation.
    pub fn project_2d(&self, camera_pos: V3, camera_rot: M3x3, screen_rel_pos: V3) -> V2 {
        let a = *self;
        let c = camera_pos;
        let d = (a - c).rotate_by_m3x3(camera_rot);
        let e = screen_rel_pos - c;
        V2(e.2 / d.2 * d.0 + e.0, e.2 / d.2 * d.1 + e.1)
    }
    pub fn angle(&self, rhs: Self) -> f64 {
        (self.dot(rhs) / (self.len() * rhs.len())).acos()
    }
    pub fn dot(&self, rhs: Self) -> f64 {
        self.zip(rhs, |a, b| a * b).reduce(0.0, |acc, v| acc + v)
    }
    pub fn translate(&self, offset: Self) -> Self {
        *self + offset
    }
    pub fn scale(&self, scale: Self) -> Self {
        self.zip(scale, |a, b| a * b)
    }
    pub fn len(&self) -> f64 {
        self.map(|v| v.powi(2)).reduce(0.0, |acc, v| acc + v).sqrt()
    }
    pub fn unit(&self) -> V3 {
        *self / self.len()
    }
 }
 impl Add for V3 {
    type Output = V3;
    fn add(self, rhs: V3) -> Self::Output {
        self.zip(rhs, |a, b| a + b)
    }
 }
 impl Sub for V3 {
    type Output = V3;
    fn sub(self, rhs: V3) -> Self::Output {
        self.zip(rhs, |a, b| a - b)
    }
 }
 impl Mul<f64> for V3 {
    type Output = V3;
    fn mul(self, rhs: f64) -> Self::Output {
        self.map(|v| v * rhs)
    }
 }
 impl Div<f64> for V3 {
    type Output = V3;
    fn div(self, rhs: f64) -> Self::Output {
        self.map(|v| v / rhs)
    }
 }
 impl Neg for V3 {
    type Output = V3;
    fn neg(self) -> Self::Output {
        V3::init(0.0) - self
    }
 }
--- a/simul/src/window.rs
+++ b/simul/src/window.rs
@ -1,196 +0,0 @@
 use std::time::{Duration, Instant};
 use sdl3::{
    Sdl,
    event::Event as SdlEvent,
    render::{Canvas, FPoint, FRect, TextureQuery, Vertex, VertexIndices},
    ttf::Font,
    video::Window as SdlWindow,
 };
 pub use sdl3::{keyboard::Keycode, pixels::Color};
 use crate::{tri2::Tri2, v2::V2};
 pub static WIDTH: f64 = 1920.0;
 pub static HEIGHT: f64 = 1080.0;
 pub trait App<R: Renderer> {
    fn update(&mut self, delta_time: Duration);
    fn render(&self, r: &mut R);
    fn event(&mut self, event: Event);
 }
 pub trait Renderer {
    fn draw_rect(&mut self, pos: V2, size: V2, color: Color);
    fn draw_line(&mut self, from: V2, to: V2, color: Color);
    fn draw_triangles(&mut self, tris: &[Tri2], color: Color);
    fn draw_text(&mut self, text: &str, pos: V2, color: Color);
 }
 pub enum Event {
    KeyDown(Keycode),
    KeyUp(Keycode),
 }
 pub struct Window {
    sdl_cx: Sdl,
    canvas: Canvas<SdlWindow>,
    font: Box<Font<'static>>,
 }
 impl Window {
    pub fn new() -> Self {
        let sdl_cx = sdl3::init().unwrap();
        let ttf_cx = sdl3::ttf::init().unwrap();
        let video_subsystem = sdl_cx.video().unwrap();
        let window = video_subsystem
            .window("Game", WIDTH as u32, HEIGHT as u32)
            .position_centered()
            .build()
            .unwrap();
        let mut canvas = window.into_canvas();
        let font = Box::new(
            ttf_cx
                .load_font("/usr/share/fonts/TTF/FiraCode-Medium.ttf", 20.0)
                .unwrap(),
        );
        canvas.set_draw_color(Color::BLACK);
        canvas.clear();
        canvas.present();
        Self {
            sdl_cx,
            canvas,
            font,
        }
    }
    pub fn run(&mut self, app: &mut impl App<Self>) {
        let mut event_pump = self.sdl_cx.event_pump().unwrap();
        let mut time_before = Instant::now();
        let time_per_frame = Duration::from_secs_f64(1.0 / 60.0);
        let mut print_fps_timer = Instant::now();
        let mut fps_count = 0;
        'running: loop {
            for event in event_pump.poll_iter() {
                match event {
                    SdlEvent::Quit { .. }
                    | SdlEvent::KeyDown {
                        keycode: Some(Keycode::Escape),
                        ..
