From: Taran Nathan <moogoesmeow123@gmail.com>
Date: Thu, 21 May 2026 20:43:46 +0000 (-0700)
Subject: first
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=2d7b02059d64ef99b332bd4cf73846049df378be;p=cart.git

first
---

2d7b02059d64ef99b332bd4cf73846049df378be
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ea8c4bf
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+/target
diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..95c172e
--- /dev/null
+++ b/Cargo.lock
@@ -0,0 +1,415 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 4
+
+[[package]]
+name = "anyhow"
+version = "1.0.102"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c"
+
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "autocfg"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
+
+[[package]]
+name = "bytemuck"
+version = "1.25.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c8efb64bd706a16a1bdde310ae86b351e4d21550d98d056f22f8a7f7a2183fec"
+
+[[package]]
+name = "csv"
+version = "1.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "52cd9d68cf7efc6ddfaaee42e7288d3a99d613d4b50f76ce9827ae0c6e14f938"
+dependencies = [
+ "csv-core",
+ "itoa",
+ "ryu",
+ "serde_core",
+]
+
+[[package]]
+name = "csv-core"
+version = "0.1.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "704a3c26996a80471189265814dbc2c257598b96b8a7feae2d31ace646bb9782"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
+name = "generator"
+version = "0.1.0"
+dependencies = [
+ "anyhow",
+ "csv",
+ "nalgebra",
+ "serde",
+ "structs",
+]
+
+[[package]]
+name = "glam"
+version = "0.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "333928d5eb103c5d4050533cec0384302db6be8ef7d3cebd30ec6a35350353da"
+
+[[package]]
+name = "glam"
+version = "0.15.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3abb554f8ee44336b72d522e0a7fe86a29e09f839a36022fa869a7dfe941a54b"
+
+[[package]]
+name = "glam"
+version = "0.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4126c0479ccf7e8664c36a2d719f5f2c140fbb4f9090008098d2c291fa5b3f16"
+
+[[package]]
+name = "glam"
+version = "0.17.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e01732b97afd8508eee3333a541b9f7610f454bb818669e66e90f5f57c93a776"
+
+[[package]]
+name = "glam"
+version = "0.18.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "525a3e490ba77b8e326fb67d4b44b4bd2f920f44d4cc73ccec50adc68e3bee34"
+
+[[package]]
+name = "glam"
+version = "0.19.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b8509e6791516e81c1a630d0bd7fbac36d2fa8712a9da8662e716b52d5051ca"
+
+[[package]]
+name = "glam"
+version = "0.20.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f43e957e744be03f5801a55472f593d43fabdebf25a4585db250f04d86b1675f"
+
+[[package]]
+name = "glam"
+version = "0.21.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "518faa5064866338b013ff9b2350dc318e14cc4fcd6cb8206d7e7c9886c98815"
+
+[[package]]
+name = "glam"
+version = "0.22.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12f597d56c1bd55a811a1be189459e8fad2bbc272616375602443bdfb37fa774"
+
+[[package]]
+name = "glam"
+version = "0.23.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e4afd9ad95555081e109fe1d21f2a30c691b5f0919c67dfa690a2e1eb6bd51c"
+
+[[package]]
+name = "glam"
+version = "0.24.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5418c17512bdf42730f9032c74e1ae39afc408745ebb2acf72fbc4691c17945"
+
+[[package]]
+name = "glam"
+version = "0.25.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "151665d9be52f9bb40fc7966565d39666f2d1e69233571b71b87791c7e0528b3"
+
+[[package]]
+name = "glam"
+version = "0.27.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e05e7e6723e3455f4818c7b26e855439f7546cf617ef669d1adedb8669e5cb9"
+
+[[package]]
