after a year or so of work, i dare create a proper repo.

39 files changed, 16905 insertions, 0 deletions

diff --git a/dat.h b/dat.h
new file mode 100644
index 0000000..f2d7588
--- /dev/null
+++ b/dat.h
@@ -0,0 +1,41 @@
+enum {
+	K↑,
+	K↓,
+	K←,
+	K→,
+	Krise,
+	Kfall,
+	KR↑,
+	KR↓,
+	KR←,
+	KR→,
+	KR↺,
+	KR↻,
+	Kcam0,
+	Kcam1,
+	Kcam2,
+	Kcam3,
+	Kscrshot,
+	Ke
+};
+
+enum {
+	Scamno,
+	Sfov,
+	Scampos,
+	Scambx, Scamby, Scambz,
+	Se
+};
+
+typedef struct Mesh Mesh;
+typedef struct TTriangle3 TTriangle3;
+
+struct Mesh {
+	Triangle3 *tris;
+	int ntri;
+};
+
+struct TTriangle3 {
+	Triangle3;
+	Image *tx;
+};
diff --git a/fns.h b/fns.h
new file mode 100644
index 0000000..0b4e1ba
--- /dev/null
+++ b/fns.h
@@ -0,0 +1,2 @@
+void *erealloc(void*, ulong);
+void *emalloc(ulong);
diff --git a/geometry.h b/geometry.h
new file mode 100644
index 0000000..a62d667
--- /dev/null
+++ b/geometry.h
@@ -0,0 +1,110 @@
+#define DEG 0.01745329251994330
+
+typedef struct Point2 Point2;
+typedef struct Point3 Point3;
+typedef double Matrix[3][3];
+typedef double Matrix3[4][4];
+typedef struct Quaternion Quaternion;
+typedef struct RFrame RFrame;
+typedef struct RFrame3 RFrame3;
+typedef struct Triangle3 Triangle3;
+
+struct Point2 {
+	double x, y, w;
+};
+
+struct Point3 {
+	double x, y, z, w;
+};
+
+struct Quaternion {
+	double r, i, j, k;
+};
+
+struct RFrame {
+	Point2 p;
+	Point2 bx, by;
+};
+
+struct RFrame3 {
+	Point3 p;
+	Point3 bx, by, bz;
+};
+
+struct Triangle3 {
+	Point3 p0, p1, p2;
+};
+
+/* Point2 */
+Point2 Pt2(double, double, double);
+Point2 Vec2(double, double);
+Point2 addpt2(Point2, Point2);
+Point2 subpt2(Point2, Point2);
+Point2 mulpt2(Point2, double);
+Point2 divpt2(Point2, double);
+Point2 lerp2(Point2, Point2, double);
+double dotvec2(Point2, Point2);
+double vec2len(Point2);
+Point2 normvec2(Point2);
+
+/* Point3 */
+Point3 Pt3(double, double, double, double);
+Point3 Vec3(double, double, double);
+Point3 addpt3(Point3, Point3);
+Point3 subpt3(Point3, Point3);
+Point3 mulpt3(Point3, double);
+Point3 divpt3(Point3, double);
+Point3 lerp3(Point3, Point3, double);
+double dotvec3(Point3, Point3);
+Point3 crossvec3(Point3, Point3);
+double vec3len(Point3);
+Point3 normvec3(Point3);
+
+/* Matrix */
+void identity(Matrix);
+void addm(Matrix, Matrix);
+void subm(Matrix, Matrix);
+void mulm(Matrix, Matrix);
+void smulm(Matrix, double);
+void transposem(Matrix);
+double detm(Matrix);
+double tracem(Matrix);
+void adjm(Matrix);
+void invm(Matrix);
+Point2 xform(Point2, Matrix);
+
+/* Matrix3 */
+void identity3(Matrix3);
+void addm3(Matrix3, Matrix3);
+void subm3(Matrix3, Matrix3);
+void mulm3(Matrix3, Matrix3);
+void smulm3(Matrix3, double);
+void transposem3(Matrix3);
+double detm3(Matrix3);
+double tracem3(Matrix3);
+void adjm3(Matrix3);
+void invm3(Matrix3);
+Point3 xform3(Point3, Matrix3);
+
+/* Quaternion */
+Quaternion Quat(double, double, double, double);
+Quaternion Quatvec(double, Point3);
+Quaternion addq(Quaternion, Quaternion);
+Quaternion subq(Quaternion, Quaternion);
+Quaternion mulq(Quaternion, Quaternion);
+Quaternion smulq(Quaternion, double);
+Quaternion sdivq(Quaternion, double);
+double dotq(Quaternion, Quaternion);
+Quaternion invq(Quaternion);
+double qlen(Quaternion);
+Quaternion normq(Quaternion);
+Point3 qrotate(Point3, Point3, double);
+
+/* RFrame */
+Point2 rframexform(Point2, RFrame);
+Point3 rframexform3(Point3, RFrame3);
+Point2 invrframexform(Point2, RFrame);
+Point3 invrframexform3(Point3, RFrame3);
+
+/* Triangle3 */
+Point3 centroid(Triangle3);
diff --git a/graphics.h b/graphics.h
new file mode 100644
index 0000000..be3105d
--- /dev/null
+++ b/graphics.h
@@ -0,0 +1,55 @@
+typedef enum {
+	Portho,		/* orthographic */
+	Ppersp		/* perspective */
+} Projection;
+
+typedef struct Vertex Vertex;
+typedef struct Triangle Triangle;
+typedef struct Viewport Viewport;
+typedef struct Camera Camera;
+
+struct Vertex {
+	Point3 p;	/* position */
+	Point3 n;	/* surface normal */
+	//Image tx;	/* (?) */
+};
+
+struct Triangle {
+	Point p0, p1, p2;
+};
+
+struct Camera {
+	RFrame3;		/* VCS */
+	Image *viewport;
+	double fov;		/* vertical FOV */
+	struct {
+		double n, f;	/* near and far clipping planes */
+	} clip;
+	Matrix3 proj;		/* VCS to NDC xform */
+	Projection ptype;
+};
+
+/* Triangle */
+Triangle Trian(int, int, int, int, int, int);
+Triangle Trianpt(Point, Point, Point);
+void triangle(Image *, Triangle, int, Image *, Point);
+void filltriangle(Image *, Triangle, Image *, Point);
+
+/* Camera */
+void perspective(Matrix3, double, double, double, double);
+void orthographic(Matrix3, double, double, double, double, double, double);
+void configcamera(Camera*, Image*, double, double, double, Projection);
+void placecamera(Camera*, Point3, Point3, Point3);
+void aimcamera(Camera*, Point3);
+void reloadcamera(Camera*);
+
+/* rendering */
+#define FPS2MS(n)	(1000/(n))
+#define WORLD2VCS(cp, p)	(rframexform3((p), *(cp)))
+#define VCS2NDC(cp, p)	(xform3((p), (cp)->proj))
+#define WORLD2NDC(cp, p)	(VCS2NDC((cp), WORLD2VCS((cp), (p))))
+int isclipping(Point3);
+Point toviewport(Camera*, Point3);
+Point2 fromviewport(Camera*, Point);
+void line3(Camera *c, Point3 p0, Point3 p1, int end0, int end1, Image *src);
+Point string3(Camera *c, Point3 p, Image *src, Font *f, char *s);
diff --git a/libgeometry/doc/libgeometry.ms b/libgeometry/doc/libgeometry.ms
new file mode 100644
index 0000000..47c8d94
--- /dev/null
+++ b/libgeometry/doc/libgeometry.ms
@@ -0,0 +1,429 @@
+.TL
+libgeometry
+.AU
+Rodrigo G. López
+.sp
+rgl@antares-labs.eu
+.AI
+Antares Telecom Laboratories
+Albatera, Alicante
+.FS
+ACHTUNG! this is a
+.B "WORK IN PROGRESS"
+.FE
+.SH
+Introduction
+.PP
+.I Libgeometry is a computational geometry library that provides all
+the utilities anybody working with graphics or scientific simulations
+could need.
+.NH 1
+Data Structures
+.NH 2
+Point2
+.P1
+struct Point2 {
+	double x, y, w;
+};
+.P2
+.PP
+.I Point2
+represents a point in two-dimensional projective space, which itself
+is an extension of the two-dimensional euclidean space that allows us
+to work with vectors and compose affine transformations in a friendly
+manner.  A point
+.EQ
+gfont roman
+(x, y, w)
+.EN
+made out of homogenous coordinates
+.I x ,
+.I y ,
+and
+.I w ,
+yields a point with cartesian coordinates
+.EQ
+(x/w, y/w) .
+.EN
+.NH 2
+Point3
+.P1
+struct Point3 {
+	double x, y, z, w;
+};
+.P2
+.PP
+.I Point3
+is a point in three-dimensional projective space.
+.NH 2
+Matrix
+.P1
+typedef double Matrix[3][3];
+.P2
+.PP
+.I Matrix
+represents a 3x3 matrix, thought to compose affine transformations to
+apply to homogeneous 2D points.
+.NH 2
+Matrix3
+.P1
+typedef double Matrix3[4][4];
+.P2
+.PP
+.I Matrix3
+represents a 4x4 matrix, thought to compose affine transformations to
+apply to homogeneous 3D points.
+.NH 2
+Quaternion
+.P1
+struct Quaternion {
+	double r, i, j, k;
+};
+.P2
+.PP
+.I Quaternions
+are a numbering system that extends the complex numbers up to
+four-dimensional space, and are used to apply rotations and model
+mechanical interactions in 3D space.  Their main advantages with
+respect to their matrix relatives are increased computational and
+storage performance and gimbal lock avoidance.
+.NH 2
+RFrame
+.P1
+struct RFrame {
+	Point2 p;
+	Point2 bx, by;
+};
+.P2
+.PP
+A reference frame (or frame of reference) is
+.NH 2
+RFrame3
+.P1
+struct RFrame3 {
+	Point3 p;
+	Point3 bx, by, bz;
+};
+.P2
+.PP
+A reference frame (or frame of reference) is
+.NH 1
+Algorithms
+.NH 2
+Point2
+.SH
+Addition
+.P1
+Point2 addpt2(Point2 a, Point2 b)
+.P2
+.EQ
+a + b ~=~ left ( x sub a + x sub b ,~ y sub a + y sub b ,~ w sub a + w sub b right )
+.EN
+.SH
+Substraction
+.P1
+Point2 subpt2(Point2 a, Point2 b)
+.P2
+.EQ
+a - b ~=~ left ( x sub a - x sub b ,~ y sub a - y sub b ,~ w sub a - w sub b right )
+.EN
+.SH
+Multiplication
+.P1
+Point2 mulpt2(Point2 p, double s)
+.P2
+.EQ
+p * s ~=~ left ( xs,~ ys,~ ws right )
+.EN
+.SH
+Division
+.P1
+Point2 divpt2(Point2 p, double s)
+.P2
+.EQ
+p / s ~=~ left ( x over s ,~ y over s ,~ w over s right )
+.EN
+.SH
+Vector Dot Product
+.P1
+double dotvec2(Point2 a, Point2 b)
+.P2
+.EQ
+a vec ~•~ b vec ~=~ x sub a x sub b + y sub a y sub b
+.EN
+.SH
+Vector Magnitude/Length
+.P1
+double vec2len(Point2 v)
+.P2
+.EQ
+| v vec | ~=~ sqrt { x sup 2 + y sup 2 }
+.EN
+.SH
+Vector Normalization
+.P1
+Point2 normvec2(Point2 v)
+.P2
+.EQ
+n vec ~=~ left ( x over {| v vec |},~ y over {| v vec |} right )
+.EN
+.NH 2
+Point3
+.SH
+Addition
+.P1
+Point3 addpt3(Point3 a, Point3 b)
+.P2
+.EQ
+a + b ~=~ left ( x sub a + x sub b ,~ y sub a + y sub b ,~ z sub a + z sub b ,~ w sub a + w sub b right )
+.EN
+.SH
+Substraction
+.P1
+Point3 subpt3(Point3 a, Point3 b)
+.P2
+.EQ
+a - b ~=~ left ( x sub a - x sub b ,~ y sub a - y sub b ,~ z sub a - z sub b ,~ w sub a - w sub b right )
+.EN
+.SH
+Multiplication
+.P1
+Point3 mulpt3(Point3 p, double s)
+.P2
+.EQ
+p * s ~=~ left ( xs,~ ys,~ zs,~ ws right )
+.EN
+.SH
+Division
+.P1
+Point3 divpt3(Point3 p, double s)
+.P2
+.EQ
+p / s ~=~ left ( x over s ,~ y over s ,~ z over s ,~ w over s right )
+.EN
+.SH
+Vector Dot Product
+.P1
+double dotvec3(Point3 a, Point3 b)
+.P2
+.EQ
+a vec ~•~ b vec ~=~ x sub a x sub b + y sub a y sub b + z sub a z sub b
+.EN
+.SH
+Vector Cross Product
+.P1
+double crossvec3(Point3 a, Point3 b)
+.P2
+.EQ
+a vec ~×~ b vec ~=~ left ( y sub a z sub b - z sub a y sub b ,~
+			 z sub a x sub b - x sub a z sub b ,~
+			 x sub a y sub b - y sub a x sub b right )
+.EN
+.SH
+Vector Magnitude/Length
+.P1
+double vec3len(Point3 v)
+.P2
+.EQ
+| v vec | ~=~ sqrt { x sup 2 + y sup 2 + z sup 2 }
+.EN
+.SH
+Vector Normalization
+.P1
+Point3 normvec3(Point3 v)
+.P2
+.EQ
+n vec ~=~ left ( x over {| v vec |},~ y over {| v vec |},~ z over {| v vec |} right )
+.EN
+.NH 2
+Matrix
+.SH
+Addition
+.P1
+void addm(Matrix A, Matrix B)
+.P2
+.EQ
+( bold A + bold B ) sub {i,j} ~=~ bold A sub {i,j} + bold B sub {i,j}
+.EN
+.SH
+Substraction
+.P1
+void subm(Matrix A, Matrix B)
+.P2
+.EQ
+( bold A - bold B ) sub {i,j} ~=~ bold A sub {i,j} - bold B sub {i,j}
+.EN
+.SH
+Multiplication
+.P1
+void mulm(Matrix A, Matrix B)
+.P2
+.EQ
+left [ bold A bold B right ] sub {i,j} ~=~ sum from {k = 0} to 3-1 bold A sub {i,k} bold B sub {k,j}
+.EN
+.SH
+Transpose
+.P1
+void transposem(Matrix M)
+.P2
+.EQ
+( bold M sup T ) sub {i,j} ~=~ bold A sub {j,i}
+.EN
+.SH
+Identity
+.P1
+void identity(Matrix M)
+.P2
+.EQ
+bold M ~=~ left [ rpile {
+	1 ~ 0 ~ 0
+above	0 ~ 1 ~ 0
+above	0 ~ 0 ~ 1
+} right ]
+.EN
+.SH
+Determinant
+.P1
+double detm(Matrix M)
+.P2
+.EQ
+det( bold M ) ~=~ lpile {
+			m sub 00 ( m sub 11 m sub 22 - m sub 12 m sub 21 ) +
+above			m sub 01 ( m sub 12 m sub 20 - m sub 10 m sub 22 ) +
+above			m sub 02 ( m sub 10 m sub 21 - m sub 11 m sub 20 )
+}
+.EN
+.NH 2
+Matrix3
+.SH
+Addition
+.P1
+void addm3(Matrix3 A, Matrix3 B)
+.P2
+.EQ
+( bold A + bold B ) sub {i,j} ~=~ bold A sub {i,j} + bold B sub {i,j}
+.EN
+.SH
+Substraction
+.P1
+void subm3(Matrix3 A, Matrix3 B)
+.P2
+.EQ
+( bold A - bold B ) sub {i,j} ~=~ bold A sub {i,j} - bold B sub {i,j}
+.EN
+.SH
+Multiplication
+.P1
+void mulm3(Matrix3 A, Matrix3 B)
+.P2
+.EQ
+left [ bold A bold B right ] sub {i,j} ~=~ sum from {k = 0} to 4-1 bold A sub {i,k} bold B sub {k,j}
+.EN
+.SH
+Transpose
+.P1
+void transposem3(Matrix3 M)
+.P2
+.EQ
+( bold M sup T ) sub {i,j} ~=~ bold A sub {j,i}
+.EN
+.SH
+Identity
+.P1
+void identity3(Matrix3 M)
+.P2
+.EQ
+bold M ~=~ left [ rpile {
+	1 ~ 0 ~ 0 ~ 0
+above	0 ~ 1 ~ 0 ~ 0
+above	0 ~ 0 ~ 1 ~ 0
+above	0 ~ 0 ~ 0 ~ 1
+} right ]
+.EN
+.SH
+Determinant
+.P1
+double detm3(Matrix3 M)
+.P2
+.EQ
+det( bold M ) ~=~ rpile {
+		  m sub 00 ( m sub 11 ( m sub 22 m sub 33 - m sub 23 m sub 32 ) +
+			     m sub 12 ( m sub 23 m sub 31 - m sub 21 m sub 33 ) +
+			     m sub 13 ( m sub 21 m sub 32 - m sub 22 m sub 31 ) )
+above		 -m sub 01 ( m sub 10 ( m sub 22 m sub 33 - m sub 23 m sub 32 ) +
+			     m sub 12 ( m sub 23 m sub 30 - m sub 20 m sub 33 ) +
+			     m sub 13 ( m sub 20 m sub 32 - m sub 22 m sub 30 ) )
+above		 +m sub 02 ( m sub 10 ( m sub 21 m sub 33 - m sub 23 m sub 31 ) +
+			     m sub 11 ( m sub 23 m sub 30 - m sub 20 m sub 33 ) +
+			     m sub 13 ( m sub 20 m sub 31 - m sub 21 m sub 30 ) )
+above		 -m sub 03 ( m sub 10 ( m sub 21 m sub 32 - m sub 22 m sub 31 ) +
+			     m sub 11 ( m sub 22 m sub 30 - m sub 20 m sub 32 ) +
+			     m sub 12 ( m sub 20 m sub 31 - m sub 21 m sub 30 ) )
+}
+.EN
+.NH 2
+Quaternion
+.SH
+Addition
+.P1
+Quaternion addq(Quaternion q, Quaternion r)
+.P2
+.EQ
+q + r ~=~ ( r sub q + r sub r ,~ i sub q + i sub r ,~ j sub q + j sub r ,~ k sub q + k sub r )
+.EN
+.SH
+Substraction
+.P1
+Quaternion subq(Quaternion q, Quaternion r)
+.P2
+.EQ
+q - r ~=~ ( r sub q - r sub r ,~ i sub q - i sub r ,~ j sub q - j sub r ,~ k sub q - k sub r )
+.EN
+.SH
+Multiplication
+.P1
+Quaternion mulq(Quaternion q, Quaternion r)
+.P2
+.EQ
+q ~=~ [ r sub q ,~ v vec sub q ]
+r ~=~ [ r sub r ,~ v vec sub r ]
+qr ~=~ [ r sub q r sub r - v vec sub q • v vec sub r ,~ v vec sub r r sub q + v vec sub q r sub r + v vec sub q X v vec sub r ]
+.EN
+.SH
+Scalar Multiplication
+.P1
+Quaternion smulq(Quaternion q, double s)
+.P2
+.EQ
+qs ~=~ [ r sub q s ,~ i sub q s ,~ j sub q s ,~ k sub q s ]
+.EN
+.SH
+Inverse
+.P1
+Quaternion invq(Quaternion q)
+.P2
+.EQ
+q sup -1 ~=~ left ( r over {| q | sup 2} ,~ -i over {| q | sup 2} ,~ -j over {| q | sup 2} ,~ -k over {| q | sup 2} right )
+.EN
+.SH
+Magnitude/Length
+.P1
+double qlen(Quaternion q)
+.P2
+.EQ
+| q | ~=~ sqrt { r sup 2 + i sup 2 + j sup 2 + k sup 2 }
+.EN
+.NH 2
+RFrame
+.SH
+Change of reference
+.P1
+Point2 rframexform(Point2 p, RFrame rf)
+.P2
+.NH 2
+RFrame3
+.SH
+Change of reference
+.P1
+Point3 rframexform3(Point3 p, RFrame3 rf)
+.P2
diff --git a/libgeometry/doc/libgeometry.pdf b/libgeometry/doc/libgeometry.pdf
new file mode 100644
index 0000000..3a49480
--- /dev/null
+++ b/libgeometry/doc/libgeometry.pdf
diff --git a/libgeometry/doc/libgeometry.ps b/libgeometry/doc/libgeometry.ps
new file mode 100644
index 0000000..635b9cd
--- /dev/null
+++ b/libgeometry/doc/libgeometry.ps
@@ -0,0 +1,2799 @@
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+/sf {f} bind def
+
+/cf {
+	dup length 2 idiv
+	/entries exch def
+	/chtab exch def
+	/newencoding exch def
+	/newfont exch def
+
+	findfont dup length 1 add dict
+	/newdict exch def
+	{1 index /FID ne {newdict 3 1 roll put}{pop pop} ifelse} forall
+
+	newencoding type /arraytype eq {newdict /Encoding newencoding put} if
+
+	newdict /Metrics entries dict put
+	newdict /Metrics get
+	begin
+		chtab aload pop
+		1 1 entries {pop def} for
+		newfont newdict definefont pop
+	end
+} bind def
+
+%
+% A few arrays used to adjust reference points and character widths in some
+% of the printer resident fonts. If square roots are too high try changing
+% the lines describing /radical and /radicalex to,
+%
+%	/radical	[0 -75 550 0]
+%	/radicalex	[-50 -75 500 0]
+%
+% Move braceleftbt a bit - default PostScript character is off a bit.
