Version: 237.3.0

* Add shapecasts + raycasts

Actual raycasts. Need this for AI LIDAR experiment.

* cassette

* more cudin

* Mostly ported

* more work

* More ports

* the big house

* rays

* builds

* Janky not working raycasts

* Fix GJK

* Test fixes

* Shapecast + fixes

* free

* tests

* More fixes

* Minor changes

* Not these

* Release notes

.github/workflows/build-docfx.yml

@@ -5,30 +5,30 @@ on:
     - cron: "0 0 * * 0"
 jobs:
   docfx:
-   runs-on: ubuntu-latest
-   steps:
-    - uses: actions/checkout@v3.6.0
-      with:
-        submodules: true
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4.2.2
+        with:
+          submodules: true
 
-    - name: Setup .NET Core
-      uses: actions/setup-dotnet@v3.2.0
-      with:
-        dotnet-version: 8.0.x
+      - name: Setup .NET Core
+        uses: actions/setup-dotnet@v4.1.0
+        with:
+          dotnet-version: 8.0.x
 
-    - name: Install dependencies
-      run: dotnet restore
+      - name: Install dependencies
+        run: dotnet restore
 
-    - name: Build Project
-      run: dotnet build --no-restore /p:WarningsAsErrors=nullable
+      - name: Build Project
+        run: dotnet build --no-restore /p:WarningsAsErrors=nullable
 
-    - name: Build DocFX
-      uses: nikeee/docfx-action@v1.0.0
-      with:
-        args: Robust.Docfx/docfx.json
+      - name: Build DocFX
+        uses: nikeee/docfx-action@v1.0.0
+        with:
+          args: Robust.Docfx/docfx.json
 
-    - name: Publish Docfx Documentation on GitHub Pages
-      uses: maxheld83/ghpages@master
-      env:
-        BUILD_DIR: Robust.Docfx/_robust-site
-        GH_PAT: ${{ secrets.GH_PAT }}
+      - name: Publish Docfx Documentation on GitHub Pages
+        uses: maxheld83/ghpages@master
+        env:
+          BUILD_DIR: Robust.Docfx/_robust-site
+          GH_PAT: ${{ secrets.GH_PAT }}

.github/workflows/build-test.yml

@@ -2,33 +2,32 @@ name: Build & Test
 
 on:
   push:
-    branches: [ master ]
+    branches: [master]
   pull_request:
-    branches: [ master ]
+    branches: [master]
 
 jobs:
   build:
     strategy:
       matrix:
-        os: [ubuntu-latest, windows-latest ] # , macos-latest] - temporarily disabled due to libfreetype.dll errors.
+        os: [ubuntu-latest, windows-latest] # , macos-latest] - temporarily disabled due to libfreetype.dll errors.
 
     runs-on: ${{ matrix.os }}
 
     steps:
-    - uses: actions/checkout@v3.6.0
-      with:
-        submodules: true
-
-    - name: Setup .NET Core
-      uses: actions/setup-dotnet@v3.2.0
-      with:
-        dotnet-version: 8.0.x
-    - name: Install dependencies
-      run: dotnet restore
-    - name: Build
-      run: dotnet build --no-restore /p:WarningsAsErrors=nullable
-    - name: Robust.UnitTesting
-      run: dotnet test --no-build Robust.UnitTesting/Robust.UnitTesting.csproj -- NUnit.ConsoleOut=0
-    - name: Robust.Analyzers.Tests
-      run: dotnet test --no-build Robust.Analyzers.Tests/Robust.Analyzers.Tests.csproj -- NUnit.ConsoleOut=0
+      - uses: actions/checkout@v4.2.2
+        with:
+          submodules: true
 
+      - name: Setup .NET Core
+        uses: actions/setup-dotnet@v4.1.0
+        with:
+          dotnet-version: 8.0.x
+      - name: Install dependencies
+        run: dotnet restore
+      - name: Build
+        run: dotnet build --no-restore /p:WarningsAsErrors=nullable
+      - name: Robust.UnitTesting
+        run: dotnet test --no-build Robust.UnitTesting/Robust.UnitTesting.csproj -- NUnit.ConsoleOut=0
+      - name: Robust.Analyzers.Tests
+        run: dotnet test --no-build Robust.Analyzers.Tests/Robust.Analyzers.Tests.csproj -- NUnit.ConsoleOut=0

.github/workflows/codeql-analysis.yml

@@ -11,14 +11,8 @@
 #
 name: "CodeQL"
 
-#on:
-#  push:
-#    branches: [ master ]
-#  pull_request:
-#    # The branches below must be a subset of the branches above
-#    branches: [ master ]
-#  schedule:
-#    - cron: '30 18 * * 6'
+on:
+  workflow_dispatch
 
 jobs:
   analyze:
@@ -28,50 +22,50 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        language: [ 'csharp' ]
+        language: ["csharp"]
         # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python' ]
         # Learn more:
         # https://docs.github.com/en/free-pro-team@latest/github/finding-security-vulnerabilities-and-errors-in-your-code/configuring-code-scanning#changing-the-languages-that-are-analyzed
 
     steps:
-    - name: Checkout repository
-      uses: actions/checkout@v3.6.0
-      with:
-        submodules: true
+      - name: Checkout repository
+        uses: actions/checkout@v4.2.2
+        with:
+          submodules: true
 
-    - name: Setup .NET Core
-      uses: actions/setup-dotnet@v3.2.0
-      with:
-        dotnet-version: 7.0.x
+      - name: Setup .NET Core
+        uses: actions/setup-dotnet@v4.1.0
+        with:
+          dotnet-version: 7.0.x
 
-    - name: Build
-      run: dotnet build
+      - name: Build
+        run: dotnet build
 
-    # Initializes the CodeQL tools for scanning.
-    - name: Initialize CodeQL
-      uses: github/codeql-action/init@v1
-      with:
-        languages: ${{ matrix.language }}
-        # If you wish to specify custom queries, you can do so here or in a config file.
-        # By default, queries listed here will override any specified in a config file.
-        # Prefix the list here with "+" to use these queries and those in the config file.
-        # queries: ./path/to/local/query, your-org/your-repo/queries@main
+      # Initializes the CodeQL tools for scanning.
+      - name: Initialize CodeQL
+        uses: github/codeql-action/init@v1
+        with:
+          languages: ${{ matrix.language }}
+          # If you wish to specify custom queries, you can do so here or in a config file.
+          # By default, queries listed here will override any specified in a config file.
+          # Prefix the list here with "+" to use these queries and those in the config file.
+          # queries: ./path/to/local/query, your-org/your-repo/queries@main
 
-    # Autobuild attempts to build any compiled languages  (C/C++, C#, or Java).
-    # If this step fails, then you should remove it and run the build manually (see below)
-    - name: Autobuild
-      uses: github/codeql-action/autobuild@v1
+      # Autobuild attempts to build any compiled languages  (C/C++, C#, or Java).
+      # If this step fails, then you should remove it and run the build manually (see below)
+      - name: Autobuild
+        uses: github/codeql-action/autobuild@v1
 
-    # ℹ️ Command-line programs to run using the OS shell.
-    # 📚 https://git.io/JvXDl
+      # ℹ️ Command-line programs to run using the OS shell.
+      # 📚 https://git.io/JvXDl
 
-    # ✏️ If the Autobuild fails above, remove it and uncomment the following three lines
-    #    and modify them (or add more) to build your code if your project
-    #    uses a compiled language
+      # ✏️ If the Autobuild fails above, remove it and uncomment the following three lines
+      #    and modify them (or add more) to build your code if your project
+      #    uses a compiled language
 
-    #- run: |
-    #   make bootstrap
-    #   make release
+      #- run: |
+      #   make bootstrap
+      #   make release
 
-    - name: Perform CodeQL Analysis
-      uses: github/codeql-action/analyze@v1
+      - name: Perform CodeQL Analysis
+        uses: github/codeql-action/analyze@v1

.github/workflows/publish-client.yml

@@ -3,51 +3,50 @@
 on:
   push:
     tags:
-    - 'v*'
+      - "v*"
 
 jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-    - name: Parse version
-      id: parse_version
-      shell: pwsh
-      run: |
-        $ver = [regex]::Match($env:GITHUB_REF, "refs/tags/v?(.+)").Groups[1].Value
-        echo ("::set-output name=version::{0}" -f $ver)
+      - name: Parse version
+        id: parse_version
+        shell: pwsh
+        run: |
+          $ver = [regex]::Match($env:GITHUB_REF, "refs/tags/v?(.+)").Groups[1].Value
+          echo ("::set-output name=version::{0}" -f $ver)
 
-    - uses: actions/checkout@v3.6.0
-      with:
-        submodules: true
+      - uses: actions/checkout@v4.2.2
+        with:
+          submodules: true
 
-    - name: Setup .NET Core
-      uses: actions/setup-dotnet@v3.2.0
-      with:
-        dotnet-version: 8.0.x
+      - name: Setup .NET Core
+        uses: actions/setup-dotnet@v4.1.0
+        with:
+          dotnet-version: 8.0.x
 
-    - name: Package client
-      run: Tools/package_client_build.py -p windows mac linux
+      - name: Package client
+        run: Tools/package_client_build.py -p windows mac linux
 
-    - name: Shuffle files around
-      run: |
-        mkdir "release/${{ steps.parse_version.outputs.version }}"
-        mv release/*.zip "release/${{ steps.parse_version.outputs.version }}"
+      - name: Shuffle files around
+        run: |
+          mkdir "release/${{ steps.parse_version.outputs.version }}"
+          mv release/*.zip "release/${{ steps.parse_version.outputs.version }}"
 
-    - name: Upload files to Suns
-      uses: appleboy/scp-action@master
-      with:
-        host: suns.spacestation14.com
-        username: robust-build-push
-        key: ${{ secrets.CENTCOMM_ROBUST_BUILDS_PUSH_KEY }}
-        source: "release/${{ steps.parse_version.outputs.version }}"
-        target: "/var/lib/robust-builds/builds/"
-        strip_components: 1
-
-    - name: Update manifest JSON
-      uses: appleboy/ssh-action@master
-      with:
-        host: suns.spacestation14.com
-        username: robust-build-push
-        key: ${{ secrets.CENTCOMM_ROBUST_BUILDS_PUSH_KEY }}
-        script: /home/robust-build-push/push.ps1 ${{ steps.parse_version.outputs.version }}
+      - name: Upload files to Suns
+        uses: appleboy/scp-action@master
+        with:
+          host: suns.spacestation14.com
+          username: robust-build-push
+          key: ${{ secrets.CENTCOMM_ROBUST_BUILDS_PUSH_KEY }}
+          source: "release/${{ steps.parse_version.outputs.version }}"
+          target: "/var/lib/robust-builds/builds/"
+          strip_components: 1
 
+      - name: Update manifest JSON
+        uses: appleboy/ssh-action@master
+        with:
+          host: suns.spacestation14.com
+          username: robust-build-push
+          key: ${{ secrets.CENTCOMM_ROBUST_BUILDS_PUSH_KEY }}
+          script: /home/robust-build-push/push.ps1 ${{ steps.parse_version.outputs.version }}

.github/workflows/test-content.yml

@@ -2,40 +2,39 @@ name: Test content master against engine
 
 on:
   push:
-    branches: [ master ]
+    branches: [master]
   pull_request:
-    branches: [ master ]
+    branches: [master]
 
 jobs:
   build:
-
     runs-on: ubuntu-latest
 
     steps:
-    - name: Check out content
-      uses: actions/checkout@v3.6.0
-      with:
-        repository: space-wizards/space-station-14
-        submodules: recursive
+      - name: Check out content
+        uses: actions/checkout@v4.2.2
+        with:
+          repository: space-wizards/space-station-14
+          submodules: recursive
 
-    - name: Setup .NET Core
-      uses: actions/setup-dotnet@v3.2.0
-      with:
-        dotnet-version: 8.0.x
-    - name: Disable submodule autoupdate
-      run: touch BuildChecker/DISABLE_SUBMODULE_AUTOUPDATE
+      - name: Setup .NET Core
+        uses: actions/setup-dotnet@v4.1.0
+        with:
+          dotnet-version: 8.0.x
+      - name: Disable submodule autoupdate
+        run: touch BuildChecker/DISABLE_SUBMODULE_AUTOUPDATE
 
-    - name: Check out engine version
-      run: |
-        cd RobustToolbox
-        git fetch origin ${{ github.sha }}
-        git checkout FETCH_HEAD
-        git submodule update --init --recursive
-    - name: Install dependencies
-      run: dotnet restore
-    - name: Build
-      run: dotnet build --configuration Tools --no-restore
-    - name: Content.Tests
-      run: dotnet test --no-build Content.Tests/Content.Tests.csproj -v n
-    - name: Content.IntegrationTests
-      run: COMPlus_gcServer=1 dotnet test --no-build Content.IntegrationTests/Content.IntegrationTests.csproj -v n
+      - name: Check out engine version
+        run: |
+          cd RobustToolbox
+          git fetch origin ${{ github.sha }}
+          git checkout FETCH_HEAD
+          git submodule update --init --recursive
+      - name: Install dependencies
+        run: dotnet restore
+      - name: Build
+        run: dotnet build --configuration Tools --no-restore
+      - name: Content.Tests
+        run: dotnet test --no-build Content.Tests/Content.Tests.csproj -v n
+      - name: Content.IntegrationTests
+        run: COMPlus_gcServer=1 dotnet test --no-build Content.IntegrationTests/Content.IntegrationTests.csproj -v n

Directory.Packages.props

@@ -58,7 +58,7 @@
     <PackageVersion Include="SharpZstd.Interop" Version="1.5.2-beta2" />
     <PackageVersion Include="SixLabors.ImageSharp" Version="3.1.5" />
     <PackageVersion Include="SpaceWizards.HttpListener" Version="0.1.1" />
-    <PackageVersion Include="SpaceWizards.NFluidsynth" Version="0.2.2" />
+    <PackageVersion Include="SpaceWizards.NFluidsynth" Version="0.1.1" />
     <PackageVersion Include="SpaceWizards.SharpFont" Version="1.0.2" />
     <PackageVersion Include="SpaceWizards.Sodium" Version="0.2.1" />
     <PackageVersion Include="System.Numerics.Vectors" Version="4.5.0" />

MSBuild/Robust.Engine.Version.props

@@ -1,4 +1,4 @@
 <Project>
 
-    <!-- This file automatically reset by Tools/version.py -->
+    <!-- This file automatically reset by Tools/version.py -->
 

RELEASE-NOTES.md

@@ -54,13 +54,21 @@ END TEMPLATE-->
 *None yet*
 
 
-## 237.2.3
+## 237.3.0
 
+### New features
 
-## 237.2.2
+* Added stack-like functions to `ValueList<T>` and added an `AddRange(ReadOnlySpan<T>)` overload.
+* Added new `AssetPassFilterDrop`.
+* Added a new RayCastSystem with the latest Box2D raycast + shapecasts implemented.
 
+### Bugfixes
 
-## 237.2.1
+* Fixed `IPrototypeManager.TryGetKindFrom()` not working for prototypes with automatically inferred kind names.
+
+### Other
+
+* Sandbox error reference locator now works with generic method calls.
 
 
 ## 237.2.0

Robust.Client.WebView/Cef/Program.cs

@@ -6,7 +6,7 @@ using Xilium.CefGlue;
 
 namespace Robust.Client.WebView.Cef
 {
-    internal static class Program
+    public static class Program
     {
         // This was supposed to be the main entry for the subprocess program... It doesn't work.
         public static int Main(string[] args)

Robust.Client.WebView/Cef/WebViewManagerCef.cs

@@ -5,7 +5,6 @@ using System.Net;
 using System.Reflection;
 using System.Text;
 using Robust.Client.Console;
-using Robust.Client.Utility;
 using Robust.Shared.Configuration;
 using Robust.Shared.ContentPack;
 using Robust.Shared.IoC;
@@ -25,7 +24,6 @@ namespace Robust.Client.WebView.Cef
 
         [Dependency] private readonly IDependencyCollection _dependencyCollection = default!;
         [Dependency] private readonly IPrototypeManager _prototypeManager = default!;
-        [Dependency] private readonly IGameControllerInternal _gameController = default!;
         [Dependency] private readonly IResourceManagerInternal _resourceManager = default!;
         [Dependency] private readonly IClientConsoleHost _consoleHost = default!;
         [Dependency] private readonly IConfigurationManager _cfg = default!;
@@ -63,10 +61,7 @@ namespace Robust.Client.WebView.Cef
 
             var cachePath = "";
             if (_resourceManager.UserData is WritableDirProvider userData)
-            {
-                var rootDir = UserDataDir.GetRootUserDataDir(_gameController);
-                cachePath = Path.Combine(rootDir, "cef_cache", "0");
-            }
+                cachePath = userData.GetFullPath(new ResPath("/cef_cache"));
 
             var settings = new CefSettings()
             {

Robust.Client/GameController/GameController.cs

@@ -382,7 +382,7 @@ namespace Robust.Client
 
             _prof.Initialize();
 
-            _resManager.Initialize(Options.LoadConfigAndUserData ? userDataDir : null, hideUserDataDir: true);
+            _resManager.Initialize(Options.LoadConfigAndUserData ? userDataDir : null);
 
             var mountOptions = _commandLineArgs != null
                 ? MountOptions.Merge(_commandLineArgs.MountOptions, Options.MountOptions)

Robust.Client/GameObjects/EntitySystems/ContainerSystem.cs

@@ -5,7 +5,6 @@ using Robust.Shared.GameObjects;
 using Robust.Shared.GameStates;
 using Robust.Shared.IoC;
 using Robust.Shared.Map;
-using Robust.Shared.Network;
 using Robust.Shared.Utility;
 using System.Collections.Generic;
 using System.Diagnostics.CodeAnalysis;
@@ -241,7 +240,7 @@ namespace Robust.Client.GameObjects
 #if DEBUG
             var uid = GetEntity(netEntity);
 
-            if (TryComp<MetaDataComponent>(uid, out var meta))
+            if (TryComp(uid, out MetaDataComponent? meta))
             {
                 DebugTools.Assert((meta.Flags & ( MetaDataFlags.Detached | MetaDataFlags.InContainer) ) == MetaDataFlags.Detached,
                     $"Adding entity {ToPrettyString(uid)} to list of expected entities for container {container.ID} in {ToPrettyString(container.Owner)}, despite it already being in a container.");

Robust.Client/Graphics/Clyde/Clyde.RenderHandle.cs

@@ -362,6 +362,11 @@ namespace Robust.Client.Graphics.Clyde
                         rect.BottomLeft, rect.BottomRight, color, subRegion);
                 }
 
+                public override void DrawTexture(Texture texture, Vector2 position, Color? modulate = null)
+                {
+                    base.DrawTexture(texture, position, modulate);
+                }
+
                 /// <summary>
                 /// Draws an entity.
                 /// </summary>

Robust.Client/Graphics/Drawing/DrawingHandleBase.cs

@@ -211,6 +211,8 @@ namespace Robust.Client.Graphics
         public abstract void DrawLine(Vector2 from, Vector2 to, Color color);
 
         public abstract void RenderInRenderTarget(IRenderTarget target, Action a, Color? clearColor);
+
+        public abstract void DrawTexture(Texture texture, Vector2 position, Color? modulate = null);
     }
 
     /// <summary>

Robust.Client/Graphics/Drawing/DrawingHandleScreen.cs

@@ -92,7 +92,7 @@ namespace Robust.Client.Graphics
 
         public abstract void DrawTextureRectRegion(Texture texture, UIBox2 rect, UIBox2? subRegion = null, Color? modulate = null);
 
-        public void DrawTexture(Texture texture, Vector2 position, Color? modulate = null)
+        public override void DrawTexture(Texture texture, Vector2 position, Color? modulate = null)
         {
             CheckDisposed();
 

Robust.Client/Graphics/Drawing/DrawingHandleWorld.cs

@@ -74,7 +74,7 @@ namespace Robust.Client.Graphics
         /// <remarks>
         /// The sprite will have it's local dimensions calculated so that it has <see cref="EyeManager.PixelsPerMeter"/> texels per meter in the world.
         /// </remarks>
-        public void DrawTexture(Texture texture, Vector2 position, Color? modulate = null)
+        public override void DrawTexture(Texture texture, Vector2 position, Color? modulate = null)
         {
             CheckDisposed();
 

Robust.Client/Graphics/Font.cs

@@ -53,7 +53,7 @@ namespace Robust.Client.Graphics
         /// <param name="fallback">If the character is not available, render "<22>" instead.</param>
         /// <returns>How much to advance the cursor to draw the next character.</returns>
         public abstract float DrawChar(
-            DrawingHandleScreen handle, Rune rune, Vector2 baseline, float scale,
+            DrawingHandleBase handle, Rune rune, Vector2 baseline, float scale,
             Color color, bool fallback=true);
 
         /// <summary>
@@ -109,7 +109,7 @@ namespace Robust.Client.Graphics
         public override int GetDescent(float scale) => Handle.GetDescent(scale);
         public override int GetLineHeight(float scale) => Handle.GetLineHeight(scale);
 
