diff --git a/simul/.gitignore b/simul/.gitignore
new file mode 100644
index 0000000..2f7896d
--- /dev/null
+++ b/simul/.gitignore
@@ -0,0 +1 @@
+target/
diff --git a/simul/Cargo.lock b/simul/Cargo.lock
new file mode 100644
index 0000000..017a1b2
--- /dev/null
+++ b/simul/Cargo.lock
@@ -0,0 +1,66 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 4
+
+[[package]]
+name = "bitflags"
+version = "2.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "843867be96c8daad0d758b57df9392b6d8d271134fce549de6ce169ff98a92af"
+
+[[package]]
+name = "lazy_static"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
+
+[[package]]
+name = "libc"
+version = "0.2.184"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "48f5d2a454e16a5ea0f4ced81bd44e4cfc7bd3a507b61887c99fd3538b28e4af"
+
+[[package]]
+name = "sdl3"
+version = "0.17.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dce0693cede7f7901e968e5539f87174d0fb5fac5d489a3e3be52b2b4a0b49c5"
+dependencies = [
+ "bitflags",
+ "lazy_static",
+ "libc",
+ "sdl3-image-sys",
+ "sdl3-sys",
+ "sdl3-ttf-sys",
+]
+
+[[package]]
+name = "sdl3-image-sys"
+version = "0.6.1+SDL-image-3.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f61a8cc9c72e2cab2e500752f513f65043ff1d36f994b90c7b423abcb796330d"
+dependencies = [
+ "sdl3-sys",
+]
+
+[[package]]
+name = "sdl3-sys"
+version = "0.6.1+SDL-3.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d73fc820b0b6b9bd0557de7b799ec9da1ca4f35fcd1cb42f7ceb85e640d1477"
+
+[[package]]
+name = "sdl3-ttf-sys"
+version = "0.6.0+SDL-ttf-3.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c30da3dcd7e062f19350b47a532f7629c42801b801687535fd31e8ba2adfd71d"
+dependencies = [
+ "sdl3-sys",
+]
+
+[[package]]
+name = "simul"
+version = "0.1.0"
+dependencies = [
+ "sdl3",
+]
diff --git a/simul/Cargo.toml b/simul/Cargo.toml
new file mode 100644
index 0000000..5666a20
--- /dev/null
+++ b/simul/Cargo.toml
@@ -0,0 +1,7 @@
+[package]
+name = "simul"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+sdl3 = { version = "0.17.3", features = ["ttf", "image"] }
diff --git a/simul/inputs_moving.csv b/simul/inputs_moving.csv
new file mode 100644
index 0000000..f02d05c
--- /dev/null
+++ b/simul/inputs_moving.csv
@@ -0,0 +1,202 @@
+time_delta_us,accel_x,accel_y,accel_z,rotation_x,rotation_y,rotation_z
+40027,0.0013,0.0035,-1.0068,0.0266,-0.0666,0.1786
+39993,0.0021,0.0016,-1.0038,-0.0803,-0.1582,-0.1191
+40002,0.0006,0.0021,-0.9960,0.0953,0.1395,-0.0504
+39998,-0.0021,-0.0006,-1.0058,-0.1032,0.0250,0.1710
+40000,-0.0028,0.0038,-0.9975,0.0342,-0.0208,0.0565
+40000,-0.0036,0.0016,-1.0021,-0.0192,-0.0971,-0.0962
+40000,0.0006,0.0018,-1.0038,-0.0040,0.1624,0.1328