+%
+
+/Sdefs [
+	/bracketlefttp		[201 500]
+	/bracketleftbt		[201 500]
+	/bracketrighttp		[-81 380]
+	/bracketrightbt		[-83 380]
+	/braceleftbt		[203 490]
+	/bracketrightex		[220 -125 500 0]
+	/radical		[0 0 550 0]
+	/radicalex		[-50 0 500 0]
+	/parenleftex		[-20 -170 0 0]
+	/integral		[100 -50 500 0]
+	/infinity		[10 -75 730 0]
+] def
+
+/S1defs [
+	/underscore		[0 80 500 0]
+	/endash			[7 90 650 0]
+] def
+%
+% Tries to round clipping path dimensions, as stored in array pagebbox, so they
+% match one of the known sizes in the papersizes array. Lower left coordinates
+% are always set to 0.
+%
+
+/roundpagebbox {
+    7 dict begin
+	/papersizes [8.5 inch 11 inch 14 inch 17 inch] def
+
+	/mappapersize {
+		/val exch def
+		/slop .5 inch def
+		/diff slop def
+		/j 0 def
+		0 1 papersizes length 1 sub {
+			/i exch def
+			papersizes i get val sub abs
+			dup diff le {/diff exch def /j i def} {pop} ifelse
+		} for
+		diff slop lt {papersizes j get} {val} ifelse
+	} def
+
+	pagebbox 0 0 put
+	pagebbox 1 0 put
+	pagebbox dup 2 get mappapersize 2 exch put
+	pagebbox dup 3 get mappapersize 3 exch put
+    end
+} bind def
+
+%%EndProlog
+%%BeginSetup
+mark
+%
+% Encoding vector and redefinition of findfont for the ISO Latin1 standard.
+% The 18 characters missing from ROM based fonts on older printers are noted
+% below.
+%
+
+/ISOLatin1Encoding [
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/space
+	/exclam
+	/quotedbl
+	/numbersign
+	/dollar
+	/percent
+	/ampersand
+	/quoteright
+	/parenleft
+	/parenright
+	/asterisk
+	/plus
+	/comma
+	/minus
+	/period
+	/slash
+	/zero
+	/one
+	/two
+	/three
+	/four
+	/five
+	/six
+	/seven
+	/eight
+	/nine
+	/colon
+	/semicolon
+	/less
+	/equal
+	/greater
+	/question
+	/at
+	/A
+	/B
+	/C
+	/D
+	/E
+	/F
+	/G
+	/H
+	/I
+	/J
+	/K
+	/L
+	/M
+	/N
+	/O
+	/P
+	/Q
+	/R
+	/S
+	/T
+	/U
+	/V
+	/W
+	/X
+	/Y
+	/Z
+	/bracketleft
+	/backslash
+	/bracketright
+	/asciicircum
+	/underscore
+	/quoteleft
+	/a
+	/b
+	/c
+	/d
+	/e
+	/f
+	/g
+	/h
+	/i
+	/j
+	/k
+	/l
+	/m
+	/n
+	/o
+	/p
+	/q
+	/r
+	/s
+	/t
+	/u
+	/v
+	/w
+	/x
+	/y
+	/z
+	/braceleft
+	/bar
+	/braceright
+	/asciitilde
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/dotlessi
+	/grave
+	/acute
+	/circumflex
+	/tilde
+	/macron
+	/breve
+	/dotaccent
+	/dieresis
+	/.notdef
+	/ring
+	/cedilla
+	/.notdef
+	/hungarumlaut
+	/ogonek
+	/caron
+	/space
+	/exclamdown
+	/cent
+	/sterling
+	/currency
+	/yen
+	/brokenbar		% missing
+	/section
+	/dieresis
+	/copyright
+	/ordfeminine
+	/guillemotleft
+	/logicalnot
+	/hyphen
+	/registered
+	/macron
+	/degree			% missing
+	/plusminus		% missing
+	/twosuperior		% missing
+	/threesuperior		% missing
+	/acute
+	/mu			% missing
+	/paragraph
+	/periodcentered
+	/cedilla
+	/onesuperior		% missing
+	/ordmasculine
+	/guillemotright
+	/onequarter		% missing
+	/onehalf		% missing
+	/threequarters		% missing
+	/questiondown
+	/Agrave
+	/Aacute
+	/Acircumflex
+	/Atilde
+	/Adieresis
+	/Aring
+	/AE
+	/Ccedilla
+	/Egrave
+	/Eacute
+	/Ecircumflex
+	/Edieresis
+	/Igrave
+	/Iacute
+	/Icircumflex
+	/Idieresis
+	/Eth			% missing
+	/Ntilde
+	/Ograve
+	/Oacute
+	/Ocircumflex
+	/Otilde
+	/Odieresis
+	/multiply		% missing
+	/Oslash
+	/Ugrave
+	/Uacute
+	/Ucircumflex
+	/Udieresis
+	/Yacute			% missing
+	/Thorn			% missing
+	/germandbls
+	/agrave
+	/aacute
+	/acircumflex
+	/atilde
+	/adieresis
+	/aring
+	/ae
+	/ccedilla
+	/egrave
+	/eacute
+	/ecircumflex
+	/edieresis
+	/igrave
+	/iacute
+	/icircumflex
+	/idieresis
+	/eth			% missing
+	/ntilde
+	/ograve
+	/oacute
+	/ocircumflex
+	/otilde
+	/odieresis
+	/divide			% missing
+	/oslash
+	/ugrave
+	/uacute
+	/ucircumflex
+	/udieresis
+	/yacute			% missing
+	/thorn			% missing
+	/ydieresis
+] def
+
+/NewFontDirectory FontDirectory maxlength dict def
+
+%
+% Apparently no guarantee findfont is defined in systemdict so the obvious
+%
+%	systemdict /findfont get exec
+%
+% can generate an error. So far the only exception is a VT600 (version 48.0).
+%
+
+userdict /@RealFindfont known not {
+	userdict begin
+		/@RealFindfont systemdict begin /findfont load end def
+	end
+} if
+
+/findfont {
+	dup NewFontDirectory exch known not {
+		dup
+		%dup systemdict /findfont get exec	% not always in systemdict
+		dup userdict /@RealFindfont get exec
+		dup /Encoding get StandardEncoding eq {
+			dup length dict begin
+				{1 index /FID ne {def}{pop pop} ifelse} forall
+				/Encoding ISOLatin1Encoding def
+				currentdict
+			end
+			/DummyFontName exch definefont
+		} if
+		NewFontDirectory 3 1 roll put
+	} if
+	NewFontDirectory exch get
+} bind def
+
+%%Patch from lp
+%%EndPatch from lp
+
+setup
+%%EndSetup
+%%Page: 1 1
+/saveobj save def
+mark
+1 pagesetup
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+10 /LucidaSans-Italic f
+(Rodrigo G. L\363pez) 2469 1480 w
+(rgl@antares-labs.eu) 2377 1760 w
+10 /LucidaSansUnicode00 f
+(Antares Telecom Laboratories) 2156 1960 w
+(Albatera, Alicante) 2451 2100 w
+10 /LucidaSans-Demi f
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+(Point2) 962 2940 w
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+10 /LucidaSans-Italic f
+(Point2) 970 3546 w
+10 /LucidaSansUnicode00 f
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+(\() 2696 3966 w
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+(coordinates) 2036 4146 w
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+10 /LucidaSans-Italic f
+(y) 2769 4146 w
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+(w) 3116 4146 w
+10 /LucidaSansUnicode00 f
+(,) 3194 4146 w
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+(a) 3588 4146 w
+(point) 3684 4146 w
+(with) 3977 4146 w
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+(coordi\255) 4701 4146 w
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+(\() 2588 4446 w
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+(\)) 3090 4446 w
+(.) 3139 4446 w
+10 /LucidaSans-Demi f
+(1.2.) 720 4746 w
+(Point3) 962 4746 w
+9 /LucidaTypewriter f
+(struct) 920 4916 w
+(Point3) 1375 4916 w
+({) 1830 4916 w
+(double) 1440 5026 w
+(x,) 1895 5026 w
+(y,) 2090 5026 w
+(z,) 2285 5026 w
+(w;) 2480 5026 w
+(};) 920 5136 w
+10 /LucidaSans-Italic f
+(Point3) 970 5352 w
+10 /LucidaSansUnicode00 f
+(is a point in three-dimensional projective space.) 1309 5352 w
+10 /LucidaSans-Demi f
+(1.3.) 720 5592 w
+(Matrix) 962 5592 w
+9 /LucidaTypewriter f
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+10 /LucidaSans-Italic f
+(Matrix) 970 5978 w
+10 /LucidaSansUnicode00 f
+(represents) 1341 5978 w
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+(3x3) 2028 5978 w
+(matrix,) 2274 5978 w
+(thought) 2681 5978 w
+(to) 3123 5978 w
+(compose) 3280 5978 w
+(affine) 3775 5978 w
+(transformations) 4110 5978 w
+(to) 4942 5978 w
+(apply to homogeneous 2D points.) 720 6098 w
+10 /LucidaSans-Demi f
+(1.4.) 720 6338 w
+(Matrix3) 962 6338 w
+9 /LucidaTypewriter f
+(typedef) 920 6508 w
+(double) 1440 6508 w
+(Matrix3[4][4];) 1895 6508 w
+10 /LucidaSans-Italic f
+(Matrix3) 970 6724 w
+10 /LucidaSansUnicode00 f
+(represents) 1398 6724 w
+(a) 1964 6724 w
+(4x4) 2071 6724 w
+(matrix,) 2310 6724 w
+(thought) 2711 6724 w
+(to) 3147 6724 w
+(compose) 3298 6724 w
+(affine) 3787 6724 w
+(transformations) 4116 6724 w
+(to) 4942 6724 w
+(apply to homogeneous 3D points.) 720 6844 w
+8 /S1 f
+(__________________) 720 6980 w
+8 /LucidaSansUnicode00 f
+(ACHTUNG!) 720 7080 w
+(this) 1163 7080 w
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+(a) 1423 7080 w
+8 /LucidaSans-Demi f
+(WORK) 1493 7080 w
+(IN) 1769 7080 w
+(PROGRESS) 1883 7080 w
+cleartomark
+showpage
+saveobj restore
+%%EndPage: 1 1
+%%Page: 2 2
+/saveobj save def
+mark
+2 pagesetup
+10 /LucidaSansUnicode00 f
+(\255 2 \255) 2783 480 w
+10 /LucidaSans-Demi f
+(1.5.) 720 840 w
+(Quaternion) 962 840 w
+9 /LucidaTypewriter f
+(struct) 920 1010 w
+(Quaternion) 1375 1010 w
+({) 2090 1010 w
+(double) 1440 1120 w
+(r,) 1895 1120 w
+(i,) 2090 1120 w
+(j,) 2285 1120 w
+(k;) 2480 1120 w
+(};) 920 1230 w
+10 /LucidaSans-Italic f
+(Quaternions) 970 1446 w
+10 /LucidaSansUnicode00 f
+(are) 1623 1446 w
+(a) 1829 1446 w
+(numbering) 1938 1446 w
+(system) 2522 1446 w
+(that) 2916 1446 w
+(extends) 3161 1446 w
+(the) 3601 1446 w
+(complex) 3810 1446 w
+(numbers) 4279 1446 w
+(up) 4762 1446 w
+(to) 4942 1446 w
+(four-dimensional) 720 1566 w
+(space,) 1607 1566 w
+(and) 1953 1566 w
+(are) 2171 1566 w
+(used) 2361 1566 w
+(to) 2631 1566 w
+(apply) 2767 1566 w
+(rotations) 3067 1566 w
+(and) 3539 1566 w
+(model) 3757 1566 w
+(mechanical) 4096 1566 w
+(interac\255) 4676 1566 w
+(tions) 720 1686 w
+(in) 1015 1686 w
+(3D) 1161 1686 w
+(space.) 1354 1686 w
+(Their) 1749 1686 w
+(main) 2055 1686 w
+(advantages) 2349 1686 w
+(with) 2952 1686 w
+(respect) 3212 1686 w
+(to) 3622 1686 w
+(their) 3775 1686 w
+(matrix) 4055 1686 w
+(relatives) 4426 1686 w
+(are) 4888 1686 w
+(increased computational and storage performance and gimbal lock avoidance.) 720 1806 w
+10 /LucidaSans-Demi f
+(2.) 720 2046 w
+(Algorithms) 873 2046 w
+(2.1.) 720 2286 w
+(Point2) 962 2286 w
+(Addition) 720 2526 w
+9 /LucidaTypewriter f
+(Point2) 920 2696 w
+(addpt2\(Point2) 1375 2696 w
+(a,) 2285 2696 w
+(Point2) 2480 2696 w
+(b\)) 2935 2696 w
+10 /LucidaSansUnicode00 f
+(a) 2051 2971 w
+10 /S f
+(+) 2122 2971 w
+10 /LucidaSansUnicode00 f
+(b) 2193 2971 w
+10 /S f
+(=) 2312 2971 w
+10 /LucidaSansUnicode00 f
+10 /S f
+(\354) 2431 2934 w
+(\356) 2431 3034 w
+10 /LucidaSansUnicode00 f
+(x) 2480 2971 w
+7 /LucidaSansUnicode00 f
+(a) 2552 2991 w
+10 /S f
+(+) 2615 2971 w
+10 /LucidaSansUnicode00 f
+(x) 2686 2971 w
+7 /LucidaSansUnicode00 f
+(b) 2758 2991 w
+10 /LucidaSansUnicode00 f
+(,) 2818 2971 w
+(y) 2898 2971 w
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+(a) 2961 2991 w
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+(+) 3024 2971 w
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+(y) 3095 2971 w
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+(b) 3158 2991 w
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+(,) 3218 2971 w
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+(a) 3386 2991 w
+10 /S f
+(+) 3449 2971 w
+10 /LucidaSansUnicode00 f
+(w) 3520 2971 w
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+(b) 3608 2991 w
+10 /S f
+(\374) 3660 2934 w
+(\376) 3660 3034 w
+10 /LucidaSans-Demi f
+(Substraction) 720 3326 w
+9 /LucidaTypewriter f
+(Point2) 920 3496 w
+(subpt2\(Point2) 1375 3496 w