                    } => break 'running,
                    SdlEvent::KeyDown {
                        keycode: Some(key), ..
                    } => app.event(Event::KeyDown(key)),
                    SdlEvent::KeyUp {
                        keycode: Some(key), ..
                    } => app.event(Event::KeyUp(key)),
                    _ => {}
                }
            }
            let time_now = Instant::now();
            let delta_time = time_now - time_before;
            time_before = time_now;
            app.update(delta_time);
            self.canvas.set_draw_color(Color::RGB(30, 30, 30));
            self.canvas.clear();
            app.render(self);
            self.canvas.present();
            fps_count += 1;
            if (time_now - print_fps_timer).as_secs_f64() > 1.0 {
                println!("fps: {fps_count}");
                fps_count = 0;
                print_fps_timer = time_now;
            }
            if delta_time < time_per_frame {
                std::thread::sleep(time_per_frame - delta_time);
            }
        }
    }
    fn scale_w2s(&self, v: V2) -> V2 {
        let factor = WIDTH / 2.0;
        V2(v.0 * factor, v.1 * factor)
    }
    fn translate_w2s(&self, v: V2) -> V2 {
        let aspect_ratio_h2w = HEIGHT / WIDTH;
        let middle = V2(1.0, 1.0 * aspect_ratio_h2w);
        V2(v.0 + middle.0, middle.1 - v.1)
    }
    fn point_w2s(&self, v: V2) -> V2 {
        self.scale_w2s(self.translate_w2s(v))
    }
 }
 impl Renderer for Window {
    fn draw_rect(&mut self, pos: V2, size: V2, color: Color) {
        let size = self.scale_w2s(size);
        let pos = self.point_w2s(pos).translate(V2(0.0, -size.0));
        self.canvas.set_draw_color(color);
        self.canvas
            .fill_rect(FRect::new(pos.0 as _, pos.1 as _, size.0 as _, size.1 as _))
            .unwrap();
    }
    fn draw_line(&mut self, from: V2, to: V2, color: Color) {
        self.canvas.set_draw_color(color);
        self.canvas
            .draw_line(self.point_w2s(from), self.point_w2s(to))
            .unwrap();
    }
    fn draw_triangles(&mut self, tris: &[Tri2], color: Color) {
        let vertices = tris
            .iter()
            .flat_map(|t| [t.0, t.1, t.2])
            .map(|p| self.point_w2s(p))
            .map(|p| Vertex {
                position: p.into(),
                color: color.into(),
                tex_coord: FPoint::new(0.0, 0.0),
            })
            .collect::<Vec<_>>();
        self.canvas
            .render_geometry(&vertices, None, VertexIndices::Sequential)
            .unwrap();
    }
    fn draw_text(&mut self, text: &str, pos: V2, color: Color) {
        let texture_creator = self.canvas.texture_creator();
        let surface = self.font.render(text).blended(color).unwrap();
        let texture = texture_creator
            .create_texture_from_surface(&surface)
            .unwrap();
        let TextureQuery { width, height, .. } = texture.query();
        let pos = self.point_w2s(pos);
        self.canvas.copy(
            &texture,
            None,
            FRect {
                x: pos.0 as _,
                y: pos.1 as _,
                w: width as _,
                h: height as _,
            },
        );
    }
 }
 impl From<V2> for FPoint {
    fn from(value: V2) -> Self {
        FPoint::new(value.0 as _, value.1 as _)
    }
 }