+40000,-0.0026,-0.0001,-0.9987,-0.0956,0.0250,-0.0656
+40000,-0.0060,-0.0006,-1.0048,-0.0803,0.1166,-0.1420
+40000,-0.0014,-0.0001,-0.9967,0.0647,0.0632,-0.2260
+40000,-0.0014,0.0023,-1.0002,-0.0574,-0.0208,-0.0962
+40000,-0.0072,-0.0004,-1.0053,0.0800,0.2082,0.0183
+40000,-0.0026,-0.0014,-0.9953,-0.1490,0.0632,0.0260
+40000,0.0018,0.0064,-1.0019,-0.0040,0.0021,0.0947
+40000,-0.0036,0.0038,-1.0068,-0.0421,0.1090,0.0183
+40000,0.0025,0.0016,-1.0021,0.1334,0.0250,-0.1573
+40000,0.0052,0.0008,-1.0075,-0.0574,-0.0437,0.2626
+40000,0.0030,0.0064,-0.9936,-0.0345,0.0632,0.0183
+40000,0.0023,-0.0033,-0.9992,-0.0498,0.0403,0.1252
+40000,0.0025,-0.0043,-0.9914,0.0647,-0.0284,0.1634
+40000,-0.0014,-0.0021,-0.9970,0.0724,-0.0513,0.2321
+40000,0.0016,0.0008,-1.0007,-0.1414,0.0174,0.0107
+40000,0.0003,-0.0021,-0.9975,-0.0421,0.2006,0.0870
+40000,0.0008,-0.0019,-0.9992,-0.0803,0.0556,0.1176
+40000,-0.0045,0.0035,-1.0019,0.1105,0.1395,-0.0351
+40000,0.0003,-0.0023,-0.9989,0.1411,0.0174,0.0565
+40000,0.0001,0.0028,-0.9987,0.0724,-0.1505,-0.1802
+40000,0.0033,-0.0021,-1.0036,0.0266,0.1930,0.1023
+40000,0.0038,0.0008,-0.9997,0.2632,-0.4330,0.0641
+40000,0.0506,0.0018,-0.9723,1.6449,-50.5093,-13.0351
+40000,-0.0165,0.0047,-1.0971,-1.6757,-22.4635,-6.9511
+40000,-0.0099,-0.0607,-1.1467,-1.9505,-87.3337,-25.0046
+40000,-0.1339,-0.0102,-1.3625,-15.0727,7.4220,-5.1344
+40000,-0.1015,0.0746,-1.0260,8.1716,42.2082,-14.8595
+40000,-0.0197,0.0548,-1.1093,-1.8131,23.3762,2.8427
+40000,-0.0207,0.0292,-1.0282,-11.0879,49.5976,5.4763
+40000,-0.0124,0.0729,-0.9242,-1.3627,28.2388,-0.5008
+40000,0.0538,0.0453,-1.0246,-8.7292,14.4678,6.3542
+40000,0.0260,0.0030,-1.0094,-13.2940,31.6205,7.6748
+40000,0.0511,0.0279,-0.9621,-14.0879,14.4296,8.6595
+40000,0.0533,0.0069,-0.9987,7.7823,6.0785,9.6290
+40000,0.0399,0.0296,-0.8827,0.0876,8.6663,7.2779
+40000,0.0335,-0.0019,-0.8967,6.1182,-4.0818,4.8046
+40000,0.0169,0.0062,-0.8508,4.5304,-10.9902,0.3160
+40000,-0.0026,-0.0194,-0.8945,16.9044,-20.2421,0.9420
+40000,-0.0294,0.0487,-1.0195,-4.1872,-16.0208,-2.4092
+40000,-0.0807,0.0868,-1.0053,38.2861,-3.3337,-2.4092
+40000,-0.0358,-0.0204,-0.9194,4.2632,-19.5322,4.0260
+40000,0.0016,0.0284,-0.8576,-26.2024,0.3151,-13.6382
+40000,0.0228,0.0125,-1.0732,12.5380,12.4983,-5.4244
+40000,0.0558,-0.0111,-0.9826,34.8892,108.4831,38.9649
+40000,0.1119,0.0770,-1.1088,5.8510,124.6510,23.8656
+40000,0.3009,-0.0807,-0.9504,-14.6605,88.9869,24.7740
+40000,0.3265,-0.0128,-0.9577,8.7823,185.8571,73.5450
+40000,0.2774,-0.0180,-0.8342,-5.4467,168.5441,32.6672
+40000,0.4522,-0.0368,-0.8549,3.3014,215.2998,34.0794
+40000,0.6808,-0.0636,-0.7858,2.6907,124.4144,28.3618
+40000,0.6158,-0.0946,-0.7475,-12.0650,-55.9597,-23.1649