+(a,) 2285 3496 w
+(Point2) 2480 3496 w
+(b\)) 2935 3496 w
+10 /LucidaSansUnicode00 f
+(a) 2051 3771 w
+10 /S f
+(-) 2122 3771 w
+10 /LucidaSansUnicode00 f
+(b) 2193 3771 w
+10 /S f
+(=) 2312 3771 w
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+10 /S f
+(\354) 2431 3734 w
+(\356) 2431 3834 w
+10 /LucidaSansUnicode00 f
+(x) 2480 3771 w
+7 /LucidaSansUnicode00 f
+(a) 2552 3791 w
+10 /S f
+(-) 2615 3771 w
+10 /LucidaSansUnicode00 f
+(x) 2686 3771 w
+7 /LucidaSansUnicode00 f
+(b) 2758 3791 w
+10 /LucidaSansUnicode00 f
+(,) 2818 3771 w
+(y) 2898 3771 w
+7 /LucidaSansUnicode00 f
+(a) 2961 3791 w
+10 /S f
+(-) 3024 3771 w
+10 /LucidaSansUnicode00 f
+(y) 3095 3771 w
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+(b) 3158 3791 w
+10 /LucidaSansUnicode00 f
+(,) 3218 3771 w
+(w) 3298 3771 w
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+(-) 3449 3771 w
+10 /LucidaSansUnicode00 f
+(w) 3520 3771 w
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+(b) 3608 3791 w
+10 /S f
+(\374) 3660 3734 w
+(\376) 3660 3834 w
+10 /LucidaSans-Demi f
+(Multiplication) 720 4126 w
+9 /LucidaTypewriter f
+(Point2) 920 4296 w
+(mulpt2\(Point2) 1375 4296 w
+(p,) 2285 4296 w
+(double) 2480 4296 w
+(s\)) 2935 4296 w
+10 /LucidaSansUnicode00 f
+(p) 2395 4536 w
+(*) 2466 4536 w
+(s) 2522 4536 w
+10 /S f
+(=) 2629 4536 w
+10 /LucidaSansUnicode00 f
+10 /S f
+(\354) 2748 4499 w
+(\356) 2748 4599 w
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+(xs) 2797 4546 w
+(,) 2917 4546 w
+(ys) 2997 4546 w
+(,) 3108 4546 w
+(ws) 3188 4546 w
+10 /S f
+(\374) 3316 4499 w
+(\376) 3316 4599 w
+10 /LucidaSans-Demi f
+(Division) 720 4841 w
+9 /LucidaTypewriter f
+(Point2) 920 5011 w
+(divpt2\(Point2) 1375 5011 w
+(p,) 2285 5011 w
+(double) 2480 5011 w
+(s\)) 2935 5011 w
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+(p) 2394 5336 w
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+(_) 2811 5306 w
+(_) 2852 5306 w
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+(,) 2920 5336 w
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+(y) 3025 5276 w
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+(_) 3010 5306 w
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+(,) 3110 5336 w
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+(\374) 3317 5249 w
+(\357) 3317 5349 w
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+(Vector Dot Product) 720 5741 w
+9 /LucidaTypewriter f
+(double) 920 5911 w
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+(a) 2375 6156 w
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+(y) 3270 6156 w
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+10 /LucidaSans-Demi f
+(Vector Magnitude/Length) 720 6456 w
+9 /LucidaTypewriter f
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+(v\)) 2350 6626 w
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+%%Trailer
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diff --git a/libgeometry/doc/mkfile b/libgeometry/doc/mkfile
new file mode 100644
index 0000000..8fb6d1c
--- /dev/null
+++ b/libgeometry/doc/mkfile
@@ -0,0 +1,15 @@
+FONTS='.FP lucidasans'
+DOCNAME=libgeometry
+
+all:VQ: $DOCNAME.ps $DOCNAME.pdf
+
+clean:VQ:
+	rm -f $DOCNAME.ps $DOCNAME.pdf
+
+$DOCNAME.ps:V: $DOCNAME.ms
+	{echo $FONTS; cat $prereq}> _$prereq
+	eval `{doctype _$prereq} | lp -dstdout > $target && rm -f _$prereq
+
+$DOCNAME.pdf:V: $DOCNAME.ps
+	cat /sys/doc/docfonts $prereq > _$prereq
+	ps2pdf _$prereq $target && rm -f _$prereq
diff --git a/libgeometry/matrix.c b/libgeometry/matrix.c
new file mode 100644
index 0000000..b7efc84
--- /dev/null
+++ b/libgeometry/matrix.c
@@ -0,0 +1,348 @@
+#include <u.h>
+#include <libc.h>
+#include "../geometry.h"
+
+/* 2D */
+
+void
+identity(Matrix m)
+{
+	memset(m, 0, 3*3*sizeof(double));
+	m[0][0] = m[1][1] = m[2][2] = 1;
+}
+
+void
+addm(Matrix a, Matrix b)
+{
+	int i, j;
+
+	for(i = 0; i < 3; i++)
+		for(j = 0; j < 3; j++)
+			a[i][j] += b[i][j];
+}
+
+void
+subm(Matrix a, Matrix b)
+{
+	int i, j;
+
+	for(i = 0; i < 3; i++)
+		for(j = 0; j < 3; j++)
+			a[i][j] -= b[i][j];
+}
+
+void
+mulm(Matrix a, Matrix b)
+{
+	int i, j, k;
+	Matrix tmp;
+
+	for(i = 0; i < 3; i++)
+		for(j = 0; j < 3; j++){
+			tmp[i][j] = 0;
+			for(k = 0; k < 3; k++)
+				tmp[i][j] += a[i][k]*b[k][j];
+		}
+	memmove(a, tmp, 3*3*sizeof(double));
+}
+
+void
+smulm(Matrix m, double s)
+{
+	int i, j;
+
+	for(i = 0; i < 3; i++)
+		for(j = 0; j < 3; j++)
+			m[i][j] *= s;
+}
+
+void
+transposem(Matrix m)
+{
+	int i, j;
+	double tmp;
+
+	for(i = 0; i < 3; i++)
+		for(j = i; j < 3; j++){
+			tmp = m[i][j];
+			m[i][j] = m[j][i];
+			m[j][i] = tmp;
+		}
+}
+
+double
+detm(Matrix m)
+{
+	return m[0][0]*(m[1][1]*m[2][2] - m[1][2]*m[2][1])+
+	       m[0][1]*(m[1][2]*m[2][0] - m[1][0]*m[2][2])+
+	       m[0][2]*(m[1][0]*m[2][1] - m[1][1]*m[2][0]);
+}
+
+double
+tracem(Matrix m)
+{
+	return m[0][0] + m[1][1] + m[2][2];
+}
+
+void
+adjm(Matrix m)
+{
+	Matrix tmp;
+
+	tmp[0][0] =  m[1][1]*m[2][2] - m[1][2]*m[2][1];
+	tmp[0][1] = -m[0][1]*m[2][2] + m[0][2]*m[2][1];
+	tmp[0][2] =  m[0][1]*m[1][2] - m[0][2]*m[1][1];
+	tmp[1][0] = -m[1][0]*m[2][2] + m[1][2]*m[2][0];
+	tmp[1][1] =  m[0][0]*m[2][2] - m[0][2]*m[2][0];
+	tmp[1][2] = -m[0][0]*m[1][2] + m[0][2]*m[1][0];
+	tmp[2][0] =  m[1][0]*m[2][1] - m[1][1]*m[2][0];
+	tmp[2][1] = -m[0][0]*m[2][1] + m[0][1]*m[2][0];
+	tmp[2][2] =  m[0][0]*m[1][1] - m[0][1]*m[1][0];
+	memmove(m, tmp, 3*3*sizeof(double));
+}
+
+/* Cayley-Hamilton */
+//void
+//invertm(Matrix m)
+//{
+//	Matrix m², r;
+//	double det, trm, trm²;
+//
+//	det = detm(m);
+//	if(det == 0)
+//		return;
+//	trm = tracem(m);
+//	memmove(m², m, 3*3*sizeof(double));
+//	mulm(m², m²);
+//	trm² = tracem(m²);
+//	identity(r);
+//	smulm(r, (trm*trm - trm²)/2);
+//	smulm(m, trm);
+//	subm(r, m);
+//	addm(r, m²);
+//	smulm(r, 1/det);
+//	memmove(m, r, 3*3*sizeof(double));
+//}
+
+/* Cramer's */
+void
+invm(Matrix m)
+{
+	double det;
+
+	det = detm(m);
+	if(det == 0)
+		return; /* singular matrices are not invertible */
+	adjm(m);
+	smulm(m, 1/det);
+}
+
+Point2
+xform(Point2 p, Matrix m)
+{
+	return (Point2){
+		p.x*m[0][0] + p.y*m[0][1] + p.w*m[0][2],
+		p.x*m[1][0] + p.y*m[1][1] + p.w*m[1][2],
+		p.x*m[2][0] + p.y*m[2][1] + p.w*m[2][2]
+	};
+}
+
+/* 3D */
+
+void
+identity3(Matrix3 m)
+{
+	memset(m, 0, 4*4*sizeof(double));
+	m[0][0] = m[1][1] = m[2][2] = m[3][3] = 1;
+}
+
+void
+addm3(Matrix3 a, Matrix3 b)
+{
+	int i, j;
+
+	for(i = 0; i < 4; i++)
+		for(j = 0; j < 4; j++)
+			a[i][j] += b[i][j];
+}
+
+void
+subm3(Matrix3 a, Matrix3 b)
+{
+	int i, j;
+
+	for(i = 0; i < 4; i++)
+		for(j = 0; j < 4; j++)
+			a[i][j] -= b[i][j];
+}
+
+void
+mulm3(Matrix3 a, Matrix3 b)
+{
+	int i, j, k;
+	Matrix3 tmp;
+
+	for(i = 0; i < 4; i++)
+		for(j = 0; j < 4; j++){
+			tmp[i][j] = 0;
+			for(k = 0; k < 4; k++)
+				tmp[i][j] += a[i][k]*b[k][j];
+		}
+	memmove(a, tmp, 4*4*sizeof(double));
+}
+
+void
+smulm3(Matrix3 m, double s)
+{
+	int i, j;
+
+	for(i = 0; i < 4; i++)
+		for(j = 0; j < 4; j++)
+			m[i][j] *= s;
+}
+
+void
+transposem3(Matrix3 m)
+{
+	int i, j;
+	double tmp;
+
+	for(i = 0; i < 4; i++)
+		for(j = i; j < 4; j++){
+			tmp = m[i][j];
+			m[i][j] = m[j][i];
+			m[j][i] = tmp;
+		}
+}
+
+double
+detm3(Matrix3 m)
+{
+	return m[0][0]*(m[1][1]*(m[2][2]*m[3][3] - m[2][3]*m[3][2])+
+			m[1][2]*(m[2][3]*m[3][1] - m[2][1]*m[3][3])+
+			m[1][3]*(m[2][1]*m[3][2] - m[2][2]*m[3][1]))
+	      -m[0][1]*(m[1][0]*(m[2][2]*m[3][3] - m[2][3]*m[3][2])+
+			m[1][2]*(m[2][3]*m[3][0] - m[2][0]*m[3][3])+
+			m[1][3]*(m[2][0]*m[3][2] - m[2][2]*m[3][0]))
+	      +m[0][2]*(m[1][0]*(m[2][1]*m[3][3] - m[2][3]*m[3][1])+
+			m[1][1]*(m[2][3]*m[3][0] - m[2][0]*m[3][3])+
+			m[1][3]*(m[2][0]*m[3][1] - m[2][1]*m[3][0]))
+	      -m[0][3]*(m[1][0]*(m[2][1]*m[3][2] - m[2][2]*m[3][1])+
+			m[1][1]*(m[2][2]*m[3][0] - m[2][0]*m[3][2])+
+			m[1][2]*(m[2][0]*m[3][1] - m[2][1]*m[3][0]));
+}
+
+double
+tracem3(Matrix3 m)
+{
+	return m[0][0] + m[1][1] + m[2][2] + m[3][3];
+}
+
+void
+adjm3(Matrix3 m)
+{
+	Matrix3 tmp;
+
+	tmp[0][0]=m[1][1]*(m[2][2]*m[3][3] - m[2][3]*m[3][2])+
+		  m[2][1]*(m[1][3]*m[3][2] - m[1][2]*m[3][3])+
+		  m[3][1]*(m[1][2]*m[2][3] - m[1][3]*m[2][2]);
+	tmp[0][1]=m[0][1]*(m[2][3]*m[3][2] - m[2][2]*m[3][3])+
+		  m[2][1]*(m[0][2]*m[3][3] - m[0][3]*m[3][2])+
+		  m[3][1]*(m[0][3]*m[2][2] - m[0][2]*m[2][3]);
+	tmp[0][2]=m[0][1]*(m[1][2]*m[3][3] - m[1][3]*m[3][2])+
+		  m[1][1]*(m[0][3]*m[3][2] - m[0][2]*m[3][3])+
+		  m[3][1]*(m[0][2]*m[1][3] - m[0][3]*m[1][2]);
+	tmp[0][3]=m[0][1]*(m[1][3]*m[2][2] - m[1][2]*m[2][3])+
+		  m[1][1]*(m[0][2]*m[2][3] - m[0][3]*m[2][2])+
+		  m[2][1]*(m[0][3]*m[1][2] - m[0][2]*m[1][3]);
+	tmp[1][0]=m[1][0]*(m[2][3]*m[3][2] - m[2][2]*m[3][3])+
+		  m[2][0]*(m[1][2]*m[3][3] - m[1][3]*m[3][2])+
+		  m[3][0]*(m[1][3]*m[2][2] - m[1][2]*m[2][3]);
+	tmp[1][1]=m[0][0]*(m[2][2]*m[3][3] - m[2][3]*m[3][2])+
+		  m[2][0]*(m[0][3]*m[3][2] - m[0][2]*m[3][3])+
+		  m[3][0]*(m[0][2]*m[2][3] - m[0][3]*m[2][2]);
+	tmp[1][2]=m[0][0]*(m[1][3]*m[3][2] - m[1][2]*m[3][3])+
+		  m[1][0]*(m[0][2]*m[3][3] - m[0][3]*m[3][2])+
+		  m[3][0]*(m[0][3]*m[1][2] - m[0][2]*m[1][3]);
+	tmp[1][3]=m[0][0]*(m[1][2]*m[2][3] - m[1][3]*m[2][2])+
+		  m[1][0]*(m[0][3]*m[2][2] - m[0][2]*m[2][3])+
+		  m[2][0]*(m[0][2]*m[1][3] - m[0][3]*m[1][2]);
+	tmp[2][0]=m[1][0]*(m[2][1]*m[3][3] - m[2][3]*m[3][1])+
+		  m[2][0]*(m[1][3]*m[3][1] - m[1][1]*m[3][3])+
+		  m[3][0]*(m[1][1]*m[2][3] - m[1][3]*m[2][1]);
+	tmp[2][1]=m[0][0]*(m[2][3]*m[3][1] - m[2][1]*m[3][3])+
+		  m[2][0]*(m[0][1]*m[3][3] - m[0][3]*m[3][1])+
+		  m[3][0]*(m[0][3]*m[2][1] - m[0][1]*m[2][3]);
+	tmp[2][2]=m[0][0]*(m[1][1]*m[3][3] - m[1][3]*m[3][1])+
+		  m[1][0]*(m[0][3]*m[3][1] - m[0][1]*m[3][3])+
+		  m[3][0]*(m[0][1]*m[1][3] - m[0][3]*m[1][1]);
+	tmp[2][3]=m[0][0]*(m[1][3]*m[2][1] - m[1][1]*m[2][3])+
+		  m[1][0]*(m[0][1]*m[2][3] - m[0][3]*m[2][1])+
+		  m[2][0]*(m[0][3]*m[1][1] - m[0][1]*m[1][3]);
+	tmp[3][0]=m[1][0]*(m[2][2]*m[3][1] - m[2][1]*m[3][2])+
+		  m[2][0]*(m[1][1]*m[3][2] - m[1][2]*m[3][1])+
+		  m[3][0]*(m[1][2]*m[2][1] - m[1][1]*m[2][2]);
+	tmp[3][1]=m[0][0]*(m[2][1]*m[3][2] - m[2][2]*m[3][1])+
+		  m[2][0]*(m[0][2]*m[3][1] - m[0][1]*m[3][2])+
+		  m[3][0]*(m[0][1]*m[2][2] - m[0][2]*m[2][1]);
+	tmp[3][2]=m[0][0]*(m[1][2]*m[3][1] - m[1][1]*m[3][2])+
+		  m[1][0]*(m[0][1]*m[3][2] - m[0][2]*m[3][1])+
+		  m[3][0]*(m[0][2]*m[1][1] - m[0][1]*m[1][2]);
+	tmp[3][3]=m[0][0]*(m[1][1]*m[2][2] - m[1][2]*m[2][1])+