+name = "glam"
+version = "0.28.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "779ae4bf7e8421cf91c0b3b64e7e8b40b862fba4d393f59150042de7c4965a94"
+
+[[package]]
+name = "glam"
+version = "0.29.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8babf46d4c1c9d92deac9f7be466f76dfc4482b6452fc5024b5e8daf6ffeb3ee"
+
+[[package]]
+name = "glam"
+version = "0.30.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "19fc433e8437a212d1b6f1e68c7824af3aed907da60afa994e7f542d18d12aa9"
+
+[[package]]
+name = "glam"
+version = "0.31.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "556f6b2ea90b8d15a74e0e7bb41671c9bdf38cd9f78c284d750b9ce58a2b5be7"
+
+[[package]]
+name = "glam"
+version = "0.32.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f70749695b063ecbf6b62949ccccde2e733ec3ecbbd71d467dca4e5c6c97cca0"
+
+[[package]]
+name = "itoa"
+version = "1.0.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682"
+
+[[package]]
+name = "matrixmultiply"
+version = "0.3.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a06de3016e9fae57a36fd14dba131fccf49f74b40b7fbdb472f96e361ec71a08"
+dependencies = [
+ "autocfg",
+ "rawpointer",
+]
+
+[[package]]
+name = "memchr"
+version = "2.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8ca58f447f06ed17d5fc4043ce1b10dd205e060fb3ce5b979b8ed8e59ff3f79"
+
+[[package]]
+name = "nalgebra"
+version = "0.34.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df76ea0ff5c7e6b88689085804d6132ded0ddb9de5ca5b8aeb9eeadc0508a70a"
+dependencies = [
+ "approx",
+ "glam 0.14.0",
+ "glam 0.15.2",
+ "glam 0.16.0",
+ "glam 0.17.3",
+ "glam 0.18.0",
+ "glam 0.19.0",
+ "glam 0.20.5",
+ "glam 0.21.3",
+ "glam 0.22.0",
+ "glam 0.23.0",
+ "glam 0.24.2",
+ "glam 0.25.0",
+ "glam 0.27.0",
+ "glam 0.28.0",
+ "glam 0.29.3",
+ "glam 0.30.10",
+ "glam 0.31.1",
+ "glam 0.32.1",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "973e7178a678cfd059ccec50887658d482ce16b0aa9da3888ddeab5cd5eb4889"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "num-bigint"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9"
+dependencies = [
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-complex"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-integer"
+version = "0.1.46"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
+dependencies = [
+ "num-bigint",
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-traits"
+version = "0.2.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
+dependencies = [
+ "autocfg",
+]
+
+[[package]]
+name = "paste"
+version = "1.0.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.106"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8fd00f0bb2e90d81d1044c2b32617f68fcb9fa3bb7640c23e9c748e53fb30934"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.45"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41f2619966050689382d2b44f664f4bc593e129785a36d6ee376ddf37259b924"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
+[[package]]
+name = "ryu"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9774ba4a74de5f7b1c1451ed6cd5285a32eddb5cccb8cc655a4e50009e06477f"
+
+[[package]]
+name = "safe_arch"
+version = "0.7.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96b02de82ddbe1b636e6170c21be622223aea188ef2e139be0a5b219ec215323"
+dependencies = [
+ "bytemuck",
+]
+
+[[package]]
+name = "serde"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
+dependencies = [
+ "serde_core",
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_core"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
+dependencies = [
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_derive"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "simba"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c99284beb21666094ba2b75bbceda012e610f5479dfcc2d6e2426f53197ffd95"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