+40000,0.5628,-0.0148,-0.8654,-36.6528,-128.6086,-60.9206
+40000,0.5758,0.0035,-0.8957,2.6907,-141.8528,-42.7145
+40000,0.4034,0.0150,-0.9931,26.1869,-170.8681,-68.4626
+40000,0.4059,-0.0148,-0.8495,-9.6070,-160.1887,-47.1420
+40000,0.2604,0.0262,-1.0668,-4.7368,-139.3261,-32.8748
+40000,0.0936,0.0472,-1.0195,10.9197,-134.0895,-37.0046
+40000,0.0736,0.0033,-0.9955,11.4617,-137.9444,-34.0428
+40000,-0.0587,0.0074,-0.9960,13.9350,-130.5780,-28.4244
+40000,-0.1320,-0.0104,-1.0160,17.0113,-132.9979,-21.0809
+40000,-0.1264,-0.0229,-1.0241,20.2403,-140.0284,-11.3710
+40000,-0.3998,-0.0189,-0.9291,28.3548,-143.2803,-5.2412
+40000,-0.4491,-0.0834,-0.8935,28.5304,-75.5017,-19.8137
+40000,-0.4696,-0.1056,-0.8300,24.8892,-26.7612,-4.5771
+40000,-0.3866,-0.1662,-0.7995,16.0647,62.8800,28.3924
+40000,-0.2577,-0.1278,-0.8696,3.5915,185.0479,71.0412
+40000,-0.2492,-0.0719,-0.9184,31.5304,184.3533,75.5985
+40000,-0.2084,-0.1276,-0.7682,-10.5765,194.5060,50.3847
+40000,0.3248,-0.0622,-1.2599,17.6220,249.0021,69.4840
+40000,0.0782,-0.1164,-0.9130,18.7212,170.7426,37.2473
+40000,0.2545,-0.1032,-0.8903,-10.7673,243.8037,39.4534
+40000,0.5404,-0.0822,-0.9626,13.5380,219.1930,23.3084
+40000,0.6239,-0.0814,-0.8417,-28.2711,121.3762,19.2092
+40000,0.7325,-0.1137,-0.8869,6.0342,100.1166,21.4458
+40000,0.5870,-0.0917,-0.8246,18.7899,-14.4788,-8.5771
+40000,0.6219,-0.0827,-0.7807,0.5533,-116.4406,-44.3863
+40000,0.4671,-0.0692,-0.9194,15.1029,-203.8757,-72.9130
+40000,0.4164,-0.0941,-0.8449,27.5914,-209.9139,-91.2260
+40000,0.3453,-0.1056,-0.8674,-1.9811,-191.9597,-72.4779
+40000,0.1217,-0.0512,-0.9880,-11.5002,-168.3337,-45.4779
+40000,-0.0006,-0.0087,-1.0900,15.4464,-160.4025,-59.6992
+40000,0.0057,-0.0453,-1.0212,7.0800,-187.5017,-64.1115
+40000,-0.2084,-0.0563,-1.0414,15.9808,-130.6162,-44.8824
+40000,-0.2899,-0.0954,-0.9833,24.2937,-111.1734,-38.0122
+40000,-0.3231,-0.1710,-0.8544,13.7289,-33.3872,-17.9130
+40003,-0.1605,-0.2396,-0.8207,11.9044,74.3609,35.5679
+39997,-0.1205,-0.2047,-0.7714,-6.1108,202.8189,105.3542
+40000,-0.0517,-0.0783,-0.9357,-6.0727,249.0021,94.6672
+40000,0.1671,-0.0814,-0.9797,-28.2788,203.4220,75.2397
+40000,0.2320,-0.0453,-0.9850,-23.9963,210.0937,66.2626
+40000,0.4010,-0.0414,-1.0802,12.3777,180.9945,71.0565
+40000,0.3792,-0.1222,-0.8449,23.1411,166.5212,46.9878
+40000,0.5477,-0.1261,-0.8427,-0.3627,161.3304,40.6290
+40000,0.7640,-0.1950,-0.7968,0.5838,82.1777,33.9267
+40000,0.5892,-0.1308,-0.8822,11.0342,-34.5475,-2.6458
+40000,0.6087,-0.1413,-0.8302,26.5838,-127.0895,-33.0198
+40000,0.5277,-0.1483,-0.8288,6.6602,-218.2421,-69.3328
+40000,0.3971,-0.1608,-0.8107,-15.9124,-167.7002,-50.7756
