From 82dae85738b0ce35de8965398b775c9f57ab20e5 Mon Sep 17 00:00:00 2001
From: hgn <hgodden00@gmail.com>
Date: Sat, 11 Jun 2022 13:09:18 +0100
Subject: [PATCH] switch to raycast & bvh

---
 blender_export.py        |   6 -
 character.h              |  43 ++--
 main.c                   | 528 ++++++++++++--------------------------
 model.h                  |   8 +-
 scene.h                  | 532 ++++++++++++++++++++++++++++++++++-----
 terrain.h                |   5 +
 textures/ch_gradient.png | Bin 157540 -> 168300 bytes
 7 files changed, 658 insertions(+), 464 deletions(-)
 create mode 100644 terrain.h

diff --git a/blender_export.py b/blender_export.py
index e599ee7..38de929 100644
--- a/blender_export.py
+++ b/blender_export.py
@@ -141,11 +141,5 @@ def write_model(name):
 
    fp.close()
 
-write_model( "test" )
-write_model( "free_dev" )
-write_model( "char_dev" )
-write_model( "skydome" )
-write_model( "cement_r1" )
-
 for col in bpy.data.collections["export"].children:
    write_model( col.name )
diff --git a/character.h b/character.h
index 762511f..51f2c16 100644
--- a/character.h
+++ b/character.h
@@ -11,7 +11,7 @@ SHADER_DEFINE( shader_player,
 
 	"uniform mat4 uPv;"
    "uniform mat4x3 uMdl;"
-   "uniform vec3 uOpacityLight;"
+   "uniform float uOpacity;"
    ""
    "out vec4 aColour;"
    "out vec2 aUv;"
@@ -28,7 +28,7 @@ SHADER_DEFINE( shader_player,
       "aUv = a_uv;"
       "aNorm = mat3(uMdl) * a_norm;"
       "aCo = a_co;"
-      "aOpacity = 1.0-(gl_Position.y+0.5);"
+      "aOpacity = 1.0-(gl_Position.y+0.5)*uOpacity;"
 	"}",
    /* Fragment */
 	"out vec4 FragColor;"
@@ -48,7 +48,7 @@ SHADER_DEFINE( shader_player,
       "FragColor = vec4(pow(diffuse,vec3(1.0)),aOpacity);"
 	"}"
 	,
-	UNIFORMS({ "uTexMain", "uPv", "uMdl", "uOpacityLight" })
+	UNIFORMS({ "uTexMain", "uPv", "uMdl", "uOpacity" })
 )
 
 #define FOREACH_PART(FN) \
@@ -274,12 +274,13 @@ static void character_eval( struct character *ch )
 
 #define B3D_CO( X, Y, Z ) (v3f){ X, Z, -Y }
 
-struct character_rig_lower
+typedef struct character_pose character_pose;
+struct character_pose
 {
    v3f b0, b1, p, fr, fl, pl, pr, hl, hr, apl, apr, cam;
 };
 
-static struct character_rig_lower character_pose_aero =
+static character_pose pose_aero =
 {
   .b0 =  {0.0721f, 0.8167f, 0.1365f},
   .b1 =  {-0.0773f, 1.1559f, -0.1699f},
@@ -295,7 +296,7 @@ static struct character_rig_lower character_pose_aero =
   .cam = {-0.3394f, 1.2661f, 0.2936f}
 };
 
-static struct character_rig_lower character_pose_slide =
+static character_pose pose_slide =
 {
   .b0 =  {0.6732f, 0.5565f, -0.0000f},
   .b1 =  {0.8116f, 1.0547f, 0.0613f},
@@ -311,7 +312,7 @@ static struct character_rig_lower character_pose_slide =
   .cam = {0.9888f, 1.4037f, 0.6081f}
 };
 
-static struct character_rig_lower character_pose_slide1 =
+static character_pose pose_slide1 =
 {
   .b0 =  {-0.2385f, 0.6403f, 0.1368f},
   .b1 =  {-0.5151f, 1.1351f, 0.1380f},
@@ -327,7 +328,7 @@ static struct character_rig_lower character_pose_slide1 =
   .cam = {-1.0508f, 1.0769f, 0.0528f}
 };
 
-static struct character_rig_lower character_pose_aero_reverse =
+static character_pose pose_aero_reverse =
 {
   .b0 =  {0.0616f, 0.8167f, -0.1415f},
   .b1 =  {0.0148f, 1.1559f, 0.1861f},
@@ -343,7 +344,7 @@ static struct character_rig_lower character_pose_aero_reverse =
   .cam = {-0.3394f, 1.2661f, -0.2936f}
 };
 
-static struct character_rig_lower character_pose_stand =
+static character_pose pose_stand =
 {
   .b0 =  {0.1877f, 1.0663f, 0.0063f},
   .b1 =  {0.0499f, 1.5564f, -0.0584f},
@@ -359,7 +360,7 @@ static struct character_rig_lower character_pose_stand =
   .cam = {-0.3477f, 1.5884f, -0.0019f}
 };
 
-static struct character_rig_lower character_pose_fly =
+static character_pose pose_fly =
 {
   .b0 =  {0.2995f, 0.6819f, -0.1369f},
   .b1 =  {0.1618f, 1.1720f, -0.2016f},
@@ -375,8 +376,8 @@ static struct character_rig_lower character_pose_fly =
   .cam = {-0.2727f, 1.2606f, 0.3564f}
 };
 
-static void character_rig_lower_blend( struct character *ch, 
-      struct character_rig_lower *pose, float q )
+static 
+void character_pose_blend( struct character *ch, character_pose *pose, float q )
 {
    v3_muladds( ch->ik_body.base, pose->b0, q, ch->ik_body.base );
    v3_muladds( ch->ik_body.end, pose->b1, q, ch->ik_body.end );
@@ -392,10 +393,11 @@ static void character_rig_lower_blend( struct character *ch,
    v3_muladds( ch->cam_pos, pose->cam, q, ch->cam_pos );
 }
 
-static void character_pose_with_tilt( struct character *ch, v3f cog,
-      struct character_rig_lower *pose, float q )
+static 
+void character_final_pose( struct character *ch, v3f cog,
+      character_pose *pose, float q )
 {
-   struct character_rig_lower npose;
+   character_pose npose;
    float dip = vg_clampf(cog[1], -1.0f, 0.3f) * 0.35f,
          tilt = vg_clampf(cog[2], -1.0f, 1.0f) * 0.3f;
 
@@ -418,7 +420,7 @@ static void character_pose_with_tilt( struct character *ch, v3f cog,
    v3_copy( pose->fl, npose.fl );
    v3_copy( pose->cam, npose.cam );
    
-   character_rig_lower_blend( ch, &npose, q );
+   character_pose_blend( ch, &npose, q );
 }
 
 static void zero_ik_basic( struct ik_basic *ik )
@@ -500,15 +502,14 @@ static void character_testpose( struct character *ch, float t )
    m4x3_identity( ch->matrices[k_chpart_wf] );
 }
 
-static void character_draw( struct character *ch )
+static void character_draw( struct character *ch, float temp )
 {
    SHADER_USE(shader_player);
 	glUniformMatrix4fv( SHADER_UNIFORM( shader_player, "uPv" ), 
          1, GL_FALSE, (float *)vg_pv );
 
    glUniform1i( SHADER_UNIFORM( shader_player, "uTexMain" ), 0 );
-   glUniform3fv( SHADER_UNIFORM( shader_player, "uOpacityLight" ), 1,
-         ch->matrices[k_chpart_neck][3] );
+   glUniform1f( SHADER_UNIFORM( shader_player, "uOpacity" ), temp );
 