+		  m[1][0]*(m[0][2]*m[2][1] - m[0][1]*m[2][2])+
+		  m[2][0]*(m[0][1]*m[1][2] - m[0][2]*m[1][1]);
+	memmove(m, tmp, 4*4*sizeof(double));
+}
+
+/* Cayley-Hamilton */
+//void
+//invertm3(Matrix3 m)
+//{
+//	Matrix3 m², m³, r;
+//	double det, trm, trm², trm³;
+//
+//	det = detm3(m);
+//	if(det == 0)
+//		return;
+//	trm = tracem3(m);
+//	memmove(m³, m, 4*4*sizeof(double));
+//	mulm(m³, m³);
+//	mulm(m³, m);
+//	trm³ = tracem3(m³);
+//	memmove(m², m, 4*4*sizeof(double));
+//	mulm(m², m²);
+//	trm² = tracem3(m²);
+//	identity3(r);
+//	smulm3(r, (trm*trm*trm - 3*trm*trm² + 2*trm³)/6);
+//	smulm3(m, (trm*trm - trm²)/2);
+//	smulm3(m², trm);
+//	subm(r, m);
+//	addm(r, m²);
+//	subm(r, m³);
+//	smulm(r, 1/det);
+//	memmove(m, r, 4*4*sizeof(double));
+//}
+
+/* Cramer's */
+void
+invm3(Matrix3 m)
+{
+	double det;
+
+	det = detm3(m);
+	if(det == 0)
+		return; /* singular matrices are not invertible */
+	adjm3(m);
+	smulm3(m, 1/det);
+}
+
+Point3
+xform3(Point3 p, Matrix3 m)
+{
+	return (Point3){
+		p.x*m[0][0] + p.y*m[0][1] + p.z*m[0][2] + p.w*m[0][3],
+		p.x*m[1][0] + p.y*m[1][1] + p.z*m[1][2] + p.w*m[1][3],
+		p.x*m[2][0] + p.y*m[2][1] + p.z*m[2][2] + p.w*m[2][3],
+		p.x*m[3][0] + p.y*m[3][1] + p.z*m[3][2] + p.w*m[3][3],
+	};
+}
diff --git a/libgeometry/mkfile b/libgeometry/mkfile
new file mode 100644
index 0000000..5c7d79f
--- /dev/null
+++ b/libgeometry/mkfile
@@ -0,0 +1,13 @@
+</$objtype/mkfile
+
+LIB=../libgeometry.a$O
+OFILES=\
+	point.$O\
+	matrix.$O\
+	quaternion.$O\
+	rframe.$O\
+	triangle.$O\
+
+HFILES=../geometry.h
+
+</sys/src/cmd/mklib
diff --git a/libgeometry/point.c b/libgeometry/point.c
new file mode 100644
index 0000000..657eb4c
--- /dev/null
+++ b/libgeometry/point.c
@@ -0,0 +1,161 @@
+#include <u.h>
+#include <libc.h>
+#include "../geometry.h"
+
+/* 2D */
+
+Point2
+Pt2(double x, double y, double w)
+{
+	return (Point2){x, y, w};
+}
+
+Point2
+Vec2(double x, double y)
+{
+	return (Point2){x, y, 0};
+}
+
+Point2
+addpt2(Point2 a, Point2 b)
+{
+	return (Point2){a.x+b.x, a.y+b.y, a.w+b.w};
+}
+
+Point2
+subpt2(Point2 a, Point2 b)
+{
+	return (Point2){a.x-b.x, a.y-b.y, a.w-b.w};
+}
+
+Point2
+mulpt2(Point2 p, double s)
+{
+	return (Point2){p.x*s, p.y*s, p.w*s};
+}
+
+Point2
+divpt2(Point2 p, double s)
+{
+	return (Point2){p.x/s, p.y/s, p.w/s};
+}
+
+Point2
+lerp2(Point2 a, Point2 b, double t)
+{
+	if(t < 0) t = 0;
+	if(t > 1) t = 1;
+	return (Point2){
+		(1 - t)*a.x + t*b.x,
+		(1 - t)*a.y + t*b.y,
+		(1 - t)*a.w + t*b.w
+	};
+}
+
+double
+dotvec2(Point2 a, Point2 b)
+{
+	return a.x*b.x + a.y*b.y;
+}
+
+double
+vec2len(Point2 v)
+{
+	return sqrt(dotvec2(v, v));
+}
+
+Point2
+normvec2(Point2 v)
+{
+	double len;
+
+	len = vec2len(v);
+	if(len == 0)
+		return (Point2){0, 0, 0};
+	return (Point2){v.x/len, v.y/len, 0};
+}
+
+/* 3D */
+
+Point3
+Pt3(double x, double y, double z, double w)
+{
+	return (Point3){x, y, z, w};
+}
+
+Point3
+Vec3(double x, double y, double z)
+{
+	return (Point3){x, y, z, 0};
+}
+
+Point3
+addpt3(Point3 a, Point3 b)
+{
+	return (Point3){a.x+b.x, a.y+b.y, a.z+b.z, a.w+b.w};
+}
+
+Point3
+subpt3(Point3 a, Point3 b)
+{
+	return (Point3){a.x-b.x, a.y-b.y, a.z-b.z, a.w-b.w};
+}
+
+Point3
+mulpt3(Point3 p, double s)
+{
+	return (Point3){p.x*s, p.y*s, p.z*s, p.w*s};
+}
+
+Point3
+divpt3(Point3 p, double s)
+{
+	return (Point3){p.x/s, p.y/s, p.z/s, p.w/s};
+}
+
+Point3
+lerp3(Point3 a, Point3 b, double t)
+{
+	if(t < 0) t = 0;
+	if(t > 1) t = 1;
+	return (Point3){
+		(1 - t)*a.x + t*b.x,
+		(1 - t)*a.y + t*b.y,
+		(1 - t)*a.z + t*b.z,
+		(1 - t)*a.w + t*b.w
+	};
+}
+
+double
+dotvec3(Point3 a, Point3 b)
+{
+	return a.x*b.x + a.y*b.y + a.z*b.z;
+}
+
+Point3
+crossvec3(Point3 a, Point3 b)
+{
+	return (Point3){
+		a.y*b.z - a.z*b.y,
+		a.z*b.x - a.x*b.z,
+		a.x*b.y - a.y*b.x,
+		0
+	};
+}
+
+double
+vec3len(Point3 v)
+{
+	return sqrt(dotvec3(v, v));
+}
+
+Point3
+normvec3(Point3 v)
+{
+	double len;
+
+	len = vec3len(v);
+	if(len == 0)
+		return (Point3){0, 0, 0, 0};
+	return (Point3){v.x/len, v.y/len, v.z/len, 0};
+}
diff --git a/libgeometry/quaternion.c b/libgeometry/quaternion.c
new file mode 100644
index 0000000..b8eaa88
--- /dev/null
+++ b/libgeometry/quaternion.c
@@ -0,0 +1,90 @@
+#include <u.h>
+#include <libc.h>
+#include "../geometry.h"
+
+Quaternion
+Quat(double r, double i, double j, double k)
+{
+	return (Quaternion){r, i, j, k};
+}
+
+Quaternion
+Quatvec(double s, Point3 v)
+{
+	return (Quaternion){s, v.x, v.y, v.z};
+}
+
+Quaternion
+addq(Quaternion a, Quaternion b)
+{
+	return (Quaternion){a.r+b.r, a.i+b.i, a.j+b.j, a.k+b.k};
+}
+
+Quaternion
+subq(Quaternion a, Quaternion b)
+{
+	return (Quaternion){a.r-b.r, a.i-b.i, a.j-b.j, a.k-b.k};
+}
+
+Quaternion
+mulq(Quaternion q, Quaternion r)
+{
+	Point3 qv, rv, tmp;
+
+	qv = Vec3(q.i, q.j, q.k);
+	rv = Vec3(r.i, r.j, r.k);
+	tmp = addpt3(addpt3(mulpt3(rv, q.r), mulpt3(qv, r.r)), crossvec3(qv, rv));
+	return (Quaternion){q.r*r.r - dotvec3(qv, rv), tmp.x, tmp.y, tmp.z};
+}
+
+Quaternion
+smulq(Quaternion q, double s)
+{
+	return (Quaternion){q.r*s, q.i*s, q.j*s, q.k*s};
+}
+
+Quaternion
+sdivq(Quaternion q, double s)
+{
+	return (Quaternion){q.r/s, q.i/s, q.j/s, q.k/s};
+}
+
+double
+dotq(Quaternion q, Quaternion r)
+{
+	return q.r*r.r + q.i*r.i + q.j*r.j + q.k*r.k;
+}
+
+Quaternion
+invq(Quaternion q)
+{
+	double len²;
+
+	len² = dotq(q, q);
+	if(len² == 0)
+		return (Quaternion){0, 0, 0, 0};
+	return (Quaternion){q.r/len², -q.i/len², -q.j/len², -q.k/len²};
+}
+
+double
+qlen(Quaternion q)
+{
+	return sqrt(q.r*q.r + q.i*q.i + q.j*q.j + q.k*q.k);
+}
+
+Quaternion
+normq(Quaternion q)
+{
+	return sdivq(q, qlen(q));
+}
+
+Point3
+qrotate(Point3 p, Point3 axis, double angle)
+{
+	Quaternion qaxis, qr;
+
+	angle /= 2;
+	qaxis = Quatvec(cos(angle), mulpt3(axis, sin(angle)));
+	qr = mulq(mulq(qaxis, Quatvec(0, p)), invq(qaxis));
+	return Vec3(qr.i, qr.j, qr.k);
+}
diff --git a/libgeometry/rframe.c b/libgeometry/rframe.c
new file mode 100644
index 0000000..06d63f2
--- /dev/null
+++ b/libgeometry/rframe.c
@@ -0,0 +1,51 @@
+#include <u.h>
+#include <libc.h>
+#include "../geometry.h"
+
+Point2
+rframexform(Point2 p, RFrame rf)
+{
+	Matrix m = {
+		rf.bx.x, rf.bx.y, -dotvec2(rf.bx, rf.p),
+		rf.by.x, rf.by.y, -dotvec2(rf.by, rf.p),
+		0, 0, 1,
+	};
+	return xform(p, m);
+}
+
+Point3
+rframexform3(Point3 p, RFrame3 rf)
+{
+	Matrix3 m = {
+		rf.bx.x, rf.bx.y, rf.bx.z, -dotvec3(rf.bx, rf.p),
+		rf.by.x, rf.by.y, rf.by.z, -dotvec3(rf.by, rf.p),
+		rf.bz.x, rf.bz.y, rf.bz.z, -dotvec3(rf.bz, rf.p),
+		0, 0, 0, 1,
+	};
+	return xform3(p, m);
+}
+
+Point2
+invrframexform(Point2 p, RFrame rf)
+{
+	Matrix m = {
+		rf.bx.x, rf.bx.y, -dotvec2(rf.bx, rf.p),
+		rf.by.x, rf.by.y, -dotvec2(rf.by, rf.p),
+		0, 0, 1,
+	};
+	invm(m);
+	return xform(p, m);
+}
+
+Point3
+invrframexform3(Point3 p, RFrame3 rf)
+{
+	Matrix3 m = {
+		rf.bx.x, rf.bx.y, rf.bx.z, -dotvec3(rf.bx, rf.p),
+		rf.by.x, rf.by.y, rf.by.z, -dotvec3(rf.by, rf.p),
+		rf.bz.x, rf.bz.y, rf.bz.z, -dotvec3(rf.bz, rf.p),
+		0, 0, 0, 1,
+	};
+	invm3(m);
+	return xform3(p, m);
+}
diff --git a/libgeometry/triangle.c b/libgeometry/triangle.c
new file mode 100644
index 0000000..a8bbf0f
--- /dev/null
+++ b/libgeometry/triangle.c
@@ -0,0 +1,9 @@
+#include <u.h>
+#include <libc.h>
+#include "../geometry.h"
+
+Point3
+centroid(Triangle3 t)
+{
+	return divpt3(addpt3(t.p0, addpt3(t.p1, t.p2)), 3);
+}
diff --git a/libgraphics/camera.c b/libgraphics/camera.c
new file mode 100644
index 0000000..c850477
--- /dev/null
+++ b/libgraphics/camera.c
@@ -0,0 +1,103 @@
+#include <u.h>
+#include <libc.h>
+#include <draw.h>
+#include "../geometry.h"
+#include "../graphics.h"
+
+static int
+max(int a, int b)
+{
+	return a > b ? a : b;
+}
+
+static void
+verifycfg(Camera *c)
+{
+	assert(c->viewport != nil);
+	if(c->ptype == Ppersp)
+		assert(c->fov >= 1 && c->fov < 360);
+	assert(c->clip.n > 0 && c->clip.n < c->clip.f);
+}
+
+void
+perspective(Matrix3 m, double fov, double a, double n, double f)
+{
+	double cotan;
+
+	cotan = 1/tan(fov/2*DEG);
+	identity3(m);
+	m[0][0] =  cotan/a;
+	m[1][1] =  cotan;
+	m[2][2] = -(f+n)/(f-n);
+	m[2][3] = -2*f*n/(f-n);
+	m[3][2] = -1;
+}
+
+void
+orthographic(Matrix3 m, double l, double r, double b, double t, double n, double f)
+{
+	identity3(m);
+	m[0][0] =  2/(r - l);
+	m[1][1] =  2/(t - b);
+	m[2][2] = -2/(f - n);
+	m[0][3] = -(r + l)/(r - l);
+	m[1][3] = -(t + b)/(t - b);
+	m[2][3] = -(f + n)/(f - n);
+}
+
+void
+configcamera(Camera *c, Image *v, double fov, double n, double f, Projection p)
+{
+	c->viewport = v;
+	c->fov = fov;
+	c->clip.n = n;
+	c->clip.f = f;
+	c->ptype = p;
+	reloadcamera(c);
+}
+
+void
+placecamera(Camera *c, Point3 p, Point3 focus, Point3 up)
+{
+	c->p = p;
+	if(focus.w == 0)
+		c->bz = focus;
+	else
+		c->bz = normvec3(subpt3(c->p, focus));
+	c->bx = normvec3(crossvec3(up, c->bz));
+	c->by = crossvec3(c->bz, c->bx);
+}
+
+void
+aimcamera(Camera *c, Point3 focus)
+{
+	placecamera(c, c->p, focus, c->by);
+}
+
+void
+reloadcamera(Camera *c)
+{
+	double a;
+	double l, r, b, t;
+
+	verifycfg(c);
+	switch(c->ptype){
+	case Portho:
+		/*
+		r = Dx(c->viewport->r)/2;
+		t = Dy(c->viewport->r)/2;
+		l = -r;
+		b = -t;
+		*/
+		l = t = 0;
+		r = Dx(c->viewport->r);
+		b = Dy(c->viewport->r);
+		orthographic(c->proj, l, r, b, t, c->clip.n, c->clip.f);
+		break;
+	case Ppersp:
+		a = (double)Dx(c->viewport->r)/Dy(c->viewport->r);
+		perspective(c->proj, c->fov, a, c->clip.n, c->clip.f);
+		break;
+	default: sysfatal("unknown projection type");
+	}
+}
diff --git a/libgraphics/doc/libgraphics.ms b/libgraphics/doc/libgraphics.ms
new file mode 100644
index 0000000..87a23a7
--- /dev/null
+++ b/libgraphics/doc/libgraphics.ms
@@ -0,0 +1,34 @@
+.TL
+libgraphics
+.AU
+Rodrigo G. López
+.sp
+rgl@antares-labs.eu
+.AI
+Antares Telecom Laboratories
+Albatera, Alicante
+.FS
+ACHTUNG! this is a
+.B "WORK IN PROGRESS"
+.FE
+.NH 1
+Data Structures
+.NH 2
+Camera
+.P1
+struct Camera {
+	RFrame3;		/* VCS */
+	Image *viewport;
+	double fov;		/* vertical FOV */
+	struct {
+		double n, f;	/* near and far clipping planes */
+	} clip;
+	Projection ptype;
+	Matrix3 proj;		/* VCS to viewport xform */
+};
+.P2
+.PP
+A camera is an image capturing entity, analog to the real world device
+we all know, that allows us to see the virtual 3-D world by projecting
+it into a viewport we can attach to a screen or window for real-time
+visualization or write out into a file.