-        public override float DrawChar(DrawingHandleScreen handle, Rune rune, Vector2 baseline, float scale, Color color, bool fallback=true)
+        public override float DrawChar(DrawingHandleBase handle, Rune rune, Vector2 baseline, float scale, Color color, bool fallback=true)
         {
             var metrics = Handle.GetCharMetrics(rune, scale);
             if (!metrics.HasValue)
@@ -132,7 +132,10 @@ namespace Robust.Client.Graphics
             }
 
             baseline += new Vector2(metrics.Value.BearingX, -metrics.Value.BearingY);
-            handle.DrawTexture(texture, baseline, color);
+            if(handle is DrawingHandleWorld worldhandle)
+                worldhandle.DrawTextureRect(texture,  Box2.FromDimensions(baseline, texture.Size));
+            else
+                handle.DrawTexture(texture, baseline, color);
             return metrics.Value.Advance;
         }
 
@@ -169,7 +172,7 @@ namespace Robust.Client.Graphics
         public override int GetLineHeight(float scale) => _main.GetLineHeight(scale);
 
         // DrawChar just proxies to the stack, or invokes _main's fallback.
-        public override float DrawChar(DrawingHandleScreen handle, Rune rune, Vector2 baseline, float scale, Color color, bool fallback=true)
+        public override float DrawChar(DrawingHandleBase handle, Rune rune, Vector2 baseline, float scale, Color color, bool fallback=true)
         {
             foreach (var f in Stack)
             {
@@ -207,7 +210,7 @@ namespace Robust.Client.Graphics
         public override int GetDescent(float scale) => default;
         public override int GetLineHeight(float scale) => default;
 
-        public override float DrawChar(DrawingHandleScreen handle, Rune rune, Vector2 baseline, float scale, Color color, bool fallback=true)
+        public override float DrawChar(DrawingHandleBase handle, Rune rune, Vector2 baseline, float scale, Color color, bool fallback=true)
         {
             // Nada, it's a dummy after all.
             return 0;

Robust.Client/ResourceManagement/ResourceCache.Preload.cs

@@ -143,9 +143,9 @@ namespace Robust.Client.ResourceManagement
                 }
             });
 
-            // Do not meta-atlas RSIs with custom load parameters.
-            var atlasList = rsiList.Where(x => x.LoadParameters == TextureLoadParameters.Default).ToArray();
-            var nonAtlasList = rsiList.Where(x => x.LoadParameters != TextureLoadParameters.Default).ToArray();
+            var atlasLookup = rsiList.ToLookup(ShouldMetaAtlas);
+            var atlasList = atlasLookup[true].ToArray();
+            var nonAtlasList = atlasLookup[false].ToArray();
 
             foreach (var data in nonAtlasList)
             {
@@ -225,8 +225,9 @@ namespace Robust.Client.ResourceManagement
 
             void FinalizeMetaAtlas(int toIndex, Image<Rgba32> sheet)
             {
-                var atlas = Clyde.LoadTextureFromImage(sheet);
-                for (int i = finalized + 1; i <= toIndex; i++)
+                var fromIndex = finalized + 1;
+                var atlas = Clyde.LoadTextureFromImage(sheet, $"Meta atlas {fromIndex}-{toIndex}");
+                for (int i = fromIndex; i <= toIndex; i++)
                 {
                     var rsi = atlasList[i];
                     rsi.AtlasTexture = atlas;
@@ -282,7 +283,11 @@ namespace Robust.Client.ResourceManagement
                 nonAtlasList.Length,
                 errors,
                 sw.Elapsed);
+        }
 
+        private static bool ShouldMetaAtlas(RSIResource.LoadStepData rsi)
+        {
+            return rsi.MetaAtlas && rsi.LoadParameters == TextureLoadParameters.Default;
         }
     }
 }

Robust.Client/ResourceManagement/ResourceTypes/RSIResource.cs

@@ -183,6 +183,7 @@ namespace Robust.Client.ResourceManagement
             data.DimX = dimensionX;
             data.CallbackOffsets = callbackOffsets;
             data.LoadParameters = metadata.LoadParameters;
+            data.MetaAtlas = metadata.MetaAtlas;
         }
 
         internal static void LoadPostTexture(LoadStepData data)
@@ -386,6 +387,7 @@ namespace Robust.Client.ResourceManagement
             public Vector2i AtlasOffset;
             public RSI Rsi = default!;
             public TextureLoadParameters LoadParameters;
+            public bool MetaAtlas;
         }
 
         internal struct StateReg

Robust.Client/UserInterface/Controls/ColorSelectorSliders.cs

@@ -1,8 +1,5 @@
 using System;
 using System.Collections.Generic;
-using Robust.Client.Graphics;
-using Robust.Client.ResourceManagement;
-using Robust.Shared.IoC;
 using Robust.Shared.Localization;
 using Robust.Shared.Maths;
 
@@ -89,8 +86,6 @@ public sealed class ColorSelectorSliders : Control
     private OptionButton _typeSelector;
     private List<ColorSelectorType> _types = new();
 
-    private static ShaderInstance _shader = default!;
-
     private ColorSelectorStyleBox _topStyle;
     private ColorSelectorStyleBox _middleStyle;
     private ColorSelectorStyleBox _bottomStyle;

Robust.Client/UserInterface/Controls/GridContainer.cs

@@ -302,7 +302,6 @@ namespace Robust.Client.UserInterface.Controls
             {
                 if (!child.Visible)
                 {
-                    index--;
                     continue;
                 }
 

Robust.Client/UserInterface/RichTextEntry.cs

@@ -176,7 +176,7 @@ namespace Robust.Client.UserInterface
 
         public readonly void Draw(
             MarkupTagManager tagManager,
-            DrawingHandleScreen handle,
+            DrawingHandleBase handle,
             Font defaultFont,
             UIBox2 drawBox,
             float verticalOffset,

Robust.Packaging/AssetProcessing/Passes/AssetPassFilterDrop.cs

@@ -0,0 +1,18 @@
+namespace Robust.Packaging.AssetProcessing.Passes;
+
+/// <summary>
+/// Asset pass that drops all files that match a predicate. Files that do not match are ignored.
+/// </summary>
+public sealed class AssetPassFilterDrop(Func<AssetFile, bool> predicate) : AssetPass
+{
+    public Func<AssetFile, bool> Predicate { get; } = predicate;
+
+    protected override AssetFileAcceptResult AcceptFile(AssetFile file)
+    {
+        // Just do nothing with the file so it gets discarded.
+        if (Predicate(file))
+            return AssetFileAcceptResult.Consumed;
+
+        return base.AcceptFile(file);
+    }
+}

Robust.Server/BaseServer.cs

@@ -223,10 +223,10 @@ namespace Robust.Server
 
                 if (!Path.IsPathRooted(fullPath))
                 {
-                    logPath = PathHelpers.ExecutableRelativeFile(fullPath);
+                    fullPath = PathHelpers.ExecutableRelativeFile(fullPath);
                 }
 
-                logHandler = new FileLogHandler(logPath);
+                logHandler = new FileLogHandler(fullPath);
             }
 
             _log.RootSawmill.Level = _config.GetCVar(CVars.LogLevel);
@@ -297,7 +297,7 @@ namespace Robust.Server
                 : null;
 
             // Set up the VFS
-            _resources.Initialize(dataDir, hideUserDataDir: false);
+            _resources.Initialize(dataDir);
 
             var mountOptions = _commandLineArgs != null
                 ? MountOptions.Merge(_commandLineArgs.MountOptions, Options.MountOptions) : Options.MountOptions;

Robust.Server/ServerStatus/StatusHost.Acz.Sources.cs

@@ -24,7 +24,6 @@ namespace Robust.Server.ServerStatus;
 
 internal sealed partial class StatusHost
 {
-    private (string binFolder, string[] assemblies)? _aczInfo;
     private IMagicAczProvider? _magicAczProvider;
     private IFullHybridAczProvider? _fullHybridAczProvider;
 
@@ -158,8 +157,7 @@ internal sealed partial class StatusHost
         {
             _aczSawmill.Verbose("Using default magic ACZ provider");
             // Default provider
-            var (binFolderPath, assemblyNames) =
-                _aczInfo ?? ("Content.Client", new[] { "Content.Client", "Content.Shared" });
+            var (binFolderPath, assemblyNames) = ("Content.Client", new[] { "Content.Client", "Content.Shared" });
 
             var info = new DefaultMagicAczInfo(binFolderPath, assemblyNames);
             provider = new DefaultMagicAczProvider(info, _deps);

Robust.Server/ServerStatus/StatusHost.Handlers.cs

@@ -103,6 +103,22 @@ namespace Robust.Server.ServerStatus
                 ["desc"] = _serverDescCache,
             };
 
+            var privacyPolicyLink = _cfg.GetCVar(CVars.StatusPrivacyPolicyLink);
+            var privacyPolicyIdentifier = _cfg.GetCVar(CVars.StatusPrivacyPolicyIdentifier);
+            var privacyPolicyVersion = _cfg.GetCVar(CVars.StatusPrivacyPolicyVersion);
+
+            if (!string.IsNullOrEmpty(privacyPolicyLink)
+                && !string.IsNullOrEmpty(privacyPolicyIdentifier)
+                && !string.IsNullOrEmpty(privacyPolicyVersion))
+            {
+                jObject["privacy_policy"] = new JsonObject
+                {
+                    ["identifier"] = privacyPolicyIdentifier,
+                    ["version"] = privacyPolicyVersion,
+                    ["link"] = privacyPolicyLink,
+                };
+            }
+
             OnInfoRequest?.Invoke(jObject);
 
             await context.RespondJsonAsync(jObject);

Robust.Shared.Maths/MathHelper.cs

@@ -745,6 +745,21 @@ namespace Robust.Shared.Maths
             return remainder == T.Zero ? value : (value | mask) + T.One;
         }
 
+        public static bool IsValid(this float value)
+        {
+            if (float.IsNaN(value))
+            {
+                return false;
+            }
+
+            if (float.IsInfinity(value))
+            {
+                return false;
+            }
+
+            return true;
+        }
+
         #endregion Public Members
     }
 }

Robust.Shared.Maths/Matrix3Helpers.cs

@@ -73,7 +73,7 @@ public static class Matrix3Helpers
     [MethodImpl(MethodImplOptions.AggressiveInlining)]
     public static Angle Rotation(this Matrix3x2 t)
     {
-        return new Vector2(t.M11, t.M12).ToAngle();
+        return new Angle(Math.Atan2(t.M12, t.M11));
     }
 
     [MethodImpl(MethodImplOptions.AggressiveInlining)]

Robust.Shared.Maths/Properties/AssemblyInfo.cs

@@ -6,3 +6,4 @@
 
 [assembly: InternalsVisibleTo("Robust.Client")]
 [assembly: InternalsVisibleTo("Robust.UnitTesting")]
+[assembly: InternalsVisibleTo("Content.Benchmarks")]

Robust.Shared.Maths/Vector2Helpers.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Numerics;
 using System.Runtime.CompilerServices;
+using JetBrains.Annotations;
 
 namespace Robust.Shared.Maths;
 
@@ -14,6 +15,34 @@ public static class Vector2Helpers
     /// </summary>
     public static readonly Vector2 Half = new(0.5f, 0.5f);
 
+    public static bool IsValid(this Vector2 v)
+    {
+        if (float.IsNaN(v.X) || float.IsNaN(v.Y))
+        {
+            return false;
+        }
+
+        if (float.IsInfinity(v.X) || float.IsInfinity(v.Y))
+        {
+            return false;
+        }
+
+        return true;
+    }
+
+    public static Vector2 GetLengthAndNormalize(this Vector2 v, ref float length)
+    {
+        length = v.Length();
+        if (length < float.Epsilon)
+        {
+            return Vector2.Zero;
+        }
+
+        float invLength = 1.0f / length;
+        var n = new Vector2(invLength * v.X, invLength * v.Y);
+        return n;
+    }
+
     [MethodImpl(MethodImplOptions.AggressiveInlining)]
     public static Vector2 InterpolateCubic(Vector2 preA, Vector2 a, Vector2 b, Vector2 postB, float t)
     {
@@ -255,6 +284,12 @@ public static class Vector2Helpers
         return new(-s * a.Y, s * a.X);
     }
 
+    [Pure]
+    public static Vector2 RightPerp(this Vector2 v)
+    {
+        return new Vector2(v.Y, -v.X);
+    }
+
     /// <summary>
     /// Perform the cross product on a scalar and a vector. In 2D this produces
     /// a vector.

Robust.Shared/CVars.cs

@@ -628,6 +628,43 @@ namespace Robust.Shared
         public static readonly CVarDef<string> StatusConnectAddress =
             CVarDef.Create("status.connectaddress", "", CVar.ARCHIVE | CVar.SERVERONLY);
 
+        /// <summary>
+        /// HTTP(S) link to a privacy policy that the user must accept to connect to the server.
+        /// </summary>
+        /// <remarks>
+        /// This must be set along with <see cref="StatusPrivacyPolicyIdentifier"/> and
+        /// <see cref="StatusPrivacyPolicyVersion"/> for the user to be prompted about a privacy policy.
+        /// </remarks>
+        public static readonly CVarDef<string> StatusPrivacyPolicyLink =
+            CVarDef.Create("status.privacy_policy_link", "https://example.com/privacy", CVar.SERVER | CVar.REPLICATED);
+
+        /// <summary>
+        /// An identifier for privacy policy specified by <see cref="StatusPrivacyPolicyLink"/>.
+        /// This must be globally unique.
+        /// </summary>
+        /// <remarks>
+        /// <para>
+        /// This value must be globally unique per server community. Servers that want to enforce a
+        /// privacy policy should set this to a value that is unique to their server and, preferably, recognizable.
+        /// </para>
+        /// <para>
+        /// This value is stored by the launcher to keep track of what privacy policies a player has accepted.
+        /// </para>
+        /// </remarks>
+        public static readonly CVarDef<string> StatusPrivacyPolicyIdentifier =
+            CVarDef.Create("status.privacy_policy_identifier", "", CVar.SERVER | CVar.REPLICATED);
+
+        /// <summary>
+        /// A "version" for the privacy policy specified by <see cref="StatusPrivacyPolicyLink"/>.
+        /// </summary>
+        /// <remarks>
+        /// <para>
+        /// This parameter is stored by the launcher and should be modified whenever your server's privacy policy changes.
+        /// </para>
+        /// </remarks>
+        public static readonly CVarDef<string> StatusPrivacyPolicyVersion =
+            CVarDef.Create("status.privacy_policy_version", "", CVar.SERVER | CVar.REPLICATED);
+
         /*
          * BUILD
          */

Robust.Shared/Collections/ValueList.cs

@@ -5,6 +5,7 @@ using System;
 using System.Collections;
 using System.Collections.Generic;
 using System.Diagnostics;
+using System.Diagnostics.CodeAnalysis;
 using System.Linq;
 using System.Numerics;
 using System.Runtime.CompilerServices;
@@ -589,6 +590,12 @@ public struct ValueList<T> : IEnumerable<T>
 
     [MethodImpl(MethodImplOptions.AggressiveInlining)]
     public void AddRange(Span<T> span)
+    {
+        AddRange((ReadOnlySpan<T>) span);
+    }
+
+    [MethodImpl(MethodImplOptions.AggressiveInlining)]
+    public void AddRange(ReadOnlySpan<T> span)
     {
         var spanCount = span.Length;
         EnsureCapacity(Count + spanCount);
@@ -618,4 +625,72 @@ public struct ValueList<T> : IEnumerable<T>
             Add(result);
         }
     }
+
+    /// <summary>
+    /// Push a value onto the end of this list. This is equivalent to <see cref="Add"/>.
+    /// </summary>
+    /// <remarks>
+    /// This method is added to provide completeness with other stack-like functions.
+    /// </remarks>
+    /// <param name="item">The item to add to the list.</param>
+    public void Push(T item)
+    {
+        Add(item);
+    }
+
+    /// <summary>
+    /// Remove and return the value at the end of the list.
+    /// </summary>
+    /// <exception cref="InvalidOperationException">Thrown if the list is empty.</exception>
+    public T Pop()
+    {
+        if (!TryPop(out var value))
+            throw new InvalidOperationException("List is empty");
+
+        return value;
+    }
+
+    /// <summary>
+    /// Return the value at the end of the list, but do not remove it.
+    /// </summary>
+    /// <exception cref="InvalidOperationException">Thrown if the list is empty.</exception>
+    public T Peek()
+    {
+        if (!TryPeek(out var value))
+            throw new InvalidOperationException("List is empty");
+
+        return value;
+    }
+
+    /// <summary>
+    /// Remove and return the value at the end of the list, only if the list is not empty.
+    /// </summary>
+    /// <returns>True if the list was not empty and an item was removed.</returns>
+    public bool TryPop([MaybeNullWhen(false)] out T value)
+    {
+        if (Count == 0)
+        {
+            value = default;
+            return false;
+        }
+
+        value = _items![--Count];
+        return true;
+    }
+
+    /// <summary>
+    /// Remove and return the value at the end of the list, only if the list is not empty.
+    /// </summary>
+    /// <returns>True if the list was not empty and an item was removed.</returns>
+    public bool TryPeek([MaybeNullWhen(false)] out T value)
+    {
+        if (Count == 0)
+        {
+            value = default;
+            return false;
+        }
+
+        value = _items![Count];
+        return true;
+    }
 }

Robust.Shared/Containers/SharedContainerSystem.cs

@@ -367,7 +367,7 @@ namespace Robust.Shared.Containers
             if (!xform.ParentUid.Valid)
                 return false;
 
-            if (entityQuery.Resolve(xform.ParentUid, ref foundComponent, false))
+            if (entityQuery.TryComp(xform.ParentUid, out foundComponent))
                 return true;
 
             return TryFindComponentOnEntityContainerOrParent(xform.ParentUid, entityQuery, ref foundComponent);

Robust.Shared/ContentPack/AssemblyTypeChecker.Config.cs

@@ -88,7 +88,6 @@ namespace Robust.Shared.ContentPack
             public string SystemAssemblyName = default!;
             public HashSet<VerifierError> AllowedVerifierErrors = default!;
             public List<string> WhitelistedNamespaces = default!;
-            public List<string> AllowedAssemblyPrefixes = default!;
             public Dictionary<string, Dictionary<string, TypeConfig>> Types = default!;
         }
 

Robust.Shared/ContentPack/AssemblyTypeChecker.ReportBadReferences.cs

@@ -39,7 +39,7 @@ internal sealed partial class AssemblyTypeChecker
             {
                 if (instruction.TryGetEntityHandle(out var handle))
                 {
-                    if (refs.Contains(handle))
+                    if (refs.Overlaps(ExpandHandle(reader, handle)))
                     {
                         var type = GetTypeFromDefinition(reader, methodDef.GetDeclaringType());
                         _sawmill.Error(
@@ -56,6 +56,12 @@ internal sealed partial class AssemblyTypeChecker
     {
         switch (handle.Kind)
         {
+            case HandleKind.MethodSpecification:
+                var methodSpec = reader.GetMethodSpecification((MethodSpecificationHandle)handle);
+                var methodProvider = new TypeProvider();
+                var spec = methodSpec.DecodeSignature(methodProvider, 0);
+                return $"{DisplayHandle(reader, methodSpec.Method)}<{string.Join(", ", spec.Select(t => t.ToString()))}>";
+
             case HandleKind.MemberReference:
                 var memberRef = reader.GetMemberReference((MemberReferenceHandle)handle);
                 var name = reader.GetString(memberRef.Name);
@@ -92,6 +98,17 @@ internal sealed partial class AssemblyTypeChecker
         handles.UnionWith(toAdd);
     }
 
+    private static IEnumerable<EntityHandle> ExpandHandle(MetadataReader reader, EntityHandle handle)
+    {
+        // Annoying, S.R.M gives no way to iterate over the MethodSpec table.
+        // This means the only way to correlate MethodSpec references is to do it for each handle.
+
+        yield return handle;
+
+        if (handle.Kind == HandleKind.MethodSpecification)
+            yield return reader.GetMethodSpecification((MethodSpecificationHandle)handle).Method;
+    }
+
     private readonly struct ILInstruction
     {
         public readonly ILOpCode OpCode;

Robust.Shared/ContentPack/AssemblyTypeChecker.cs

@@ -131,16 +131,6 @@ namespace Robust.Shared.ContentPack
                 return false;
             }
 
-#pragma warning disable RA0004
-            var loadedConfig = _config.Result;
-#pragma warning restore RA0004
-
-            if (!loadedConfig.AllowedAssemblyPrefixes.Any(allowedNamePrefix => asmName.StartsWith(allowedNamePrefix)))
-            {
-                _sawmill.Error($"Assembly name '{asmName}' is not allowed for a content assembly");
-                return false;
-            }
-
             if (VerifyIL)
             {
                 if (!DoVerifyIL(asmName, resolver, peReader, reader))
@@ -189,6 +179,10 @@ namespace Robust.Shared.ContentPack
                 return true;
             }
 
+#pragma warning disable RA0004
+            var loadedConfig = _config.Result;
+#pragma warning restore RA0004
+
             var badRefs = new ConcurrentBag<EntityHandle>();
 
             // We still do explicit type reference scanning, even though the actual whitelists work with raw members.