    GLint kuMdl = SHADER_UNIFORM( shader_player, "uMdl" );
    
@@ -529,8 +530,4 @@ static void character_shader_register(void)
    SHADER_INIT(shader_player);
 }
 
-#undef FOREACH_PART
-#undef MAKE_ENUM
-#undef MAKE_STRING
-#undef ADD_ONE
 #endif
diff --git a/main.c b/main.c
index 6c1714c..69d4df9 100644
--- a/main.c
+++ b/main.c
@@ -54,12 +54,19 @@ static int sv_debugcam = 0;
 static int sv_phys = 0;
 static int thirdperson = 0;
 static int clock_divider = 1;
+static int replay_record = 0;
+
+static m4x3f *replay_buffer = NULL;
+static int replay_buffer_frame = 0;
+
+#define REPLAY_LENGTH 120*60
 
 /* Components */
 #include "road.h"
 #include "scene.h"
 #include "ik.h"
 #include "character.h"
+#include "terrain.h"
 
 int main( int argc, char *argv[] )
 { 
@@ -97,29 +104,6 @@ static struct gplayer
    
    struct character mdl;
 
-   /* Opengl */
-#if 0
-   glmesh mesh;
-   submodel legl,
-            legu,
-            board,
-            torso,
-            wheels,
-            foot,
-            
-            /* NEW MODEL */
-            leg_r0, leg_r1, foot_r,
-            leg_l0, leg_l1, foot_l,
-            arm_r0, arm_r1, hand_r,
-            arm_l0, arm_l1, hand_l,
-            body, head;
-
-   /* Rendering */
-   m4x3f mleg_l, mknee_l, mleg_r, mknee_r, mboard;
-   m4x3f marm_l, melbow_l, marm_r, melbow_r, mbutt,
-         mfoot_l, mfoot_r;
-#endif
-
    v3f handl_target, handr_target,
        handl, handr;
 }
@@ -127,13 +111,7 @@ player;
 
 static struct gworld
 {
-   glmesh skydome;
-   glmesh cement;
-   
-   scene foliage,    /* Tree shader */
-         geo,        /* Std shader, collisions */
-         detail;     /* Std shader, no collisions */
-
+   scene geo;
    submodel terrain,
             terrain_rocks,
             terrain_road;
@@ -169,6 +147,18 @@ static int reset_player( int argc, char const *argv[] )
    return 0;
 }
 
+static int playermodel( int argc, char const *argv[] )
+{
+   if( argc < 1 ) return 0;
+   
+   glmesh old_mesh = player.mdl.mesh;
+
+   if( character_load( &player.mdl, argv[0] ) )
+      mesh_free( &old_mesh );
+
+   return 1;
+}
+
 void vg_register(void)
 {
    scene_register();
@@ -178,8 +168,26 @@ void vg_register(void)
 
 void vg_start(void)
 {
+   replay_buffer = malloc( sizeof(m4x3f) * REPLAY_LENGTH * (PART_COUNT) );
+
    vg_tex2d_init( texture_list, vg_list_size( texture_list ) );
    
+   vg_convar_push( (struct vg_convar){
+      .name = "frame",
+      .data = &replay_buffer_frame,
+      .data_type = k_convar_dtype_i32,
+      .opt_i32 = { .min=0, .max=REPLAY_LENGTH-1, .clamp=1 },
+      .persistent = 0
+   });
+
+   vg_convar_push( (struct vg_convar){
+      .name = "rec",
+      .data = &replay_record,
+      .data_type = k_convar_dtype_i32,
+      .opt_i32 = { .min=0, .max=1, .clamp=1 },
+      .persistent = 0
+   });
+
    vg_convar_push( (struct vg_convar){
       .name = "freecam",
       .data = &freecam,
@@ -246,102 +254,18 @@ void vg_start(void)
 
    character_load( &player.mdl, "ch_default" );
    
-   /* temp */
-   model *cement_model = vg_asset_read("models/cement_r1.mdl" );
-   model_unpack( cement_model, &world.cement );
-   free( cement_model );
-   
    /* Setup scene */
    scene_init( &world.geo );
-   scene_init( &world.detail );
-   scene_init( &world.foliage );
-   
-   model *mworld = vg_asset_read( "models/free_dev.mdl" );
-   model *mtest = vg_asset_read( "models/test.mdl" );
-
-   model *msky = vg_asset_read( "models/skydome.mdl" );
-   model_unpack( msky, &world.skydome );
-   free( msky );
-   
-   scene_add_model( &world.geo, mworld, submodel_get( mworld, "terrain" ),
-         (v3f){0.0f,0.0f,0.0f}, 0.0f, 1.0f );
-   scene_copy_slice( &world.geo, &world.terrain );
-
-   scene_add_model( &world.geo, mworld, submodel_get( mworld, "terrain_rocks" ),
-         (v3f){0.0f,0.0f,0.0f}, 0.0f, 1.0f );
-   scene_copy_slice( &world.geo, &world.terrain_rocks );
-   
-   submodel *ptree = submodel_get( mtest, "tree" ),
-            *pt_groundcover[] = 
-       {
-         submodel_get( mtest, "bush" ),
-         submodel_get( mtest, "bush" ),
-         submodel_get( mtest, "blubber" ),
-       };
-
-   /* Sprinkle some trees in the terrain areas */
-   v3f range;
-   v3_sub( world.geo.bbx[1], world.geo.bbx[0], range );
-   
-#ifdef VG_RELEASE
-   int const ktree_count = 8000,
-             kfoliage_count = 200000;
-#else
-   int const ktree_count = 200,
-             kfoliage_count = 0;
-#endif
-
-   for( int i=0; i<ktree_count; i++ )
-   {
-      v3f pos = { vg_randf(), 0.0f, vg_randf() }, 
-          norm;
-      
-      v3_muladd( world.geo.bbx[0], pos, range, pos );
-      
-      if( sample_scene_height( &world.geo, pos, norm ) )
-      {
-         if( v3_dot( norm, (v3f){ 0.0f, 1.0f, 0.0f } ) > 0.9f )
-         {
-            scene_add_model( &world.foliage, mtest, ptree,
-                  pos, vg_randf() * VG_TAUf, vg_randf() * 0.5f + 0.5f );
-         }
-      }
-   }
-
-   for( int i=0; i<kfoliage_count; i++ )
-   {
-      v3f pos = { vg_randf(), 0.0f, vg_randf() }, 
-          norm;
-
-      v3_muladd( world.geo.bbx[0], pos, range, pos );
-      
-      if( sample_scene_height( &world.geo, pos, norm ) )
-      {
-         if( v3_dot( norm, (v3f){ 0.0f, 1.0f, 0.0f } ) > 0.7f )
-         {
-            scene_add_model( &world.foliage, mtest, 
-                  pt_groundcover[rand()%vg_list_size(pt_groundcover)],
-                  pos, vg_randf() * VG_TAUf, vg_randf() * 0.5f + 0.5f );
-         }
-      }
-   }
-
-   scene_add_model( &world.geo, mworld, submodel_get( mworld, "road" ),
-         (v3f){0.0f,0.0f,0.0f}, 0.0f, 1.0f );
-   scene_copy_slice( &world.geo, &world.terrain_road );
+   model *mworld = vg_asset_read( "models/mp_dev.mdl" );
 