diff --git a/libgraphics/doc/libgraphics.pdf b/libgraphics/doc/libgraphics.pdf
new file mode 100644
index 0000000..0291710
--- /dev/null
+++ b/libgraphics/doc/libgraphics.pdf
diff --git a/libgraphics/doc/libgraphics.ps b/libgraphics/doc/libgraphics.ps
new file mode 100644
index 0000000..1a566f7
--- /dev/null
+++ b/libgraphics/doc/libgraphics.ps
@@ -0,0 +1,583 @@
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+	/braceleftbt		[203 490]
+	/bracketrightex		[220 -125 500 0]
+	/radical		[0 0 550 0]
+	/radicalex		[-50 0 500 0]
+	/parenleftex		[-20 -170 0 0]
+	/integral		[100 -50 500 0]
+	/infinity		[10 -75 730 0]
+] def
+
+/S1defs [
+	/underscore		[0 80 500 0]
+	/endash			[7 90 650 0]
+] def
+%
+% Tries to round clipping path dimensions, as stored in array pagebbox, so they
+% match one of the known sizes in the papersizes array. Lower left coordinates
+% are always set to 0.
+%
+
+/roundpagebbox {
+    7 dict begin
+	/papersizes [8.5 inch 11 inch 14 inch 17 inch] def
+
+	/mappapersize {
+		/val exch def
+		/slop .5 inch def
+		/diff slop def
+		/j 0 def
+		0 1 papersizes length 1 sub {
+			/i exch def
+			papersizes i get val sub abs
+			dup diff le {/diff exch def /j i def} {pop} ifelse
+		} for
+		diff slop lt {papersizes j get} {val} ifelse
+	} def
+
+	pagebbox 0 0 put
+	pagebbox 1 0 put
+	pagebbox dup 2 get mappapersize 2 exch put
+	pagebbox dup 3 get mappapersize 3 exch put
+    end
+} bind def
+
+%%EndProlog
+%%BeginSetup
+mark
+%
+% Encoding vector and redefinition of findfont for the ISO Latin1 standard.
+% The 18 characters missing from ROM based fonts on older printers are noted
+% below.
+%
+
+/ISOLatin1Encoding [
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/space
+	/exclam
+	/quotedbl
+	/numbersign
+	/dollar
+	/percent
+	/ampersand
+	/quoteright
+	/parenleft
+	/parenright
+	/asterisk
+	/plus
+	/comma
+	/minus
+	/period
+	/slash
+	/zero
+	/one
+	/two
+	/three
+	/four
+	/five
+	/six
+	/seven
+	/eight
+	/nine
+	/colon
+	/semicolon
+	/less
+	/equal
+	/greater
+	/question
+	/at
+	/A
+	/B
+	/C
+	/D
+	/E
+	/F
+	/G
+	/H
+	/I
+	/J
+	/K
+	/L
+	/M
+	/N
+	/O
+	/P
+	/Q
+	/R
+	/S
+	/T
+	/U
+	/V
+	/W
+	/X
+	/Y
+	/Z
+	/bracketleft
+	/backslash
+	/bracketright
+	/asciicircum
+	/underscore
+	/quoteleft
+	/a
+	/b
+	/c
+	/d
+	/e
+	/f
+	/g
+	/h
+	/i
+	/j
+	/k
+	/l
+	/m
+	/n
+	/o
+	/p
+	/q
+	/r
+	/s
+	/t
+	/u
+	/v
+	/w
+	/x
+	/y
+	/z
+	/braceleft
+	/bar
+	/braceright
+	/asciitilde
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/.notdef
+	/dotlessi
+	/grave
+	/acute
+	/circumflex
+	/tilde
+	/macron
+	/breve
+	/dotaccent
+	/dieresis
+	/.notdef
+	/ring
+	/cedilla
+	/.notdef
+	/hungarumlaut
+	/ogonek
+	/caron
+	/space
+	/exclamdown
+	/cent
+	/sterling
+	/currency
+	/yen
+	/brokenbar		% missing
+	/section
+	/dieresis
+	/copyright
+	/ordfeminine
+	/guillemotleft
+	/logicalnot
+	/hyphen
+	/registered
+	/macron
+	/degree			% missing
+	/plusminus		% missing
+	/twosuperior		% missing
+	/threesuperior		% missing
+	/acute
+	/mu			% missing
+	/paragraph
+	/periodcentered
+	/cedilla
+	/onesuperior		% missing
+	/ordmasculine
+	/guillemotright
+	/onequarter		% missing
+	/onehalf		% missing
+	/threequarters		% missing
+	/questiondown
+	/Agrave
+	/Aacute
+	/Acircumflex
+	/Atilde
+	/Adieresis
+	/Aring
+	/AE
+	/Ccedilla
+	/Egrave
+	/Eacute
+	/Ecircumflex
+	/Edieresis
+	/Igrave
+	/Iacute
+	/Icircumflex
+	/Idieresis
+	/Eth			% missing
+	/Ntilde
+	/Ograve
+	/Oacute
+	/Ocircumflex
+	/Otilde
+	/Odieresis
+	/multiply		% missing
+	/Oslash
+	/Ugrave
+	/Uacute
+	/Ucircumflex
+	/Udieresis
+	/Yacute			% missing
+	/Thorn			% missing
+	/germandbls
+	/agrave
+	/aacute
+	/acircumflex
+	/atilde
+	/adieresis
+	/aring
+	/ae
+	/ccedilla
+	/egrave
+	/eacute
+	/ecircumflex
+	/edieresis
+	/igrave
+	/iacute
+	/icircumflex
+	/idieresis
+	/eth			% missing
+	/ntilde
+	/ograve
+	/oacute
+	/ocircumflex
+	/otilde
+	/odieresis
+	/divide			% missing
+	/oslash
+	/ugrave
+	/uacute
+	/ucircumflex
+	/udieresis
+	/yacute			% missing
+	/thorn			% missing
+	/ydieresis
+] def
+
+/NewFontDirectory FontDirectory maxlength dict def
+
+%
+% Apparently no guarantee findfont is defined in systemdict so the obvious
+%
+%	systemdict /findfont get exec
+%
+% can generate an error. So far the only exception is a VT600 (version 48.0).
+%
+
+userdict /@RealFindfont known not {
+	userdict begin
+		/@RealFindfont systemdict begin /findfont load end def
+	end
+} if
+
+/findfont {
+	dup NewFontDirectory exch known not {
+		dup
+		%dup systemdict /findfont get exec	% not always in systemdict
+		dup userdict /@RealFindfont get exec
+		dup /Encoding get StandardEncoding eq {
+			dup length dict begin
+				{1 index /FID ne {def}{pop pop} ifelse} forall
+				/Encoding ISOLatin1Encoding def
+				currentdict
+			end
+			/DummyFontName exch definefont
+		} if
+		NewFontDirectory 3 1 roll put
+	} if
+	NewFontDirectory exch get
+} bind def
+
+%%Patch from lp
+%%EndPatch from lp
+
+setup
+%%EndSetup
+%%Page: 1 1
+/saveobj save def
+mark
+1 pagesetup
+12 /LucidaSans-Demi f
+(libgraphics) 2533 1220 w
+10 /LucidaSans-Italic f
+(Rodrigo G. L\363pez) 2469 1480 w
+(rgl@antares-labs.eu) 2377 1760 w
+10 /LucidaSansUnicode00 f
+(Antares Telecom Laboratories) 2156 1960 w
+(Albatera, Alicante) 2451 2100 w
+10 /LucidaSans-Demi f
+(1.) 720 2700 w
+(Data Structures) 873 2700 w
+(1.1.) 720 2940 w
+(Camera) 962 2940 w
+9 /LucidaTypewriter f
+(struct) 920 3110 w
+(Camera) 1375 3110 w
+({) 1830 3110 w
+(};) 920 3330 w
+10 /LucidaSansUnicode00 f
+(A camera) 970 3546 w
+8 /S1 f
+(__________________) 720 6980 w
+8 /LucidaSansUnicode00 f
+(ACHTUNG!) 720 7080 w
+(this) 1163 7080 w
+(is) 1333 7080 w
+(a) 1423 7080 w
+8 /LucidaSans-Demi f
+(WORK) 1493 7080 w
+(IN) 1769 7080 w
+(PROGRESS) 1883 7080 w
+cleartomark
+showpage
+saveobj restore
+%%EndPage: 1 1
+%%Trailer
+done
+%%DocumentFonts: S1 LucidaSansUnicode00 LucidaSans-Demi LucidaSans-Italic LucidaTypewriter
+%%Pages: 1
diff --git a/libgraphics/doc/mkfile b/libgraphics/doc/mkfile
new file mode 100644
index 0000000..3bac031
--- /dev/null
+++ b/libgraphics/doc/mkfile
@@ -0,0 +1,15 @@
+FONTS='.FP lucidasans'
+DOCNAME=libgraphics
+
+all:VQ: $DOCNAME.ps $DOCNAME.pdf
+
+clean:VQ:
+	rm -f $DOCNAME.ps $DOCNAME.pdf
+
+$DOCNAME.ps:V: $DOCNAME.ms
+	{echo $FONTS; cat $prereq}> _$prereq
+	eval `{doctype _$prereq} | lp -dstdout > $target && rm -f _$prereq
+
+$DOCNAME.pdf:V: $DOCNAME.ps
+	cat /sys/doc/docfonts $prereq > _$prereq
+	ps2pdf _$prereq $target && rm -f _$prereq
diff --git a/libgraphics/mkfile b/libgraphics/mkfile
new file mode 100644
index 0000000..b7669a3
--- /dev/null
+++ b/libgraphics/mkfile
@@ -0,0 +1,11 @@
+</$objtype/mkfile
+
+LIB=../libgraphics.a$O
+OFILES=\
+	triangle.$O\
+	camera.$O\
+	render.$O\
+
+HFILES=../graphics.h
+
+</sys/src/cmd/mklib
diff --git a/libgraphics/render.c b/libgraphics/render.c
new file mode 100644
index 0000000..f4e4c0f
--- /dev/null
+++ b/libgraphics/render.c
@@ -0,0 +1,84 @@
+#include <u.h>
+#include <libc.h>
+#include <draw.h>
+#include "../geometry.h"
+#include "../graphics.h"
+
+/*
+ * careful with concurrent rendering.
+ * use a lock or embed on each routine.
+ */
+static RFrame imgrframe = {
+	0,  0, 1,	/* p */
+	1,  0, 0,	/* bx */
+	0, -1, 0	/* by */
+};
+
+/* requires p to be in NDC */
+int
+isclipping(Point3 p)
+{
+	if(p.x > p.w || p.x < -p.w ||
+	   p.y > p.w || p.y < -p.w ||
+	   p.z > p.w || p.z < 0)
+		return 1;
+	return 0;
+}
+
+static Point2
+flatten(Camera *c, Point3 p)
+{
+	Point2 p2;
+	Matrix S = {
+		Dx(c->viewport->r)/2, 0, 0,
+		0, Dy(c->viewport->r)/2, 0,
+		0, 0, 1,
+	}, T = {
+		1, 0, 1,
+		0, 1, 1,
+		0, 0, 1,
+	};
+
+	p2 = (Point2){p.x, p.y, p.w};
+	if(p2.w != 0)
+		p2 = divpt2(p2, p2.w);
+	mulm(S, T);
+	p2 = xform(p2, S);
+	return p2;
+}
+
+Point
+toviewport(Camera *c, Point3 p)
+{
+	Point2 p2;
+
+	imgrframe.p = Pt2(c->viewport->r.min.x, c->viewport->r.max.y, 1);
+	p2 = invrframexform(flatten(c, p), imgrframe);
+	return (Point){p2.x, p2.y};
+}
+
+Point2
+fromviewport(Camera *c, Point p)
+{
+	imgrframe.p = Pt2(c->viewport->r.min.x, c->viewport->r.max.y, 1);
+	return rframexform(Pt2(p.x, p.y, 1), imgrframe);
+}
+
+void
+line3(Camera *c, Point3 p0, Point3 p1, int end0, int end1, Image *src)
+{
+	p0 = WORLD2NDC(c, p0);
+	p1 = WORLD2NDC(c, p1);
+	if(isclipping(p0) || isclipping(p1))
+		return;
+	line(c->viewport, toviewport(c, p0), toviewport(c, p1), end0, end1, 0, src, ZP);
+}
+
+Point
+string3(Camera *c, Point3 p, Image *src, Font *f, char *s)
+{
+	p = WORLD2NDC(c, p);
+	if(isclipping(p))
+		return (Point){~0, ~0};
+	return string(c->viewport, toviewport(c, p), src, ZP, f, s);
+}
diff --git a/libgraphics/triangle.c b/libgraphics/triangle.c
new file mode 100644
index 0000000..b598855
--- /dev/null
+++ b/libgraphics/triangle.c
@@ -0,0 +1,43 @@
+#include <u.h>
+#include <libc.h>
+#include <draw.h>
+#include "../geometry.h"
+#include "../graphics.h"
+
+Triangle
+Trian(int x0, int y0, int x1, int y1, int x2, int y2)
+{
+	return (Triangle){Pt(x0, y0), Pt(x1, y1), Pt(x2, y2)};
+}
+
+Triangle
+Trianpt(Point p0, Point p1, Point p2)
+{
+	return (Triangle){p0, p1, p2};
+}
+
+void
+triangle(Image *dst, Triangle t, int thick, Image *src, Point sp)
+{
+	Point pl[4];
+
+	pl[0] = t.p0;
+	pl[1] = t.p1;
+	pl[2] = t.p2;
+	pl[3] = pl[0];
+
+	poly(dst, pl, nelem(pl), 0, 0, thick, src, sp);
+}
+
+void
+filltriangle(Image *dst, Triangle t, Image *src, Point sp)
+{
+	Point pl[4];
+
+	pl[0] = t.p0;
+	pl[1] = t.p1;
+	pl[2] = t.p2;
+	pl[3] = pl[0];
+
+	fillpoly(dst, pl, nelem(pl), 0, src, sp);
+}
diff --git a/libobj/examples/box.obj b/libobj/examples/box.obj
new file mode 100644
index 0000000..bd72661
--- /dev/null
+++ b/libobj/examples/box.obj
@@ -0,0 +1,30 @@
+#                       Vertices: 8
+#                         Points: 0
+#                          Lines: 0
+#                          Faces: 6
+#                      Materials: 1
+
+o 1
+
+# Vertex list
+
+v -0.5 -0.5 0.5
+v -0.5 -0.5 -0.5
+v -0.5 0.5 -0.5
+v -0.5 0.5 0.5
+v 0.5 -0.5 0.5
+v 0.5 -0.5 -0.5
+v 0.5 0.5 -0.5
+v 0.5 0.5 0.5
+
+# Point/Line/Face list
+
+usemtl Default
+f 4 3 2 1
+f 2 6 5 1
+f 3 7 6 2
+f 8 7 3 4
+f 5 8 4 1
+f 6 7 8 5
+
+# End of file
diff --git a/libobj/examples/cube.obj b/libobj/examples/cube.obj
new file mode 100644
index 0000000..c569712
--- /dev/null
+++ b/libobj/examples/cube.obj
@@ -0,0 +1,16 @@
+# This is a cube that measures two units on each side.  Each vertex is
+# shared by three different faces.