+40000,0.2660,-0.1039,-0.9906,-17.5154,-146.7841,-48.8748
+40000,0.1747,-0.0990,-0.9745,-7.3017,-155.6849,-50.0046
+40000,0.0389,-0.1007,-1.0478,-6.7063,-146.5093,-55.4397
+40000,0.0089,-0.0980,-0.9967,-16.9124,-171.3490,-53.7985
+40000,-0.1901,-0.0480,-1.0519,-4.9276,-173.4635,-62.5695
+40000,-0.2458,-0.0709,-1.0260,14.1258,-138.9139,-49.8595
+40000,-0.3146,-0.1337,-0.8893,18.1563,-86.2879,-34.8977
+40000,-0.3827,-0.1339,-0.9042,13.6602,-43.9673,-22.9969
+40000,-0.3686,-0.1630,-0.8632,16.4235,-17.0666,-19.2412
+40000,-0.1935,-0.2294,-0.7309,-1.7597,96.9563,42.1863
+40000,-0.2169,-0.1117,-0.9701,-5.4544,208.5746,103.0565
+40000,-0.1786,-0.1605,-0.7995,-19.7979,183.2846,83.6290
+40000,0.0650,-0.0465,-0.9518,-39.5002,242.3609,95.5374
+40000,0.2164,-0.0199,-1.1952,-27.1185,169.1777,74.5221
+40000,0.2459,-0.0514,-0.9538,-14.7902,147.8189,63.6061
+40000,0.4134,-0.0756,-1.0270,4.4311,164.0174,56.1405
+40000,0.3802,-0.1012,-0.8586,-5.7215,73.3304,36.1176
+40000,0.5226,-0.1078,-0.8429,-9.8895,99.0556,41.5908
+40000,0.4972,-0.0888,-0.9225,7.2327,52.0632,28.6443
+40000,0.4291,-0.0963,-0.9196,-10.1185,-78.4864,-23.2870
+40000,0.4977,-0.0941,-0.7626,-32.3169,-93.1505,-18.4550
+40000,0.3338,-0.0399,-0.9530,-27.9124,-114.2727,-17.1649
+40000,0.1883,0.0165,-0.9753,-26.4391,-218.1353,-75.6611
+40000,0.3189,-0.0263,-0.9499,-14.6070,-132.8681,-43.4473
+40000,0.0511,0.0106,-1.0146,-16.8131,-120.5322,-41.8290
+40000,0.0208,-0.0119,-1.0397,-9.2101,-157.6925,-75.5313
+40000,-0.1046,0.0072,-0.9887,-2.7292,-116.3643,-55.9282
+40000,-0.1796,0.0133,-1.0343,-4.5231,-95.3872,-36.3099
+40000,-0.2731,0.0123,-0.9828,14.3701,-111.2879,-63.3099
+40000,-0.2909,-0.0297,-0.8554,16.3243,-59.3566,-28.4092
+40000,-0.3219,-0.0604,-0.8837,12.7899,27.0861,6.1634
+40000,-0.2770,-0.0724,-0.8742,6.2861,89.0327,39.2855
+40000,-0.1437,-0.0275,-1.0827,28.0266,215.3762,72.7893
+40000,-0.0692,-0.0561,-0.9093,48.5609,201.1624,56.8809
+40000,0.0963,-0.0519,-1.0107,8.4388,189.9640,34.7282
+40000,0.1566,-0.0998,-0.9284,16.7976,184.5594,29.8427
+40000,0.3392,-0.0741,-0.9474,-10.5002,139.5975,11.3237
+40000,0.3626,-0.0956,-0.8893,15.6907,139.8571,29.2931
+40000,0.5099,-0.0854,-0.8449,20.7289,88.0479,12.7206
+40000,0.4332,-0.0695,-0.9696,32.3014,-90.7307,-7.2718
+40000,0.3797,-0.1220,-0.8822,13.8968,-139.7612,-27.8519
+40000,0.3651,-0.1691,-0.8547,11.7518,-62.4024,-14.7603
+40000,0.3214,-0.1525,-0.9499,-14.7292,-109.9063,-3.3786
+40000,0.1546,-0.1020,-1.0485,20.5762,-150.8299,-45.9664
+40000,0.2191,-0.1435,-0.8693,-0.8284,-126.8605,-41.9664
+40000,0.0248,-0.1439,-1.0016,-3.7063,-140.8452,-38.0886
+40000,-0.0529,-0.1369,-1.0180,-18.7215,-132.1505,-51.8748
+40000,-0.0800,-0.1681,-1.0041,-11.6834,-104.6391,-47.9817