Robust.Shared/ContentPack/DirLoader.cs

@@ -60,7 +60,7 @@ namespace Robust.Shared.ContentPack
 
             internal string GetPath(ResPath relPath)
             {
-                return PathHelpers.SafeGetResourcePath(_directory.FullName, relPath);
+                return Path.GetFullPath(Path.Combine(_directory.FullName, relPath.ToRelativeSystemPath()));
             }
 
             /// <inheritdoc />

Robust.Shared/ContentPack/IResourceManagerInternal.cs

@@ -14,11 +14,7 @@ namespace Robust.Shared.ContentPack
         /// The directory to use for user data.
         /// If null, a virtual temporary file system is used instead.
         /// </param>
-        /// <param name="hideUserDataDir">
-        /// If true, <see cref="IWritableDirProvider.RootDir"/> will be hidden on
-        /// <see cref="IResourceManager.UserData"/>.
-        /// </param>
-        void Initialize(string? userData, bool hideUserDataDir);
+        void Initialize(string? userData);
 
         /// <summary>
         ///     Mounts a single stream as a content file. Useful for unit testing.

Robust.Shared/ContentPack/IWritableDirProvider.cs

@@ -13,7 +13,7 @@ namespace Robust.Shared.ContentPack
     {
         /// <summary>
         /// The root path of this provider.
-        /// Can be null if it's a virtual provider or the path is protected (e.g. on the client).
+        /// Can be null if it's a virtual provider.
         /// </summary>
         string? RootDir { get; }
 

Robust.Shared/ContentPack/ModLoader.cs

@@ -93,23 +93,19 @@ namespace Robust.Shared.ContentPack
         {
             var sw = Stopwatch.StartNew();
             Sawmill.Debug("LOADING modules");
-            var files = new Dictionary<string, (ResPath Path, MemoryStream data, string[] references)>();
+            var files = new Dictionary<string, (ResPath Path, string[] references)>();
 
             // Find all modules we want to load.
             foreach (var fullPath in paths)
             {
                 using var asmFile = _res.ContentFileRead(fullPath);
-                var ms = new MemoryStream();
-                asmFile.CopyTo(ms);
-
-                ms.Position = 0;
-                var refData = GetAssemblyReferenceData(ms);
+                var refData = GetAssemblyReferenceData(asmFile);
                 if (refData == null)
                     continue;
 
                 var (asmRefs, asmName) = refData.Value;
 
-                if (!files.TryAdd(asmName, (fullPath, ms, asmRefs)))
+                if (!files.TryAdd(asmName, (fullPath, asmRefs)))
                 {
                     Sawmill.Error("Found multiple modules with the same assembly name " +
                                   $"'{asmName}', A: {files[asmName].Path}, B: {fullPath}.");
@@ -126,10 +122,10 @@ namespace Robust.Shared.ContentPack
 
                 Parallel.ForEach(files, pair =>
                 {
-                    var (name, (_, data, _)) = pair;
+                    var (name, (path, _)) = pair;
 
-                    data.Position = 0;
-                    if (!typeChecker.CheckAssembly(data, resolver))
+                    using var stream = _res.ContentFileRead(path);
+                    if (!typeChecker.CheckAssembly(stream, resolver))
                     {
                         throw new TypeCheckFailedException($"Assembly {name} failed type checks.");
                     }
@@ -141,15 +137,14 @@ namespace Robust.Shared.ContentPack
             var nodes = TopologicalSort.FromBeforeAfter(
                 files,
                 kv => kv.Key,
-                kv => kv.Value,
+                kv => kv.Value.Path,
                 _ => Array.Empty<string>(),
                 kv => kv.Value.references,
                 allowMissing: true); // missing refs would be non-content assemblies so allow that.
 
             // Actually load them in the order they depend on each other.
-            foreach (var item in TopologicalSort.Sort(nodes))
+            foreach (var path in TopologicalSort.Sort(nodes))
             {
-                var (path, memory, _) = item;
                 Sawmill.Debug($"Loading module: '{path}'");
                 try
                 {
@@ -161,9 +156,9 @@ namespace Robust.Shared.ContentPack
                     }
                     else
                     {
-                        memory.Position = 0;
+                        using var assemblyStream = _res.ContentFileRead(path);
                         using var symbolsStream = _res.ContentFileReadOrNull(path.WithExtension("pdb"));
-                        LoadGameAssembly(memory, symbolsStream, skipVerify: true);
+                        LoadGameAssembly(assemblyStream, symbolsStream, skipVerify: true);
                     }
                 }
                 catch (Exception e)
@@ -179,7 +174,7 @@ namespace Robust.Shared.ContentPack
 
         private (string[] refs, string name)? GetAssemblyReferenceData(Stream stream)
         {
-            using var reader = ModLoader.MakePEReader(stream, leaveOpen: true);
+            using var reader = ModLoader.MakePEReader(stream);
             var metaReader = reader.GetMetadataReader();
 
             var name = metaReader.GetString(metaReader.GetAssemblyDefinition().Name);

Robust.Shared/ContentPack/PathHelpers.cs

@@ -2,7 +2,6 @@
 using System.Collections.Generic;
 using System.IO;
 using System.Runtime.InteropServices;
-using Robust.Shared.Utility;
 
 namespace Robust.Shared.ContentPack
 {
@@ -64,27 +63,5 @@ namespace Robust.Shared.ContentPack
             !OperatingSystem.IsWindows()
             && !OperatingSystem.IsMacOS();
 
-
-        internal static string SafeGetResourcePath(string baseDir, ResPath path)
-        {
-            var relSysPath = path.ToRelativeSystemPath();
-            if (relSysPath.Contains("\\..") || relSysPath.Contains("/.."))
-            {
-                // Hard cap on any exploit smuggling a .. in there.
-                // Since that could allow leaving sandbox.
-                throw new InvalidOperationException($"This branch should never be reached. Path: {path}");
-            }
-
-            var retPath = Path.GetFullPath(Path.Join(baseDir, relSysPath));
-            // better safe than sorry check
-            if (!retPath.StartsWith(baseDir))
-            {
-                // Allow path to match if it's just missing the directory separator at the end.
-                if (retPath != baseDir.TrimEnd(Path.DirectorySeparatorChar))
-                    throw new InvalidOperationException($"This branch should never be reached. Path: {path}");
-            }
-
-            return retPath;
-        }
     }
 }

Robust.Shared/ContentPack/ResourceManager.cs

@@ -41,13 +41,13 @@ namespace Robust.Shared.ContentPack
         public IWritableDirProvider UserData { get; private set; } = default!;
 
         /// <inheritdoc />
-        public virtual void Initialize(string? userData, bool hideRootDir)
+        public virtual void Initialize(string? userData)
         {
             Sawmill = _logManager.GetSawmill("res");
 
             if (userData != null)
             {
-                UserData = new WritableDirProvider(Directory.CreateDirectory(userData), hideRootDir);
+                UserData = new WritableDirProvider(Directory.CreateDirectory(userData));
             }
             else
             {
@@ -379,13 +379,7 @@ namespace Robust.Shared.ContentPack
             {
                 if (root is DirLoader loader)
                 {
-                    var rootDir = loader.GetPath(new ResPath(@"/"));
-
-                    // TODO: GET RID OF THIS.
-                    // This code shouldn't be passing OS disk paths through ResPath.
-                    rootDir = rootDir.Replace(Path.DirectorySeparatorChar, '/');
-
-                    yield return new ResPath(rootDir);
+                    yield return new ResPath(loader.GetPath(new ResPath(@"/")));
                 }
             }
         }

Robust.Shared/ContentPack/Sandbox.yml

@@ -17,10 +17,6 @@ WhitelistedNamespaces:
 - Content
 - OpenDreamShared
 
-AllowedAssemblyPrefixes:
-- OpenDream
-- Content
-
 # The type whitelist does NOT care about which assembly types come from.
 # This is because types switch assembly all the time.
 # Just look up stuff like StreamReader on https://apisof.net.

Robust.Shared/ContentPack/WritableDirProvider.cs

@@ -10,22 +10,17 @@ namespace Robust.Shared.ContentPack
     /// <inheritdoc />
     internal sealed class WritableDirProvider : IWritableDirProvider
     {
-        private readonly bool _hideRootDir;
-
+        /// <inheritdoc />
         public string RootDir { get; }
 
-        string? IWritableDirProvider.RootDir => _hideRootDir ? null : RootDir;
-
         /// <summary>
         /// Constructs an instance of <see cref="WritableDirProvider"/>.
         /// </summary>
         /// <param name="rootDir">Root file system directory to allow writing.</param>
-        /// <param name="hideRootDir">If true, <see cref="IWritableDirProvider.RootDir"/> is reported as null.</param>
-        public WritableDirProvider(DirectoryInfo rootDir, bool hideRootDir)
+        public WritableDirProvider(DirectoryInfo rootDir)
         {
             // FullName does not have a trailing separator, and we MUST have a separator.
             RootDir = rootDir.FullName + Path.DirectorySeparatorChar.ToString();
-            _hideRootDir = hideRootDir;
         }
 
         #region File Access
@@ -124,7 +119,7 @@ namespace Robust.Shared.ContentPack
                 throw new FileNotFoundException();
 
             var dirInfo = new DirectoryInfo(GetFullPath(path));
-            return new WritableDirProvider(dirInfo, _hideRootDir);
+            return new WritableDirProvider(dirInfo);
         }
 
         /// <inheritdoc />
@@ -185,7 +180,20 @@ namespace Robust.Shared.ContentPack
 
             path = path.Clean();
 
-            return PathHelpers.SafeGetResourcePath(RootDir, path);
+            return GetFullPath(RootDir, path);
+        }
+
+        private static string GetFullPath(string root, ResPath path)
+        {
+            var relPath = path.ToRelativeSystemPath();
+            if (relPath.Contains("\\..") || relPath.Contains("/.."))
+            {
+                // Hard cap on any exploit smuggling a .. in there.
+                // Since that could allow leaving sandbox.
+                throw new InvalidOperationException($"This branch should never be reached. Path: {path}");
+            }
+
+            return Path.GetFullPath(Path.Combine(root, relPath));
         }
     }
 }

Robust.Shared/GameObjects/Components/UserInterface/BoundUserInterface.cs

@@ -59,6 +59,27 @@ namespace Robust.Shared.GameObjects
         {
         }
 
+        /// <summary>
+        /// Calls <see cref="UpdateState"/> if the supplied state exists and calls <see cref="Update"/>
+        /// </summary>
+        public void Update<T>() where T : BoundUserInterfaceState
+        {
+            if (UiSystem.TryGetUiState<T>(Owner, UiKey, out var state))
+            {
+                UpdateState(state);
+            }
+
+            Update();
+        }
+
+        /// <summary>
+        /// Generic update method called whenever the BUI should update.
+        /// </summary>
+        public virtual void Update()
+        {
+
+        }
+
         /// <summary>
         /// Helper method that gets called upon prototype reload.
         /// </summary>

Robust.Shared/GameObjects/Components/UserInterface/UserInterfaceComponent.cs

@@ -69,6 +69,12 @@ namespace Robust.Shared.GameObjects
         [DataField]
         public bool RequireInputValidation = true;
 
+        public InterfaceData(string clientType, float interactionRange = 2f, bool requireInputValidation = true)
+        {
+            ClientType = clientType;
+            InteractionRange = interactionRange;
+            RequireInputValidation = requireInputValidation;
+        }
         public InterfaceData(InterfaceData data)
         {
             ClientType = data.ClientType;

Robust.Shared/GameObjects/EntityManager.Components.cs

@@ -707,6 +707,7 @@ namespace Robust.Shared.GameObjects
 
         /// <inheritdoc />
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        [Pure]
         public bool HasComponent<T>(EntityUid uid) where T : IComponent
         {
             var dict = _entTraitArray[CompIdx.ArrayIndex<T>()];
@@ -716,6 +717,7 @@ namespace Robust.Shared.GameObjects
 
         /// <inheritdoc />
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        [Pure]
         public bool HasComponent<T>(EntityUid? uid) where T : IComponent
         {
             return uid.HasValue && HasComponent<T>(uid.Value);
@@ -723,6 +725,7 @@ namespace Robust.Shared.GameObjects
 
         /// <inheritdoc />
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        [Pure]
         public bool HasComponent(EntityUid uid, Type type)
         {
             var dict = _entTraitDict[type];
@@ -731,6 +734,7 @@ namespace Robust.Shared.GameObjects
 
         /// <inheritdoc />
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        [Pure]
         public bool HasComponent(EntityUid? uid, Type type)
         {
             if (!uid.HasValue)
@@ -744,6 +748,7 @@ namespace Robust.Shared.GameObjects
 
         /// <inheritdoc />
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        [Pure]
         public bool HasComponent(EntityUid uid, ushort netId, MetaDataComponent? meta = null)
         {
             if (!MetaQuery.Resolve(uid, ref meta))
@@ -754,6 +759,7 @@ namespace Robust.Shared.GameObjects
 
         /// <inheritdoc />
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        [Pure]
         public bool HasComponent(EntityUid? uid, ushort netId, MetaDataComponent? meta = null)
         {
             if (!uid.HasValue)
@@ -821,6 +827,7 @@ namespace Robust.Shared.GameObjects
         }
 
         /// <inheritdoc />
+        [Pure]
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public T GetComponent<T>(EntityUid uid) where T : IComponent
         {
@@ -837,6 +844,7 @@ namespace Robust.Shared.GameObjects
             throw new KeyNotFoundException($"Entity {uid} does not have a component of type {typeof(T)}");
         }
 
+        [Pure]
         public IComponent GetComponent(EntityUid uid, CompIdx type)
         {
             var dict = _entTraitArray[type.Value];
@@ -850,6 +858,7 @@ namespace Robust.Shared.GameObjects
         }
 
         /// <inheritdoc />
+        [Pure]
         public IComponent GetComponent(EntityUid uid, Type type)
         {
             // ReSharper disable once InvertIf
@@ -866,12 +875,14 @@ namespace Robust.Shared.GameObjects
         }
 
         /// <inheritdoc />
+        [Pure]
         public IComponent GetComponent(EntityUid uid, ushort netId, MetaDataComponent? meta = null)
         {
             return (meta ?? MetaQuery.GetComponentInternal(uid)).NetComponents[netId];
         }
 
         /// <inheritdoc />
+        [Pure]
         public IComponent GetComponentInternal(EntityUid uid, CompIdx type)
         {
             var dict = _entTraitArray[type.Value];
@@ -1450,6 +1461,7 @@ namespace Robust.Shared.GameObjects
         }
 
         /// <inheritdoc />
+        [Pure]
         public IComponentState? GetComponentState(IEventBus eventBus, IComponent component, ICommonSession? session, GameTick fromTick)
         {
             DebugTools.Assert(component.NetSyncEnabled, $"Attempting to get component state for an un-synced component: {component.GetType()}");

Robust.Shared/GameObjects/Systems/EntityLookupSystem.ComponentQueries.cs

@@ -175,7 +175,7 @@ public sealed partial class EntityLookupSystem
 
         return;
 
-        static bool PhysicsQuery<T>(ref QueryState<T> state, in FixtureProxy value) where T : IComponent
+        static bool PhysicsQuery(ref QueryState<T> state, in FixtureProxy value)
         {
             if (!state.Sensors && !value.Fixture.Hard)
                 return true;
@@ -196,7 +196,7 @@ public sealed partial class EntityLookupSystem
             return true;
         }
 
-        static bool SundriesQuery<T>(ref QueryState<T> state, in EntityUid value) where T : IComponent
+        static bool SundriesQuery(ref QueryState<T> state, in EntityUid value)
         {
             if (!state.Query.TryGetComponent(value, out var comp))
                 return true;
@@ -318,7 +318,7 @@ public sealed partial class EntityLookupSystem
 
         return state.Found;
 
-        static bool PhysicsQuery<T>(ref AnyQueryState<T> state, in FixtureProxy value) where T : IComponent
+        static bool PhysicsQuery(ref AnyQueryState<T> state, in FixtureProxy value)
         {
             if (value.Entity == state.Ignored)
                 return true;

Robust.Shared/GameObjects/Systems/SharedMapSystem.Grid.cs

@@ -532,7 +532,7 @@ public abstract partial class SharedMapSystem
     private void OnGridRemove(EntityUid uid, MapGridComponent component, ComponentShutdown args)
     {
         Log.Info($"Removing grid {ToPrettyString(uid)}");
-        if (TryComp<TransformComponent>(uid, out var xform) && xform.MapUid != null)
+        if (TryComp(uid, out TransformComponent? xform) && xform.MapUid != null)
         {
             RemoveGrid(uid, component, xform.MapUid.Value);
         }

Robust.Shared/GameObjects/Systems/SharedUserInterfaceSystem.cs

@@ -275,6 +275,7 @@ public abstract class SharedUserInterfaceSystem : EntitySystem
             if (ent.Comp.States.TryGetValue(key, out var state))
             {
                 bui.UpdateState(state);
+                bui.Update();
             }
         }
     }
@@ -295,7 +296,7 @@ public abstract class SharedUserInterfaceSystem : EntitySystem
             DebugTools.Assert(!ent.Comp.Actors.ContainsKey(key));
         }
 
-        DebugTools.AssertEqual(ent.Comp.ClientOpenInterfaces.Count, 0);
+        DebugTools.Assert(ent.Comp.ClientOpenInterfaces.Values.All(x => _queuedCloses.Contains(x)));
     }
 
     private void OnUserInterfaceGetState(Entity<UserInterfaceComponent> ent, ref ComponentGetState args)
@@ -428,6 +429,7 @@ public abstract class SharedUserInterfaceSystem : EntitySystem
 
             cBui.State = buiState;
             cBui.UpdateState(buiState);
+            cBui.Update();
         }
 
         // If UI not open then open it
@@ -490,6 +492,7 @@ public abstract class SharedUserInterfaceSystem : EntitySystem
         {
             boundUserInterface.State = buiState;
             boundUserInterface.UpdateState(buiState);
+            boundUserInterface.Update();
         }
 #if EXCEPTION_TOLERANCE
         }
@@ -682,6 +685,13 @@ public abstract class SharedUserInterfaceSystem : EntitySystem
             stateRef = state;
         }
 
+        // Predict the change on client
+        if (state != null && _netManager.IsClient && entity.Comp.ClientOpenInterfaces.TryGetValue(key, out var bui))
+        {
+            bui.UpdateState(state);
+            bui.Update();
+        }
+
         Dirty(entity);
     }
 
@@ -1027,6 +1037,18 @@ public abstract class SharedUserInterfaceSystem : EntitySystem
         Dirty(ent, ent.Comp);
     }
 
+    public bool TryGetUiState<T>(Entity<UserInterfaceComponent?> ent, Enum key, [NotNullWhen(true)] out T? state) where T : BoundUserInterfaceState
+    {
+        if (!Resolve(ent, ref ent.Comp, false) || !ent.Comp.States.TryGetValue(key, out var stateComp))
+        {
+            state = null;
+            return false;
+        }
+
+        state = (T)stateComp;
+        return true;
+    }
+
     /// <summary>
     ///     Verify that the subscribed clients are still in range of the interface.
     /// </summary>

Robust.Shared/Map/Events/MapSerializationEvents.cs

@@ -28,24 +28,17 @@ public sealed class BeforeEntityReadEvent
 }
 
 /// <summary>
-/// This event is broadcast just before the map loader reads the entity section. It can be used to somewhat modify
-/// how the map data is read, as a super basic kind of map migration tool.
+/// This event is broadcast just before an entity gets serialized.
 /// </summary>
-public sealed class BeforeSaveEvent
+public sealed class BeforeSaveEvent(EntityUid entity, EntityUid? map)
 {
     /// <summary>
     /// The entity that is going to be saved. usually a map or grid.
     /// </summary>
-    public EntityUid Entity;
+    public EntityUid Entity = entity;
 
     /// <summary>
     /// The map that the <see cref="Entity"/> is on.
     /// </summary>
-    public EntityUid? Map;
-
-    public BeforeSaveEvent(EntityUid entity, EntityUid? map)
-    {
-        Entity = entity;
-        Map = map;
-    }
+    public EntityUid? Map = map;
 }

Robust.Shared/Noise/FastNoise.cs

@@ -41,10 +41,8 @@ using System.Runtime.CompilerServices;
 
 namespace Robust.Shared.Noise
 {
-#pragma warning disable RA0003
     [Obsolete("Use FastNoiseLite")]
     public sealed class FastNoise
-#pragma warning restore RA0003
     {
         private const MethodImplOptions FN_INLINE = MethodImplOptions.AggressiveInlining;
         private const int FN_CELLULAR_INDEX_MAX = 3;

Robust.Shared/Physics/B2DynamicTree.cs

@@ -27,6 +27,7 @@ using System.Diagnostics.CodeAnalysis;
 using System.Numerics;
 using System.Runtime.CompilerServices;
 using Robust.Shared.Maths;
+using Robust.Shared.Physics.Systems;
 using Robust.Shared.Utility;
 
 namespace Robust.Shared.Physics
@@ -943,6 +944,217 @@ namespace Robust.Shared.Physics
         private static readonly RayQueryCallback<RayQueryCallback> EasyRayQueryCallback =
             (ref RayQueryCallback callback, Proxy proxy, in Vector2 hitPos, float distance) => callback(proxy, hitPos, distance);
 