+v 0.000000 2.000000 2.000000
+v 0.000000 0.000000 2.000000
+v 2.000000 0.000000 2.000000
+v 2.000000 2.000000 2.000000
+v 0.000000 2.000000 0.000000
+v 0.000000 0.000000 0.000000
+v 2.000000 0.000000 0.000000
+v 2.000000 2.000000 0.000000
+f 1 2 3 4
+f 8 7 6 5
+f 4 3 7 8
+f 5 1 4 8
+f 5 6 2 1
+f 2 6 7 3
diff --git a/libobj/examples/diamond.obj b/libobj/examples/diamond.obj
new file mode 100644
index 0000000..519f3ac
--- /dev/null
+++ b/libobj/examples/diamond.obj
@@ -0,0 +1,20 @@
+# diamond.obj
+
+g Object001
+
+v 0.000000E+00 0.000000E+00 78.0000
+v 45.0000 45.0000 0.000000E+00
+v 45.0000 -45.0000 0.000000E+00
+v -45.0000 -45.0000 0.000000E+00
+v -45.0000 45.0000 0.000000E+00
+v 0.000000E+00 0.000000E+00 -78.0000
+
+f     1 2 3
+f     1 3 4
+f     1 4 5
+f     1 5 2
+f     6 5 4
+f     6 4 3
+f     6 3 2
+f     6 2 1
+f     6 1 5
diff --git a/libobj/examples/lamp.obj b/libobj/examples/lamp.obj
new file mode 100644
index 0000000..d8023e1
--- /dev/null
+++ b/libobj/examples/lamp.obj
@@ -0,0 +1,8863 @@
+#  Viewpoint Datalabs International, Inc.  Copyright 1996
+
+
+mtllib ./vp.mtl
+
+g
+v 0.000000 8.407028 0.000000
+v 0.000000 8.380042 -0.204985
+v 0.053054 8.380042 -0.198000
+v 0.102492 8.380042 -0.177522
+v 0.144946 8.380042 -0.144946
+v 0.177522 8.380042 -0.102492
+v 0.198000 8.380042 -0.053054
+v 0.204985 8.380042 0.000000
+v 0.198000 8.380042 0.053054
+v 0.177522 8.380042 0.102492
+v 0.144946 8.380042 0.144946
+v 0.102493 8.380042 0.177522
+v 0.053054 8.380042 0.198000
+v 0.000000 8.380042 0.204985
+v -0.053054 8.380042 0.198000
+v -0.102492 8.380042 0.177522
+v -0.144946 8.380042 0.144946
+v -0.177522 8.380042 0.102493
+v -0.198000 8.380042 0.053054
+v -0.204985 8.380042 0.000000
+v -0.198000 8.380042 -0.053054
+v -0.177522 8.380042 -0.102492
+v -0.144946 8.380042 -0.144946
+v -0.102493 8.380042 -0.177522
+v -0.053054 8.380042 -0.198000
+v 0.000000 8.300921 -0.396000
+v 0.102492 8.300921 -0.382507
+v 0.198000 8.300921 -0.342946
+v 0.280014 8.300921 -0.280014
+v 0.342946 8.300921 -0.198000
+v 0.382506 8.300921 -0.102493
+v 0.396000 8.300921 0.000000
+v 0.382507 8.300921 0.102492
+v 0.342946 8.300921 0.198000
+v 0.280015 8.300921 0.280014
+v 0.198000 8.300921 0.342946
+v 0.102493 8.300921 0.382506
+v 0.000000 8.300921 0.396000
+v -0.102492 8.300921 0.382507
+v -0.197999 8.300921 0.342946
+v -0.280014 8.300921 0.280015
+v -0.342946 8.300921 0.198000
+v -0.382506 8.300921 0.102493
+v -0.396000 8.300921 0.000000
+v -0.382507 8.300921 -0.102492
+v -0.342946 8.300921 -0.197999
+v -0.280015 8.300921 -0.280014
+v -0.198001 8.300921 -0.342946
+v -0.102493 8.300921 -0.382506
+v 0.000000 8.175057 -0.560028
+v 0.144946 8.175057 -0.540946
+v 0.280014 8.175057 -0.484999
+v 0.396000 8.175057 -0.396000
+v 0.484999 8.175057 -0.280015
+v 0.540946 8.175057 -0.144947
+v 0.560028 8.175057 0.000000
+v 0.540946 8.175057 0.144945
+v 0.484999 8.175057 0.280014
+v 0.396000 8.175057 0.395999
+v 0.280015 8.175057 0.484999
+v 0.144947 8.175057 0.540946
+v 0.000000 8.175057 0.560028
+v -0.144945 8.175057 0.540946
+v -0.280014 8.175057 0.484999
+v -0.395999 8.175057 0.396001
+v -0.484998 8.175057 0.280015
+v -0.540946 8.175057 0.144947
+v -0.560028 8.175057 0.000000
+v -0.540946 8.175057 -0.144945
+v -0.484999 8.175057 -0.280013
+v -0.396001 8.175057 -0.395999
+v -0.280015 8.175057 -0.484998
+v -0.144947 8.175057 -0.540946
+v 0.000000 8.011028 -0.685892
+v 0.177521 8.011028 -0.662521
+v 0.342946 8.011028 -0.594000
+v 0.484999 8.011028 -0.484999
+v 0.594000 8.011028 -0.342947
+v 0.662521 8.011028 -0.177523
+v 0.685892 8.011028 0.000000
+v 0.662521 8.011028 0.177521
+v 0.594000 8.011028 0.342945
+v 0.484999 8.011028 0.484998
+v 0.342947 8.011028 0.594000
+v 0.177523 8.011028 0.662521
+v 0.000000 8.011028 0.685892
+v -0.177521 8.011028 0.662521
+v -0.342945 8.011028 0.594000
+v -0.484998 8.011028 0.485000
+v -0.593999 8.011028 0.342947
+v -0.662521 8.011028 0.177523
+v -0.685892 8.011028 0.000001
+v -0.662521 8.011028 -0.177521
+v -0.594001 8.011028 -0.342945
+v -0.485000 8.011028 -0.484998
+v -0.342947 8.011028 -0.593999
+v -0.177523 8.011028 -0.662521
+v 0.000000 7.820013 -0.765013
+v 0.197999 7.820013 -0.738946
+v 0.382506 7.820013 -0.662521
+v 0.540946 7.820013 -0.540946
+v 0.662521 7.820013 -0.382507
+v 0.738946 7.820013 -0.198001
+v 0.765013 7.820013 0.000000
+v 0.738946 7.820013 0.197999
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+f 3997 4004 4005 3996
+f 4372 4371 3992 3993
+f 4440 4012 4024 4025 3989
+f 3986 4028 4029 3985
+f 4002 4014 4015 4003
+f 4006 4018 4019 4007
+f 4010 4022 4023 4011
+f 4014 4031 4032 4015
+f 4351 4035 4036 4369
+f 4363 4039 4040 4360
+f 4026 4055 4056 4027
+f 3115 3149 4042 4030
+f 4033 4045 4046 4034
+f 4037 4049 4050 4038
+f 3149 3204 4059 4042
+f 4045 4062 4063 4046
+f 4365 4367 4050 4049
+f 4053 4070 4085 4086 4054
+f 4057 4072 4089 4090 4073 4058
+f 4060 4075 4076 4061
+f 4064 4079 4080 4065
+f 4068 4083 4084 4069
+f 4075 4092 4093 4076
+f 4349 4096 4097 4348
+f 4345 4100 4101 4344
+f 4087 4103 4119 4120 4104 4088
+f 3290 3318 4106 4091
+f 4094 4109 4110 4095
+f 4098 4113 4114 4099
+f 3318 3373 4123 4106
+f 4109 4126 4127 4110
+f 4355 4356 4114 4113
+f 4117 4134 4147 4148 4118
+f 4121 4151 4152 4122
+f 4124 4137 4138 4125
+f 4128 4141 4142 4129
+f 4132 4145 4146 4133
+f 4137 4154 4155 4138
+f 4415 4158 4159 4414
+f 4411 4162 4163 4410
+f 4149 4179 4180 4150
+f 3464 3493 4166 4153
+f 4156 4169 4170 4157
+f 4160 4173 4174 4161
+f 3493 3548 4183 4166
+f 4169 4186 4187 4170
+f 4408 4190 4191 4407
+f 4177 4194 4206 4207 4178
+f 4181 4210 4211 4182
+f 4184 4196 4197 4185
+f 4188 4200 4201 4189
+f 4192 4204 4205 4193
+f 4196 4213 4214 4197
+f 4393 4400 4201 4200
+f 4403 4404 4205 4204
+f 4208 4237 4238 4209
+f 3631 3661 4224 4212
+f 4215 4227 4228 4216
+f 4219 4231 4232 4220
+f 3661 3716 4241 4224
+f 4227 4244 4245 4228
+f 4398 4248 4249 4397
+f 4235 4252 4265 4266 4236
+f 4239 4253 4269 4270 4240
+f 4242 4255 4256 4243
+f 4246 4259 4260 4247
+f 4250 4263 4264 4251
+f 4255 4272 4273 4256
+f 4391 4276 4277 4380
+f 4377 4280 4281 4376
+f 4267 4283 4297 4298 4268
+f 3798 3827 4284 4271
+f 4274 4287 4288 4275
+f 4278 4291 4292 4279
+f 3827 3882 4301 4284
+f 4287 4304 4305 4288
+f 4382 4383 4292 4291
+f 4295 4312 4325 4326 4296
+f 4299 4329 4330 4313 4300
+f 4302 4315 4316 4303
+f 4306 4319 4320 4307
+f 4310 4323 4324 4311
+f 4315 4332 4333 4316
+f 4389 4336 4337 4388
+f 4385 4340 4341 4374
+f 4327 3988 3987 4328
+f 3982 2977 4000 4331
+f 4334 3997 3996 4335
+f 4338 3993 3992 4339
+f 4415 4414 4142 4141
+f 4411 4410 4146 4145
+f 4407 4406 4175 4174
+f 4356 4355 4130 4131
+f 4348 4347 4081 4080
+f 4359 4364 4068 4069
+f 4366 4350 4064 4065
+f 4368 4363 4022 4021
+f 4371 4372 4008 4009
+f 4388 4387 4321 4320
+f 4375 4384 4310 4311
+f 4381 4390 4306 4307
+f 4378 4377 4263 4262
+f 4398 4397 4232 4231
+f 4403 4402 4220 4221
+f 4084 4085 4416 4417
+f 4040 4052 4419
+f 4024 4012 4420
+f 4206 4194 4424
+f 4264 4265 4428 4429
+f 4281 4294 4431
+f 4325 4312 4432
+f 4146 4147 4436 4437
+f 4101 4116 4439
+# 4404 elements
diff --git a/libobj/examples/negcube.obj b/libobj/examples/negcube.obj
new file mode 100644
index 0000000..18109cd
--- /dev/null
+++ b/libobj/examples/negcube.obj
@@ -0,0 +1,33 @@
+# This is a cube with negative vertex reference numbers.  Each element
+# references the vertices stored immediately above it in the file.
+# Note that vertices are not shared.
+v 0.000000 2.000000 2.000000
+v 0.000000 0.000000 2.000000
+v 2.000000 0.000000 2.000000
+v 2.000000 2.000000 2.000000
+f -4 -3 -2 -1
+v 2.000000 2.000000 0.000000
+v 2.000000 0.000000 0.000000
+v 0.000000 0.000000 0.000000
+v 0.000000 2.000000 0.000000
+f -4 -3 -2 -1
+v 2.000000 2.000000 2.000000
+v 2.000000 0.000000 2.000000
+v 2.000000 0.000000 0.000000
+v 2.000000 2.000000 0.000000
+f -4 -3 -2 -1
+v 0.000000 2.000000 0.000000
+v 0.000000 2.000000 2.000000
+v 2.000000 2.000000 2.000000
+v 2.000000 2.000000 0.000000
+f -4 -3 -2 -1
+v 0.000000 2.000000 0.000000
+v 0.000000 0.000000 0.000000
+v 0.000000 0.000000 2.000000
+v 0.000000 2.000000 2.000000
+f -4 -3 -2 -1
+v 0.000000 0.000000 2.000000
+v 0.000000 0.000000 0.000000
+v 2.000000 0.000000 0.000000
+v 2.000000 0.000000 2.000000
+f -4 -3 -2 -1
diff --git a/libobj/examples/square.obj b/libobj/examples/square.obj
new file mode 100644
index 0000000..d44fd6d
--- /dev/null
+++ b/libobj/examples/square.obj
@@ -0,0 +1,9 @@
+# This example shows a square that measures two units on each side and
+# faces in the positive direction (toward the camera).  Note that the
+# ordering of the vertices is counterclockwise.  This ordering
+# determines that the square is facing forward.
+v 0.000000 2.000000 0.000000
+v 0.000000 0.000000 0.000000
+v 2.000000 0.000000 0.000000
+v 2.000000 2.000000 0.000000
+f 1 2 3 4
diff --git a/libobj/mkfile b/libobj/mkfile
new file mode 100644
index 0000000..f32264e
--- /dev/null
+++ b/libobj/mkfile
@@ -0,0 +1,9 @@
+</$objtype/mkfile
+
+LIB=../libobj.a$O
+OFILES=\
+	obj.$O\
+
+HFILES=../obj.h
+
+</sys/src/cmd/mklib
diff --git a/libobj/obj.2.man b/libobj/obj.2.man
new file mode 100644
index 0000000..9196385
--- /dev/null
+++ b/libobj/obj.2.man
@@ -0,0 +1,88 @@
+.TH OBJ 2
+.SH NAME
+objparse,
+objfree,
+OBJfmt,
+OBJfmtinstall
+\- OBJ parser
+.SH SYNOPSIS
+.ta 0.7i +0.7i +0.7i +0.7i +0.7i +0.7i +0.7i
+.EX
+#include <u.h>
+#include <libc.h>
+#include <obj.h>
+
+enum {
+	OBJVGeometric,
+	OBJVTexture,
+	OBJVNormal,
+	OBJVParametric,
+	OBJNVERT
+};
+
+enum {
+	OBJEPoint,
+	OBJELine,
+	OBJEFace,
+	OBJECurve,
+	OBJECurve2,
+	OBJESurface
+};
+
+enum {
+	OBJHTSIZE = 17
+};
+
+typedef struct
+{
+	union {
+		struct { double x, y, z, w; };	/* geometric */
+		struct { double u, v, vv; };	/* texture and parametric */
+		struct { double i, j, k; };	/* normal */
+	};
+} OBJVertex;
+
+typedef struct
+{
+	OBJVertex	*verts;
+	int		nvert;
+} OBJVertexArray;
+
+typedef struct
+{
+	int	*indices;
+	int	nindex;
+	int	type;
+	OBJElem	*next;
+} OBJElem;
+
+typedef struct
+{
+	char		*name;
+	OBJElem		*child;
+	OBJObject	*next;
+} OBJObject;
+
+typedef struct
+{
+	OBJVertexArray	vertdata[OBJNVERT];
+	OBJObject	*objtab[OBJHTSIZE];
+} OBJ;
+
+OBJ	*objparse(char *file);
+void	objfree(OBJ *obj);
+int	OBJfmt(Fmt*);
+void	OBJfmtinstall(void);
+.EE
+.SH DESCRIPTION
+An OBJ structure contains geometry and material information about a set of 3D objects
+.SH SOURCE
+.B /sys/src/libobj
+.SH SEE ALSO
+.IR geometry (2)
+.br
+http://paulbourke.net/dataformats/obj
+.br
+https://people.sc.fsu.edu/~jburkardt/data/obj/obj.html
+.SH DIAGNOSTICS
+.SH BUGS
diff --git a/libobj/obj.c b/libobj/obj.c
new file mode 100644
index 0000000..1575f70
--- /dev/null
+++ b/libobj/obj.c
@@ -0,0 +1,584 @@
+#include <u.h>
+#include <libc.h>
+#include <ctype.h>
+#include <bio.h>
+#include "../obj.h"
+
+#undef isspace(c)
+#define isspace(c) ((c) == ' ' || (c) == '\t')
+
+typedef struct Line Line;
+struct Line
+{
+	char *file;
+	ulong lineno;
+};
+
+static Line curline;
+
+static void
+error(char *fmt, ...)