+40000,-0.1562,-0.1471,-0.9848,-31.4620,-115.2116,-36.4168
+40000,-0.2641,-0.1129,-1.0697,-20.0956,-98.9673,-28.0580
+40000,-0.3078,-0.1049,-0.9443,-7.5078,-49.8376,-26.6229
+40000,-0.3478,-0.0910,-0.9584,-7.0269,-15.8986,-0.1802
+40000,-0.2860,-0.1330,-0.9357,10.7060,61.8953,22.3466
+40000,-0.2128,-0.1061,-1.0053,42.8510,186.2311,77.7359
+40000,-0.2211,-0.0878,-0.9601,-3.9353,124.0098,60.1328
+40000,-0.0492,-0.1361,-1.0278,26.8968,201.2159,55.1557
+40000,0.0677,-0.1098,-0.9975,39.7976,247.2464,56.8046
+40000,0.2589,-0.1466,-0.9784,-0.6528,137.8189,14.6519
+40000,0.3414,-0.1686,-0.8063,-12.8895,203.4678,9.2473
+40000,0.4793,-0.1300,-1.0607,70.5762,249.0021,33.4992
+40000,0.6000,-0.1957,-0.7602,76.6449,173.8113,10.5145
+40000,0.7042,-0.2672,-0.4201,-28.4009,14.7502,-16.2641
+40000,0.6393,-0.1898,-0.8586,-41.9047,-36.0971,-13.9740
+40000,0.6451,-0.1962,-0.7150,-27.7521,-83.2727,-10.1038
+40000,0.5301,-0.1593,-0.7724,-31.6070,-112.5856,-8.4855
+40000,0.5526,-0.1469,-0.9384,-17.6834,-115.0818,-6.7221
+40000,0.2538,-0.0072,-1.0468,-56.4696,-251.2650,-84.4702
+40000,0.2984,-0.1574,-0.8437,-25.8818,-195.5399,-80.7756
+40000,0.1251,-0.0966,-1.1110,-3.4162,-111.7078,-23.8519
+40000,0.0177,-0.0290,-1.0024,16.9426,-138.2269,-25.9817
+40000,-0.0043,-0.0773,-1.0768,10.2708,-163.9979,-24.9435
+40000,-0.1728,-0.1093,-0.8061,25.2937,-59.6849,-5.6992
+40000,-0.1889,-0.1410,-0.9391,7.5227,-74.8147,-4.1878
+40000,-0.1657,-0.1127,-0.8664,5.6525,-12.8910,30.9573
+40000,-0.3175,-0.0709,-1.2196,43.1945,64.5289,54.6901
+40000,-0.2438,-0.1466,-1.1637,181.5227,57.4144,20.7282
+40000,-0.0890,-0.2565,-0.9384,160.8128,57.9182,-1.8290
+40000,-0.1803,-0.3703,-0.9142,130.2937,24.4373,-5.6305
+40000,-0.0670,-0.4188,-0.7580,96.8281,13.8876,-36.0351
+40000,-0.0214,-0.4904,-0.7804,71.0724,20.6892,-13.2031
+40000,-0.0343,-0.5338,-0.7399,11.1258,14.8495,-3.5313
+40000,-0.0985,-0.5421,-0.7265,-43.2177,11.6205,3.3008
+40000,-0.0873,-0.3944,-0.6347,-148.5231,14.7579,19.9573
+40000,-0.1256,-0.2963,-0.9223,-198.7979,20.3609,7.9420
+40000,0.0514,-0.1913,-1.1122,-141.9124,11.9640,11.6748
+40000,-0.1347,-0.1269,-0.9872,-103.5536,-9.0208,-5.8901
+40000,0.0594,-0.1217,-0.8813,-92.2788,37.0861,-0.8443
+40003,-0.0214,0.0216,-1.1484,-81.5154,21.4754,5.0718
+39997,0.0545,0.0365,-1.0751,-59.0421,21.3533,11.8656
+40000,0.0040,0.0721,-1.1127,0.9808,21.5441,6.9496
+40000,0.0406,0.0577,-1.1217,36.9960,22.4449,-2.2412
+40000,0.0694,-0.0387,-1.1364,137.9044,32.2159,-2.3634
+40000,0.1168,-0.1154,-1.0627,194.2098,43.4678,-13.0885
+40000,0.1161,-0.2560,-0.8837,166.0571,42.2006,-3.3863
+40000,0.2018,-0.3476,-0.9196,88.5151,19.3227,2.0870
+
diff --git a/simul/inputs_still.csv b/simul/inputs_still.csv