+        internal delegate float RayCallback(RayCastInput input, T context, ref WorldRayCastContext state);
+
+        internal void RayCastNew(RayCastInput input, long mask, ref WorldRayCastContext state, RayCallback callback)
+        {
+            var p1 = input.Origin;
+            var d = input.Translation;
+
+            var r = d.Normalized();
+
+	        // v is perpendicular to the segment.
+	        var v = Vector2Helpers.Cross(1.0f, r);
+            var abs_v = Vector2.Abs(v);
+
+	        // Separating axis for segment (Gino, p80).
+	        // |dot(v, p1 - c)| > dot(|v|, h)
+
+	        float maxFraction = input.MaxFraction;
+
+	        var p2 = Vector2.Add(p1, maxFraction * d);
+
+	        // Build a bounding box for the segment.
+	        var segmentAABB = new Box2(Vector2.Min(p1, p2), Vector2.Max(p1, p2));
+
+	        var stack = new GrowableStack<Proxy>(stackalloc Proxy[256]);
+            ref var baseRef = ref _nodes[0];
+	        stack.Push(_root);
+
+	        var subInput = input;
+
+	        while (stack.GetCount() > 0)
+            {
+                var nodeId = stack.Pop();
+
+		        if (nodeId == Proxy.Free)
+		        {
+			        continue;
+		        }
+
+		        var node = Unsafe.Add(ref baseRef, nodeId);
+
+		        if (!node.Aabb.Intersects(segmentAABB))// || ( node->categoryBits & maskBits ) == 0 )
+		        {
+			        continue;
+		        }
+
+		        // Separating axis for segment (Gino, p80).
+		        // |dot(v, p1 - c)| > dot(|v|, h)
+		        // radius extension is added to the node in this case
+		        var c = node.Aabb.Center;
+		        var h = node.Aabb.Extents;
+		        float term1 = MathF.Abs(Vector2.Dot(v, Vector2.Subtract(p1, c)));
+		        float term2 = Vector2.Dot(abs_v, h);
+		        if ( term2 < term1 )
+		        {
+			        continue;
+		        }
+
+		        if (node.IsLeaf)
+		        {
+			        subInput.MaxFraction = maxFraction;
+
+			        float value = callback(subInput, node.UserData, ref state);
+
+			        if (value == 0.0f)
+			        {
+				        // The client has terminated the ray cast.
+				        return;
+			        }
+
+			        if (0.0f < value && value < maxFraction)
+			        {
+				        // Update segment bounding box.
+				        maxFraction = value;
+				        p2 = Vector2.Add(p1, maxFraction * d);
+				        segmentAABB.BottomLeft = Vector2.Min( p1, p2 );
+				        segmentAABB.TopRight = Vector2.Max( p1, p2 );
+			        }
+		        }
+		        else
+                {
+                    var stackCount = stack.GetCount();
+			        Assert( stackCount < 256 - 1 );
+			        if (stackCount < 256 - 1 )
+			        {
+				        // TODO_ERIN just put one node on the stack, continue on a child node
+				        // TODO_ERIN test ordering children by nearest to ray origin
+				        stack.Push(node.Child1);
+				        stack.Push(node.Child2);
+			        }
+		        }
+	        }
+        }
+
+        /// This function receives clipped ray-cast input for a proxy. The function
+        /// returns the new ray fraction.
+        /// - return a value of 0 to terminate the ray-cast
+        /// - return a value less than input->maxFraction to clip the ray
+        /// - return a value of input->maxFraction to continue the ray cast without clipping
+        internal delegate float TreeShapeCastCallback(ShapeCastInput input, T userData, ref WorldRayCastContext state);
+
+        internal void ShapeCast(ShapeCastInput input, long maskBits, TreeShapeCastCallback callback, ref WorldRayCastContext state)
+        {
+	        if (input.Count == 0)
+	        {
+		        return;
+	        }
+
+            var originAABB = new Box2(input.Points[0], input.Points[0]);
+
+	        for (var i = 1; i < input.Count; ++i)
+	        {
+		        originAABB.BottomLeft = Vector2.Min(originAABB.BottomLeft, input.Points[i]);
+		        originAABB.TopRight = Vector2.Max(originAABB.TopRight, input.Points[i]);
+	        }
+
+	        var radius = new Vector2(input.Radius, input.Radius);
+
+	        originAABB.BottomLeft = Vector2.Subtract(originAABB.BottomLeft, radius);
+	        originAABB.TopRight = Vector2.Add(originAABB.TopRight, radius );
+
+	        var p1 = originAABB.Center;
+	        var extension = originAABB.Extents;
+
+	        // v is perpendicular to the segment.
+	        var r = input.Translation;
+	        var v = Vector2Helpers.Cross(1.0f, r);
+	        var abs_v = Vector2.Abs(v);
+
+	        // Separating axis for segment (Gino, p80).
+	        // |dot(v, p1 - c)| > dot(|v|, h)
+
+	        float maxFraction = input.MaxFraction;
+
+	        // Build total box for the shape cast
+	        var t = Vector2.Multiply(maxFraction, input.Translation);
+
+            var totalAABB = new Box2(
+		        Vector2.Min(originAABB.BottomLeft, Vector2.Add(originAABB.BottomLeft, t)),
+		        Vector2.Max(originAABB.TopRight, Vector2.Add( originAABB.TopRight, t))
+	        );
+
+	        var subInput = input;
+
+            ref var baseRef = ref _nodes[0];
+            var stack = new GrowableStack<Proxy>(stackalloc Proxy[256]);
+	        stack.Push(_root);
+
+	        while (stack.GetCount() > 0)
+            {
+		        var nodeId = stack.Pop();
+
+		        if (nodeId == Proxy.Free)
+		        {
+			        continue;
+		        }
+
+                var node = Unsafe.Add(ref baseRef, nodeId);
+		        if (!node.Aabb.Intersects(totalAABB))// || ( node->categoryBits & maskBits ) == 0 )
+		        {
+			        continue;
+		        }
+
+		        // Separating axis for segment (Gino, p80).
+		        // |dot(v, p1 - c)| > dot(|v|, h)
+		        // radius extension is added to the node in this case
+		        var c = node.Aabb.Center;
+		        var h = Vector2.Add(node.Aabb.Extents, extension);
+		        float term1 = MathF.Abs(Vector2.Dot(v, Vector2.Subtract(p1, c)));
+		        float term2 = Vector2.Dot(abs_v, h);
+		        if (term2 < term1)
+		        {
+			        continue;
+		        }
+
+		        if (node.IsLeaf)
+		        {
+			        subInput.MaxFraction = maxFraction;
+
+			        float value = callback(subInput, node.UserData, ref state);
+
+			        if ( value == 0.0f )
+			        {
+				        // The client has terminated the ray cast.
+				        return;
+			        }
+
+			        if (0.0f < value && value < maxFraction)
+			        {
+				        // Update segment bounding box.
+				        maxFraction = value;
+				        t = Vector2.Multiply(maxFraction, input.Translation);
+				        totalAABB.BottomLeft = Vector2.Min( originAABB.BottomLeft, Vector2.Add(originAABB.BottomLeft, t));
+				        totalAABB.TopRight = Vector2.Max( originAABB.TopRight, Vector2.Add( originAABB.TopRight, t));
+			        }
+		        }
+		        else
+		        {
+                    var stackCount = stack.GetCount();
+			        Assert(stackCount < 256 - 1);
+
+			        if (stackCount < 255)
+			        {
+				        // TODO_ERIN just put one node on the stack, continue on a child node
+				        // TODO_ERIN test ordering children by nearest to ray origin
+				        stack.Push(node.Child1);
+				        stack.Push(node.Child2);
+			        }
+		        }
+	        }
+        }
+
         public void RayCast(RayQueryCallback callback, in Ray input)
         {
             RayCast(ref callback, EasyRayQueryCallback, input);

Robust.Shared/Physics/BroadPhase/DynamicTreeBroadPhase.cs

@@ -24,6 +24,7 @@ public sealed class DynamicTreeBroadPhase : IBroadPhase
     }
 
     public int Count => _tree.NodeCount;
+    public B2DynamicTree<FixtureProxy> Tree => _tree;
 
     public Box2 GetFatAabb(DynamicTree.Proxy proxy)
     {

Robust.Shared/Physics/Collision/DistanceProxy.cs

@@ -45,6 +45,12 @@ internal ref struct DistanceProxy
 
     // GJK using Voronoi regions (Christer Ericson) and Barycentric coordinates.
 
+    internal DistanceProxy(Vector2[] vertices, float radius)
+    {
+        Vertices = vertices;
+        Radius = radius;
+    }
+
     /// <summary>
     /// Initialize the proxy using the given shape. The shape
     /// must remain in scope while the proxy is in use.
@@ -143,6 +149,13 @@ internal ref struct DistanceProxy
 
         return Vertices[bestIndex];
     }
+
+    internal static DistanceProxy MakeProxy(Vector2[] vertices, int count, float radius )
+    {
+        count = Math.Min(count, PhysicsConstants.MaxPolygonVertices);
+        var proxy = new DistanceProxy(vertices[..count], radius);
+        return proxy;
+    }
 }
 
 /// <summary>
@@ -306,6 +319,16 @@ internal struct Simplex
         }
     }
 
+    public static Vector2 Weight2( float a1, Vector2 w1, float a2, Vector2 w2 )
+    {
+        return new Vector2(a1 * w1.X + a2 * w2.X, a1 * w1.Y + a2 * w2.Y);
+    }
+
+    public static Vector2 Weight3(float a1, Vector2 w1, float a2, Vector2 w2, float a3, Vector2 w3 )
+    {
+        return new Vector2(a1 * w1.X + a2 * w2.X + a3 * w3.X, a1 * w1.Y + a2 * w2.Y + a3 * w3.Y);
+    }
+
     internal Vector2 GetClosestPoint()
     {
         switch (Count)
@@ -329,6 +352,226 @@ internal struct Simplex
         }
     }
 
+    public static Vector2 ComputeSimplexClosestPoint(Simplex s)
+    {
+        switch (s.Count)
+        {
+            case 0:
+                DebugTools.Assert(false);
+                return Vector2.Zero;
+
+            case 1:
+                return s.V._00.W;
+
+            case 2:
+                return Weight2(s.V._00.A, s.V._00.W, s.V._01.A, s.V._01.W);
+
+            case 3:
+                return Vector2.Zero;
+
+            default:
+                DebugTools.Assert(false);
+                return Vector2.Zero;
+        }
+    }
+
+    public static void ComputeSimplexWitnessPoints(ref Vector2 a, ref Vector2 b, Simplex s)
+    {
+        switch (s.Count)
+        {
+            case 0:
+                DebugTools.Assert(false);
+                break;
+
+            case 1:
+                a = s.V._00.WA;
+                b = s.V._00.WB;
+                break;
+
+            case 2:
+                a = Weight2(s.V._00.A, s.V._00.WA, s.V._01.A, s.V._01.WA);
+                b = Weight2(s.V._00.A, s.V._00.WB, s.V._01.A, s.V._01.WB);
+                break;
+
+            case 3:
+                a = Weight3(s.V._00.A, s.V._00.WA, s.V._01.A, s.V._01.WA, s.V._02.A, s.V._02.WA);
+                // TODO_ERIN why are these not equal?
+                //*b = b2Weight3(s->v1.a, s->v1.wB, s->v2.a, s->v2.wB, s->v3.a, s->v3.wB);
+                b = a;
+                break;
+
+            default:
+                DebugTools.Assert(false);
+                break;
+        }
+    }
+
+    // Solve a line segment using barycentric coordinates.
+    //
+    // p = a1 * w1 + a2 * w2
+    // a1 + a2 = 1
+    //
+    // The vector from the origin to the closest point on the line is
+    // perpendicular to the line.
+    // e12 = w2 - w1
+    // dot(p, e) = 0
+    // a1 * dot(w1, e) + a2 * dot(w2, e) = 0
+    //
+    // 2-by-2 linear system
+    // [1      1     ][a1] = [1]
+    // [w1.e12 w2.e12][a2] = [0]
+    //
+    // Define
+    // d12_1 =  dot(w2, e12)
+    // d12_2 = -dot(w1, e12)
+    // d12 = d12_1 + d12_2
+    //
+    // Solution
+    // a1 = d12_1 / d12
+    // a2 = d12_2 / d12
+    public static void SolveSimplex2(ref Simplex s)
+    {
+	    var w1 = s.V._00.W;
+	    var w2 = s.V._01.W;
+	    var e12 = Vector2.Subtract(w2, w1);
+
+	    // w1 region
+	    float d12_2 = -Vector2.Dot(w1, e12);
+	    if (d12_2 <= 0.0f)
+	    {
+		    // a2 <= 0, so we clamp it to 0
+		    s.V._00.A = 1.0f;
+		    s.Count = 1;
+		    return;
+	    }
+
+	    // w2 region
+	    float d12_1 = Vector2.Dot(w2, e12);
+	    if (d12_1 <= 0.0f)
+	    {
+		    // a1 <= 0, so we clamp it to 0
+		    s.V._01.A = 1.0f;
+		    s.Count = 1;
+		    s.V._00 = s.V._01;
+		    return;
+	    }
+
+	    // Must be in e12 region.
+	    float inv_d12 = 1.0f / ( d12_1 + d12_2 );
+	    s.V._00.A = d12_1 * inv_d12;
+	    s.V._01.A = d12_2 * inv_d12;
+	    s.Count = 2;
+    }
+
+    public static void SolveSimplex3(ref Simplex s)
+    {
+	    var w1 = s.V._00.W;
+        var w2 = s.V._01.W;
+        var w3 = s.V._02.W;
+
+	    // Edge12
+	    // [1      1     ][a1] = [1]
+	    // [w1.e12 w2.e12][a2] = [0]
+	    // a3 = 0
+	    var e12 = Vector2.Subtract(w2, w1);
+	    float w1e12 = Vector2.Dot(w1, e12);
+	    float w2e12 = Vector2.Dot(w2, e12);
+	    float d12_1 = w2e12;
+	    float d12_2 = -w1e12;
+
+	    // Edge13
+	    // [1      1     ][a1] = [1]
+	    // [w1.e13 w3.e13][a3] = [0]
+	    // a2 = 0
+	    var e13 = Vector2.Subtract(w3, w1);
+	    float w1e13 = Vector2.Dot(w1, e13);
+	    float w3e13 = Vector2.Dot(w3, e13);
+	    float d13_1 = w3e13;
+	    float d13_2 = -w1e13;
+
+	    // Edge23
+	    // [1      1     ][a2] = [1]
+	    // [w2.e23 w3.e23][a3] = [0]
+	    // a1 = 0
+	    var e23 = Vector2.Subtract(w3, w2);
+	    float w2e23 = Vector2.Dot(w2, e23);
+	    float w3e23 = Vector2.Dot(w3, e23);
+	    float d23_1 = w3e23;
+	    float d23_2 = -w2e23;
+
+	    // Triangle123
+	    float n123 = Vector2Helpers.Cross(e12, e13);
+
+	    float d123_1 = n123 * Vector2Helpers.Cross(w2, w3);
+	    float d123_2 = n123 * Vector2Helpers.Cross(w3, w1);
+	    float d123_3 = n123 * Vector2Helpers.Cross(w1, w2);
+
+	    // w1 region
+	    if (d12_2 <= 0.0f && d13_2 <= 0.0f)
+	    {
+		    s.V._00.A = 1.0f;
+		    s.Count = 1;
+		    return;
+	    }
+
+	    // e12
+	    if (d12_1 > 0.0f && d12_2 > 0.0f && d123_3 <= 0.0f)
+	    {
+		    float inv_d12 = 1.0f / ( d12_1 + d12_2 );
+		    s.V._00.A = d12_1 * inv_d12;
+		    s.V._01.A = d12_2 * inv_d12;
+		    s.Count = 2;
+		    return;
+	    }
+
+	    // e13
+	    if (d13_1 > 0.0f && d13_2 > 0.0f && d123_2 <= 0.0f)
+	    {
+		    float inv_d13 = 1.0f / ( d13_1 + d13_2 );
+		    s.V._00.A = d13_1 * inv_d13;
+		    s.V._02.A = d13_2 * inv_d13;
+		    s.Count = 2;
+		    s.V._01 = s.V._02;
+		    return;
+	    }
+
+	    // w2 region
+	    if (d12_1 <= 0.0f && d23_2 <= 0.0f)
+	    {
+		    s.V._01.A = 1.0f;
+		    s.Count = 1;
+		    s.V._00 = s.V._01;
+		    return;
+	    }
+
+	    // w3 region
+	    if (d13_1 <= 0.0f && d23_1 <= 0.0f)
+	    {
+		    s.V._02.A = 1.0f;
+		    s.Count = 1;
+		    s.V._00 = s.V._02;
+		    return;
+	    }
+
+	    // e23
+	    if (d23_1 > 0.0f && d23_2 > 0.0f && d123_1 <= 0.0f)
+	    {
+		    float inv_d23 = 1.0f / ( d23_1 + d23_2 );
+		    s.V._01.A = d23_1 * inv_d23;
+		    s.V._02.A = d23_2 * inv_d23;
+		    s.Count = 2;
+		    s.V._00 = s.V._02;
+		    return;
+	    }
+
+	    // Must be in triangle123
+	    float inv_d123 = 1.0f / (d123_1 + d123_2 + d123_3);
+	    s.V._00.A = d123_1 * inv_d123;
+	    s.V._01.A = d123_2 * inv_d123;
+	    s.V._02.A = d123_3 * inv_d123;
+	    s.Count = 3;
+    }
+
     internal void GetWitnessPoints(out Vector2 pA, out Vector2 pB)
     {
         switch (Count)

Robust.Shared/Physics/Collision/Shapes/PolygonShape.cs

@@ -27,6 +27,7 @@ using System.Runtime.InteropServices;
 using Robust.Shared.Configuration;
 using Robust.Shared.IoC;
 using Robust.Shared.Maths;
+using Robust.Shared.Physics.Shapes;
 using Robust.Shared.Physics.Systems;
 using Robust.Shared.Serialization;
 using Robust.Shared.Serialization.Manager.Attributes;
@@ -172,6 +173,13 @@ namespace Robust.Shared.Physics.Collision.Shapes
         {
         }
 
+        internal PolygonShape(Polygon poly)
+        {
+            Vertices = poly.Vertices;
+            Normals = poly.Normals;
+            Centroid = poly.Centroid;
+        }
+
         public PolygonShape(float radius)
         {
             Radius = radius;

Robust.Shared/Physics/IBroadPhase.cs

@@ -10,6 +10,8 @@ public interface IBroadPhase
 {
     int Count { get; }
 
+    public B2DynamicTree<FixtureProxy> Tree { get; }
+
     Box2 GetFatAabb(DynamicTree.Proxy proxy);
 
     DynamicTree.Proxy AddProxy(ref FixtureProxy proxy);

Robust.Shared/Physics/Shapes/Polygon.cs

@@ -87,8 +87,8 @@ internal record struct Polygon : IPhysShape
 
         if (hull.Count < 3)
         {
-            Vertices = Array.Empty<Vector2>();
-            Normals = Array.Empty<Vector2>();
+            Vertices = [];
+            Normals = [];
             return;
         }
 