+[[package]]
+name = "structs"
+version = "0.0.0"
+dependencies = [
+ "csv",
+ "nalgebra",
+ "serde",
+]
+
+[[package]]
+name = "syn"
+version = "2.0.117"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e665b8803e7b1d2a727f4023456bbbbe74da67099c585258af0ad9c5013b9b99"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "typenum"
+version = "1.20.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "40ce102ab67701b8526c123c1bab5cbe42d7040ccfd0f64af1a385808d2f43de"
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.24"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
+
+[[package]]
+name = "wide"
+version = "0.7.33"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ce5da8ecb62bcd8ec8b7ea19f69a51275e91299be594ea5cc6ef7819e16cd03"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..e0fc46c
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,6 @@
+[workspace]
+members = [
+    "generator",
+    "structs",
+]
+resolver = "3"
diff --git a/generator/.gitignore b/generator/.gitignore
new file mode 100644
index 0000000..ea8c4bf
--- /dev/null
+++ b/generator/.gitignore
@@ -0,0 +1 @@
+/target
diff --git a/generator/Cargo.lock b/generator/Cargo.lock
new file mode 100644
index 0000000..3b81e0b
--- /dev/null
+++ b/generator/Cargo.lock
@@ -0,0 +1,405 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 4
+
+[[package]]
+name = "anyhow"
+version = "1.0.102"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c"
+
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "autocfg"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
+
+[[package]]
+name = "bytemuck"
+version = "1.25.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c8efb64bd706a16a1bdde310ae86b351e4d21550d98d056f22f8a7f7a2183fec"
+
+[[package]]
+name = "csv"
+version = "1.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "52cd9d68cf7efc6ddfaaee42e7288d3a99d613d4b50f76ce9827ae0c6e14f938"
+dependencies = [
+ "csv-core",
+ "itoa",
+ "ryu",
+ "serde_core",
+]
+
+[[package]]
+name = "csv-core"
+version = "0.1.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "704a3c26996a80471189265814dbc2c257598b96b8a7feae2d31ace646bb9782"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
+name = "generator"
+version = "0.1.0"
+dependencies = [
+ "anyhow",
+ "csv",
+ "nalgebra",
+ "serde",
+]
+
+[[package]]
+name = "glam"
+version = "0.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "333928d5eb103c5d4050533cec0384302db6be8ef7d3cebd30ec6a35350353da"
+
+[[package]]
+name = "glam"
+version = "0.15.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3abb554f8ee44336b72d522e0a7fe86a29e09f839a36022fa869a7dfe941a54b"
+
+[[package]]
+name = "glam"
+version = "0.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4126c0479ccf7e8664c36a2d719f5f2c140fbb4f9090008098d2c291fa5b3f16"
+
+[[package]]
+name = "glam"
+version = "0.17.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e01732b97afd8508eee3333a541b9f7610f454bb818669e66e90f5f57c93a776"
+
+[[package]]
+name = "glam"
+version = "0.18.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "525a3e490ba77b8e326fb67d4b44b4bd2f920f44d4cc73ccec50adc68e3bee34"
+
+[[package]]
+name = "glam"
+version = "0.19.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b8509e6791516e81c1a630d0bd7fbac36d2fa8712a9da8662e716b52d5051ca"
+
+[[package]]
+name = "glam"
+version = "0.20.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f43e957e744be03f5801a55472f593d43fabdebf25a4585db250f04d86b1675f"
+
+[[package]]
+name = "glam"
+version = "0.21.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "518faa5064866338b013ff9b2350dc318e14cc4fcd6cb8206d7e7c9886c98815"