new file mode 100644
index 0000000..3df6c09
--- /dev/null
+++ b/simul/inputs_still.csv
@@ -0,0 +1,202 @@
+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
+
diff --git a/simul/src/m3x3.rs b/simul/src/m3x3.rs
new file mode 100644
index 0000000..2737220
--- /dev/null
+++ b/simul/src/m3x3.rs
@@ -0,0 +1,48 @@
+use std::ops::Mul;
+
+use crate::v3::V3;
+
+pub struct M3x3([f64; 9]);
+
+impl M3x3 {
+    #[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<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,
+        )
+    }
+}
diff --git a/simul/src/main.rs b/simul/src/main.rs
new file mode 100644
index 0000000..f0378fc
--- /dev/null
+++ b/simul/src/main.rs
@@ -0,0 +1,47 @@
+#![allow(unused)]
+
+use crate::{
+    scene::Scene,
+    tri2::Tri2,
+    tri3::Tri3,
+    v2::V2,
+    v3::V3,
+    window::{Color, Event, Keycode, Renderer, Window},
+};
+
+mod m3x3;
+mod scene;
+mod tri2;
+mod tri3;
+mod v2;
+mod v3;
+mod window;
+
+pub struct App {}
+
+impl<R: Renderer> window::App<R> for App {
+    fn update(&mut self, delta_time: std::time::Duration) {}
+
+    fn render(&self, r: &mut R) {
+        r.draw_line(V2(0.0, 0.0), V2(0.6, 0.2), Color::RED);
+
+        let mut scene = Scene::new();
+
+        scene.draw_triangle(
+            Tri3(V3(0.0, 0.0, 0.0), V3(0.3, 0.3, 0.0), V3(0.3, 0.0, 0.0)),
+            Color::GREEN,
+            Color::BLACK,
+        );
+
+        scene.render(r, V3(0.0, 0.0, -1.0));
+    }
+
+    fn event(&mut self, event: Event) {}
+}
+
+fn main() {
+    let mut window = Window::new();
+    let mut app = App {};
+
+    window.run(&mut app);
+}
diff --git a/simul/src/scene.rs b/simul/src/scene.rs
new file mode 100644
index 0000000..a425405
--- /dev/null
+++ b/simul/src/scene.rs
@@ -0,0 +1,59 @@
+use crate::{
+    tri2::Tri2,
+    tri3::Tri3,
+    v3::V3,
+    window::{Color, Renderer},
+};
+
+pub struct Scene {
+    tris: Vec<(Tri3, Color, Color)>,
+}
+
+impl Scene {
+    pub fn new() -> Self {
+        Self { tris: Vec::new() }
+    }
+
+    pub fn render(&self, r: &mut impl Renderer, camera_pos: V3) {
+        let mut indices_with_scores = self
+            .tris
+            .iter()
+            .enumerate()
+            .map(|(i, (tri, ..))| {
+                let mut point_scores = tri.points().map(|p| (camera_pos - p).len());
+                point_scores.sort_by(|a, b| a.total_cmp(b));
+
+                (i, point_scores[0])
+            })
+            .rev()
+            .collect::<Vec<_>>();
+
+        indices_with_scores.sort_by(|a, b| b.1.total_cmp(&a.1));
+
+        for (i, _) in indices_with_scores {
+            let (tri3, outline_color, fill_color) = &self.tris[i];
+