Robust.Shared/Physics/Systems/RayCastSystem.Geometry.cs

@@ -0,0 +1,736 @@
+using System;
+using System.Numerics;
+using Robust.Shared.GameObjects;
+using Robust.Shared.Maths;
+using Robust.Shared.Physics.Collision;
+using Robust.Shared.Physics.Collision.Shapes;
+using Robust.Shared.Physics.Dynamics;
+using Robust.Shared.Physics.Shapes;
+using Robust.Shared.Utility;
+
+namespace Robust.Shared.Physics.Systems;
+
+public sealed partial class RayCastSystem
+{
+    /*
+     * This is really "geometry and friends" as it has all the private methods.
+     */
+
+    #region Callbacks
+
+    /// <summary>
+    /// Returns every entity from the callback.
+    /// </summary>
+    public static float RayCastAllCallback(FixtureProxy proxy, Vector2 point, Vector2 normal, float fraction, ref RayResult result)
+    {
+        result.Results.Add(new RayHit(proxy.Entity, normal, fraction)
+        {
+            Point = point,
+        });
+        return 1f;
+    }
+
+    /// <summary>
+    /// Gets the closest entity from the callback.
+    /// </summary>
+    public static float RayCastClosestCallback(FixtureProxy proxy, Vector2 point, Vector2 normal, float fraction, ref RayResult result)
+    {
+        var add = false;
+
+        if (result.Results.Count > 0)
+        {
+            if (result.Results[0].Fraction > fraction)
+            {
+                add = true;
+                result.Results.Clear();
+            }
+        }
+        else
+        {
+            add = true;
+        }
+
+        if (add)
+        {
+            result.Results.Add(new RayHit(proxy.Entity, normal, fraction)
+            {
+                Point = point,
+            });
+        }
+
+        return fraction;
+    }
+
+    #endregion
+
+    #region Raycast
+
+    private CastOutput RayCastShape(RayCastInput input, IPhysShape shape, Transform transform)
+    {
+        var localInput = input;
+        localInput.Origin = Physics.Transform.InvTransformPoint(transform, input.Origin);
+        localInput.Translation = Quaternion2D.InvRotateVector(transform.Quaternion2D, input.Translation);
+
+        CastOutput output = new();
+
+        switch (shape)
+        {
+            /*
+            case b2_capsuleShape:
+                output = b2RayCastCapsule( &localInput, &shape->capsule );
+                break;
+                */
+            case PhysShapeCircle circle:
+                output = RayCastCircle(localInput, circle);
+                break;
+            case PolygonShape polyShape:
+            {
+                output = RayCastPolygon(localInput, (Polygon) polyShape);
+            }
+                break;
+            case Polygon poly:
+            {
+                output = RayCastPolygon(localInput, poly);
+            }
+                break;
+            default:
+                return output;
+        }
+
+        output.Point = Physics.Transform.Mul(transform, output.Point);
+        output.Normal = Quaternion2D.RotateVector(transform.Quaternion2D, output.Normal);
+        return output;
+    }
+
+    /// <summary>
+    /// This callback is invoked upon every AABB collision.
+    /// </summary>
+    private static float RayCastCallback(RayCastInput input, FixtureProxy proxy, ref WorldRayCastContext worldContext)
+    {
+        if ((proxy.Fixture.CollisionLayer & worldContext.Filter.MaskBits) == 0 && (proxy.Fixture.CollisionMask & worldContext.Filter.LayerBits) == 0)
+        {
+            return input.MaxFraction;
+        }
+
+        if (worldContext.Filter.IsIgnored?.Invoke(proxy.Entity) == true)
+        {
+            return input.MaxFraction;
+        }
+
+        var transform = worldContext.Physics.GetLocalPhysicsTransform(proxy.Entity);
+        var output = worldContext.System.RayCastShape(input, proxy.Fixture.Shape, transform);
+
+        if (output.Hit)
+        {
+            // Fraction returned determines what B2Dynamictree will do, i.e. shrink the AABB or not.
+            var fraction = worldContext.fcn(proxy, output.Point, output.Normal, output.Fraction, ref worldContext.Result);
+            return fraction;
+        }
+
+        return input.MaxFraction;
+    }
+
+    // Precision Improvements for Ray / Sphere Intersection - Ray Tracing Gems 2019
+    // http://www.codercorner.com/blog/?p=321
+    internal CastOutput RayCastCircle(RayCastInput input, PhysShapeCircle shape)
+    {
+        DebugTools.Assert(input.IsValidRay());
+
+        var p = shape.Position;
+
+        var output = new CastOutput();
+
+        // Shift ray so circle center is the origin
+        var s = Vector2.Subtract(input.Origin, p);
+        float length = 0f;
+        var d = input.Translation.GetLengthAndNormalize(ref length);
+        if (length == 0.0f)
+        {
+            // zero length ray
+            return output;
+        }
+
+        // Find closest point on ray to origin
+
+        // solve: dot(s + t * d, d) = 0
+        float t = -Vector2.Dot(s, d);
+
+        // c is the closest point on the line to the origin
+        var c = Vector2.Add(s, t * d);
+
+        float cc = Vector2.Dot(c, c);
+        float r = shape.Radius;
+        float rr = r * r;
+
+        if (cc > rr)
+        {
+            // closest point is outside the circle
+            return output;
+        }
+
+        // Pythagorus
+        float h = MathF.Sqrt(rr - cc);
+
+        float fraction = t - h;
+
+        if ( fraction < 0.0f || input.MaxFraction * length < fraction )
+        {
+            // outside the range of the ray segment
+            return output;
+        }
+
+        var hitPoint = Vector2.Add(s, fraction * d);
+
+        output.Fraction = fraction / length;
+        output.Normal = hitPoint.Normalized();
+        output.Point = Vector2.Add(p, shape.Radius * output.Normal);
+        output.Hit = true;
+
+        return output;
+    }
+
+    private CastOutput RayCastPolygon(RayCastInput input, Polygon shape)
+    {
+	    if (shape.Radius == 0.0f)
+	    {
+		    // Put the ray into the polygon's frame of reference.
+		    var p1 = input.Origin;
+		    var d = input.Translation;
+
+		    float lower = 0.0f, upper = input.MaxFraction;
+
+		    var index = -1;
+
+		    var output = new CastOutput()
+            {
+                Fraction = 0f,
+            };
+
+		    for ( var i = 0; i < shape.VertexCount; ++i )
+		    {
+			    // p = p1 + a * d
+			    // dot(normal, p - v) = 0
+			    // dot(normal, p1 - v) + a * dot(normal, d) = 0
+			    float numerator = Vector2.Dot(shape.Normals[i], Vector2.Subtract( shape.Vertices[i], p1 ) );
+			    float denominator = Vector2.Dot(shape.Normals[i], d );
+
+			    if ( denominator == 0.0f )
+			    {
+				    if ( numerator < 0.0f )
+				    {
+					    return output;
+				    }
+			    }
+			    else
+			    {
+				    // Note: we want this predicate without division:
+				    // lower < numerator / denominator, where denominator < 0
+				    // Since denominator < 0, we have to flip the inequality:
+				    // lower < numerator / denominator <==> denominator * lower > numerator.
+				    if ( denominator < 0.0f && numerator < lower * denominator )
+				    {
+					    // Increase lower.
+					    // The segment enters this half-space.
+					    lower = numerator / denominator;
+					    index = i;
+				    }
+				    else if ( denominator > 0.0f && numerator < upper * denominator )
+				    {
+					    // Decrease upper.
+					    // The segment exits this half-space.
+					    upper = numerator / denominator;
+				    }
+			    }
+
+			    // The use of epsilon here causes the B2_ASSERT on lower to trip
+			    // in some cases. Apparently the use of epsilon was to make edge
+			    // shapes work, but now those are handled separately.
+			    // if (upper < lower - b2_epsilon)
+			    if ( upper < lower )
+			    {
+				    return output;
+			    }
+		    }
+
+		    DebugTools.Assert( 0.0f <= lower && lower <= input.MaxFraction );
+
+		    if (index >= 0)
+		    {
+			    output.Fraction = lower;
+			    output.Normal = shape.Normals[index];
+			    output.Point = Vector2.Add(p1, lower * d);
+			    output.Hit = true;
+		    }
+
+		    return output;
+	    }
+
+	    // TODO_ERIN this is not working for ray vs box (zero radii)
+	    var castInput = new ShapeCastPairInput
+        {
+            ProxyA = DistanceProxy.MakeProxy(shape.Vertices, shape.VertexCount, shape.Radius),
+            ProxyB = DistanceProxy.MakeProxy([input.Origin], 1, 0.0f),
+            TransformA = Physics.Transform.Empty,
+            TransformB = Physics.Transform.Empty,
+            TranslationB = input.Translation,
+            MaxFraction = input.MaxFraction
+        };
+        return ShapeCast(castInput);
+    }
+
+    // Ray vs line segment
+    private CastOutput RayCastSegment(RayCastInput input, EdgeShape shape, bool oneSided)
+    {
+        var output = new CastOutput();
+
+        if (oneSided)
+        {
+            // Skip left-side collision
+            float offset = Vector2Helpers.Cross(Vector2.Subtract(input.Origin, shape.Vertex0), Vector2.Subtract( shape.Vertex1, shape.Vertex0));
+            if ( offset < 0.0f )
+            {
+                return output;
+            }
+        }
+
+        // Put the ray into the edge's frame of reference.
+        var p1 = input.Origin;
+        var d = input.Translation;
+
+        var v1 = shape.Vertex0;
+        var v2 = shape.Vertex1;
+        var e = Vector2.Subtract( v2, v1 );
+
+        float length = 0f;
+        var eUnit = e.GetLengthAndNormalize(ref length);
+        if (length == 0.0f)
+        {
+            return output;
+        }
+
+        // Normal points to the right, looking from v1 towards v2
+        var normal = eUnit.RightPerp();
+
+        // Intersect ray with infinite segment using normal
+        // Similar to intersecting a ray with an infinite plane
+        // p = p1 + t * d
+        // dot(normal, p - v1) = 0
+        // dot(normal, p1 - v1) + t * dot(normal, d) = 0
+        float numerator = Vector2.Dot(normal, Vector2.Subtract(v1, p1));
+        float denominator = Vector2.Dot(normal, d);
+
+        if (denominator == 0.0f)
+        {
+            // parallel
+            return output;
+        }
+
+        float t = numerator / denominator;
+        if ( t < 0.0f || input.MaxFraction < t )
+        {
+            // out of ray range
+            return output;
+        }
+
+        // Intersection point on infinite segment
+        var p = Vector2.Add(p1, t * d);
+
+        // Compute position of p along segment
+        // p = v1 + s * e
+        // s = dot(p - v1, e) / dot(e, e)
+
+        float s = Vector2.Dot(Vector2.Subtract(p, v1), eUnit);
+        if ( s < 0.0f || length < s )
+        {
+            // out of segment range
+            return output;
+        }
+
+        if ( numerator > 0.0f )
+        {
+            normal = -normal;
+        }
+
+        output.Fraction = t;
+        output.Point = Vector2.Add(p1, t * d);
+        output.Normal = normal;
+        output.Hit = true;
+
+        return output;
+    }
+
+    #endregion
+
+    #region Shape
+
+    private CastOutput ShapeCastShape(ShapeCastInput input, IPhysShape shape, Transform transform)
+    {
+        var localInput = input;
+
+        for ( int i = 0; i < localInput.Count; ++i )
+        {
+            localInput.Points[i] = Physics.Transform.MulT(transform, input.Points[i]);
+        }
+
+        localInput.Translation = Quaternion2D.InvRotateVector(transform.Quaternion2D, input.Translation);
+
+        CastOutput output;
+
+        switch (shape)
+        {
+            case PhysShapeCircle circle:
+                output = ShapeCastCircle(localInput, circle);
+                break;
+            case PolygonShape pShape:
+                output = ShapeCastPolygon(localInput, (Polygon) pShape);
+                break;
+            case Polygon poly:
+                output = ShapeCastPolygon(localInput, poly);
+                break;
+            default:
+                return new CastOutput();
+        }
+
+        output.Point = Physics.Transform.Mul(transform, output.Point);
+        output.Normal = Quaternion2D.RotateVector(transform.Quaternion2D, output.Normal);
+        return output;
+    }
+
+    /// <summary>
+    /// This callback is invoked upon getting the AABB inside of B2DynamicTree.
+    /// </summary>
+    /// <returns>The max fraction to continue checking for. If this is lower then we will start dropping more shapes early</returns>
+    private float ShapeCastCallback(ShapeCastInput input, FixtureProxy proxy, ref WorldRayCastContext worldContext)
+    {
+        var filter = worldContext.Filter;
+
+        if ((proxy.Fixture.CollisionLayer & filter.MaskBits) == 0 && (proxy.Fixture.CollisionMask & filter.LayerBits) == 0)
+        {
+            return input.MaxFraction;
+        }
+
+        if ((filter.Flags & QueryFlags.Sensors) == 0x0 && !proxy.Fixture.Hard)
+        {
+            return input.MaxFraction;
+        }
+
+        if (worldContext.Filter.IsIgnored?.Invoke(proxy.Entity) == true)
+        {
+            return input.MaxFraction;
+        }
+
+        var transform = worldContext.Physics.GetLocalPhysicsTransform(proxy.Entity);
+        var output = ShapeCastShape(input, proxy.Fixture.Shape, transform);
+
+        if (output.Hit)
+        {
+            var fraction = worldContext.fcn(proxy, output.Point, output.Normal, output.Fraction, ref worldContext.Result);
+            return fraction;
+        }
+
+        return input.MaxFraction;
+    }
+
+    // GJK-raycast
+    // Algorithm by Gino van den Bergen.
+    // "Smooth Mesh Contacts with GJK" in Game Physics Pearls. 2010
+    // todo this is failing when used to raycast a box
+    // todo this converges slowly with a radius
+    private CastOutput ShapeCast(ShapeCastPairInput input)
+    {
+	    var output = new CastOutput()
+        {
+            Fraction = input.MaxFraction,
+	    };
+
+	    var proxyA = input.ProxyA;
+        var count = input.ProxyB.Vertices.Length;
+
+	    var xfA = input.TransformA;
+	    var xfB = input.TransformB;
+	    var xf = Physics.Transform.InvMulTransforms(xfA, xfB);
+
+	    // Put proxyB in proxyA's frame to reduce round-off error
+        var proxyBVerts = new Vector2[input.ProxyB.Vertices.Length];
+
+	    for ( int i = 0; i < count; ++i )
+	    {
+		    proxyBVerts[i] = Physics.Transform.Mul(xf, input.ProxyB.Vertices[i]);
+	    }
+
+        var proxyB = DistanceProxy.MakeProxy(proxyBVerts, count, input.ProxyB.Radius);
+
+        DebugTools.Assert(proxyB.Vertices.Length <= PhysicsConstants.MaxPolygonVertices);
+	    float radius = proxyA.Radius + proxyB.Radius;
+
+	    var r = Quaternion2D.RotateVector(xf.Quaternion2D, input.TranslationB);
+	    float lambda = 0.0f;
+	    float maxFraction = input.MaxFraction;
+
+	    // Initial simplex
+	    Simplex simplex;
+        simplex = new()
+        {
+            Count = 0,
+            V = new FixedArray4<SimplexVertex>()
+        };
+
+	    // Get an initial point in A - B
+	    int indexA = FindSupport(proxyA, -r);
+	    var wA = proxyA.Vertices[indexA];
+	    int indexB = FindSupport(proxyB, r);
+	    var wB = proxyB.Vertices[indexB];
+	    var v = Vector2.Subtract(wA, wB);
+
+	    // Sigma is the target distance between proxies
+	    const float linearSlop = PhysicsConstants.LinearSlop;
+	    var sigma = MathF.Max(linearSlop, radius - linearSlop);
+
+	    // Main iteration loop.
+	    const int k_maxIters = 20;
+	    int iter = 0;
+	    while ( iter < k_maxIters && v.Length() > sigma + 0.5f * linearSlop )
+	    {
+		    DebugTools.Assert(simplex.Count < 3);
+
+		    output.Iterations += 1;
+
+		    // Support in direction -v (A - B)
+		    indexA = FindSupport(proxyA, -v);
+		    wA = proxyA.Vertices[indexA];
+		    indexB = FindSupport(proxyB, v);
+		    wB = proxyB.Vertices[indexB];
+		    var p = Vector2.Subtract(wA, wB);
+
+		    // -v is a normal at p, normalize to work with sigma
+		    v = v.Normalized();
+
+		    // Intersect ray with plane
+		    float vp = Vector2.Dot(v, p);
+		    float vr = Vector2.Dot(v, r);
+		    if ( vp - sigma > lambda * vr )
+		    {
+			    if ( vr <= 0.0f )
+			    {
+				    // miss
+				    return output;
+			    }
+
+			    lambda = ( vp - sigma ) / vr;
+			    if ( lambda > maxFraction )
+			    {
+				    // too far
+				    return output;
+			    }
+
+			    // reset the simplex
+			    simplex.Count = 0;
+		    }
+
+		    // Reverse simplex since it works with B - A.
+		    // Shift by lambda * r because we want the closest point to the current clip point.
+		    // Note that the support point p is not shifted because we want the plane equation
+		    // to be formed in unshifted space.
+		    ref var vertex = ref simplex.V.AsSpan[simplex.Count];
+		    vertex.IndexA = indexB;
+		    vertex.WA = new Vector2(wB.X + lambda * r.X, wB.Y + lambda * r.Y);
+		    vertex.IndexB = indexA;
+		    vertex.WB = wA;
+		    vertex.W = Vector2.Subtract(vertex.WB, vertex.WA);
+		    vertex.A = 1.0f;
+		    simplex.Count += 1;
+
+		    switch (simplex.Count)
+		    {
+			    case 1:
+				    break;
+
+			    case 2:
+				    Simplex.SolveSimplex2(ref simplex);
+				    break;
+
+			    case 3:
+				    Simplex.SolveSimplex3(ref simplex);
+				    break;
+
+			    default:
+                    throw new NotImplementedException();
+		    }
+
+		    // If we have 3 points, then the origin is in the corresponding triangle.
+		    if ( simplex.Count == 3 )
+		    {
+			    // Overlap
+                // Yes this means you need to manually query for overlaps.
+			    return output;
+		    }
+
+		    // Get search direction.
+		    // todo use more accurate segment perpendicular
+		    v = Simplex.ComputeSimplexClosestPoint(simplex);
+
+		    // Iteration count is equated to the number of support point calls.
+		    ++iter;
+	    }
+
+	    if ( iter == 0 || lambda == 0.0f )
+	    {
+		    // Initial overlap
+		    return output;
+	    }
+
+	    // Prepare output.
+	    Vector2 pointA = Vector2.Zero, pointB = Vector2.Zero;
+	    Simplex.ComputeSimplexWitnessPoints(ref pointB, ref pointA, simplex);
+
+	    var n = (-v).Normalized();
+	    var point = new Vector2(pointA.X + proxyA.Radius * n.X, pointA.Y + proxyA.Radius * n.Y);
+
+	    output.Point = Physics.Transform.Mul(xfA, point);
+	    output.Normal = Quaternion2D.RotateVector(xfA.Quaternion2D, n);
+	    output.Fraction = lambda;
+	    output.Iterations = iter;
+	    output.Hit = true;
+	    return output;
+    }
+
+    private int FindSupport(DistanceProxy proxy, Vector2 direction)
+    {
+        int bestIndex = 0;
+        float bestValue = Vector2.Dot(proxy.Vertices[0], direction);
+        for ( int i = 1; i < proxy.Vertices.Length; ++i )
+        {
+            float value = Vector2.Dot(proxy.Vertices[i], direction);
+            if ( value > bestValue )
+            {
+                bestIndex = i;
+                bestValue = value;
+            }
+        }
+
+        return bestIndex;
+    }
+
+    private CastOutput ShapeCastCircle(ShapeCastInput input, PhysShapeCircle shape)
+    {
+        var pairInput = new ShapeCastPairInput
+        {
+            ProxyA = DistanceProxy.MakeProxy([shape.Position], 1, shape.Radius ),
+            ProxyB = DistanceProxy.MakeProxy(input.Points, input.Count, input.Radius ),
+            TransformA = Physics.Transform.Empty,
+            TransformB = Physics.Transform.Empty,
+            TranslationB = input.Translation,
+            MaxFraction = input.MaxFraction
+        };
+
+        var output = ShapeCast(pairInput);
+        return output;
+    }
+
+    private CastOutput ShapeCastPolygon(ShapeCastInput input, Polygon shape)
+    {
+        var pairInput = new ShapeCastPairInput
+        {
+            ProxyA = DistanceProxy.MakeProxy(shape.Vertices, shape.VertexCount, shape.Radius),
+            ProxyB = DistanceProxy.MakeProxy(input.Points, input.Count, input.Radius),
+            TransformA = Physics.Transform.Empty,
+            TransformB = Physics.Transform.Empty,
+            TranslationB = input.Translation,
+            MaxFraction = input.MaxFraction
+        };
+
+        var output = ShapeCast(pairInput);
+        return output;
+    }
+
+    private CastOutput ShapeCastSegment(ShapeCastInput input, EdgeShape shape)
+    {
+        var pairInput = new ShapeCastPairInput();
+        pairInput.ProxyA = DistanceProxy.MakeProxy([shape.Vertex0], 2, 0.0f);
+        pairInput.ProxyB = DistanceProxy.MakeProxy(input.Points, input.Count, input.Radius);
+        pairInput.TransformA = Physics.Transform.Empty;
+        pairInput.TransformB = Physics.Transform.Empty;
+        pairInput.TranslationB = input.Translation;
+        pairInput.MaxFraction = input.MaxFraction;
+
+        var output = ShapeCast(pairInput);
+        return output;
+    }
+
+    #endregion
+}
+
+internal ref struct WorldRayCastContext
+{
+    public RayCastSystem System;
+    public SharedPhysicsSystem Physics;
+
+    public CastResult fcn;
+    public QueryFilter Filter;
+    public float Fraction;
+
+    public RayResult Result;
+}
+
+internal ref struct ShapeCastPairInput
+{
+    public DistanceProxy ProxyA;
+    public DistanceProxy ProxyB;
+    public Transform TransformA;
+    public Transform TransformB;
+    public Vector2 TranslationB;
+
+    /// <summary>
+    /// The fraction of the translation to consider, typically 1
+    /// </summary>
+    public float MaxFraction;
+}
+
+internal record struct ShapeCastInput
+{
+    public Transform Origin;
+
+    /// A point cloud to cast
+    public Vector2[] Points;
+
+    /// The number of points
+    public int Count;
+
+    /// The radius around the point cloud
+    public float Radius;
+
+    /// The translation of the shape cast
+    public Vector2 Translation;
+
+    /// The maximum fraction of the translation to consider, typically 1
+    public float MaxFraction;
+}
+
+internal record struct RayCastInput
+{
+    public Vector2 Origin;
+
+    public Vector2 Translation;
+
+    public float MaxFraction;
+
+    public bool IsValidRay()
+    {
+        bool isValid = Origin.IsValid() && Translation.IsValid() && MaxFraction.IsValid() &&
+                       0.0f <= MaxFraction && MaxFraction < float.MaxValue;
+        return isValid;
+    }
+}
+
+internal ref struct CastOutput
+{
+    public Vector2 Normal;
+
+    public Vector2 Point;
+
+    public float Fraction;
+
+    public int Iterations;
+
+    public bool Hit;
+}