+{
+	va_list va;
+	char buf[ERRMAX], *bp;
+
+	va_start(va, fmt);
+	bp = seprint(buf, buf + sizeof buf, "%s:%lud ", curline.file, curline.lineno);
+	vseprint(bp, buf + sizeof buf, fmt, va);
+	va_end(va);
+	werrstr("%s\n", buf);
+}
+
+static void *
+emalloc(ulong n)
+{
+	void *p;
+
+	p = malloc(n);
+	if(p == nil)
+		sysfatal("malloc: %r");
+	memset(p, 0, n);
+	setmalloctag(p, getcallerpc(&n));
+	return p;
+}
+
+static void *
+erealloc(void *v, ulong n)
+{
+	void *nv;
+
+	nv = realloc(v, n);
+	if(nv == nil)
+		sysfatal("realloc: %r");
+	setrealloctag(nv, getcallerpc(&v));
+	return nv;
+}
+
+static uint
+hash(char *s)
+{
+	uint h;
+
+	h = 0x811c9dc5;
+	while(*s != 0)
+		h = (h^(uchar)*s++) * 0x1000193;
+	return h % OBJHTSIZE;
+}
+
+static void
+addvertva(OBJVertexArray *va, OBJVertex v)
+{
+	va->verts = erealloc(va->verts, ++va->nvert*sizeof(OBJVertex));
+	va->verts[va->nvert-1] = v;
+}
+
+static void
+addvert(OBJ *obj, OBJVertex v, int vtype)
+{
+	addvertva(&obj->vertdata[vtype], v);
+}
+
+static void
+addelem(OBJObject *o, OBJElem *e)
+{
+	OBJElem *ep;
+
+	if(o->child == nil){
+		o->child = e;
+		return;
+	}
+	for(ep = o->child; ep->next != nil; ep = ep->next)
+		;
+	ep->next = e;
+}
+
+static OBJElem *
+allocelem(int t)
+{
+	OBJElem *e;
+
+	e = emalloc(sizeof(OBJElem));
+	e->type = t;
+	return e;
+}
+
+static void
+addelemidx(OBJElem *e, int idx)
+{
+	e->indices = erealloc(e->indices, ++e->nindex*sizeof(int));
+	e->indices[e->nindex-1] = idx;
+}
+
+static void
+freeelem(OBJElem *e)
+{
+	free(e->indices);
+	free(e);
+}
+
+static OBJObject *
+alloco(char *n)
+{
+	OBJObject *o;
+
+	o = emalloc(sizeof(OBJObject));
+	o->name = strdup(n);
+	return o;
+}
+
+static void
+freeo(OBJObject *o)
+{
+	OBJElem *e, *ne;
+
+	free(o->name);
+	for(e = o->child; e != nil; e = ne){
+		ne = e->next;
+		freeelem(e);
+	}
+	free(o);
+}
+
+static void
+pusho(OBJ *obj, OBJObject *o)
+{
+	OBJObject *op, *prev;
+	uint h;
+
+	prev = nil;
+	h = hash(o->name);
+	for(op = obj->objtab[h]; op != nil; prev = op, op = op->next)
+		if(strcmp(op->name, o->name) == 0){
+			o->next = op->next;
+			freeo(op);
+			break;
+		}
+	if(prev == nil){
+		obj->objtab[h] = o;
+		return;
+	}
+	prev->next = o;
+}
+
+static OBJObject *
+geto(OBJ *obj, char *n)
+{
+	OBJObject *o;
+	uint h;
+
+	h = hash(n);
+	for(o = obj->objtab[h]; o != nil; o = o->next)
+		if(strcmp(o->name, n) == 0)
+			break;
+	return o;
+}
+
+OBJ *
+objparse(char *file)
+{
+	Biobuf *bin;
+	OBJ *obj;
+	OBJObject *o;
+	OBJElem *e;
+	OBJVertex v;
+	double *d;
+	char c, buf[256], *p;
+	int vtype, idx, sign;
+
+	o = nil;
+	bin = Bopen(file, OREAD);
+	if(bin == nil)
+		sysfatal("Bopen: %r");
+	curline.file = file;
+	curline.lineno = 1;
+	obj = emalloc(sizeof(OBJ));
+	while((c = Bgetc(bin)) != Beof){
+		switch(c){
+		case 'v':
+			d = (double*)&v;
+			c = Bgetc(bin);
+			vtype = OBJVGeometric;
+			switch(c){
+			case 't': vtype = OBJVTexture; break;
+			case 'p': vtype = OBJVParametric; break;
+			case 'n': vtype = OBJVNormal; break;
+			default:
+				if(!isspace(c)){
+					error("wrong vertex type");
+					goto error;
+				}
+			}
+			while(c = Bgetc(bin), c != Beof && c != '\n' && d-(double*)&v < 4){
+				while(isspace(c))
+					c = Bgetc(bin);
+				if(c == '\\'){
+					while(c != '\n')
+						c = Bgetc(bin);
+					continue;
+				}
+				if(c != '-' && !isdigit(c)){
+					error("unexpected character '%c'", c);
+					goto error;
+				}
+				Bungetc(bin);
+				Bgetd(bin, d++);
+			}
+			switch(vtype){
+			case OBJVGeometric:
+				if(d-(double*)&v < 3){
+					error("not enough coordinates");
+					goto error;
+				}
+				if(d-(double*)&v < 4)
+					*d = 1;	/* default w value */
+				break;
+			case OBJVTexture:
+				if(d-(double*)&v < 1){
+					error("not enough coordinates");
+					goto error;
+				}
+				while(d-(double*)&v < 3)
+					*d++ = 0;	/* default v and w values */
+				break;
+			case OBJVParametric:
+				if(d-(double*)&v < 2){
+					error("not enough coordinates");
+					goto error;
+				}
+				if(d-(double*)&v < 3)
+					*d = 1;	/* default w value */
+				break;
+			case OBJVNormal:
+				if(d-(double*)&v < 3){
+					error("not enough coordinates");
+					goto error;
+				}
+			}
+			addvert(obj, v, vtype);
+			break;
+		case 'o':
+			p = buf;
+			c = Bgetc(bin);
+			if(!isspace(c)){
+				error("syntax error");
+				goto error;
+			}
+			while(isspace(c))
+				c = Bgetc(bin);
+			if(!isalnum(c)){
+				error("unexpected character '%c'", c);
+				goto error;
+			}
+			do{
+				*p++ = c;
+			}while(c = Bgetc(bin), isalnum(c) && p-buf < sizeof(buf)-1);
+			*p = 0;
+			o = geto(obj, buf);
+			if(o == nil){
+				o = alloco(buf);
+				pusho(obj, o);
+			}
+			break;
+		case 'g':
+		case 's':
+			/* element and smoothing groups ignored for now */
+			while(c != '\n')
+				c = Bgetc(bin);
+			break;
+		case 'p':
+			c = Bgetc(bin);
+			if(!isspace(c)){
+				error("syntax error");
+				goto error;
+			}
+			while(c = Bgetc(bin), c != '\n'){
+				idx = 0;
+				sign = 0;
+				while(isspace(c))
+					c = Bgetc(bin);
+				if(c == '\\'){
+					while(c != '\n')
+						c = Bgetc(bin);
+					continue;
+				}
+				if(c != '-' && !isdigit(c)){
+					error("unexpected character '%c'", c);
+					goto error;
+				}
+				if(c == '-'){
+					sign = 1;
+					c = Bgetc(bin);
+					if(!isdigit(c)){
+						error("unexpected character '%c'", c);
+						goto error;
+					}
+				}
+				do{
+					idx = idx*10 + c-'0';
+				}while(c = Bgetc(bin), isdigit(c));
+				Bungetc(bin);
+				idx = sign ? obj->vertdata[OBJVGeometric].nvert-idx : idx-1;
+				if(idx+1 > obj->vertdata[OBJVGeometric].nvert){
+					error("not enough vertices");
+					goto error;
+				}
+				e = allocelem(OBJEPoint);
+				addelemidx(e, idx);
+				if(o == nil){
+					o = alloco("default");
+					pusho(obj, o);
+				}
+				addelem(o, e);
+			}
+			break;
+		case 'l':
+			c = Bgetc(bin);
+			if(!isspace(c)){
+				error("syntax error");
+				goto error;
+			}
+			while(c = Bgetc(bin), c != '\n'){
+				idx = 0;
+				sign = 0;
+				while(isspace(c))
+					c = Bgetc(bin);
+				if(c == '\\'){
+					while(c != '\n')
+						c = Bgetc(bin);
+					continue;
+				}
+				if(c != '-' && !isdigit(c)){
+					error("unexpected character '%c'", c);
+					goto error;
+				}
+				if(c == '-'){
+					sign = 1;
+					c = Bgetc(bin);
+					if(!isdigit(c)){
+						error("unexpected character '%c'", c);
+						goto error;
+					}
+				}
+				do{
+					idx = idx*10 + c-'0';
+				}while(c = Bgetc(bin), isdigit(c));
+				idx = sign ? obj->vertdata[OBJVGeometric].nvert-idx : idx-1;
+				if(idx+1 > obj->vertdata[OBJVGeometric].nvert){
+					error("not enough vertices");
+					goto error;
+				}
+				e = allocelem(OBJELine);
+				addelemidx(e, idx);
+Line2:
+				idx = 0;
+				sign = 0;
+				while(isspace(c))
+					c = Bgetc(bin);
+				if(c == '\\'){
+					while(c != '\n')
+						c = Bgetc(bin);
+					c = Bgetc(bin);
+					goto Line2;
+				}
+				if(c != '-' && !isdigit(c)){
+					freeelem(e);
+					error("unexpected character '%c'", c);
+					goto error;
+				}
+				if(c == '-'){
+					sign = 1;
+					c = Bgetc(bin);
+					if(!isdigit(c)){
+						freeelem(e);
+						error("unexpected character '%c'", c);
+						goto error;
+					}
+				}
+				do{
+					idx = idx*10 + c-'0';
+				}while(c = Bgetc(bin), isdigit(c));
+				Bungetc(bin);
+				idx = sign ? obj->vertdata[OBJVGeometric].nvert-idx : idx-1;
+				if(idx+1 > obj->vertdata[OBJVGeometric].nvert){
+					freeelem(e);
+					error("not enough vertices");
+					goto error;
+				}
+				addelemidx(e, idx);
+				if(o == nil){
+					o = alloco("default");
+					pusho(obj, o);
+				}
+				addelem(o, e);
+			}
+			break;
+		case 'f':
+			e = allocelem(OBJEFace);
+			c = Bgetc(bin);
+			if(!isspace(c)){
+				freeelem(e);
+				error("syntax error");
+				goto error;
+			}
+			while(c = Bgetc(bin), c != '\n'){
+				idx = 0;
+				sign = 0;
+				while(isspace(c))
+					c = Bgetc(bin);
+				if(c == '\\'){
+					while(c != '\n')
+						c = Bgetc(bin);
+					continue;
+				}
+				if(c != '-' && !isdigit(c)){
+					freeelem(e);
+					error("unexpected character '%c'", c);
+					goto error;
+				}
+				if(c == '-'){
+					sign = 1;
+					c = Bgetc(bin);
+					if(!isdigit(c)){
+						freeelem(e);
+						error("unexpected character '%c'", c);
+						goto error;
+					}
+				}
+				do{
+					idx = idx*10 + c-'0';
+				}while(c = Bgetc(bin), isdigit(c));
+				Bungetc(bin);
+				idx = sign ? obj->vertdata[OBJVGeometric].nvert-idx : idx-1;
+				if(idx+1 > obj->vertdata[OBJVGeometric].nvert){
+					freeelem(e);
+					error("not enough vertices");
+					goto error;
+				}
+				addelemidx(e, idx);
+			}
+			if(o == nil){
+				o = alloco("default");
+				pusho(obj, o);
+			}
+			addelem(o, e);
+			break;
+		case 'm':
+		case 'u':
+			p = buf;
+			do{
+				*p++ = c;
+			}while(c = Bgetc(bin), isalpha(c) && p-buf < sizeof(buf)-1);
+			*p = 0;
+			if(strcmp(buf, "mtllib") != 0 && strcmp(buf, "usemtl") != 0){
+				error("syntax error");
+				goto error;
+			}
+			while(c != '\n')
+				c = Bgetc(bin);
+			break;
+		case '#':
+			while(c != '\n')
+				c = Bgetc(bin);
+			break;
+		}
+		do{
+			if(c == '\n'){
+				curline.lineno++;
+				break;
+			}
+			if(!isspace(c)){
+				error("syntax error");
+				goto error;
+			}
+		}while((c = Bgetc(bin)) != Beof);
+	}
+	Bterm(bin);
+	return obj;
+error:
+	objfree(obj);
+	Bterm(bin);
+	return nil;
+}
+
+void
+objfree(OBJ *obj)
+{
+	OBJObject *o, *no;
+	int i;
+
+	if(obj == nil)
+		return;
+	for(i = 0; i < nelem(obj->vertdata); i++)
+		free(obj->vertdata[i].verts);
+	for(i = 0; i < nelem(obj->objtab); i++)
+		for(o = obj->objtab[i]; o != nil; o = no){
+			no = o->next;
+			freeo(o);
+		}
+	free(obj);
+}
+
+int
+OBJfmt(Fmt *f)
+{
+	OBJ *obj;
+	OBJObject *o;
+	OBJElem *e;
+	OBJVertex v;
+	int i, j, r, pack;
+
+	r = pack = 0;
+	obj = va_arg(f->args, OBJ*);
+	for(i = 0; i < nelem(obj->vertdata); i++)
+		for(j = 0; j < obj->vertdata[i].nvert; j++){
+			v = obj->vertdata[i].verts[j];
+			switch(i){
+			case OBJVGeometric:
+				r += fmtprint(f, "v %g %g %g %g\n", v.x, v.y, v.z, v.w);
+				break;
+			case OBJVTexture:
+				r += fmtprint(f, "vt %g %g %g\n", v.u, v.v, v.vv);
+				break;
+			case OBJVNormal:
+				r += fmtprint(f, "vn %g %g %g\n", v.i, v.j, v.k);
+				break;
+			case OBJVParametric:
+				r += fmtprint(f, "vp %g %g %g\n", v.u, v.v, v.vv);
+				break;
+			}
+		}
+	for(i = 0; i < nelem(obj->objtab); i++)
+		for(o = obj->objtab[i]; o != nil; o = o->next){
+			if(strcmp(o->name, "default") != 0)
+				r += fmtprint(f, "o %s\n", o->name);
+			for(e = o->child; e != nil; e = e->next){
+				switch(e->type){
+				case OBJEPoint:
+					if(pack == 0)
+						r += fmtprint(f, "p");
+					pack = pack > 0 ? --pack : 8-1;
+					break;
+				case OBJELine:
+					r += fmtprint(f, "l");
+					break;
+				case OBJEFace:
+					r += fmtprint(f, "f");
+					break;
+				//case OBJECurve:
+				//case OBJECurve2:
+				//case OBJESurface:
+				}
+				for(j = 0; j < e->nindex; j++)
+					r += fmtprint(f, " %d", e->indices[j]+1);
+				if(e->type != OBJEPoint || pack == 0)
+					r += fmtprint(f, "\n");
+			}
+		}
+	return r;
+}
+
+void
+OBJfmtinstall(void)
+{
+	fmtinstall('O', OBJfmt);
+}
diff --git a/libobj/spec b/libobj/spec