-   scene_add_model( &world.detail, mworld, submodel_get( mworld, "art" ),
+   scene_add_model( &world.geo, mworld, submodel_get( mworld, "mp_dev" ),
          (v3f){0.0f,0.0f,0.0f}, 0.0f, 1.0f );
 
-   free( mtest );
    free( mworld );
+   scene_upload( &world.geo );
+   bvh_create( &world.geo );
 
-   scene_compute_occlusion( &world.foliage );
 
-   scene_upload( &world.foliage );
-   scene_upload( &world.geo );
-   scene_upload( &world.detail );
-   
    reset_player( 0, NULL );
    player_transform_update();
 
@@ -426,7 +350,6 @@ static void player_freecam(void)
 
    v3_muls( move_vel, 0.75f, move_vel );
    v3_add( move_vel, player.view, player.view );
-
 }
 
 static void apply_gravity( v3f vel, float const timestep )
@@ -444,8 +367,6 @@ static void player_start_air(void)
    float best_velocity_mod = 0.0f,
          best_velocity_delta = -9999.9f;
 
-   v3f targetn;
-
    v3f axis, vup;
    m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, vup );
    v3_cross( vup, player.v, axis );
@@ -481,28 +402,31 @@ static void player_start_air(void)
 
          m3x3_mulv( vr, pv, pv );
          v3_muladds( pco, pv, pstep, pco );
-
-         vg_line( pco, pco1, i&0x1?0xff000000:0xffffffff );
          
-         v3f sh;
-         v3_copy( pco, sh );
-         int hit = sample_scene_height( &world.geo, sh, targetn );
+         ray_hit contact;
+         v3f vdir;
+
+         v3_sub( pco, pco1, vdir );
+         contact.dist = v3_length( vdir );
+         v3_divs( vdir, contact.dist, vdir);
 
-         if( sh[1] >= pco[1] && hit )
+         if( bvh_raycast( &world.geo, pco1, vdir, &contact ))
          {
-            float land_delta = v3_dot( pv, targetn );
+            float land_delta = v3_dot( pv, contact.normal );
 
             if( (land_delta < 0.0f) && (land_delta > best_velocity_delta) )
             {
                best_velocity_delta = land_delta;
                best_velocity_mod = vmod;
 
-               v3_copy( sh, player.land_target );
+               v3_copy( contact.pos, player.land_target );
 
                q_axis_angle( vr_q, axis, vmod*0.1f );
                q_m3x3( vr_q, player.vr );
             }
-            v3_copy( sh, player.land_target_log[player.land_log_count ++] );
+
+            v3_copy( contact.pos, 
+                  player.land_target_log[player.land_log_count ++] );
             break;
          }
       }
@@ -519,7 +443,7 @@ static int sample_if_resistant( v3f pos )
    v3f ground, norm;
    v3_copy( pos, ground );
 
-   if( sample_scene_height( &world.geo, ground, norm ) )
+   if( bvh_scene_sample( &world.geo, ground, norm ) )
    {
       v3f angle;
       v3_copy( player.v, angle );
@@ -663,7 +587,7 @@ static void player_physics_air(void)
    v3f ground_pos, ground_norm;
    v3_copy( player.co, ground_pos );
 
-   if( sample_scene_height( &world.geo, ground_pos, ground_norm ) )
+   if( bvh_scene_sample( &world.geo, ground_pos, ground_norm ) )
    {
       if( ground_pos[1] > player.co[1] )
       {
@@ -682,27 +606,29 @@ static void player_physics_air(void)
    v3_copy( player.co, pco );
    v3_copy( player.v, pv );
 
-   v3f targetn;
    for( int i=0; i<50; i++ )
    {
       v3_copy( pco, pco1 );
       apply_gravity( pv, pstep );
       v3_muladds( pco, pv, pstep, pco );
 
-      vg_line( pco, pco1, i&0x1?0xff000000:0xffffffff );
+      //vg_line( pco, pco1, i&0x1?0xff000000:0xffffffff );
       
-      v3f sh;
-      v3_copy( pco, sh );
-      int hit = sample_scene_height( &world.geo, sh, targetn );
+      ray_hit contact;
+      v3f vdir;
 
-      if( sh[1] >= pco[1] && hit )
+      v3_sub( pco, pco1, vdir );
+      contact.dist = v3_length( vdir );
+      v3_divs( vdir, contact.dist, vdir);
+
+      if( bvh_raycast( &world.geo, pco1, vdir, &contact ))
       {
          v3f localup;
          m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, localup );
 
-         float angle = v3_dot( localup, targetn );
+         float angle = v3_dot( localup, contact.normal );
          v3f axis; 
-         v3_cross( localup, targetn, axis );
+         v3_cross( localup, contact.normal, axis );
          
          if( angle < 0.99f )
          {
@@ -711,7 +637,7 @@ static void player_physics_air(void)
             q_mul( correction, player.rot, player.rot );
          }
 
-         draw_cross( sh, 0xffff0000 );
+         draw_cross( contact.pos, 0xffff0000 );
 
          break;
       }
@@ -795,43 +721,7 @@ static void player_update(void)
 void vg_update(void)
 {
    player_update();
-
-   /* Creating a skeleton of the player dynamically */
-
-
-   #if 0
-   player.handl_target[0] = head[0] + 0.2f;
-   player.handl_target[1] = head[1] - 0.8f*(1.0f-fabsf(slip));
-   player.handl_target[2] = head[2] + 0.2f + 0.7f*fabsf(slip);
-
-   player.handr_target[0] = head[0] + 0.2f;
-   player.handr_target[1] = head[1] - 0.8f*(1.0f-fabsf(slip));
-   player.handr_target[2] = head[2] - (0.2f + 0.7f*fabsf(slip));
-
-   if( vg_maxf(lslip,grab) > 0.5f )
-   {
-      if( player.slip < 0.0f && player.in_air )
-      {
-         player.handl_target[0] = 0.15f;
-         player.handl_target[1] = 0.1f;
-         player.handl_target[2] = 0.4f;
-      }
-      else
-      {
-         player.handr_target[0] =  0.15f;
-         player.handr_target[1] =  0.1f;
-         player.handr_target[2] = -0.4f;
-      }
-
-      if( grab > 0.5f )
-      {
-         player.handr_target[0] =  -0.15f;
-         player.handr_target[1] =  0.1f;
-         player.handr_target[2] =  0.4f;
-      }
-   }
-
-   #endif
+   bvh_debug( &world.geo, player.co );
 }
 
 static void player_animate(void)
@@ -876,9 +766,14 @@ static void player_animate(void)
    v3_muladds( head, offset, 0.7f, head );
    head[1] = vg_clampf( head[1], 0.3f, kheight );
 
-   v3_copy( head, player.view );
-   v3f camoffs = {-0.2f,-0.6f,0.00f};
-   v3_add( player.view, camoffs, player.view );
+#if 0
+   if( !freecam )
+   {
+      v3_copy( head, player.view );
+      v3f camoffs = {-0.2f,-0.6f,0.00f};
+      v3_add( player.view, camoffs, player.view );
+   }
+#endif
 