+            // if !(tri3.0.2 >= -1.0 && tri3.1.2 >= -1.0 && tri3.2.2 >= -1.0) {
+            //     continue;
+            // }
+
+            // if tri3.normal().dot(tri3.0 - camera_pos) >= 0.0 {
+            //     continue;
+            // }
+            //
+            println!("{tri3:?}");
+
+            let tri2 = tri3.project_2d(camera_pos);
+
+            println!("{tri2:?}");
+
+            r.draw_triangles(&[tri2], *fill_color);
+            r.draw_line(tri2.0, tri2.1, *outline_color);
+            r.draw_line(tri2.0, tri2.2, *outline_color);
+        }
+    }
+
+    pub fn draw_triangle(&mut self, tri: Tri3, outline_color: Color, fill_color: Color) {
+        self.tris.push((tri, outline_color, fill_color));
+    }
+}
diff --git a/simul/src/tri2.rs b/simul/src/tri2.rs
new file mode 100644
index 0000000..2ae4925
--- /dev/null
+++ b/simul/src/tri2.rs
@@ -0,0 +1,4 @@
+use crate::v2::V2;
+
+#[derive(Clone, Copy, Debug)]
+pub struct Tri2(pub V2, pub V2, pub V2);
diff --git a/simul/src/tri3.rs b/simul/src/tri3.rs
new file mode 100644
index 0000000..cc159fd
--- /dev/null
+++ b/simul/src/tri3.rs
@@ -0,0 +1,46 @@
+use crate::{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(&self, rot: V3) -> Self {
+        self.map(|v| v.rotate(rot))
+    }
+
+    pub fn project_2d(&self, camera_pos: V3) -> Tri2 {
+        Tri2(
+            self.0.project_2d(camera_pos),
+            self.1.project_2d(camera_pos),
+            self.2.project_2d(camera_pos),
+        )
+    }
+
+    pub fn translate(&self, offset: V3) -> Self {
+        self.map(|v| v + offset)
+    }
+
+    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)
+    }
+}
diff --git a/simul/src/v2.rs b/simul/src/v2.rs
new file mode 100644
index 0000000..57ff770
--- /dev/null
+++ b/simul/src/v2.rs
@@ -0,0 +1,81 @@
+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 reduce<F: Fn(f64, f64) -> f64>(&self, initial: f64, func: F) -> f64 {
+        let acc = initial;
+        let acc = func(acc, self.0);
+        let acc = func(acc, self.1);
+        acc
+    }
+
+    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
+    }
+}
diff --git a/simul/src/v3.rs b/simul/src/v3.rs
new file mode 100644
index 0000000..d46ed89
--- /dev/null
+++ b/simul/src/v3.rs
@@ -0,0 +1,106 @@
+use std::ops::{Add, Div, Mul, Neg, Sub};
+
+use crate::{m3x3::M3x3, v2::V2};
+
+#[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 reduce<F: Fn(f64, f64) -> f64>(&self, initial: f64, func: F) -> f64 {
+        let acc = initial;
+        let acc = func(acc, self.0);
+        let acc = func(acc, self.1);
+        let acc = func(acc, self.0);
+        acc
+    }
+