Robust.Shared/Physics/Systems/RayCastSystem.cs

@@ -0,0 +1,465 @@
+using System;
+using System.Collections.Generic;
+using System.Numerics;
+using JetBrains.Annotations;
+using Robust.Shared.Collections;
+using Robust.Shared.GameObjects;
+using Robust.Shared.IoC;
+using Robust.Shared.Map;
+using Robust.Shared.Map.Components;
+using Robust.Shared.Maths;
+using Robust.Shared.Physics.Collision;
+using Robust.Shared.Physics.Collision.Shapes;
+using Robust.Shared.Physics.Dynamics;
+using Robust.Shared.Physics.Shapes;
+using Robust.Shared.Utility;
+
+namespace Robust.Shared.Physics.Systems;
+
+public sealed partial class RayCastSystem : EntitySystem
+{
+    /*
+     * A few things to keep in mind with the below:
+     * - Raycasts are done relative to the corresponding broadphases.
+     * - The raycast results need to be transformed into Map terms.
+     * - If you wish to add more helper methods make a new partial and dump them there and have them call the below methods.
+     */
+
+    [Dependency] private readonly SharedBroadphaseSystem _broadphase = default!;
+    [Dependency] private readonly SharedPhysicsSystem _physics = default!;
+
+    private readonly RayComparer _rayComparer = new();
+
+    #region RayCast
+
+    private sealed class RayComparer : IComparer<RayHit>
+    {
+        public int Compare(RayHit x, RayHit y)
+        {
+            return x.Fraction.CompareTo(y.Fraction);
+        }
+    }
+
+    private void AdjustResults(ref RayResult result, int index, Transform xf)
+    {
+        for (var i = index; i < result.Results.Count; i++)
+        {
+            result.Results[i].Point = Physics.Transform.Mul(xf, result.Results[i].Point);
+        }
+    }
+
+    /*
+     * Raycasts that return all entities sorted.
+     */
+
+    /// <summary>
+    /// Casts a ray against a broadphase.
+    /// </summary>
+    public void CastRay(Entity<BroadphaseComponent?> entity, ref RayResult result, Vector2 origin, Vector2 translation, QueryFilter filter, bool sorted = true)
+    {
+        if (!Resolve(entity.Owner, ref entity.Comp))
+            return;
+
+        DebugTools.Assert(origin.IsValid());
+        DebugTools.Assert(translation.IsValid());
+
+        var input = new RayCastInput()
+        {
+            Origin = origin,
+            Translation = translation,
+            MaxFraction = 1f,
+        };
+
+        var worldContext = new WorldRayCastContext()
+        {
+            fcn = RayCastAllCallback,
+            Filter = filter,
+            Fraction = 1f,
+            Physics = _physics,
+            System = this,
+            Result = result,
+        };
+
+        entity.Comp.DynamicTree.Tree.RayCastNew(input, filter.MaskBits, ref worldContext, RayCastCallback);
+        input.MaxFraction = worldContext.Fraction;
+        entity.Comp.StaticTree.Tree.RayCastNew(input, filter.MaskBits, ref worldContext, RayCastCallback);
+        result = worldContext.Result;
+
+        if (sorted)
+        {
+            result.Results.Sort(_rayComparer);
+        }
+    }
+
+    /// <summary>
+    /// Returns all entities hit in order.
+    /// </summary>
+    [Pure]
+    public RayResult CastRay(MapId mapId, Vector2 origin, Vector2 translation, QueryFilter filter)
+    {
+        DebugTools.Assert(origin.IsValid());
+        DebugTools.Assert(translation.IsValid());
+
+        var input = new RayCastInput
+        {
+            Origin = origin,
+            Translation = translation,
+            MaxFraction = 1.0f
+        };
+
+        var result = new RayResult();
+
+        var start = origin;
+        var end = origin + translation;
+
+        var aabb = new Box2(Vector2.Min(start, end), Vector2.Max(start, end));
+        var state = (input, filter, result, this, _physics);
+
+        _broadphase.GetBroadphases(mapId, aabb, ref state,
+            static (Entity<BroadphaseComponent> entity, ref (RayCastInput input, QueryFilter filter, RayResult result, RayCastSystem system, SharedPhysicsSystem Physics) tuple) =>
+            {
+                var transform = tuple.Physics.GetPhysicsTransform(entity.Owner);
+                var localOrigin = Physics.Transform.InvTransformPoint(transform, tuple.input.Origin);
+                var localTranslation = Physics.Transform.InvTransformPoint(transform, tuple.input.Origin + tuple.input.Translation) - localOrigin;
+                var oldIndex = tuple.result.Results.Count;
+                tuple.system.CastRay((entity.Owner, entity.Comp), ref tuple.result, localOrigin, localTranslation, filter: tuple.filter, sorted: false);
+                tuple.system.AdjustResults(ref tuple.result, oldIndex, transform);
+            });
+
+        result = state.result;
+        result.Results.Sort(_rayComparer);
+        return result;
+    }
+
+    /*
+     * Raycasts that only return the closest entity.
+     */
+
+    /// <summary>
+    /// Casts a ray against a broadphase.
+    /// </summary>
+    public void CastRayClosest(Entity<BroadphaseComponent?> entity, ref RayResult result, Vector2 origin, Vector2 translation, QueryFilter filter)
+    {
+        if (!Resolve(entity.Owner, ref entity.Comp))
+            return;
+
+        DebugTools.Assert(origin.IsValid());
+        DebugTools.Assert(translation.IsValid());
+
+        var input = new RayCastInput()
+        {
+            Origin = origin,
+            Translation = translation,
+            MaxFraction = 1f,
+        };
+
+        var worldContext = new WorldRayCastContext()
+        {
+            fcn = RayCastClosestCallback,
+            Filter = filter,
+            Fraction = 1f,
+            Physics = _physics,
+            System = this,
+            Result = result,
+        };
+
+        entity.Comp.DynamicTree.Tree.RayCastNew(input, filter.MaskBits, ref worldContext, RayCastCallback);
+        input.MaxFraction = worldContext.Fraction;
+        entity.Comp.StaticTree.Tree.RayCastNew(input, filter.MaskBits, ref worldContext, RayCastCallback);
+        result = worldContext.Result;
+        DebugTools.Assert(result.Results.Count <= 1);
+    }
+
+    /// <summary>
+    /// Returns all entities hit in order.
+    /// </summary>
+    public RayResult CastRayClosest(MapId mapId, Vector2 origin, Vector2 translation, QueryFilter filter)
+    {
+        DebugTools.Assert(origin.IsValid());
+        DebugTools.Assert(translation.IsValid());
+
+        var input = new RayCastInput
+        {
+            Origin = origin,
+            Translation = translation,
+            MaxFraction = 1.0f
+        };
+
+        var result = new RayResult();
+
+        var end = origin + translation;
+
+        var aabb = new Box2(Vector2.Min(origin, end), Vector2.Max(origin, end));
+        var state = (input, filter, result, this, _physics);
+
+        _broadphase.GetBroadphases(mapId, aabb, ref state,
+            static (Entity<BroadphaseComponent> entity, ref (RayCastInput input, QueryFilter filter, RayResult result, RayCastSystem system, SharedPhysicsSystem _physics) tuple) =>
+            {
+                var transform = tuple._physics.GetPhysicsTransform(entity.Owner);
+                var localOrigin = Physics.Transform.InvTransformPoint(transform, tuple.input.Origin);
+                var localTranslation = Physics.Transform.InvTransformPoint(transform, tuple.input.Origin + tuple.input.Translation) - localOrigin;
+
+                var oldIndex = tuple.result.Results.Count;
+                tuple.system.CastRayClosest((entity.Owner, entity.Comp), ref tuple.result, localOrigin, localTranslation, filter: tuple.filter);
+                tuple.system.AdjustResults(ref tuple.result, oldIndex, transform);
+            });
+
+        result = state.result;
+        DebugTools.Assert(result.Results.Count <= 1);
+        return result;
+    }
+
+    #endregion
+
+    #region ShapeCast
+
+    /// <summary>
+    /// Convenience method for shape casts; only supports shapes with area.
+    /// </summary>
+    public RayResult CastShape(
+        MapId mapId,
+        IPhysShape shape,
+        Transform originTransform,
+        Vector2 translation,
+        QueryFilter filter,
+        CastResult callback)
+    {
+        DebugTools.Assert(originTransform.Position.IsValid());
+        DebugTools.Assert(originTransform.Quaternion2D.IsValid());
+        DebugTools.Assert(translation.IsValid());
+
+        // Need to get the entire shape AABB to know what broadphases to even query.
+        var startAabb = shape.ComputeAABB(originTransform, 0);
+        var endAabb = shape.ComputeAABB(new Transform(originTransform.Position + translation, originTransform.Quaternion2D.Angle), 0);
+        var aabb = startAabb.Union(endAabb);
+
+        var result = new RayResult();
+        var state = (originTransform, translation, shape: shape, filter, result, this, _physics, callback);
+
+        _broadphase.GetBroadphases(mapId, aabb, ref state,
+            static (
+                Entity<BroadphaseComponent> entity,
+                ref (Transform origin, Vector2 translation, IPhysShape shape, QueryFilter filter, RayResult result, RayCastSystem system, SharedPhysicsSystem _physics, CastResult callback
+                    ) tuple) =>
+            {
+                var transform = tuple._physics.GetPhysicsTransform(entity.Owner);
+                var localOrigin = Physics.Transform.MulT(transform, tuple.origin);
+                var localTranslation = Physics.Transform.InvTransformPoint(transform, tuple.origin.Position + tuple.translation) - localOrigin.Position;
+
+                var oldIndex = tuple.result.Results.Count;
+                tuple.system.CastShape((entity.Owner, entity.Comp), ref tuple.result, tuple.shape, localOrigin, localTranslation, filter: tuple.filter, callback: tuple.callback);
+                tuple.system.AdjustResults(ref tuple.result, oldIndex, transform);
+            });
+
+        result = state.result;
+        return result;
+    }
+
+    /// <summary>
+    /// Cast on the broadphase.
+    /// </summary>
+    public void CastShape(
+        Entity<BroadphaseComponent?> entity,
+        ref RayResult result,
+        IPhysShape shape,
+        Transform originTransform,
+        Vector2 translation,
+        QueryFilter filter,
+        CastResult callback)
+    {
+        if (!Resolve(entity.Owner, ref entity.Comp))
+            return;
+
+        switch (shape)
+        {
+            case PhysShapeCircle circle:
+                CastCircle(entity, ref result, circle, originTransform, translation, filter, callback);
+                break;
+            case Polygon poly:
+                CastPolygon(entity, ref result, new PolygonShape(poly), originTransform, translation, filter, callback);
+                break;
+            case PolygonShape polygon:
+                CastPolygon(entity, ref result, polygon, originTransform, translation, filter, callback);
+                break;
+            default:
+                Log.Error("Tried to shapecast for shape not implemented.");
+                DebugTools.Assert(false);
+                return;
+        }
+    }
+
+    public void CastCircle(
+        Entity<BroadphaseComponent?> entity,
+        ref RayResult result,
+        PhysShapeCircle circle,
+        Transform originTransform,
+        Vector2 translation,
+        QueryFilter filter,
+        CastResult callback)
+    {
+        if (!Resolve(entity.Owner, ref entity.Comp))
+            return;
+
+        var input = new ShapeCastInput()
+        {
+            Points = new Vector2[1],
+            Count = 1,
+            Radius = circle.Radius,
+            Translation = translation,
+            MaxFraction = 1f,
+        };
+
+        input.Points[0] = Physics.Transform.Mul(originTransform, circle.Position);
+
+        var worldContext = new WorldRayCastContext()
+        {
+            System = this,
+            Physics = _physics,
+            Filter = filter,
+            Fraction = 1f,
+            Result = result,
+            fcn = callback,
+        };
+
+        entity.Comp.StaticTree.Tree.ShapeCast(input, filter.MaskBits, ShapeCastCallback, ref worldContext);
+        input.MaxFraction = worldContext.Fraction;
+        entity.Comp.DynamicTree.Tree.ShapeCast(input, filter.MaskBits, ShapeCastCallback, ref worldContext);
+        result = worldContext.Result;
+    }
+
+    public void CastPolygon(
+        Entity<BroadphaseComponent?> entity,
+        ref RayResult result,
+        PolygonShape polygon,
+        Transform originTransform,
+        Vector2 translation,
+        QueryFilter filter,
+        CastResult callback)
+    {
+        if (!Resolve(entity.Owner, ref entity.Comp))
+            return;
+
+        ShapeCastInput input = new()
+        {
+            Points = new Vector2[polygon.VertexCount],
+        };
+
+        for ( int i = 0; i < polygon.VertexCount; ++i )
+        {
+            input.Points[i] = Physics.Transform.Mul(originTransform, polygon.Vertices[i]);
+        }
+
+        input.Count = polygon.VertexCount;
+        input.Radius = polygon.Radius;
+        input.Translation = translation;
+        input.MaxFraction = 1.0f;
+
+        var worldContext = new WorldRayCastContext()
+        {
+            System = this,
+            Physics = _physics,
+            Filter = filter,
+            Fraction = 1f,
+            Result = result,
+            fcn = callback,
+        };
+
+        if ((filter.Flags & QueryFlags.Static) == QueryFlags.Static)
+        {
+            entity.Comp.StaticTree.Tree.ShapeCast(input, filter.MaskBits, ShapeCastCallback, ref worldContext);
+            input.MaxFraction = worldContext.Fraction;
+        }
+
+        if ((filter.Flags & QueryFlags.Dynamic) == QueryFlags.Dynamic)
+        {
+            entity.Comp.DynamicTree.Tree.ShapeCast(input, filter.MaskBits, ShapeCastCallback, ref worldContext);
+        }
+
+        result = worldContext.Result;
+    }
+
+    #endregion
+}
+
+/// Result from b2World_RayCastClosest
+/// @ingroup world
+public record struct RayResult()
+{
+    public ValueList<RayHit> Results = new();
+
+    public bool Hit => Results.Count > 0;
+
+    public static readonly RayResult Empty = new();
+}
+
+public record struct RayHit(EntityUid Entity, Vector2 LocalNormal, float Fraction)
+{
+    public readonly EntityUid Entity = Entity;
+    public readonly Vector2 LocalNormal = LocalNormal;
+    public readonly float Fraction = Fraction;
+
+    // When this point gets added it's in broadphase terms, then the caller handles whether it gets turned into map-terms.
+
+    public Vector2 Point;
+}
+
+/// The query filter is used to filter collisions between queries and shapes. For example,
+///	you may want a ray-cast representing a projectile to hit players and the static environment
+///	but not debris.
+/// @ingroup shape
+public record struct QueryFilter()
+{
+    /// <summary>
+    /// The collision category bits of this query. Normally you would just set one bit.
+    /// </summary>
+    public long LayerBits;
+
+    /// <summary>
+    /// The collision mask bits. This states the shape categories that this
+    /// query would accept for collision.
+    /// </summary>
+    public long MaskBits;
+
+    /// <summary>
+    /// Return whether to ignore an entity.
+    /// </summary>
+    public Func<EntityUid, bool>? IsIgnored;
+
+    public QueryFlags Flags = QueryFlags.Dynamic | QueryFlags.Static;
+}
+
+/// <summary>
+/// Which trees we wish to query.
+/// </summary>
+[Flags]
+public enum QueryFlags : byte
+{
+    None = 0,
+
+    Dynamic = 1 << 0,
+
+    Static = 1 << 1,
+
+    Sensors = 1 << 2,
+
+    // StaticSundries = 1 << 3,
+
+    // Sundries = 1 << 4,
+}
+
+/// Prototype callback for ray casts.
+/// Called for each shape found in the query. You control how the ray cast
+/// proceeds by returning a float:
+/// return -1: ignore this shape and continue
+/// return 0: terminate the ray cast
+/// return fraction: clip the ray to this point
+/// return 1: don't clip the ray and continue
+/// @param shapeId the shape hit by the ray
+/// @param point the point of initial intersection
+/// @param normal the normal vector at the point of intersection
+/// @param fraction the fraction along the ray at the point of intersection
+///	@param context the user context
+/// @return -1 to filter, 0 to terminate, fraction to clip the ray for closest hit, 1 to continue
+/// @see b2World_CastRay
+///	@ingroup world
+public delegate float CastResult(FixtureProxy proxy, Vector2 point, Vector2 normal, float fraction, ref RayResult result);

Robust.Shared/Physics/Systems/SharedBroadphaseSystem.cs

@@ -4,6 +4,7 @@ using System.Collections.Generic;
 using System.Numerics;
 using System.Threading.Tasks;
 using Microsoft.Extensions.ObjectPool;
+using Robust.Shared.Collections;
 using Robust.Shared.Configuration;
 using Robust.Shared.GameObjects;
 using Robust.Shared.IoC;
@@ -471,38 +472,54 @@ namespace Robust.Shared.Physics.Systems
             TouchProxies(xform.MapUid.Value, matrix, fixture);
         }
 
-        // TODO: The below is slow and should just query the map's broadphase directly. The problem is that
-        // there's some ordering stuff going on where the broadphase has queued all of its updates but hasn't applied
-        // them yet so this query will fail on initialization which chains into a whole lot of issues.
-        internal IEnumerable<(EntityUid uid, BroadphaseComponent comp)> GetBroadphases(MapId mapId, Box2 aabb)
+        internal void GetBroadphases(MapId mapId, Box2 aabb,BroadphaseCallback callback)
         {
-            // TODO Okay so problem: If we just do Encloses that's a lot faster BUT it also means we don't return the
-            // map's broadphase which avoids us iterating over it for 99% of bodies.
+            var internalState = (callback, _broadphaseQuery);
 
-            if (mapId == MapId.Nullspace) yield break;
-
-            var enumerator = AllEntityQuery<BroadphaseComponent, TransformComponent>();
-
-            while (enumerator.MoveNext(out var bUid, out var broadphase, out var xform))
-            {
-                if (xform.MapID != mapId) continue;
-
-                if (!EntityManager.TryGetComponent(bUid, out MapGridComponent? mapGrid))
+            _mapManager.FindGridsIntersecting(mapId,
+                aabb,
+                ref internalState,
+                static (
+                    EntityUid uid,
+                    MapGridComponent grid,
+                    ref (BroadphaseCallback callback, EntityQuery<BroadphaseComponent> _broadphaseQuery) tuple) =>
                 {
-                    yield return (bUid, broadphase);
-                    continue;
-                }
+                    if (!tuple._broadphaseQuery.TryComp(uid, out var broadphase))
+                        return true;
 
-                // Won't worry about accurate bounds checks as it's probably slower in most use cases.
-                var chunkEnumerator = _map.GetMapChunks(bUid, mapGrid, aabb);
-
-                if (chunkEnumerator.MoveNext(out _))
-                {
-                    yield return (bUid, broadphase);
-                }
-            }
+                    tuple.callback((uid, broadphase));
+                    return true;
+                    // Approx because we don't really need accurate checks for these most of the time.
+                }, approx: true, includeMap: true);
         }
 
+        internal void GetBroadphases<TState>(MapId mapId, Box2 aabb, ref TState state, BroadphaseCallback<TState> callback)
+        {
+            var internalState = (state, callback, _broadphaseQuery);
+
+            _mapManager.FindGridsIntersecting(mapId,
+                aabb,
+                ref internalState,
+                static (
+                    EntityUid uid,
+                    MapGridComponent grid,
+                    ref (TState state, BroadphaseCallback<TState> callback, EntityQuery<BroadphaseComponent> _broadphaseQuery) tuple) =>
+                {
+                    if (!tuple._broadphaseQuery.TryComp(uid, out var broadphase))
+                        return true;
+
+                    tuple.callback((uid, broadphase), ref tuple.state);
+                    return true;
+                    // Approx because we don't really need accurate checks for these most of the time.
+                }, approx: true, includeMap: true);
+
+            state = internalState.state;
+        }
+
+        internal delegate void BroadphaseCallback(Entity<BroadphaseComponent> entity);
+
+        internal delegate void BroadphaseCallback<TState>(Entity<BroadphaseComponent> entity, ref TState state);
+
         private record struct BroadphaseContactJob() : IParallelRobustJob
         {
             public SharedBroadphaseSystem System = default!;

Robust.Shared/Physics/Systems/SharedPhysicsSystem.Queries.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using System.Numerics;
+using Robust.Shared.Collections;
 using Robust.Shared.Debugging;
 using Robust.Shared.GameObjects;
 using Robust.Shared.IoC;
@@ -34,37 +35,48 @@ namespace Robust.Shared.Physics.Systems
         public bool TryCollideRect(Box2 collider, MapId mapId, bool approximate = true)
         {
             var state = (collider, mapId, found: false);
+            var broadphases = new ValueList<Entity<BroadphaseComponent>>();
 
-            foreach (var (uid, broadphase) in _broadphase.GetBroadphases(mapId, collider))
-            {
-                var gridCollider = _transform.GetInvWorldMatrix(uid).TransformBox(collider);
-
-                broadphase.StaticTree.QueryAabb(ref state, (ref (Box2 collider, MapId map, bool found) state, in FixtureProxy proxy) =>
+            _broadphase.GetBroadphases(mapId,
+                collider,
+                broadphase =>
                 {
-                    if (proxy.Fixture.CollisionLayer == 0x0)
-                        return true;
+                    var gridCollider = _transform.GetInvWorldMatrix(broadphase).TransformBox(collider);
 
-                    if (proxy.AABB.Intersects(gridCollider))
-                    {
-                        state.found = true;
-                        return false;
-                    }
-                    return true;
-                }, gridCollider, approximate);
+                    broadphase.Comp.StaticTree.QueryAabb(ref state,
+                        (ref (Box2 collider, MapId map, bool found) state, in FixtureProxy proxy) =>
+                        {
+                            if (proxy.Fixture.CollisionLayer == 0x0)
+                                return true;
 
-                broadphase.DynamicTree.QueryAabb(ref state, (ref (Box2 collider, MapId map, bool found) state, in FixtureProxy proxy) =>
-                {
-                    if (proxy.Fixture.CollisionLayer == 0x0)
-                        return true;
+                            if (proxy.AABB.Intersects(gridCollider))
+                            {
+                                state.found = true;
+                                return false;
+                            }
 