 
    /* 
@@ -910,28 +805,23 @@ static void player_animate(void)
          amt_aero = amt_std * (1.0f-fstand),
          amt_slide = amt_ground * fslide;
 
-   character_pose_with_tilt( &player.mdl, offset,
-         &character_pose_stand, amt_stand );
+   character_final_pose( &player.mdl, offset, &pose_stand, amt_stand );
+   character_final_pose( &player.mdl, offset, &pose_aero, amt_aero*fdirz );
+   character_final_pose( &player.mdl, offset, 
+         &pose_aero_reverse, amt_aero * (1.0f-fdirz) );
+   character_final_pose( &player.mdl, offset, &pose_slide, amt_slide*fdirx );
+   character_final_pose( &player.mdl, offset, 
+         &pose_slide1, amt_slide*(1.0f-fdirx) );
 
-   character_pose_with_tilt( &player.mdl, offset, 
-         &character_pose_aero, amt_aero * fdirz );
-   character_pose_with_tilt( &player.mdl, offset, 
-         &character_pose_aero_reverse, amt_aero * (1.0f-fdirz) );
-
-   character_pose_with_tilt( &player.mdl, offset, 
-         &character_pose_slide, amt_slide*fdirx );
-   character_pose_with_tilt( &player.mdl, offset, 
-         &character_pose_slide1, amt_slide*(1.0f-fdirx) );
-
-   character_pose_with_tilt( &player.mdl, (v3f){0.0f,0.0f,0.0f},
-         &character_pose_fly, amt_air );
-
-
-
-   v3_copy( player.mdl.cam_pos, player.view );
-   v3_muladds( player.view, offset, 0.7f, player.view );
-   player.view[1] = vg_clampf( player.view[1], 0.3f, kheight );
+   character_final_pose( &player.mdl, (v3f){0.0f,0.0f,0.0f}, 
+         &pose_fly, amt_air );
 
+   if( !freecam )
+   {
+      v3_copy( player.mdl.cam_pos, player.view );
+      v3_muladds( player.view, offset, 0.7f, player.view );
+      player.view[1] = vg_clampf( player.view[1], 0.3f, kheight );
+   }
 
    /* 
     * Additive effects
@@ -1034,107 +924,6 @@ static void player_animate(void)
    rhead = vg_lerpf( rhead,
          vg_clampf(atan2f( localv[2], -localv[0] ),-1.0f,1.0f), 0.04f );
    player.mdl.rhead = rhead;
-
-
-#if 0
-   return;
-
-   /* In the air, the dude should grab with the side thats highest,
-    * while also sliding the same foot downwards a bit */
-
-   float foot_l =  0.3f,
-         foot_r = -0.4f;
-
-   player.handl_target[0] = 0.0f;
-   player.handl_target[1] = 0.0f;
-   player.handl_target[2] = 0.6f;
-
-   player.handr_target[0] = 0.0f;
-   player.handr_target[1] = 0.0f;
-   player.handr_target[2] = -0.6f;
-
-   if( 1||player.in_air )
-   {
-      float tuck = player.board_xy[1],
-            tuck_amt = fabsf( tuck ) * (1.0f-fabsf(player.board_xy[0]));
-
-      if( tuck < 0.0f )
-      {
-         foot_l *= 1.0f-tuck_amt*1.5f;
-
-         if( player.grab > 0.1f )
-         {
-            m4x3_mulv( mboard, (v3f){0.1f,0.14f,0.6f}, 
-                  player.handl_target );
-         }
-      }
-      else
-      {
-         foot_r *= 1.0f-tuck_amt*1.4f;
-
-         if( player.grab > 0.1f )
-         {
-            m4x3_mulv( mboard, (v3f){0.1f,0.14f,-0.6f}, 
-                  player.handr_target );
-         }
-      }
-   }
-   else
-   {
-   }
-
-   v3f fwd;
-   
-   /* offset */
-   float *hips = player.mdl.ik_body.base,
-         *collar = player.mdl.ik_body.end,
-         *pole = player.mdl.ik_body.pole;
-   
-   v3_add( hips, collar, pole );
-   v3_muls( pole, 0.5f, pole );
-   v3_add( pole, (v3f){ 1.0f, 0.0f, 0.0f }, pole );
-
-   v3_copy( player.view, collar );
-   v3_add( (v3f){ 0.2f,-0.55f,0.0f}, collar, hips );
-   
-   player.mdl.rhip = 0.0f;//-1.0f;//sinf(vg_time);
-   player.mdl.rcollar = 0.0f;//-0.5f;//sinf(vg_time)*0.5f;
-
-   struct ik_basic *ik_leg_l = &player.mdl.ik_leg_l,
-                   *ik_leg_r = &player.mdl.ik_leg_r,
-                   *ik_arm_l = &player.mdl.ik_arm_l,
-                   *ik_arm_r = &player.mdl.ik_arm_r;
-
-   m4x3_mulv( mboard, (v3f){  0.0f,0.16f, foot_r }, ik_leg_r->end );
-   m4x3_mulv( mboard, (v3f){  0.0f,0.16f, foot_l }, ik_leg_l->end );
-
-   m4x3f tomp;
-   m4x3_identity(tomp);
-   m4x3_mulv( tomp, (v3f){ -0.4f,0.50f,-0.50f },  ik_leg_r->pole );
-   m4x3_mulv( tomp, (v3f){ -0.4f,0.50f,-0.3f },  ik_leg_l->pole );
-
-   /* Arms */
-   v3f hl, hr, neckl = {0.0f, 0.5f, 0.2f},
-               neckr = {0.0f, 0.5f,-0.2f};
-   
-   v3_lerp( player.handl, player.handl_target, 0.1f, player.handl );
-   v3_lerp( player.handr, player.handr_target, 0.1f, player.handr );
-
-   v3_copy( player.handl, ik_arm_l->end );
-   v3_copy( player.handr, ik_arm_r->end );
-   v3_copy( (v3f){ 0.6f,0.7f, 0.4f  }, ik_arm_l->pole );
-   v3_copy( (v3f){ 0.6f,0.7f,-0.35f }, ik_arm_r->pole );
-   
-   if( thirdperson )
-   {
-      v3f nv;
-      v3_copy( player.v, nv );
-      v3_normalize( nv );
-      v3_muladds( player.view, nv, -3.0f, player.view );
-   }
-
-   m4x3_copy( mboard, player.mdl.matrices[k_chpart_wheels] );
-#endif
 }
 
 static void draw_player(void)
@@ -1144,7 +933,7 @@ static void draw_player(void)
 
    m4x3_copy( player.to_world, player.mdl.mroot );
    character_eval( &player.mdl );
-   character_draw( &player.mdl );
+   character_draw( &player.mdl, 1.0f );
 }
 
 static void vg_framebuffer_resize( int w, int h )
@@ -1161,37 +950,51 @@ void vg_render(void)
 
    glDisable( GL_DEPTH_TEST );
    glClearColor( 0.1f, 0.0f, 0.2f, 1.0f );
-   glClearColor(141.0f/255.0f, 176.0f/255.0f, 215.0f/255.0f,1.0f);
+   glClearColor(111.0f/255.0f, 46.0f/255.0f, 45.0f/255.0f,1.0f);
+
+   glClearColor( powf(0.066f,1.0f/2.2f), 
+                 powf(0.050f,1.0f/2.2f), 
+                 powf(0.046f,1.0f/2.2f), 1.0f );
    glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
 
    v3f pos_inv;
    static v3f cam_lerped = {0.0f,0.0f,0.0f};
    v3_lerp( cam_lerped, player.view, 0.08f, cam_lerped );
 