+    pub fn cross(&self, rhs: Self) -> 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(&self, rot: Self) -> Self {
+        M3x3::new_rotate_z(rot.2)
+            * (M3x3::new_rotate_y(rot.1) * (M3x3::new_rotate_x(rot.0) * *self))
+    }
+
+    pub fn project_2d(&self, camera_pos: V3) -> V2 {
+        let c = camera_pos;
+        let d = *self - c;
+        let e = V3(0.0, 0.0, 0.0) - c;
+        V2(e.2 / d.2 * d.0 + e.0, e.2 / d.2 * d.1 + e.1)
+    }
+
+    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, trans: V3) -> V3 {
+        *self + trans
+    }
+
+    pub fn len(&self) -> f64 {
+        self.map(|v| v.powi(2)).reduce(0.0, |acc, v| acc + v)
+    }
+
+    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
+    }
+}
diff --git a/simul/src/window.rs b/simul/src/window.rs
new file mode 100644
index 0000000..b69f7fc
--- /dev/null
+++ b/simul/src/window.rs
@@ -0,0 +1,164 @@
+use std::time::{Duration, Instant};
+
+use sdl3::{
+    Sdl,
+    event::Event as SdlEvent,
+    render::{Canvas, FPoint, FRect, Vertex, VertexIndices},
+    video::Window as SdlWindow,
+};
+
+pub use sdl3::{keyboard::Keycode, pixels::Color};
+
+use crate::{tri2::Tri2, v2::V2};
+
+pub static WIDTH: f64 = 1280.0;
+pub static HEIGHT: f64 = 720.0;
+
+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);
+}
+
+pub enum Event {
+    KeyDown(Keycode),
+    KeyUp(Keycode),
+}
+
+pub struct Window {
+    sdl_context: Sdl,
+    canvas: Canvas<SdlWindow>,
+}
+
+impl Window {
+    pub fn new() -> Self {
+        let sdl_context = sdl3::init().unwrap();
+        let video_subsystem = sdl_context.video().unwrap();
+        let window = video_subsystem
+            .window("Game", WIDTH as u32, HEIGHT as u32)
+            .position_centered()
+            .build()
+            .unwrap();
+        let mut canvas = window.into_canvas();
+
+        canvas.set_draw_color(Color::BLACK);
+        canvas.clear();
+        canvas.present();
+
+        Self {
+            sdl_context,
+            canvas,
+        }
+    }
+
+    pub fn run(&mut self, app: &mut impl App<Self>) {
+        let mut event_pump = self.sdl_context.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(20, 20, 20));
+            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) {
+        let n = (to - from).normal().unit() * 0.0005;
+
+        let p0 = from - n;
+        let p1 = to - n;
+        let p2 = from + n;
+        let p3 = to + n;
+
+        self.draw_triangles(&[Tri2(p0, p1, p2), Tri2(p3, p2, p1)], color);
+    }
+
+    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();
+    }
+}
+
+impl From<V2> for FPoint {
+    fn from(value: V2) -> Self {
+        FPoint::new(value.0 as _, value.1 as _)
+    }
+}