+
+[[package]]
+name = "glam"
+version = "0.22.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12f597d56c1bd55a811a1be189459e8fad2bbc272616375602443bdfb37fa774"
+
+[[package]]
+name = "glam"
+version = "0.23.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e4afd9ad95555081e109fe1d21f2a30c691b5f0919c67dfa690a2e1eb6bd51c"
+
+[[package]]
+name = "glam"
+version = "0.24.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5418c17512bdf42730f9032c74e1ae39afc408745ebb2acf72fbc4691c17945"
+
+[[package]]
+name = "glam"
+version = "0.25.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "151665d9be52f9bb40fc7966565d39666f2d1e69233571b71b87791c7e0528b3"
+
+[[package]]
+name = "glam"
+version = "0.27.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e05e7e6723e3455f4818c7b26e855439f7546cf617ef669d1adedb8669e5cb9"
+
+[[package]]
+name = "glam"
+version = "0.28.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "779ae4bf7e8421cf91c0b3b64e7e8b40b862fba4d393f59150042de7c4965a94"
+
+[[package]]
+name = "glam"
+version = "0.29.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8babf46d4c1c9d92deac9f7be466f76dfc4482b6452fc5024b5e8daf6ffeb3ee"
+
+[[package]]
+name = "glam"
+version = "0.30.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "19fc433e8437a212d1b6f1e68c7824af3aed907da60afa994e7f542d18d12aa9"
+
+[[package]]
+name = "glam"
+version = "0.31.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "556f6b2ea90b8d15a74e0e7bb41671c9bdf38cd9f78c284d750b9ce58a2b5be7"
+
+[[package]]
+name = "glam"
+version = "0.32.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f70749695b063ecbf6b62949ccccde2e733ec3ecbbd71d467dca4e5c6c97cca0"
+
+[[package]]
+name = "itoa"
+version = "1.0.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682"
+
+[[package]]
+name = "matrixmultiply"
+version = "0.3.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a06de3016e9fae57a36fd14dba131fccf49f74b40b7fbdb472f96e361ec71a08"
+dependencies = [
+ "autocfg",
+ "rawpointer",
+]
+
+[[package]]
+name = "memchr"
+version = "2.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8ca58f447f06ed17d5fc4043ce1b10dd205e060fb3ce5b979b8ed8e59ff3f79"
+
+[[package]]
+name = "nalgebra"
+version = "0.34.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df76ea0ff5c7e6b88689085804d6132ded0ddb9de5ca5b8aeb9eeadc0508a70a"
+dependencies = [
+ "approx",
+ "glam 0.14.0",
+ "glam 0.15.2",
+ "glam 0.16.0",
+ "glam 0.17.3",
+ "glam 0.18.0",
+ "glam 0.19.0",
+ "glam 0.20.5",
+ "glam 0.21.3",
+ "glam 0.22.0",
+ "glam 0.23.0",
+ "glam 0.24.2",
+ "glam 0.25.0",
+ "glam 0.27.0",
+ "glam 0.28.0",
+ "glam 0.29.3",
+ "glam 0.30.10",
+ "glam 0.31.1",
+ "glam 0.32.1",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "973e7178a678cfd059ccec50887658d482ce16b0aa9da3888ddeab5cd5eb4889"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "num-bigint"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9"
+dependencies = [
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-complex"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-integer"
+version = "0.1.46"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
+dependencies = [
+ "num-bigint",
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-traits"
+version = "0.2.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
+dependencies = [
+ "autocfg",
+]
+
+[[package]]
+name = "paste"
+version = "1.0.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.106"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8fd00f0bb2e90d81d1044c2b32617f68fcb9fa3bb7640c23e9c748e53fb30934"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.45"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41f2619966050689382d2b44f664f4bc593e129785a36d6ee376ddf37259b924"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "rawpointer"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