-                    if (proxy.AABB.Intersects(gridCollider))
-                    {
-                        state.found = true;
-                        return false;
-                    }
-                    return true;
-                }, gridCollider, approximate);
-            }
+                            return true;
+                        },
+                        gridCollider,
+                        approximate);
+
+                    broadphase.Comp.DynamicTree.QueryAabb(ref state,
+                        (ref (Box2 collider, MapId map, bool found) state, in FixtureProxy proxy) =>
+                        {
+                            if (proxy.Fixture.CollisionLayer == 0x0)
+                                return true;
+
+                            if (proxy.AABB.Intersects(gridCollider))
+                            {
+                                state.found = true;
+                                return false;
+                            }
+
+                            return true;
+                        },
+                        gridCollider,
+                        approximate);
+                });
 
             return state.found;
         }
@@ -130,22 +142,27 @@ namespace Robust.Shared.Physics.Systems
         {
             if (mapId == MapId.Nullspace) return Array.Empty<PhysicsComponent>();
 
+            var aabb = worldAABB;
             var bodies = new HashSet<PhysicsComponent>();
+            var state = (_transform, bodies, aabb);
 
-            foreach (var (uid, broadphase) in _broadphase.GetBroadphases(mapId, worldAABB))
-            {
-                var gridAABB = _transform.GetInvWorldMatrix(uid).TransformBox(worldAABB);
-
-                foreach (var proxy in broadphase.StaticTree.QueryAabb(gridAABB, false))
+            _broadphase.GetBroadphases(mapId, worldAABB, ref state, static
+                (
+                    Entity<BroadphaseComponent> entity,
+                    ref (SharedTransformSystem _transform, HashSet<PhysicsComponent> bodies, Box2 aabb) tuple) =>
                 {
-                    bodies.Add(proxy.Body);
-                }
+                    var gridAABB = tuple._transform.GetInvWorldMatrix(entity.Owner).TransformBox(tuple.aabb);
 
-                foreach (var proxy in broadphase.DynamicTree.QueryAabb(gridAABB, false))
-                {
-                    bodies.Add(proxy.Body);
-                }
-            }
+                    foreach (var proxy in entity.Comp.StaticTree.QueryAabb(gridAABB, false))
+                    {
+                        tuple.bodies.Add(proxy.Body);
+                    }
+
+                    foreach (var proxy in entity.Comp.DynamicTree.QueryAabb(gridAABB, false))
+                    {
+                        tuple.bodies.Add(proxy.Body);
+                    }
+                });
 
             return bodies;
         }
@@ -160,20 +177,27 @@ namespace Robust.Shared.Physics.Systems
 
             var bodies = new HashSet<Entity<PhysicsComponent>>();
 
-            foreach (var (uid, broadphase) in _broadphase.GetBroadphases(mapId, worldBounds.CalcBoundingBox()))
-            {
-                var gridAABB = _transform.GetInvWorldMatrix(uid).TransformBox(worldBounds);
+            var state = (_transform, bodies, worldBounds);
 
-                foreach (var proxy in broadphase.StaticTree.QueryAabb(gridAABB, false))
+            _broadphase.GetBroadphases(mapId, worldBounds.CalcBoundingBox(), ref state,
+                static (
+                    Entity<BroadphaseComponent> entity,
+                    ref (SharedTransformSystem _transform, HashSet<Entity<PhysicsComponent>> bodies, Box2Rotated
+                        worldBounds
+                        ) tuple) =>
                 {
-                    bodies.Add(new Entity<PhysicsComponent>(proxy.Entity, proxy.Body));
-                }
+                    var gridAABB = tuple._transform.GetInvWorldMatrix(entity.Owner).TransformBox(tuple.worldBounds);
 
-                foreach (var proxy in broadphase.DynamicTree.QueryAabb(gridAABB, false))
-                {
-                    bodies.Add(new Entity<PhysicsComponent>(proxy.Entity, proxy.Body));
-                }
-            }
+                    foreach (var proxy in entity.Comp.StaticTree.QueryAabb(gridAABB, false))
+                    {
+                        tuple.bodies.Add((proxy.Entity, proxy.Body));
+                    }
+
+                    foreach (var proxy in entity.Comp.DynamicTree.QueryAabb(gridAABB, false))
+                    {
+                        tuple.bodies.Add((proxy.Entity, proxy.Body));
+                    }
+                });
 
             return bodies;
         }
@@ -263,72 +287,91 @@ namespace Robust.Shared.Physics.Systems
             var rayBox = new Box2(Vector2.Min(ray.Position, endPoint),
                 Vector2.Max(ray.Position, endPoint));
 
-            foreach (var (uid, broadphase) in _broadphase.GetBroadphases(mapId, rayBox))
-            {
-                var (_, rot, matrix, invMatrix) = _transform.GetWorldPositionRotationMatrixWithInv(uid);
-
-                var position = Vector2.Transform(ray.Position, invMatrix);
-                var gridRot = new Angle(-rot.Theta);
-                var direction = gridRot.RotateVec(ray.Direction);
-
-                var gridRay = new CollisionRay(position, direction, ray.CollisionMask);
-
-                broadphase.StaticTree.QueryRay((in FixtureProxy proxy, in Vector2 point, float distFromOrigin) =>
+            _broadphase.GetBroadphases(mapId,
+                rayBox,
+                broadphase =>
                 {
-                    if (returnOnFirstHit && results.Count > 0)
-                        return true;
+                    var (_, rot, matrix, invMatrix) =
+                        _transform.GetWorldPositionRotationMatrixWithInv(broadphase.Owner);
 
-                    if (distFromOrigin > maxLength)
-                        return true;
+                    var position = Vector2.Transform(ray.Position, invMatrix);
+                    var gridRot = new Angle(-rot.Theta);
+                    var direction = gridRot.RotateVec(ray.Direction);
 
-                    if ((proxy.Fixture.CollisionLayer & ray.CollisionMask) == 0x0)
-                        return true;
+                    var gridRay = new CollisionRay(position, direction, ray.CollisionMask);
 
-                    if (!proxy.Fixture.Hard)
-                        return true;
+                    broadphase.Comp.StaticTree.QueryRay(
+                        (in FixtureProxy proxy, in Vector2 point, float distFromOrigin) =>
+                        {
+                            if (returnOnFirstHit && results.Count > 0)
+                                return true;
 
-                    if (predicate.Invoke(proxy.Entity, state) == true)
-                        return true;
+                            if (distFromOrigin > maxLength)
+                                return true;
 
-                    // TODO: Shape raycast here
+                            if ((proxy.Fixture.CollisionLayer & ray.CollisionMask) == 0x0)
+                                return true;
 
-                    // Need to convert it back to world-space.
-                    var result = new RayCastResults(distFromOrigin, Vector2.Transform(point, matrix), proxy.Entity);
-                    results.Add(result);
+                            if (!proxy.Fixture.Hard)
+                                return true;
+
+                            if (predicate.Invoke(proxy.Entity, state) == true)
+                                return true;
+
+                            // TODO: Shape raycast here
+
+                            // Need to convert it back to world-space.
+                            var result = new RayCastResults(distFromOrigin,
+                                Vector2.Transform(point, matrix),
+                                proxy.Entity);
+                            results.Add(result);
 #if DEBUG
-                    _sharedDebugRaySystem.ReceiveLocalRayFromAnyThread(new(ray, maxLength, result, _netMan.IsServer, mapId));
+                            _sharedDebugRaySystem.ReceiveLocalRayFromAnyThread(new(ray,
+                                maxLength,
+                                result,
+                                _netMan.IsServer,
+                                mapId));
 #endif
-                    return true;
-                }, gridRay);
+                            return true;
+                        },
+                        gridRay);
 
-                broadphase.DynamicTree.QueryRay((in FixtureProxy proxy, in Vector2 point, float distFromOrigin) =>
-                {
-                    if (returnOnFirstHit && results.Count > 0)
-                        return true;
+                    broadphase.Comp.DynamicTree.QueryRay(
+                        (in FixtureProxy proxy, in Vector2 point, float distFromOrigin) =>
+                        {
+                            if (returnOnFirstHit && results.Count > 0)
+                                return true;
 
-                    if (distFromOrigin > maxLength)
-                        return true;
+                            if (distFromOrigin > maxLength)
+                                return true;
 
-                    if ((proxy.Fixture.CollisionLayer & ray.CollisionMask) == 0x0)
-                        return true;
+                            if ((proxy.Fixture.CollisionLayer & ray.CollisionMask) == 0x0)
+                                return true;
 
-                    if (!proxy.Fixture.Hard)
-                        return true;
+                            if (!proxy.Fixture.Hard)
+                                return true;
 
-                    if (predicate.Invoke(proxy.Entity, state) == true)
-                        return true;
+                            if (predicate.Invoke(proxy.Entity, state) == true)
+                                return true;
 
-                    // TODO: Shape raycast here
+                            // TODO: Shape raycast here
 
-                    // Need to convert it back to world-space.
-                    var result = new RayCastResults(distFromOrigin, Vector2.Transform(point, matrix), proxy.Entity);
-                    results.Add(result);
+                            // Need to convert it back to world-space.
+                            var result = new RayCastResults(distFromOrigin,
+                                Vector2.Transform(point, matrix),
+                                proxy.Entity);
+                            results.Add(result);
 #if DEBUG
-                    _sharedDebugRaySystem.ReceiveLocalRayFromAnyThread(new(ray, maxLength, result, _netMan.IsServer, mapId));
+                            _sharedDebugRaySystem.ReceiveLocalRayFromAnyThread(new(ray,
+                                maxLength,
+                                result,
+                                _netMan.IsServer,
+                                mapId));
 #endif
-                    return true;
-                }, gridRay);
-            }
+                            return true;
+                        },
+                        gridRay);
+                });
 
 #if DEBUG
             if (results.Count == 0)
@@ -374,54 +417,68 @@ namespace Robust.Shared.Physics.Systems
             var rayBox = new Box2(Vector2.Min(ray.Position, endPoint),
                 Vector2.Max(ray.Position, endPoint));
 
-            foreach (var (uid, broadphase) in _broadphase.GetBroadphases(mapId, rayBox))
-            {
-                var (_, rot, invMatrix) = _transform.GetWorldPositionRotationInvMatrix(uid);
-
-                var position = Vector2.Transform(ray.Position, invMatrix);
-                var gridRot = new Angle(-rot.Theta);
-                var direction = gridRot.RotateVec(ray.Direction);
-
-                var gridRay = new CollisionRay(position, direction, ray.CollisionMask);
-
-                broadphase.StaticTree.QueryRay((in FixtureProxy proxy, in Vector2 point, float distFromOrigin) =>
+            _broadphase.GetBroadphases(mapId,
+                rayBox,
+                broadphase =>
                 {
-                    if (distFromOrigin > maxLength || proxy.Entity == ignoredEnt)
-                        return true;
+                    var (_, rot, invMatrix) = _transform.GetWorldPositionRotationInvMatrix(broadphase);
 
-                    if (!proxy.Fixture.Hard)
-                        return true;
+                    var position = Vector2.Transform(ray.Position, invMatrix);
+                    var gridRot = new Angle(-rot.Theta);
+                    var direction = gridRot.RotateVec(ray.Direction);
 
-                    if ((proxy.Fixture.CollisionLayer & ray.CollisionMask) == 0x0)
-                        return true;
+                    var gridRay = new CollisionRay(position, direction, ray.CollisionMask);
 
-                    if (new Ray(point + gridRay.Direction * proxy.AABB.Size.Length() * 2, -gridRay.Direction).Intersects(
-                            proxy.AABB, out _, out var exitPoint))
-                    {
-                        penetration += (point - exitPoint).Length();
-                    }
-                    return true;
-                }, gridRay);
+                    broadphase.Comp.StaticTree.QueryRay(
+                        (in FixtureProxy proxy, in Vector2 point, float distFromOrigin) =>
+                        {
+                            if (distFromOrigin > maxLength || proxy.Entity == ignoredEnt)
+                                return true;
 
-                broadphase.DynamicTree.QueryRay((in FixtureProxy proxy, in Vector2 point, float distFromOrigin) =>
-                {
-                    if (distFromOrigin > maxLength || proxy.Entity == ignoredEnt)
-                        return true;
+                            if (!proxy.Fixture.Hard)
+                                return true;
 
-                    if (!proxy.Fixture.Hard)
-                        return true;
+                            if ((proxy.Fixture.CollisionLayer & ray.CollisionMask) == 0x0)
+                                return true;
 
-                    if ((proxy.Fixture.CollisionLayer & ray.CollisionMask) == 0x0)
-                        return true;
+                            if (new Ray(point + gridRay.Direction * proxy.AABB.Size.Length() * 2, -gridRay.Direction)
+                                .Intersects(
+                                    proxy.AABB,
+                                    out _,
+                                    out var exitPoint))
+                            {
+                                penetration += (point - exitPoint).Length();
+                            }
 
-                    if (new Ray(point + gridRay.Direction * proxy.AABB.Size.Length() * 2, -gridRay.Direction).Intersects(
-                            proxy.AABB, out _, out var exitPoint))
-                    {
-                        penetration += (point - exitPoint).Length();
-                    }
-                    return true;
-                }, gridRay);
-            }
+                            return true;
+                        },
+                        gridRay);
+
+                    broadphase.Comp.DynamicTree.QueryRay(
+                        (in FixtureProxy proxy, in Vector2 point, float distFromOrigin) =>
+                        {
+                            if (distFromOrigin > maxLength || proxy.Entity == ignoredEnt)
+                                return true;
+
+                            if (!proxy.Fixture.Hard)
+                                return true;
+
+                            if ((proxy.Fixture.CollisionLayer & ray.CollisionMask) == 0x0)
+                                return true;
+
+                            if (new Ray(point + gridRay.Direction * proxy.AABB.Size.Length() * 2, -gridRay.Direction)
+                                .Intersects(
+                                    proxy.AABB,
+                                    out _,
+                                    out var exitPoint))
+                            {
+                                penetration += (point - exitPoint).Length();
+                            }
+
+                            return true;
+                        },
+                        gridRay);
+                });
 
             // This hid rays that didn't penetrate something. Don't hide those because that causes rays to disappear that shouldn't.
 #if DEBUG

Robust.Shared/Physics/Transform.cs

@@ -38,6 +38,12 @@ namespace Robust.Shared.Physics
         public Vector2 Position;
         public Quaternion2D Quaternion2D;
 
+        public Transform(Vector2 position, Quaternion2D quat)
+        {
+            Position = position;
+            Quaternion2D = quat;
+        }
+
         public Transform(Vector2 position, float angle)
         {
             Position = position;
@@ -56,6 +62,16 @@ namespace Robust.Shared.Physics
             Quaternion2D = new Quaternion2D(angle);
         }
 
+        /// Inverse transform a point (e.g. world space to local space)
+        [Pure]
+        public static Vector2 InvTransformPoint(Transform t, Vector2 p)
+        {
+            float vx = p.X - t.Position.X;
+            float vy = p.Y - t.Position.Y;
+            return new Vector2(t.Quaternion2D.C * vx + t.Quaternion2D.S * vy, -t.Quaternion2D.S * vx + t.Quaternion2D.C * vy);
+        }
+
+        [Pure]
         public static Vector2 Mul(in Transform transform, in Vector2 vector)
         {
             float x = (transform.Quaternion2D.C * vector.X - transform.Quaternion2D.S * vector.Y) + transform.Position.X;
@@ -64,12 +80,14 @@ namespace Robust.Shared.Physics
             return new Vector2(x, y);
         }
 
+        [Pure]
         public static Vector2 MulT(in Vector2[] A, in Vector2 v)
         {
             DebugTools.Assert(A.Length == 2);
             return new Vector2(v.X * A[0].X + v.Y * A[0].Y, v.X * A[1].X + v.Y * A[1].Y);
         }
 
+        [Pure]
         public static Vector2 MulT(in Transform T, in Vector2 v)
         {
             float px = v.X - T.Position.X;
@@ -81,6 +99,7 @@ namespace Robust.Shared.Physics
         }
 
         /// Transpose multiply two rotations: qT * r
+        [Pure]
         public static Quaternion2D MulT(in Quaternion2D q, in Quaternion2D r)
         {
             // [ qc qs] * [rc -rs] = [qc*rc+qs*rs -qc*rs+qs*rc]
@@ -93,8 +112,15 @@ namespace Robust.Shared.Physics
             return qr;
         }
 
+        [Pure]
+        public static Transform InvMulTransforms(in Transform A, in Transform B)
+        {
+            return new Transform(Quaternion2D.InvRotateVector(A.Quaternion2D, Vector2.Subtract(B.Position, A.Position)), Quaternion2D.InvMulRot(A.Quaternion2D, B.Quaternion2D));
+        }
+
         // v2 = A.q' * (B.q * v1 + B.p - A.p)
         //    = A.q' * B.q * v1 + A.q' * (B.p - A.p)
+        [Pure]
         public static Transform MulT(in Transform A, in Transform B)
         {
             Transform C = new Transform
@@ -184,5 +210,51 @@ namespace Robust.Shared.Physics
             // TODO_ERIN optimize
             return new Quaternion2D(MathF.Cos(angle), MathF.Sin(angle));
         }
+
+        /// Rotate a vector
+        [Pure]
+        public static Vector2 RotateVector(Quaternion2D q, Vector2 v )
+        {
+            return new Vector2(q.C * v.X - q.S * v.Y, q.S * v.X + q.C * v.Y);
+        }
+
+        /// Inverse rotate a vector
+        [Pure]
+        public static Vector2 InvRotateVector(Quaternion2D q, Vector2 v)
+        {
+            return new Vector2(q.C * v.X + q.S * v.Y, -q.S * v.X + q.C * v.Y);
+        }
+
+        public bool IsValid()
+        {
+            if (float.IsNaN(S ) || float.IsNaN(C))
+            {
+                return false;
+            }
+
+            if (float.IsInfinity(S) || float.IsInfinity(C))
+            {
+                return false;
+            }
+
+            return IsNormalized();
+        }
+
+        public bool IsNormalized()
+        {
+            // larger tolerance due to failure on mingw 32-bit
+            float qq = S * S + C * C;
+            return 1.0f - 0.0006f < qq && qq < 1.0f + 0.0006f;
+        }
+
+        [Pure]
+        public static Quaternion2D InvMulRot(Quaternion2D q, Quaternion2D r)
+        {
+            // [ qc qs] * [rc -rs] = [qc*rc+qs*rs -qc*rs+qs*rc]
+            // [-qs qc]   [rs  rc]   [-qs*rc+qc*rs qs*rs+qc*rc]
+            // s(q - r) = qc * rs - qs * rc
+            // c(q - r) = qc * rc + qs * rs
+            return new Quaternion2D(q.C * r.C + q.S * r.S, q.C * r.S - q.S * r.C);
+        }
     }
 }

Robust.Shared/Properties/AssemblyInfo.cs

@@ -9,6 +9,7 @@
 [assembly: InternalsVisibleTo("Robust.UnitTesting")]
 [assembly: InternalsVisibleTo("OpenToolkit.GraphicsLibraryFramework")]
 [assembly: InternalsVisibleTo("DynamicProxyGenAssembly2")] // Gives access to Castle(Moq)
+[assembly: InternalsVisibleTo("Content.Benchmarks")]
 [assembly: InternalsVisibleTo("Robust.Benchmarks")]
 [assembly: InternalsVisibleTo("Robust.Client.WebView")]
 [assembly: InternalsVisibleTo("Robust.Packaging")]

Robust.Shared/Prototypes/Attributes.cs

@@ -15,6 +15,9 @@ namespace Robust.Shared.Prototypes;
 [Virtual]
 public class PrototypeAttribute : Attribute
 {
+    /// <summary>
+    /// Override for the name of this kind of prototype. If not specified, this is automatically inferred via <see cref="PrototypeManager.CalculatePrototypeName"/>
+    /// </summary>
     public string? Type { get; internal set; }
     public readonly int LoadPriority = 1;
 
@@ -23,7 +26,7 @@ public class PrototypeAttribute : Attribute
         Type = type;
         LoadPriority = loadPriority;
     }
-    
+
     public PrototypeAttribute(int loadPriority)
     {
         Type = null;

Robust.Shared/Prototypes/PrototypeManager.cs

@@ -824,22 +824,10 @@ namespace Robust.Shared.Prototypes
         public bool TryGetKindFrom(Type type, [NotNullWhen(true)] out string? kind)
         {
             kind = null;
-
-            // If the type doesn't implement IPrototype, this fails.
-            if (!(typeof(IPrototype).IsAssignableFrom(type)))
+            if (!_kinds.TryGetValue(type, out var kindData))
                 return false;
 
-            var attribute = (PrototypeAttribute?)Attribute.GetCustomAttribute(type, typeof(PrototypeAttribute));
-
-            // If the prototype type doesn't have the attribute, this fails.
-            if (attribute == null)
-                return false;
-
-            // If the variant isn't registered, this fails.
-            if (attribute.Type == null || !HasKind(attribute.Type))
-                return false;
-
-            kind = attribute.Type;
+            kind = kindData.Name;
             return true;
         }
 
@@ -945,13 +933,13 @@ namespace Robust.Shared.Prototypes
                     "No " + nameof(PrototypeAttribute) + " to give it a type string.");
             }
 