-   m4x3_mulv( player.to_world, cam_lerped, pos_inv );
+   if( !freecam  )
+      m4x3_mulv( player.to_world, cam_lerped, pos_inv );
+   else
+      v3_add( player.co, player.view, pos_inv );
    v3_negate( pos_inv, pos_inv );
 
    static float vertical_lerp = 0.0f;
    vertical_lerp = vg_lerpf( vertical_lerp, pos_inv[1], 1.0f );
    v3f final = { pos_inv[0], vertical_lerp, pos_inv[2] };
 
-   float speed = v3_length( player.v );
+   float speed = freecam? 0.0f: v3_length( player.v );
    v3f shake = { vg_randf()-0.5f, vg_randf()-0.5f, vg_randf()-0.5f };
    v3_muls( shake, speed*0.01f, shake );
 
+   static v2f cam_lerped_dir;
+   
+   v2_lerp( cam_lerped_dir, player.look_dir, 0.04f, cam_lerped_dir );
+
    m4x3_identity( world_matrix );
    m4x3_rotate_x( world_matrix, 
          freecam? 
-         player.look_dir[1]: 
+         cam_lerped_dir[1]: 
          0.6f+shake[1]*0.04f+player.look_dir[1] );
 
-   m4x3_rotate_y( world_matrix, player.look_dir[0]+shake[0]*0.02f );
+   m4x3_rotate_y( world_matrix, 
+         freecam?
+         cam_lerped_dir[0]:
+         player.look_dir[0]+shake[0]*0.02f );
    m4x3_translate( world_matrix, final );
    
    m4x4f world_4x4;
    m4x3_expand( world_matrix, world_4x4 );
    m4x4_projection( vg_pv, 
-         freecam? 90.0f: 120.0f,
+         freecam? 60.0f: 120.0f,
          (float)vg_window_x / (float)vg_window_y, 
          0.01f, 1000.0f );
    m4x4_mul( vg_pv, world_4x4, vg_pv );
@@ -1202,67 +1005,44 @@ void vg_render(void)
 
    glEnable( GL_DEPTH_TEST );
    
-   scene_foliage_shader_use();
-   m4x3f temp1;
-   m4x3_identity( temp1 );
-	glUniformMatrix4x3fv( SHADER_UNIFORM( shader_debug_vcol, "uMdl" ), 
-         1, GL_FALSE, (float *)temp1 );
-
-   vg_tex2d_bind( &tex_norwey, 0 );
-   scene_tree_sway = 0.1f;
-
-   scene_bind( &world.foliage );
-   scene_draw( &world.foliage );
-   if( debugsdf )
-      scene_debugsdf( &world.foliage );
-   
-   SHADER_USE(shader_unlit);
-   m4x3f temp2;
-   m4x3_identity(temp2);
-   m4x3_translate( temp2, player.co );
-	glUniformMatrix4x3fv( SHADER_UNIFORM( shader_unlit, "uMdl" ), 
-         1, GL_FALSE, (float *)temp2 );
-	glUniformMatrix4fv( SHADER_UNIFORM( shader_unlit, "uPv" ), 
-         1, GL_FALSE, (float *)vg_pv );
-
-   glUniform1i( SHADER_UNIFORM( shader_unlit, "uTexMain" ), 0 );
-   vg_tex2d_bind( &tex_sky, 0 );
-
-   mesh_bind( &world.skydome );
-   mesh_draw( &world.skydome );
-
-#if 0
-   vg_tex2d_bind( &tex_cement, 0 );
-   mesh_bind( &world.cement );
-   mesh_draw( &world.cement );
-#endif
-
+   /* 
+    * Draw world
+    */
    SHADER_USE(shader_standard_lit);
 
+   m4x3f identity_matrix;
+   m4x3_identity( identity_matrix );
+
 	glUniformMatrix4fv( SHADER_UNIFORM( shader_standard_lit, "uPv" ), 
          1, GL_FALSE, (float *)vg_pv );
-   glUniform1i( SHADER_UNIFORM( shader_standard_lit, "uTexMain" ), 0 );
 	glUniformMatrix4x3fv( SHADER_UNIFORM( shader_standard_lit, "uMdl" ), 
-         1, GL_FALSE, (float *)temp1 );
+         1, GL_FALSE, (float *)identity_matrix );
 
    vg_tex2d_bind( &tex_grid, 0 );
+   glUniform1i( SHADER_UNIFORM( shader_standard_lit, "uTexMain" ), 0 );
 
-   scene_bind( &world.geo );
-#if 1
-   glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 
-         0.2f,0.36f,0.25f,1.0f );
-   submodel_draw( &world.terrain );
-
-   glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 
-         0.2f,0.2f,0.21f,1.0f );
-   submodel_draw( &world.terrain_rocks );
    glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 
          0.4f,0.4f,0.4f,1.0f );
-   submodel_draw( &world.terrain_road );
-#endif
-   
-   scene_bind( &world.detail );
-   scene_draw( &world.detail );
+
+   scene_bind( &world.geo );
+   scene_draw( &world.geo );
+
+   if( !replay_record )
+   {
+      m4x3f *base = &replay_buffer[(PART_COUNT)*replay_buffer_frame];
+
+      for( int i=0; i<PART_COUNT; i++ )
+         m4x3_copy( base[i], player.mdl.matrices[i] );
+
+      replay_buffer_frame ++;
+
+      if( replay_buffer_frame == REPLAY_LENGTH )
+         replay_buffer_frame = 0;
+
+      vg_tex2d_bind( &tex_pallet, 0 );
+      character_draw( &player.mdl, 0.0f );
+      player_animate();
+   }
 
 
    
@@ -1278,12 +1058,13 @@ void vg_render(void)
    glBindFramebuffer( GL_FRAMEBUFFER, 0 );
    glClearColor( 0.0f, 0.0f, 0.0f, 0.0f );
 
-#if 0
+#if 1
    glClear( GL_COLOR_BUFFER_BIT );
 #else
    glClear( GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT );
 #endif
 
+   if( !freecam )
    draw_player();
 
    /* Draw back in the background */
@@ -1303,7 +1084,6 @@ void vg_render(void)
 
    glDisable(GL_BLEND);
 
-
    /* Other shite */
    glDisable( GL_DEPTH_TEST );
    vg_lines_drawall( (float *)vg_pv );
@@ -1332,7 +1112,6 @@ void vg_render(void)
    if(sv_debugcam)
    {
       glEnable( GL_DEPTH_TEST );
-
       draw_player();
    }
 