+
+[[package]]
+name = "ryu"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9774ba4a74de5f7b1c1451ed6cd5285a32eddb5cccb8cc655a4e50009e06477f"
+
+[[package]]
+name = "safe_arch"
+version = "0.7.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96b02de82ddbe1b636e6170c21be622223aea188ef2e139be0a5b219ec215323"
+dependencies = [
+ "bytemuck",
+]
+
+[[package]]
+name = "serde"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
+dependencies = [
+ "serde_core",
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_core"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
+dependencies = [
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_derive"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "simba"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c99284beb21666094ba2b75bbceda012e610f5479dfcc2d6e2426f53197ffd95"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
+[[package]]
+name = "syn"
+version = "2.0.117"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e665b8803e7b1d2a727f4023456bbbbe74da67099c585258af0ad9c5013b9b99"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "typenum"
+version = "1.20.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "40ce102ab67701b8526c123c1bab5cbe42d7040ccfd0f64af1a385808d2f43de"
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.24"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
+
+[[package]]
+name = "wide"
+version = "0.7.33"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ce5da8ecb62bcd8ec8b7ea19f69a51275e91299be594ea5cc6ef7819e16cd03"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
diff --git a/generator/Cargo.toml b/generator/Cargo.toml
new file mode 100644
index 0000000..2e4b465
--- /dev/null
+++ b/generator/Cargo.toml
@@ -0,0 +1,11 @@
+[package]
+name = "generator"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+anyhow = "1.0.102"
+csv = "1.4.0"
+nalgebra = "0.34.2"
+serde = { version = "1.0.228", features = ["derive"] }
+structs = { path = "../structs" }
diff --git a/generator/points.csv b/generator/points.csv
new file mode 100644
index 0000000..f8a97cf
--- /dev/null
+++ b/generator/points.csv
@@ -0,0 +1,53 @@
+2.0,0.0
+2.0,0.03491012985643517
+1.9999999999999998,0.06984153898349545
+1.9999999999999998,0.1048155585660824
+2.0,0.13985362388702086
+2.0,0.174977327051848
+2.0,0.21020847053135291
+2.0,0.24556912180580917
+2.0,0.28108166940478285
+2.0,0.31676888064907255
+2.0,0.35265396141692995
+2.0,0.38876061827543695
+2.0,0.4251131233400442
+2.0,0.4617363822511263
+2.0,0.4986560056863614
+1.9999999999999998,0.5358983848622453
+2.0,0.5734907715176157
+1.9999999999999998,0.6114613629173209
+1.9999999999999998,0.6498393924658126
+2.0,0.6886552265793305
+2.0,0.7279404685324046
+2.0,0.7677280700708315
+1.9999999999999998,0.8080524516703135
+1.9999999999999998,0.8489496324192094
+2.0,0.8904573706170724
+1.9999999999999998,0.9326153163099972
+1.9999999999999998,0.9754651771317226
+2.0,-0.975465177131724
+2.0,-0.9326153163099967
+2.0,-0.8904573706170721
+2.0,-0.8489496324192098
+2.0,-0.8080524516703143
+1.9999999999999998,-0.7677280700708329
+2.0,-0.7279404685324044
+2.0,-0.6886552265793305
+1.9999999999999998,-0.649839392465813
+2.0,-0.6114613629173217
+2.0,-0.5734907715176153
+1.9999999999999998,-0.5358983848622452
+2.0,-0.49865600568636176
+2.0,-0.46173638225112695
+1.9999999999999998,-0.42511312334004536
+2.0,-0.3887606182754367
+2.0,-0.35265396141693006
+2.0,-0.31676888064907316
+1.9999999999999998,-0.2810816694047838
+2.0,-0.24556912180580867
+2.0,-0.2102084705313528
+2.0,-0.1749773270518483