-            attribute.Type ??= CalculatePrototypeName(kind);
+            var name = attribute.Type ?? CalculatePrototypeName(kind);
 
-            if (_kindNames.TryGetValue(attribute.Type, out var name))
+            if (_kindNames.TryGetValue(name, out var existing))
             {
                 throw new InvalidImplementationException(kind,
                     typeof(IPrototype),
-                    $"Duplicate prototype type ID: {attribute.Type}. Current: {name}");
+                    $"Duplicate prototype type ID: {attribute.Type}. Current: {existing}");
             }
 
             var foundIdAttribute = false;
@@ -1019,10 +1007,10 @@ namespace Robust.Shared.Prototypes
                     $"Did not find any member annotated with the {nameof(ParentDataFieldAttribute)} and/or {nameof(AbstractDataFieldAttribute)}");
             }
 
-            _kindNames[attribute.Type] = kind;
+            _kindNames[name] = kind;
             _kindPriorities[kind] = attribute.LoadPriority;
 
-            var kindData = new KindData(kind);
+            var kindData = new KindData(kind, name);
             kinds[kind] = kindData;
 
             if (kind.IsAssignableTo(typeof(IInheritingPrototype)))
@@ -1032,7 +1020,7 @@ namespace Robust.Shared.Prototypes
         /// <inheritdoc />
         public event Action<PrototypesReloadedEventArgs>? PrototypesReloaded;
 
-        private sealed class KindData(Type kind)
+        private sealed class KindData(Type kind, string name)
         {
             public Dictionary<string, IPrototype>? UnfrozenInstances;
 
@@ -1041,6 +1029,7 @@ namespace Robust.Shared.Prototypes
             public readonly Dictionary<string, MappingDataNode> Results = new();
 
             public readonly Type Type = kind;
+            public readonly string Name = name;
 
             // Only initialized if prototype is inheriting.
             public MultiRootInheritanceGraph<string>? Inheritance;

Robust.Shared/Resources/RsiLoading.cs

@@ -104,7 +104,7 @@ internal static class RsiLoading
             };
         }
 
-        return new RsiMetadata(size, states, textureParams);
+        return new RsiMetadata(size, states, textureParams, manifestJson.MetaAtlas);
     }
 
     public static void Warmup()
@@ -114,11 +114,12 @@ internal static class RsiLoading
         JsonSerializer.Deserialize<RsiJsonMetadata>(warmupJson, SerializerOptions);
     }
 
-    internal sealed class RsiMetadata(Vector2i size, StateMetadata[] states, TextureLoadParameters loadParameters)
+    internal sealed class RsiMetadata(Vector2i size, StateMetadata[] states, TextureLoadParameters loadParameters, bool metaAtlas)
     {
         public readonly Vector2i Size = size;
         public readonly StateMetadata[] States = states;
         public readonly TextureLoadParameters LoadParameters = loadParameters;
+        public readonly bool MetaAtlas = metaAtlas;
     }
 
     internal sealed class StateMetadata
@@ -140,7 +141,11 @@ internal static class RsiLoading
 
     // To be directly deserialized.
     [UsedImplicitly]
-    private sealed record RsiJsonMetadata(Vector2i Size, StateJsonMetadata[] States, RsiJsonLoad? Load);
+    private sealed record RsiJsonMetadata(
+        Vector2i Size,
+        StateJsonMetadata[] States,
+        RsiJsonLoad? Load,
+        bool MetaAtlas = true);
 
     [UsedImplicitly]
     private sealed record StateJsonMetadata(string Name, int? Directions, float[][]? Delays);

Robust.Shared/Toolshed/Commands/Entities/WithCommand.cs

@@ -11,7 +11,6 @@ namespace Robust.Shared.Toolshed.Commands.Entities;
 internal sealed class WithCommand : ToolshedCommand
 {
     [Dependency] private readonly IComponentFactory _componentFactory = default!;
-    [Dependency] private readonly IPrototypeManager _prototype = default!;
 
     [CommandImplementation]
     public IEnumerable<EntityUid> With(

Robust.Shared/Toolshed/TypeParsers/BoolTypeParser.cs

@@ -35,7 +35,8 @@ public sealed class BoolTypeParser : TypeParser<bool>
             result = true;
             error = null;
             return true;
-        } else if (word == "false" || word == "f" || word == "0")
+        }
+        else if (word == "false" || word == "f" || word == "0")
         {
             result = false;
             error = null;
@@ -49,9 +50,9 @@ public sealed class BoolTypeParser : TypeParser<bool>
         }
     }
 
-    public override async ValueTask<(CompletionResult? result, IConError? error)> TryAutocomplete(ParserContext parserContext, string? argName)
+    public override ValueTask<(CompletionResult? result, IConError? error)> TryAutocomplete(ParserContext parserContext, string? argName)
     {
-        return (CompletionResult.FromOptions(new[] {"true", "false"}), null);
+        return new ValueTask<(CompletionResult?, IConError?)>((CompletionResult.FromOptions(new[] { "true", "false" }), null));
     }
 }
 

Robust.Shared/Toolshed/TypeParsers/EntityTypeParser.cs

@@ -38,10 +38,10 @@ internal sealed class EntityTypeParser : TypeParser<EntityUid>
         return true;
     }
 
-    public override async ValueTask<(CompletionResult? result, IConError? error)> TryAutocomplete(ParserContext parserContext,
+    public override ValueTask<(CompletionResult? result, IConError? error)> TryAutocomplete(ParserContext parserContext,
         string? argName)
     {
-        return (CompletionResult.FromHint("<NetEntity>"), null);
+        return new ValueTask<(CompletionResult?, IConError?)>((CompletionResult.FromHint("<NetEntity>"), null));
     }
 }
 

Robust.Shared/Toolshed/TypeParsers/EnumTypeParser.cs

@@ -11,7 +11,7 @@ using Robust.Shared.Utility;
 namespace Robust.Shared.Toolshed.TypeParsers;
 
 public sealed class EnumTypeParser<T> : TypeParser<T>
-    where T: unmanaged, Enum
+    where T : unmanaged, Enum
 {
     public override bool TryParse(ParserContext parserContext, [NotNullWhen(true)] out object? result,
         out IConError? error)
@@ -46,14 +46,14 @@ public sealed class EnumTypeParser<T> : TypeParser<T>
         return true;
     }
 
-    public override async ValueTask<(CompletionResult? result, IConError? error)> TryAutocomplete(ParserContext parserContext, string? argName)
+    public override ValueTask<(CompletionResult? result, IConError? error)> TryAutocomplete(ParserContext parserContext, string? argName)
     {
-        return (CompletionResult.FromOptions(Enum.GetNames<T>()), null);
+        return new ValueTask<(CompletionResult?, IConError?)>((CompletionResult.FromOptions(Enum.GetNames<T>()), null));
     }
 }
 
 public record InvalidEnum<T>(string Value) : IConError
-    where T: unmanaged, Enum
+    where T : unmanaged, Enum
 {
     public FormattedMessage DescribeInner()
     {

Robust.Shared/Toolshed/TypeParsers/SessionTypeParser.cs

@@ -43,11 +43,11 @@ internal sealed class SessionTypeParser : TypeParser<ICommonSession>
         return false;
     }
 
-    public override async ValueTask<(CompletionResult? result, IConError? error)> TryAutocomplete(ParserContext parserContext,
+    public override ValueTask<(CompletionResult? result, IConError? error)> TryAutocomplete(ParserContext parserContext,
         string? argName)
     {
         var opts = CompletionHelper.SessionNames(true, _player);
-        return (CompletionResult.FromHintOptions(opts, "<player session>"), null);
+        return new ValueTask<(CompletionResult?, IConError?)>((CompletionResult.FromHintOptions(opts, "<player session>"), null));
     }
 
     public record InvalidUsername(ILocalizationManager Loc, string Username) : IConError

Robust.UnitTesting/Shared/IoC/IoCManager_Test.cs

@@ -243,10 +243,12 @@ namespace Robust.UnitTesting.Shared.IoC
     {
         [Dependency]
 #pragma warning disable 649
+#pragma warning disable RA0032
         private readonly TestFieldInjection myself = default!;
 
         [Dependency]
         public TestFieldInjection myotherself = default!;
+#pragma warning restore RA0032
 #pragma warning restore 649
 
         public virtual void Test()

Robust.UnitTesting/Shared/Maths/Angle_Test.cs

@@ -27,6 +27,14 @@ namespace Robust.UnitTesting.Shared.Maths
             (0.92387953251128674f, -0.38268343236508978f, Direction.East, -System.Math.PI / 8.0)
         };
 
+        [Test]
+        public void TestAngleDegrees()
+        {
+            const double degrees = 75d;
+            var angle = Angle.FromDegrees(degrees);
+            Assert.That(angle.Degrees, Is.EqualTo(degrees));
+        }
+
         [Test]
         public void TestAngleZero()
         {

Robust.UnitTesting/Shared/Maths/Matrix3_Test.cs

@@ -12,18 +12,17 @@ namespace Robust.UnitTesting.Shared.Maths
     [TestOf(typeof(Matrix3x2))]
     public sealed class Matrix3_Test
     {
-        [Test]
-        public void GetRotationTest()
+        private static readonly TestCaseData[] Rotations = new TestCaseData[]
         {
-            Assert.That(Matrix3x2.Identity.Rotation(), Is.EqualTo(Angle.Zero));
+            new(Matrix3x2.Identity, Angle.Zero),
+            new(Matrix3x2.CreateRotation(MathF.PI / 2f), new Angle(Math.PI / 2)),
+            new(Matrix3x2.CreateRotation(MathF.PI), new Angle(Math.PI)),
+        };
 
-            var piOver2 = new Angle(Math.PI / 2);
-            var piOver2Mat = Matrix3Helpers.CreateRotation(piOver2.Theta);
-            Assert.That(piOver2Mat.Rotation(), Is.EqualTo(piOver2));
-
-            var pi = new Angle(Math.PI);
-            var piMat = Matrix3Helpers.CreateRotation(pi.Theta);
-            Assert.That(piMat.Rotation(), Is.EqualTo(pi));
+        [Test, TestCaseSource(nameof(Rotations))]
+        public void GetRotationTest(Matrix3x2 matrix, Angle angle)
+        {
+            Assert.That(angle, Is.EqualTo(matrix.Rotation()));
         }
 
         [Test]
@@ -35,7 +34,7 @@ namespace Robust.UnitTesting.Shared.Maths
             var origin = new Vector2(0, 0);
             var result = Vector2.Transform(origin, matrix);
 
-            Assert.That(control == result, Is.True, result.ToString);
+            Assert.That(control, Is.EqualTo(result), result.ToString);
         }
 
         private static readonly IEnumerable<(Vector2, double)> _rotationTests = new[]

Robust.UnitTesting/Shared/Physics/RayCast_Test.cs

@@ -0,0 +1,145 @@
+using System.Linq;
+using System.Numerics;
+using NUnit.Framework;
+using Robust.Shared.GameObjects;
+using Robust.Shared.Map;
+using Robust.Shared.Maths;
+using Robust.Shared.Physics;
+using Robust.Shared.Physics.Collision.Shapes;
+using Robust.Shared.Physics.Components;
+using Robust.Shared.Physics.Dynamics;
+using Robust.Shared.Physics.Shapes;
+using Robust.Shared.Physics.Systems;
+using Robust.UnitTesting.Server;
+
+namespace Robust.UnitTesting.Shared.Physics;
+
+[TestFixture]
+public sealed class RayCast_Test
+{
+    private static TestCaseData[] _rayCases =
+    {
+        // Ray goes through
+        new(new Vector2(0f, 0.5f), Vector2.UnitY * 2f, new Vector2(0f, 1f - PhysicsConstants.PolygonRadius)),
+
+        // Ray stops inside
+        new(new Vector2(0f, 0.5f), Vector2.UnitY, new Vector2(0f, 1f - PhysicsConstants.PolygonRadius)),
+
+        // Ray starts inside
+        new(new Vector2(0f, 1.5f), Vector2.UnitY, null),
+
+        // No hit
+        new(new Vector2(0f, 0.5f), -Vector2.UnitY, null),
+    };
+
+    private static TestCaseData[] _shapeCases =
+    {
+        // Circle
+        // - Initial overlap, no shapecast
+        new(new PhysShapeCircle(0.5f, Vector2.Zero), new Transform(Vector2.UnitY / 2f, Angle.Zero), Vector2.UnitY, null),
+
+        // - Cast
+        new(new PhysShapeCircle(0.5f, Vector2.Zero), new Transform(Vector2.Zero, Angle.Zero), Vector2.UnitY, new Vector2(0f, 1f - PhysicsConstants.PolygonRadius)),
+
+        // - Miss
+        new(new PhysShapeCircle(0.5f, Vector2.Zero), new Transform(Vector2.Zero, Angle.Zero), -Vector2.UnitY, null),
+
+        // Polygon
+        // - Initial overlap, no shapecast
+        new(new Polygon(Box2.UnitCentered), new Transform(Vector2.UnitY / 2f, Angle.Zero), Vector2.UnitY, null),
+
+        // - Cast
+        new(new Polygon(Box2.UnitCentered), new Transform(Vector2.Zero, Angle.Zero), Vector2.UnitY, new Vector2(0.5f, 1f - PhysicsConstants.PolygonRadius)),
+
+        // - Miss
+        new(new Polygon(Box2.UnitCentered), new Transform(Vector2.Zero, Angle.Zero), -Vector2.UnitY, null),
+    };
+
+    [Test, TestCaseSource(nameof(_rayCases))]
+    public void RayCast(Vector2 origin, Vector2 direction, Vector2? point)
+    {
+        var sim = RobustServerSimulation.NewSimulation().RegisterEntitySystems(f =>
+        {
+            f.LoadExtraSystemType<RayCastSystem>();
+        }).InitializeInstance();
+        Setup(sim, out var mapId);
+        var raycast = sim.System<RayCastSystem>();
+
+        var hits = raycast.CastRayClosest(mapId,
+            origin,
+            direction,
+            new QueryFilter()
+            {
+                LayerBits = 1,
+            });
+
+        if (point == null)
+        {
+            Assert.That(!hits.Hit);
+        }
+        else
+        {
+            Assert.That(hits.Results.First().Point, Is.EqualTo(point.Value));
+        }
+    }
+
+    [Test, TestCaseSource(nameof(_shapeCases))]
+    public void ShapeCast(IPhysShape shape, Transform origin, Vector2 direction, Vector2? point)
+    {
+        var sim = RobustServerSimulation.NewSimulation().RegisterEntitySystems(f =>
+        {
+            f.LoadExtraSystemType<RayCastSystem>();
+        }).InitializeInstance();
+        Setup(sim, out var mapId);
+        var raycast = sim.System<RayCastSystem>();
+
+        var hits = raycast.CastShape(mapId,
+            shape,
+            origin,
+            direction,
+            new QueryFilter()
+            {
+                LayerBits = 1,
+            },
+            RayCastSystem.RayCastAllCallback);
+
+        if (point == null)
+        {
+            Assert.That(!hits.Hit);
+        }
+        else
+        {
+            Assert.That(hits.Results.First().Point, Is.EqualTo(point.Value));
+        }
+    }
+
+    private void Setup(ISimulation sim, out MapId mapId)
+    {
+        var entManager = sim.Resolve<IEntityManager>();
+        var mapSystem = entManager.System<SharedMapSystem>();
+
+        sim.System<SharedMapSystem>().CreateMap(out mapId);
+
+        var grid = sim.Resolve<IMapManager>().CreateGridEntity(mapId);
+
+        for (var i = 0; i < 3; i++)
+        {
+            mapSystem.SetTile(grid, new Vector2i(i, 0), new Tile(1));
+        }
+
+        // Spawn a wall in the middle tile.
+        var wall = entManager.SpawnEntity(null, new EntityCoordinates(grid.Owner, new Vector2(1.5f, 0.5f)));
+
+        var physics = entManager.AddComponent<PhysicsComponent>(wall);
+        var poly = new PolygonShape();
+        poly.SetAsBox(Box2.UnitCentered);
+        entManager.System<FixtureSystem>().CreateFixture(wall, "fix1", new Fixture(poly, 1, 1, true));
+
+        entManager.System<SharedPhysicsSystem>().SetCanCollide(wall, true, body: physics);
+        Assert.That(physics.CanCollide);
+
+        // Rotate it to be vertical
+        entManager.System<SharedTransformSystem>().SetLocalRotation(grid.Owner, Angle.FromDegrees(90));
+        entManager.System<SharedTransformSystem>().SetLocalPosition(grid.Owner, Vector2.UnitX / 2f);
+    }
+}

Robust.UnitTesting/Shared/Resources/WritableDirProviderTest.cs

@@ -24,7 +24,7 @@ namespace Robust.UnitTesting.Shared.Resources
             _testDir = Directory.CreateDirectory(_testDirPath);
             var subDir = Path.Combine(_testDirPath, "writable");
 
-            _dirProvider = new WritableDirProvider(Directory.CreateDirectory(subDir), hideRootDir: false);
+            _dirProvider = new WritableDirProvider(Directory.CreateDirectory(subDir));
         }
 
         [OneTimeTearDown]

Robust.UnitTesting/Shared/Serialization/SerializationTests/CommunitaryLungTest.cs

@@ -17,14 +17,18 @@ public sealed partial class CommunitaryLungTest : SerializationTest
         Assert.That(def.Dict == copy.Dict, Is.False);
 
         // Sanity check
+#pragma warning disable CS1718 // Comparison made to same variable
         Assert.That(def.Dict == def.Dict, Is.True);
+#pragma warning restore CS1718 // Comparison made to same variable
 
         Serialization.CopyTo(def, ref copy, notNullableOverride: true);
 
         Assert.That(def.Dict == copy.Dict, Is.False);
 
         // Sanity check
+#pragma warning disable CS1718 // Comparison made to same variable
         Assert.That(def.Dict == def.Dict, Is.True);
+#pragma warning restore CS1718 // Comparison made to same variable
     }
 
     [Test]
@@ -38,7 +42,9 @@ public sealed partial class CommunitaryLungTest : SerializationTest
         Assert.That(copy.Dict, Is.Not.Null);
 
         // Sanity check
+#pragma warning disable CS1718 // Comparison made to same variable
         Assert.That(def.Dict == def.Dict, Is.True);
+#pragma warning restore CS1718 // Comparison made to same variable
 
         Serialization.CopyTo(def, ref copy, notNullableOverride: true);
 
@@ -46,7 +52,9 @@ public sealed partial class CommunitaryLungTest : SerializationTest
         Assert.That(copy.Dict, Is.Not.Null);
 
         // Sanity check
+#pragma warning disable CS1718 // Comparison made to same variable
         Assert.That(def.Dict == def.Dict, Is.True);
+#pragma warning restore CS1718 // Comparison made to same variable
     }
 
     [Test]

Robust.UnitTesting/Shared/Serialization/TypeSerializers/AngleSerializerTest.cs

@@ -1,4 +1,5 @@
-using System.Globalization;
+using System;
+using System.Globalization;
 using NUnit.Framework;
 using Robust.Shared.Maths;
 using Robust.Shared.Serialization.Manager;
@@ -11,24 +12,46 @@ namespace Robust.UnitTesting.Shared.Serialization.TypeSerializers
     [TestOf(typeof(AngleSerializer))]
     public sealed class AngleSerializerTest : SerializationTest
     {
-        [Test]
-        public void SerializationTest()
+        private static readonly TestCaseData[] _source = new[]
         {
-            var degrees = 75d;
-            var angle = Angle.FromDegrees(degrees);
+            new TestCaseData(Math.PI),
+            new TestCaseData(Math.PI / 2),
+            new TestCaseData(Math.PI / 4),
+            new TestCaseData(0.515),
+            new TestCaseData(75),
+        };
+
+        [Test, TestCaseSource(nameof(_source))]
+        public void SerializationRadsTest(double radians)
+        {
+            var angle = new Angle(radians);
             var node = Serialization.WriteValueAs<ValueDataNode>(angle);
-            var serializedValue = $"{MathHelper.DegreesToRadians(degrees).ToString(CultureInfo.InvariantCulture)} rad";
+            var serializedValue = $"{radians.ToString(CultureInfo.InvariantCulture)} rad";
 
             Assert.That(node.Value, Is.EqualTo(serializedValue));
         }
 
-        [Test]
-        public void DeserializationTest()
+        [Test, TestCaseSource(nameof(_source))]
+        public void DeserializationRadsTest(double radians)
         {
-            var degrees = 75;
-            var node = new ValueDataNode(degrees.ToString());
+            var angle = new Angle(radians);
+            var node = new ValueDataNode($"{radians.ToString(CultureInfo.InvariantCulture)} rad");
             var deserializedAngle = Serialization.Read<Angle>(node);
+
+            Assert.That(deserializedAngle, Is.EqualTo(angle));
+        }
+
+        /*
+         * Serialization of degrees test won't work because it's comparing degrees to radians.
+         */
+
+        [Test, TestCaseSource(nameof(_source))]
+        public void DeserializationDegreesTest(double radians)
+        {
+            var degrees = MathHelper.RadiansToDegrees(radians);
             var angle = Angle.FromDegrees(degrees);
+            var node = new ValueDataNode($"{degrees.ToString(CultureInfo.InvariantCulture)}");
+            var deserializedAngle = Serialization.Read<Angle>(node);
 
             Assert.That(deserializedAngle, Is.EqualTo(angle));
         }