@@ -1340,6 +1119,20 @@ void vg_render(void)
    vg_lines_drawall( (float *)vg_pv );
 
    glViewport( 0,0, vg_window_x, vg_window_y );
+
+
+   if( replay_record )
+   {
+      m4x3f *base = &replay_buffer[(PART_COUNT)*replay_buffer_frame];
+
+      for( int i=0; i<PART_COUNT; i++ )
+         m4x3_copy( player.mdl.matrices[i], base[i] );
+
+      replay_buffer_frame ++;
+
+      if( replay_buffer_frame == REPLAY_LENGTH )
+         replay_buffer_frame = 0;
+   }
 }
 
 void vg_ui(void)
@@ -1351,20 +1144,23 @@ void vg_ui(void)
    
    snprintf( buf, 20, "%.2f %.2f %.2f m/s", 
          player.a[0], player.a[1], player.a[2] );
-
    gui_text( (ui_px [2]){ 0, 20 }, buf, 1, k_text_align_left );
 
+   snprintf( buf, 20, "pos %.2f %.2f %.2f", 
+         player.co[0], player.co[1], player.co[2] );
+   gui_text( (ui_px [2]){ 0, 40 }, buf, 1, k_text_align_left );
+
    if( vg_gamepad_ready )
    {
       for( int i=0; i<6; i++ )
       {
          snprintf( buf, 20, "%.2f", vg_gamepad.axes[i] );
-         gui_text( (ui_px [2]){ 0, (i+2)*20 }, buf, 1, k_text_align_left );
+         gui_text( (ui_px [2]){ 0, (i+3)*20 }, buf, 1, k_text_align_left );
       }
    }
    else
    {
-      gui_text( (ui_px [2]){ 0, 40 }, 
+      gui_text( (ui_px [2]){ 0, 60 }, 
             "Gamepad not ready", 1, k_text_align_left );
    }
 }
diff --git a/model.h b/model.h
index 6485541..467ad98 100644
--- a/model.h
+++ b/model.h
@@ -7,7 +7,6 @@ typedef struct model model;
 typedef struct glmesh glmesh;
 typedef struct submodel submodel;
 typedef struct model_vert model_vert;
-typedef struct scene scene;
 typedef struct sdf_primative sdf_primative;
 typedef enum esdf_type esdf_type;
 
@@ -194,4 +193,11 @@ static void model_unpack( model *model, glmesh *mesh )
                        model_indice_base( model ), model->indice_count );
 }
 
+static void mesh_free( glmesh *mesh )
+{
+   glDeleteVertexArrays( 1, &mesh->vao );
+   glDeleteBuffers( 1, &mesh->ebo );
+   glDeleteBuffers( 1, &mesh->vbo );
+}
+
 #endif
diff --git a/scene.h b/scene.h
index 88981b6..10015f5 100644
--- a/scene.h
+++ b/scene.h
@@ -1,7 +1,11 @@
+#ifndef SCENE_H
+#define SCENE_H
+
 #include "vg/vg.h"
 #include "model.h"
 
-GLuint tex_dual_noise;
+typedef struct scene scene;
+typedef struct bvh_node bvh_node;
 
 struct scene
 {
@@ -9,6 +13,13 @@ struct scene
 
    model_vert *verts;
    u32 *indices;
+   
+   struct 
+   {
+      bvh_node *nodes;
+      u32 node_count;
+   }
+   bvh;
 
    u32 vertex_count,
        indice_count,
@@ -30,6 +41,8 @@ struct scene
    submodel submesh;
 };
 
+GLuint tex_dual_noise;
+
 static void scene_init( scene *pscene )
 {
    pscene->verts = NULL;
@@ -267,12 +280,11 @@ SHADER_DEFINE( shader_standard_lit,
 
       "float light1 = max(0.0,dot(-vec3(0.5,-0.8,0.25), aNorm));"
       "float light2 = max(0.0,dot(-vec3(-0.8,0.5,-0.25), aNorm));"
-      "diffuse += vec3(0.2,0.2,0.2 ) + " 
+      "diffuse += vec3(0.2,0.2,0.2) + " 
                  "vec3(1.0,1.0,0.9)*light1 + "
-                 "vec3(0.1,0.3,0.4 )*light2;"
+                 "vec3(0.1,0.3,0.4)*light2;"
 
-		"FragColor = vec4((diffuse*uColour.rgb),"
-                        "aColour.a*uColour.a);"
+		"FragColor = vec4(diffuse*uColour.rgb, aColour.a*uColour.a);"
 	"}"
 	,
 	UNIFORMS({ "uColour","uTexMain","uPv","uMdl" })
@@ -449,69 +461,6 @@ static void scene_shadow_gradient( scene *pscene, int comp,
    }
 }
 
-/* Temporary */
-static int sample_scene_height( scene *pscene, v3f pos, v3f norm )
-{
-   for( int i=0; i<pscene->indice_count/3; i++ )
-   {
-      u32 *tri = &pscene->indices[i*3];
-
-      float *pA = pscene->verts[tri[0]].co,
-            *pB = pscene->verts[tri[1]].co,
-            *pC = pscene->verts[tri[2]].co;
-      
-      float height;
-      if( triangle_raycast( pA, pB, pC, pos, &height ))
-      {
-         pos[1] = height;
-         
-         if( norm )
-         {
-            v3f v0, v1;
-            v3_sub( pA, pB, v0 );
-            v3_sub( pC, pB, v1 );
-            v3_cross( v1, v0, norm );
-            v3_normalize( norm );
-         }
-
-         return 1;
-      }
-   }
-   return 0;
-}
-
-static void sample_scene_normal( scene *pscene, v3f pos, v3f normal )
-{
-   for( int i=0; i<pscene->indice_count/3; i++ )
-   {
-      u32 *tri = &pscene->indices[i*3];
-      
-      float height;
-      if( triangle_raycast( 
-            pscene->verts[ tri[0] ].co,
-            pscene->verts[ tri[1] ].co,
-            pscene->verts[ tri[2] ].co, pos, &height ))
-      {
-         v3f v0, v1;
-
-         v3_sub( pscene->verts[ tri[1] ].co,
-                 pscene->verts[ tri[0] ].co,
-                 v0 );
-
-         v3_sub( pscene->verts[ tri[2] ].co,
-                 pscene->verts[ tri[0] ].co,
-                 v1 );
-
-         v3_cross( v0, v1, normal );
-         v3_normalize( normal );
-         return;
-      }
-   }
-
-   normal[0] = 0.0f;
-   normal[1] = 1.0f;
-   normal[2] = 0.0f;
-}
 
 /* 
  * Experimental SDF based shadows
@@ -791,6 +740,7 @@ static void scene_upload( scene *pscene )
 
 float scene_tree_sway = 0.1f;
 