+2.0,-0.13985362388702152
+1.9999999999999998,-0.10481555856608347
+1.9999999999999998,-0.06984153898349515
+2.0,-0.03491012985643527
diff --git a/generator/records.csv b/generator/records.csv
new file mode 100644
index 0000000..ad6f1df
--- /dev/null
+++ b/generator/records.csv
@@ -0,0 +1,53 @@
+0.0,0.0,0.0,2.0
+0.0,0.0,0.017453292519943295,2.0003046560878155
+0.0,0.0,0.03490658503988659,2.0012190885976433
+0.0,0.0,0.05235987755982989,2.002744691995842
+0.0,0.0,0.06981317007977318,2.0048837961623445
+0.0,0.0,0.08726646259971647,2.0076396750866947
+0.0,0.0,0.10471975511965978,2.011016559127033
+0.0,0.0,0.12217304763960307,2.0150196509176967
+0.0,0.0,0.13962634015954636,2.019655145037236
+0.0,0.0,0.15707963267948966,2.0249302515760057
+0.0,0.0,0.17453292519943295,2.0308532237714902
+0.0,0.0,0.19198621771937624,2.0374333899104284
+0.0,0.0,0.20943951023931953,2.0446811897300585
+0.0,0.0,0.22689280275926285,2.0526082155867833
+0.0,0.0,0.24434609527920614,2.0612272586997964
+0.0,0.0,0.2617993877991494,2.070552360820166
+0.0,0.0,0.2792526803190927,2.080598871723204
+0.0,0.0,0.2967059728390361,2.091383512974296
+0.0,0.0,0.3141592653589793,2.1029244484765344
+0.0,0.0,0.33161255787892263,2.1152413623733413
+0.0,0.0,0.3490658503988659,2.128355544951824
+0.0,0.0,0.3665191429188092,2.142289987274058
+0.0,0.0,0.3839724354387525,2.1570694853551666
+0.0,0.0,0.4014257279586958,2.1727207548105922
+0.0,0.0,0.4188790204786391,2.1892725570120937
+0.0,0.0,0.4363323129985824,2.2067558379249834
+0.0,0.0,0.45378560551852565,2.2252038809503776
+0.0,0.0,-0.4537856055185261,2.2252038809503785
+0.0,0.0,-0.43633231299858216,2.2067558379249834
+0.0,0.0,-0.418879020478639,2.1892725570120932
+0.0,0.0,-0.40142572795869597,2.1727207548105927
+0.0,0.0,-0.3839724354387528,2.157069485355167
+0.0,0.0,-0.36651914291880977,2.1422899872740584
+0.0,0.0,-0.3490658503988658,2.128355544951824
+0.0,0.0,-0.33161255787892263,2.1152413623733413
+0.0,0.0,-0.31415926535897953,2.1029244484765344
+0.0,0.0,-0.2967059728390365,2.0913835129742964
+0.0,0.0,-0.2792526803190925,2.080598871723204
+0.0,0.0,-0.26179938779914935,2.070552360820166
+0.0,0.0,-0.24434609527920628,2.0612272586997964
+0.0,0.0,-0.22689280275926318,2.0526082155867833
+0.0,0.0,-0.2094395102393201,2.0446811897300585
+0.0,0.0,-0.1919862177193761,2.0374333899104284
+0.0,0.0,-0.174532925199433,2.0308532237714902
+0.0,0.0,-0.1570796326794899,2.024930251576006
+0.0,0.0,-0.1396263401595468,2.019655145037236
+0.0,0.0,-0.12217304763960281,2.0150196509176967
+0.0,0.0,-0.10471975511965972,2.011016559127033
+0.0,0.0,-0.08726646259971663,2.0076396750866947
+0.0,0.0,-0.06981317007977351,2.0048837961623445
+0.0,0.0,-0.052359877559830424,2.002744691995842
+0.0,0.0,-0.034906585039886445,2.0012190885976433
+0.0,0.0,-0.017453292519943344,2.0003046560878155
diff --git a/generator/room.csv b/generator/room.csv
new file mode 100644
index 0000000..cfa62a8
--- /dev/null
+++ b/generator/room.csv
@@ -0,0 +1,3 @@
+x1,y1,x2,y2
+2,1,2,-1
+
diff --git a/generator/src/main.rs b/generator/src/main.rs
new file mode 100644
index 0000000..4ea5c0c
--- /dev/null
+++ b/generator/src/main.rs
@@ -0,0 +1,114 @@
+use anyhow::{Result, bail};
+use csv::{Reader, ReaderBuilder, Trim, Writer, WriterBuilder};
+use nalgebra::{Point2, Rotation2, Vector2};
+use serde::{Deserialize, Serialize};
+use structs::*;
+
+fn main() -> Result<()> {
+    let mut reader = ReaderBuilder::new()
+        .has_headers(true)
+        .trim(Trim::All)
+        .from_path("./room.csv")?;
+
+    let lines: std::result::Result<Vec<Line>, csv::Error> = reader.deserialize::<Line>().collect();
+
+    let lines: Vec<Line> = lines?;
+    dbg!(&lines);
+    let mut poses: Vec<Cart> = vec![];