+#if 0
 static void scene_foliage_shader_use(void)
 {
    SHADER_USE( shader_debug_vcol );
@@ -812,6 +762,7 @@ static void scene_foliage_shader_use(void)
    glUniform1f( SHADER_UNIFORM( shader_debug_vcol, "uSwayAmt" ), 
          scene_tree_sway );
 }
+#endif
 
 static void scene_bind( scene *pscene )
 {
@@ -873,3 +824,448 @@ static void scene_register(void)
    SHADER_INIT( shader_standard_lit );
    SHADER_INIT( shader_unlit );
 }
+
+
+/* Physics segment */
+
+static int triangle_raycast2d( v3f pA, v3f pB, v3f pC, v3f ray, float *height )
+{
+	v2f v0, v1, v2, vp, vp2;
+	float d, bca = 0.f, bcb = 0.f, bcc = 0.f;
+   
+   v0[0] = pB[0] - pA[0];
+   v0[1] = pB[2] - pA[2];
+   v1[0] = pC[0] - pA[0];
+   v1[1] = pC[2] - pA[2];
+   v2[0] = pB[0] - pC[0];
+   v2[1] = pB[2] - pC[2];
+	
+	d = 1.f / (v0[0]*v1[1] - v1[0]*v0[1]);
+
+#if 0
+	/* Backface culling */
+	if( v2_cross( v0, v1 ) > 0.f )
+		return;
+#endif
+
+   vp[0] = ray[0] - pA[0];
+   vp[1] = ray[2] - pA[2];
+
+   if( v2_cross( v0, vp ) > 0.f ) return 0;
+   if( v2_cross( vp, v1 ) > 0.f ) return 0;
+	
+   vp2[0] = ray[0] - pB[0];
+   vp2[1] = ray[2] - pB[2];
+
+   if( v2_cross( vp2, v2 ) > 0.f ) return 0;
+
+   bcb = (vp[0]*v1[1] - v1[0]*vp[1]) * d;
+   bcc = (v0[0]*vp[1] - vp[0]*v0[1]) * d;
+   bca = 1.f - bcb - bcc;
+				
+   *height = pA[1]*bca + pB[1]*bcb + pC[1]*bcc;
+   return 1;
+}
+
+/* Temporary */
+static int sample_scene_height( scene *pscene, v3f pos, v3f norm )
+{
+   for( int i=0; i<pscene->indice_count/3; i++ )
+   {
+      u32 *tri = &pscene->indices[i*3];
+
+      float *pA = pscene->verts[tri[0]].co,
+            *pB = pscene->verts[tri[1]].co,
+            *pC = pscene->verts[tri[2]].co;
+      
+      float height;
+      if( triangle_raycast2d( pA, pB, pC, pos, &height ))
+      {
+         pos[1] = height;
+         
+         if( norm )
+         {
+            v3f v0, v1;
+            v3_sub( pA, pB, v0 );
+            v3_sub( pC, pB, v1 );
+            v3_cross( v1, v0, norm );
+            v3_normalize( norm );
+         }
+
+         return 1;
+      }
+   }
+   return 0;
+}
+
+static void sample_scene_normal( scene *pscene, v3f pos, v3f normal )
+{
+   for( int i=0; i<pscene->indice_count/3; i++ )
+   {
+      u32 *tri = &pscene->indices[i*3];
+      
+      float height;
+      if( triangle_raycast2d( 
+            pscene->verts[ tri[0] ].co,
+            pscene->verts[ tri[1] ].co,
+            pscene->verts[ tri[2] ].co, pos, &height ))
+      {
+         v3f v0, v1;
+
+         v3_sub( pscene->verts[ tri[1] ].co,
+                 pscene->verts[ tri[0] ].co,
+                 v0 );
+
+         v3_sub( pscene->verts[ tri[2] ].co,
+                 pscene->verts[ tri[0] ].co,
+                 v1 );
+
+         v3_cross( v0, v1, normal );
+         v3_normalize( normal );
+         return;
+      }
+   }
+
+   normal[0] = 0.0f;
+   normal[1] = 1.0f;
+   normal[2] = 0.0f;
+}
+
+struct bvh_node
+{
+   boxf bbx;
+
+   /* if il is 0, this is a leaf */
+   u32 il, count;
+   union{ u32 ir, start; };
+};
+
+static void bvh_update_bounds( scene *s, u32 inode )
+{
+   bvh_node *node = &s->bvh.nodes[ inode ];
+
+   box_init_inf( node->bbx );
+   for( u32 i=0; i<node->count; i++ )
+   {
+      u32 idx = node->start+i;
+      model_vert *pa = &s->verts[ s->indices[idx*3+0] ],
+                 *pb = &s->verts[ s->indices[idx*3+1] ],
+                 *pc = &s->verts[ s->indices[idx*3+2] ];
+      
+     box_addpt( node->bbx, pa->co );
+     box_addpt( node->bbx, pb->co );
+     box_addpt( node->bbx, pc->co );
+   }
+}
+
+static void bvh_subdiv( scene *s, u32 inode )
+{
+   bvh_node *node = &s->bvh.nodes[ inode ];
+
+   v3f extent;
+   v3_sub( node->bbx[1], node->bbx[0], extent );
+
+   int axis = 0;
+   if( extent[1] > extent[0] ) axis = 1;
+   if( extent[2] > extent[axis] ) axis = 2;
+
+   float split = node->bbx[0][axis] + extent[axis]*0.5f;
+
+   i32 i = node->start,
+       j = i + node->count-1;
+   
+   while( i <= j )
+   {
+      u32 *ti = &s->indices[i*3];
+
+      float a = s->verts[ti[0]].co[axis],
+            b = s->verts[ti[1]].co[axis],
+            c = s->verts[ti[2]].co[axis];
+
+      if( ((a+b+c) / 3.0f) < split )
+         i ++;
+      else
+      {
+         /* Swap triangle indices */
+         u32 *tj = &s->indices[j*3];
+         u32 temp[3];
+         temp[0] = ti[0];
+         temp[1] = ti[1];
+         temp[2] = ti[2];
+
+         ti[0] = tj[0];
+         ti[1] = tj[1];
+         ti[2] = tj[2];
+
+         tj[0] = temp[0];
+         tj[1] = temp[1];
+         tj[2] = temp[2];
+
+         j --;
+      }
+   }
+
+   u32 left_count = i - node->start;
+   if( left_count == 0 || left_count == node->count ) return;
+
+   u32 il = s->bvh.node_count ++,
+       ir = s->bvh.node_count ++;
+
+   struct bvh_node *lnode = &s->bvh.nodes[il],
+                   *rnode = &s->bvh.nodes[ir];
+
+   lnode->start = node->start;
+   lnode->count = left_count;
+   rnode->start = i;
+   rnode->count = node->count - left_count;
+
+   node->il = il;
+   node->ir = ir;
+   node->count = 0;
+
+   bvh_update_bounds( s, il );
+   bvh_update_bounds( s, ir );
+   bvh_subdiv( s, il );
+   bvh_subdiv( s, ir );
+}
+
+static void bvh_create( scene *s )
+{
+   u32 triangle_count = s->indice_count / 3;
+   s->bvh.nodes = malloc( sizeof(struct bvh_node) * (triangle_count*2-1) );
+
+   bvh_node *root = &s->bvh.nodes[0];
+   s->bvh.node_count = 1;
+   
+   root->il = 0;
+   root->ir = 0;
+   root->count = triangle_count;
+   root->start = 0;
+
+   bvh_update_bounds( s, 0 );
+   bvh_subdiv( s, 0 );
+
+   s->bvh.nodes = 
+      realloc( s->bvh.nodes, sizeof(struct bvh_node) * s->bvh.node_count );
+
+   vg_success( "BVH done, size: %u/%u\n", s->bvh.node_count,
+                                          (triangle_count*2-1) );
+}
+
+static void bvh_debug_node( scene *s, u32 inode, v3f pos, u32 colour )
+{
+   struct bvh_node *node = &s->bvh.nodes[ inode ];
+
+   if( (pos[0] >= node->bbx[0][0] && pos[0] <= node->bbx[1][0]) &&
+       (pos[2] >= node->bbx[0][2] && pos[2] <= node->bbx[1][2]) )
+   {
+      if( !node->count )
+      {
+         vg_line_boxf( node->bbx, colour );
+
+         bvh_debug_node( s, node->il, pos, colour );
+         bvh_debug_node( s, node->ir, pos, colour );
+      }
+      else
+      {
+         vg_line_boxf( node->bbx, 0xff00ff00 );
+         for( u32 i=0; i<node->count; i++ )
+         {
+            u32 idx = (node->start+i)*3;
+
+            model_vert *pa = &s->verts[ s->indices[ idx+0 ] ],
+                       *pb = &s->verts[ s->indices[ idx+1 ] ],
+                       *pc = &s->verts[ s->indices[ idx+2 ] ];
+
+            vg_line( pa->co, pb->co, 0xff0000ff );
+            vg_line( pb->co, pc->co, 0xff0000ff );
+            vg_line( pc->co, pa->co, 0xff0000ff );
+         }
+      }
+   }
+}
+
+static void bvh_debug( scene *s, v3f pos )
+{
+   bvh_debug_node( s, 0, pos, 0x4000ffa8 );
+}
+
+static int bvh_scene_sample_node( scene *s, u32 inode, v3f pos, v3f norm )
+{
+   bvh_node *node = &s->bvh.nodes[ inode ];
+
+   if( (pos[0] >= node->bbx[0][0] && pos[0] <= node->bbx[1][0]) &&
+       (pos[2] >= node->bbx[0][2] && pos[2] <= node->bbx[1][2]) )
+   {
+      if( !node->count )
+      {
+         if( bvh_scene_sample_node( s, node->il, pos, norm )) return 1;
+         if( bvh_scene_sample_node( s, node->ir, pos, norm )) return 1;
+      }
+      else
+      {
+         for( u32 i=0; i<node->count; i++ )
+         {
+            u32 idx = (node->start+i)*3;
+            model_vert *pa = &s->verts[ s->indices[ idx+0 ] ],
+                       *pb = &s->verts[ s->indices[ idx+1 ] ],
+                       *pc = &s->verts[ s->indices[ idx+2 ] ];
+            
+            float height;
+            if( triangle_raycast2d( pa->co, pb->co, pc->co, pos, &height ))
+            {
+               pos[1] = height;
+               
+               if( norm )
+               {
+                  v3f v0, v1;
+                  v3_sub( pa->co, pb->co, v0 );
+                  v3_sub( pc->co, pb->co, v1 );
+                  v3_cross( v1, v0, norm );
+                  v3_normalize( norm );
+               }
+
+               return 1;
+            }
+         }
+      }
+   }
+
+   return 0;
+}
+
+static int bvh_scene_sample( scene *s, v3f pos, v3f norm)
+{
+   return bvh_scene_sample_node( s, 0, pos, norm );
+}
+
+typedef struct ray_hit ray_hit;
+struct ray_hit
+{
+   float dist;
+   u32 *tri;
+   v3f pos, normal;
+};
+
+int ray_aabb( boxf box, v3f co, v3f dir, float dist )
+{
+   v3f v0, v1;
+   float tmin, tmax;
+
+   v3_sub( box[0], co, v0 );
+   v3_sub( box[1], co, v1 );
+   v3_div( v0, dir, v0 );
+   v3_div( v1, dir, v1 );
+   
+   tmin = vg_minf( v0[0], v1[0] );
+   tmax = vg_maxf( v0[0], v1[0] );
+   tmin = vg_maxf( tmin, vg_minf( v0[1], v1[1] ));
+   tmax = vg_minf( tmax, vg_maxf( v0[1], v1[1] ));
+   tmin = vg_maxf( tmin, vg_minf( v0[2], v1[2] ));
+   tmax = vg_minf( tmax, vg_maxf( v0[2], v1[2] ));
+
+   return tmax >= tmin && tmin < dist && tmax > 0;
+}
+
+static int bvh_ray_tri( scene *sc, u32 *tri, v3f co, v3f dir, ray_hit *hit )
+{
+   float const kEpsilon = 0.00001f;
+
+   v3f v0, v1, h, s, q, n;
+   float a,f,u,v,t;
+
+   float *pa = sc->verts[tri[0]].co,
+         *pb = sc->verts[tri[1]].co,
+         *pc = sc->verts[tri[2]].co;
+
+   v3_sub( pb, pa, v0 );
+   v3_sub( pc, pa, v1 );
+   v3_cross( dir, v1, h );
+   v3_cross( v0, v1, n );
+
+   if( v3_dot( n, dir ) > 0.0f ) /* Backface culling */
+      return 0;
+   
+   /* Parralel */
+   a = v3_dot( v0, h );
+   if( a > -kEpsilon && a < kEpsilon )
+      return 0;
+
+   f = 1.0f/a;
+   v3_sub( co, pa, s );
+
+   u = f * v3_dot(s, h);
+   if( u < 0.0f || u > 1.0f )
+      return 0;
+   
+   v3_cross( s, v0, q );
+   v = f * v3_dot( dir, q );
+   if( v < 0.0f || u+v > 1.0f )
+      return 0;
+
+   t = f * v3_dot(v1, q);
+   if( t > kEpsilon && t < hit->dist )
+   {
+      hit->dist = t;
+      hit->tri = tri;
+      return 1;
+   }
+   else return 0;
+}
+
+static int bvh_ray( scene *s, u32 inode, v3f co, v3f dir, ray_hit *hit )
+{
+   bvh_node *node = &s->bvh.nodes[ inode ];
+   
+   if( !ray_aabb( node->bbx, co, dir, hit->dist )) 
+      return 0;
+
+   int count = 0;
+
+   if( node->count )
+   {
+      for( u32 i=0; i<node->count; i++ )
+      {
+         u32 *indices = &s->indices[ (node->start+i)*3 ];
+         count += bvh_ray_tri( s, indices, co, dir, hit );
+      }
+   }
+   else
+   {
+      count += bvh_ray( s, node->il, co, dir, hit );
+      count += bvh_ray( s, node->ir, co, dir, hit );
+   }
+
+   return count;
+}
+
+static int bvh_raycast( scene *s, v3f co, v3f dir, ray_hit *hit )
+{
+   v3f pb;
+   v3_muladds( co, dir, hit->dist, pb );
+
+   int count = bvh_ray( s, 0, co, dir, hit );
+
+   if( count )
+   {
+      vg_line( co, pb, 0xff00ffff );
+
+      v3f v0, v1;
+      
+      float *pa = s->verts[hit->tri[0]].co,
+            *pb = s->verts[hit->tri[1]].co,
+            *pc = s->verts[hit->tri[2]].co;
+
+      v3_sub( pa, pb, v0 );
+      v3_sub( pc, pb, v1 );
+      v3_cross( v1, v0, hit->normal );
+      v3_normalize( hit->normal );
+      v3_muladds( co, dir, hit->dist, hit->pos );
+   }
+   else
+      vg_line( co, pb, 0xff0000ff );
+
+   return count;
+}
+
+#endif
diff --git a/terrain.h b/terrain.h
new file mode 100644
index 0000000..e9cb162
--- /dev/null
+++ b/terrain.h
@@ -0,0 +1,5 @@
+#include "vg/vg.h"
+#include "scene.h"
+
+
+
diff --git a/textures/ch_gradient.png b/textures/ch_gradient.png
index d81172eb2931674cae6266cc576cb042f281400a..dba223c5e3fd12af811ae47f3a93a0da4f05f239 100644
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-- 
2.25.1