+
+    let mut records: Vec<Record> = vec![];
+
+    for deg in 0..360 {
+        poses.push(Cart {
+            cart_pos: Point2::new(0.0, 0.0),
+            cart_rot: Rotation2::new((deg as f64).to_radians()),
+        });
+    }
+
+    let mut point_writer = WriterBuilder::new()
+        .has_headers(true)
+        .from_path("./points.csv")?;
+
+    for pose in poses {
+        if let Some(distance) = raycast(
+            &lines,
+            (pose.cart_pos.x, pose.cart_pos.y),
+            pose.cart_rot.angle(),
+        ) {
+            records.push(cart_to_record(&pose, distance));
+            point_writer.serialize(record_to_point(&pose, distance))?;
+        }
+    }
+
+    let mut writer = WriterBuilder::new()
+        .has_headers(false)
+        .from_path("./records.csv")?;
+    for record in records {
+        writer.serialize(&record)?;
+    }
+
+    Ok(())
+}
+
+fn record_to_point(cart: &Cart, distance: f64) -> (f64, f64) {
+    let ray = Vector2::new(
+        cart.cart_rot.angle().cos() * distance,
+        cart.cart_rot.angle().sin() * distance,
+    );
+
+    let transformed = cart.cart_pos + ray;
+
+    (transformed.x, transformed.y)
+}
+
+fn cart_to_record(cart: &Cart, distance: f64) -> Record {
+    Record {
+        cart_pos: (cart.cart_pos.x, cart.cart_pos.y),
+        cart_rot: cart.cart_rot.angle(),
+        distance: distance,
+    }
+}
+
+/// returns distance
+/// angle is radians
+fn raycast(objects: &Vec<Line>, start_pos: (f64, f64), angle: f64) -> Option<f64> {
+    let ray_dir = (angle.cos(), angle.sin());
+
+    objects
+        .into_iter()
+        .filter_map(|line| intersect_ray_segment(start_pos, ray_dir, &line))
+        .reduce(f64::min)
+}
+
+fn intersect_ray_segment(
+    ray_origin: (f64, f64),
+    ray_dir: (f64, f64),
+    Line(seg_a, seg_b): &Line,
+) -> Option<f64> {
+    let segment = (seg_b.0 - seg_a.0, seg_b.1 - seg_a.1);
+
+    let diff = (seg_a.0 - ray_origin.0, seg_a.1 - ray_origin.1);
+
+    let denom = cross(ray_dir, segment);
+
+    // Parallel (or nearly parallel)
+    if denom.abs() < 1e-10 {
+        return None;
+    }
+
+    let t = cross(diff, segment) / denom;
+    let u = cross(diff, ray_dir) / denom;
+
+    // Ray: t >= 0
+    // Segment: 0 <= u <= 1
+    if t >= 0.0 && (0.0..=1.0).contains(&u) {
+        Some(t) // ray_dir is unit length → t is distance
+    } else {
+        None
+    }
+}
+
+///cross product
+fn cross(a: (f64, f64), b: (f64, f64)) -> f64 {
+    a.0 * b.1 - a.1 * b.0
+}
diff --git a/structs/.gitignore b/structs/.gitignore
new file mode 100644
index 0000000..ea8c4bf
--- /dev/null
+++ b/structs/.gitignore
@@ -0,0 +1 @@
+/target
diff --git a/structs/Cargo.toml b/structs/Cargo.toml
new file mode 100644
index 0000000..fffcff3
--- /dev/null
+++ b/structs/Cargo.toml
@@ -0,0 +1,9 @@
+[package]
+name = "structs"
+version = "0.0.0"
+edition = "2024"
+
+[dependencies]
+csv = "1.4.0"
+nalgebra = "0.34.2"
+serde = { version = "1.0.228", features = ["derive"] }
diff --git a/structs/src/lib.rs b/structs/src/lib.rs
new file mode 100644
index 0000000..2885a18
--- /dev/null
+++ b/structs/src/lib.rs
@@ -0,0 +1,30 @@
+use nalgebra::{Point2, Rotation2};
+use serde::{Deserialize, Serialize};
+
+#[derive(Debug)]
+pub struct Cart {
+    pub cart_pos: Point2<f64>,
+    pub cart_rot: Rotation2<f64>,
+}
+
+#[derive(Debug, Serialize)]
+pub struct Record {
+    pub cart_pos: (f64, f64),
+    ///radians
+    pub cart_rot: f64,
+    pub distance: f64,
+}
+
+#[derive(Debug, Deserialize)]
+pub struct Line(pub (f64, f64), pub (f64, f64));
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn it_works() {
+        let result = 4;
+        assert_eq!(result, 4);
+    }
+}