new file mode 100644
index 0000000..a535f4b
--- /dev/null
+++ b/libobj/spec
@@ -0,0 +1,2 @@
+http://paulbourke.net/dataformats/obj
+https://people.sc.fsu.edu/~jburkardt/data/obj/obj.html
diff --git a/libobj/test/main.acid b/libobj/test/main.acid
new file mode 100644
index 0000000..25a8f30
--- /dev/null
+++ b/libobj/test/main.acid
@@ -0,0 +1,525 @@
+sizeof_1_ = 8;
+aggr _1_
+{
+	'U' 0 lo;
+	'U' 4 hi;
+};
+
+defn
+_1_(addr) {
+	complex _1_ addr;
+	print("	lo	", addr.lo, "\n");
+	print("	hi	", addr.hi, "\n");
+};
+
+sizeofFPdbleword = 8;
+aggr FPdbleword
+{
+	'F' 0 x;
+	{
+	'U' 0 lo;
+	'U' 4 hi;
+	};
+};
+
+defn
+FPdbleword(addr) {
+	complex FPdbleword addr;
+	print("	x	", addr.x, "\n");
+	print("_1_ {\n");
+		_1_(addr+0);
+	print("}\n");
+};
+
+UTFmax = 4;
+Runesync = 128;
+Runeself = 128;
+Runeerror = 65533;
+Runemax = 1114111;
+Runemask = 2097151;
+sizeofFmt = 80;
+aggr Fmt
+{
+	'b' 0 runes;
+	'Y' 8 start;
+	'Y' 16 to;
+	'Y' 24 stop;
+	'Y' 32 flush;
+	'Y' 40 farg;
+	'D' 48 nfmt;
+	'Y' 56 args;
+	'D' 64 r;
+	'D' 68 width;
+	'D' 72 prec;
+	'U' 76 flags;
+};
+
+defn
+Fmt(addr) {
+	complex Fmt addr;
+	print("	runes	", addr.runes, "\n");
+	print("	start	", addr.start\Y, "\n");
+	print("	to	", addr.to\Y, "\n");
+	print("	stop	", addr.stop\Y, "\n");
+	print("	flush	", addr.flush\Y, "\n");
+	print("	farg	", addr.farg\Y, "\n");
+	print("	nfmt	", addr.nfmt, "\n");
+	print("	args	", addr.args\Y, "\n");
+	print("	r	", addr.r, "\n");
+	print("	width	", addr.width, "\n");
+	print("	prec	", addr.prec, "\n");
+	print("	flags	", addr.flags, "\n");
+};
+
+FmtWidth = 1;
+FmtLeft = 2;
+FmtPrec = 4;
+FmtSharp = 8;
+FmtSpace = 16;
+FmtSign = 32;
+FmtZero = 64;
+FmtUnsigned = 128;
+FmtShort = 256;
+FmtLong = 512;
+FmtVLong = 1024;
+FmtComma = 2048;
+FmtByte = 4096;
+FmtFlag = 8192;
+sizeofTm = 40;
+aggr Tm
+{
+	'D' 0 sec;
+	'D' 4 min;
+	'D' 8 hour;
+	'D' 12 mday;
+	'D' 16 mon;
+	'D' 20 year;
+	'D' 24 wday;
+	'D' 28 yday;
+	'a' 32 zone;
+	'D' 36 tzoff;
+};
+
+defn
+Tm(addr) {
+	complex Tm addr;
+	print("	sec	", addr.sec, "\n");
+	print("	min	", addr.min, "\n");
+	print("	hour	", addr.hour, "\n");
+	print("	mday	", addr.mday, "\n");
+	print("	mon	", addr.mon, "\n");
+	print("	year	", addr.year, "\n");
+	print("	wday	", addr.wday, "\n");
+	print("	yday	", addr.yday, "\n");
+	print("	zone	", addr.zone, "\n");
+	print("	tzoff	", addr.tzoff, "\n");
+};
+
+PNPROC = 1;
+PNGROUP = 2;
+Profoff = 0;
+Profuser = 1;
+Profkernel = 2;
+Proftime = 3;
+Profsample = 4;
+sizeofLock = 8;
+aggr Lock
+{
+	'D' 0 val;
+};
+
+defn
+Lock(addr) {
+	complex Lock addr;
+	print("	val	", addr.val, "\n");
+};
+
+sizeofQLp = 16;
+aggr QLp
+{
+	'D' 0 inuse;
+	'D' 4 state;
+	'A' QLp 8 next;
+};
+
+defn
+QLp(addr) {
+	complex QLp addr;
+	print("	inuse	", addr.inuse, "\n");
+	print("	state	", addr.state, "\n");
+	print("	next	", addr.next\Y, "\n");
+};
+
+sizeofQLock = 32;
+aggr QLock
+{
+	Lock 0 lock;
+	'D' 8 locked;
+	'A' QLp 16 $head;
+	'A' QLp 24 $tail;
+};
+
+defn
+QLock(addr) {
+	complex QLock addr;
+	print("Lock lock {\n");
+	Lock(addr.lock);
+	print("}\n");
+	print("	locked	", addr.locked, "\n");
+	print("	$head	", addr.$head\Y, "\n");
+	print("	$tail	", addr.$tail\Y, "\n");
+};
+
+sizeofRWLock = 32;
+aggr RWLock
+{
+	Lock 0 lock;
+	'D' 8 readers;
+	'D' 12 writer;
+	'A' QLp 16 $head;
+	'A' QLp 24 $tail;
+};
+
+defn
+RWLock(addr) {
+	complex RWLock addr;
+	print("Lock lock {\n");
+	Lock(addr.lock);
+	print("}\n");
+	print("	readers	", addr.readers, "\n");
+	print("	writer	", addr.writer, "\n");
+	print("	$head	", addr.$head\Y, "\n");
+	print("	$tail	", addr.$tail\Y, "\n");
+};
+
+sizeofRendez = 24;
+aggr Rendez
+{
+	'A' QLock 0 l;
+	'A' QLp 8 $head;
+	'A' QLp 16 $tail;
+};
+
+defn
+Rendez(addr) {
+	complex Rendez addr;
+	print("	l	", addr.l\Y, "\n");
+	print("	$head	", addr.$head\Y, "\n");
+	print("	$tail	", addr.$tail\Y, "\n");
+};
+
+sizeofNetConnInfo = 72;
+aggr NetConnInfo
+{
+	'Y' 0 dir;
+	'Y' 8 root;
+	'Y' 16 spec;
+	'Y' 24 lsys;
+	'Y' 32 lserv;
+	'Y' 40 rsys;
+	'Y' 48 rserv;
+	'Y' 56 laddr;
+	'Y' 64 raddr;
+};
+
+defn
+NetConnInfo(addr) {
+	complex NetConnInfo addr;
+	print("	dir	", addr.dir\Y, "\n");
+	print("	root	", addr.root\Y, "\n");
+	print("	spec	", addr.spec\Y, "\n");
+	print("	lsys	", addr.lsys\Y, "\n");
+	print("	lserv	", addr.lserv\Y, "\n");
+	print("	rsys	", addr.rsys\Y, "\n");
+	print("	rserv	", addr.rserv\Y, "\n");
+	print("	laddr	", addr.laddr\Y, "\n");
+	print("	raddr	", addr.raddr\Y, "\n");
+};
+
+RFNAMEG = 1;
+RFENVG = 2;
+RFFDG = 4;
+RFNOTEG = 8;
+RFPROC = 16;
+RFMEM = 32;
+RFNOWAIT = 64;
+RFCNAMEG = 1024;
+RFCENVG = 2048;
+RFCFDG = 4096;
+RFREND = 8192;
+RFNOMNT = 16384;
+sizeofQid = 16;
+aggr Qid
+{
+	'W' 0 path;
+	'U' 8 vers;
+	'b' 12 type;
+};
+
+defn
+Qid(addr) {
+	complex Qid addr;
+	print("	path	", addr.path, "\n");
+	print("	vers	", addr.vers, "\n");
+	print("	type	", addr.type, "\n");
+};
+
+sizeofDir = 80;
+aggr Dir
+{
+	'u' 0 type;
+	'U' 4 dev;
+	Qid 8 qid;
+	'U' 24 mode;
+	'U' 28 atime;
+	'U' 32 mtime;
+	'V' 40 length;
+	'Y' 48 name;
+	'Y' 56 uid;
+	'Y' 64 gid;
+	'Y' 72 muid;
+};
+
+defn
+Dir(addr) {
+	complex Dir addr;
+	print("	type	", addr.type, "\n");
+	print("	dev	", addr.dev, "\n");
+	print("Qid qid {\n");
+	Qid(addr.qid);
+	print("}\n");
+	print("	mode	", addr.mode, "\n");
+	print("	atime	", addr.atime, "\n");
+	print("	mtime	", addr.mtime, "\n");
+	print("	length	", addr.length, "\n");
+	print("	name	", addr.name\Y, "\n");
+	print("	uid	", addr.uid\Y, "\n");
+	print("	gid	", addr.gid\Y, "\n");
+	print("	muid	", addr.muid\Y, "\n");
+};
+
+sizeofWaitmsg = 24;
+aggr Waitmsg
+{
+	'D' 0 pid;
+	'a' 4 time;
+	'Y' 16 msg;
+};
+
+defn
+Waitmsg(addr) {
+	complex Waitmsg addr;
+	print("	pid	", addr.pid, "\n");
+	print("	time	", addr.time, "\n");
+	print("	msg	", addr.msg\Y, "\n");
+};
+
+sizeofIOchunk = 16;
+aggr IOchunk
+{
+	'Y' 0 addr;
+	'U' 8 len;
+};
+
+defn
+IOchunk(addr) {
+	complex IOchunk addr;
+	print("	addr	", addr.addr\Y, "\n");
+	print("	len	", addr.len, "\n");
+};
+
+OBJVGeometric = 0;
+OBJVTexture = 1;
+OBJVNormal = 2;
+OBJVParametric = 3;
+OBJNVERT = 4;
+OBJEPoint = 0;
+OBJELine = 1;
+OBJEFace = 2;
+OBJECurve = 3;
+OBJECurve2 = 4;
+OBJESurface = 5;
+OBJGGlobal = 0;
+OBJGSmoothing = 1;
+OBJGMerging = 2;
+OBJGObject = 3;
+OBJHTSIZE = 16;
+sizeof_2_ = 32;
+aggr _2_
+{
+	'F' 0 x;
+	'F' 8 y;
+	'F' 16 z;
+	'F' 24 w;
+};
+
+defn
+_2_(addr) {
+	complex _2_ addr;
+	print("	x	", addr.x, "\n");
+	print("	y	", addr.y, "\n");
+	print("	z	", addr.z, "\n");
+	print("	w	", addr.w, "\n");
+};
+
+sizeof_3_ = 24;
+aggr _3_
+{
+	'F' 0 u;
+	'F' 8 v;
+	'F' 16 vv;
+};
+
+defn
+_3_(addr) {
+	complex _3_ addr;
+	print("	u	", addr.u, "\n");
+	print("	v	", addr.v, "\n");
+	print("	vv	", addr.vv, "\n");
+};
+
+sizeof_4_ = 24;
+aggr _4_
+{
+	'F' 0 i;
+	'F' 8 j;
+	'F' 16 k;
+};
+
+defn
+_4_(addr) {
+	complex _4_ addr;
+	print("	i	", addr.i, "\n");
+	print("	j	", addr.j, "\n");
+	print("	k	", addr.k, "\n");
+};
+
+sizeof_5_ = 32;
+aggr _5_
+{
+	{
+	'F' 0 x;
+	'F' 8 y;
+	'F' 16 z;
+	'F' 24 w;
+	};
+	{
+	'F' 0 u;
+	'F' 8 v;
+	'F' 16 vv;
+	};
+	{
+	'F' 0 i;
+	'F' 8 j;
+	'F' 16 k;
+	};
+};
+
+defn
+_5_(addr) {
+	complex _5_ addr;
+	print("_2_ {\n");
+		_2_(addr+0);
+	print("}\n");
+	print("_3_ {\n");
+		_3_(addr+0);
+	print("}\n");
+	print("_4_ {\n");
+		_4_(addr+0);
+	print("}\n");
+};
+
+sizeofOBJVertex = 32;
+aggr OBJVertex
+{
+	{
+	{
+	'F' 0 x;
+	'F' 8 y;
+	'F' 16 z;
+	'F' 24 w;
+	};
+	{
+	'F' 0 u;
+	'F' 8 v;
+	'F' 16 vv;
+	};
+	{
+	'F' 0 i;
+	'F' 8 j;
+	'F' 16 k;
+	};
+	};
+};
+
+defn
+OBJVertex(addr) {
+	complex OBJVertex addr;
+	print("_5_ {\n");
+		_5_(addr+0);
+	print("}\n");
+};
+
+sizeofOBJVertexArray = 16;
+aggr OBJVertexArray
+{
+	'A' OBJVertex 0 verts;
+	'D' 8 nvert;
+};
+
+defn
+OBJVertexArray(addr) {
+	complex OBJVertexArray addr;
+	print("	verts	", addr.verts\Y, "\n");
+	print("	nvert	", addr.nvert, "\n");
+};
+
+sizeofOBJElem = 24;
+aggr OBJElem
+{
+	'Y' 0 indices;
+	'D' 8 nindex;
+	'D' 12 type;
+	'A' OBJElem 16 next;
+};
+
+defn
+OBJElem(addr) {
+	complex OBJElem addr;
+	print("	indices	", addr.indices\Y, "\n");
+	print("	nindex	", addr.nindex, "\n");
+	print("	type	", addr.type, "\n");
+	print("	next	", addr.next\Y, "\n");
+};
+
+sizeofOBJObject = 24;
+aggr OBJObject
+{
+	'Y' 0 name;
+	'A' OBJElem 8 child;
+	'A' OBJObject 16 next;
+};
+
+defn
+OBJObject(addr) {
+	complex OBJObject addr;
+	print("	name	", addr.name\Y, "\n");
+	print("	child	", addr.child\Y, "\n");
+	print("	next	", addr.next\Y, "\n");
+};
+
+sizeofOBJ = 192;
+aggr OBJ
+{
+	'a' 0 vertdata;
+	'a' 64 objtab;
+};
+
+defn
+OBJ(addr) {
+	complex OBJ addr;
+	print("	vertdata	", addr.vertdata, "\n");
+	print("	objtab	", addr.objtab, "\n");
+};
+
+complex OBJ main:obj;
diff --git a/libobj/test/main.c b/libobj/test/main.c
new file mode 100644
index 0000000..1a60b42
--- /dev/null
+++ b/libobj/test/main.c
@@ -0,0 +1,35 @@
+#include <u.h>
+#include <libc.h>
+#include "../../obj.h"
+
+static char fd0[] = "/fd/0";
+
+void
+usage(void)
+{
+	fprint(2, "usage: %s [file]\n", argv0);
+	exits("usage");
+}
+
+void
+main(int argc, char *argv[])
+{
+	OBJ *obj;
+	char *f;
+
+	f = fd0;
+	OBJfmtinstall();
+	ARGBEGIN{
+	default: usage();
+	}ARGEND;
+	if(argc > 1)
+		usage();
+	if(argc == 1)
+		f = argv[0];
+	obj = objparse(f);
+	if(obj == nil)
+		sysfatal("objparse: %r");
+	print("%O\n", obj);
+	objfree(obj);
+	exits(0);
+}
diff --git a/libobj/test/mkfile b/libobj/test/mkfile
new file mode 100644
index 0000000..2f4895c
--- /dev/null
+++ b/libobj/test/mkfile
@@ -0,0 +1,21 @@
+</$objtype/mkfile
+
+BIN=$home/$objtype/bin
+TARG=objtest
+OFILES=\
+	main.$O\
+
+HFILES=../../obj.h
+
+LIB=\
+	../../libobj.a$O\
+
+</sys/src/cmd/mkone
+
+../../libobj.a$O:
+	cd ..
+	mk install
+
+clean nuke:V:
+	rm -f *.[$OS] [$OS].out y.tab.? y.debug y.output $TARG
+	@{cd ..; mk $target}
diff --git a/main.acid b/main.acid
new file mode 100644
index 0000000..67e14e0
--- /dev/null
+++ b/main.acid
@@ -0,0 +1,1153 @@
+sizeof_1_ = 8;
+aggr _1_
+{
+	'U' 0 lo;
+	'U' 4 hi;
+};
+
+defn
+_1_(addr) {
+	complex _1_ addr;
+	print("	lo	", addr.lo, "\n");
+	print("	hi	", addr.hi, "\n");
+};
+
+sizeofFPdbleword = 8;
+aggr FPdbleword
+{
+	'F' 0 x;
+	{
+	'U' 0 lo;
+	'U' 4 hi;
+	};
+};
+
+defn
+FPdbleword(addr) {
+	complex FPdbleword addr;
+	print("	x	", addr.x, "\n");
+	print("_1_ {\n");
+		_1_(addr+0);
+	print("}\n");
+};
+
+UTFmax = 4;
+Runesync = 128;
+Runeself = 128;
+Runeerror = 65533;
+Runemax = 1114111;
+Runemask = 2097151;
+sizeofFmt = 80;
+aggr Fmt
+{
+	'b' 0 runes;
+	'Y' 8 start;
+	'Y' 16 to;
+	'Y' 24 stop;
+	'Y' 32 flush;
+	'Y' 40 farg;
+	'D' 48 nfmt;
+	'Y' 56 args;
+	'D' 64 r;
+	'D' 68 width;
+	'D' 72 prec;
+	'U' 76 flags;
+};
+
+defn
+Fmt(addr) {
+	complex Fmt addr;
+	print("	runes	", addr.runes, "\n");
+	print("	start	", addr.start\Y, "\n");
+	print("	to	", addr.to\Y, "\n");
+	print("	stop	", addr.stop\Y, "\n");
+	print("	flush	", addr.flush\Y, "\n");
+	print("	farg	", addr.farg\Y, "\n");
+	print("	nfmt	", addr.nfmt, "\n");
+	print("	args	", addr.args\Y, "\n");
+	print("	r	", addr.r, "\n");
+	print("	width	", addr.width, "\n");
+	print("	prec	", addr.prec, "\n");
+	print("	flags	", addr.flags, "\n");
+};
+
+FmtWidth = 1;
+FmtLeft = 2;
+FmtPrec = 4;
+FmtSharp = 8;
+FmtSpace = 16;
+FmtSign = 32;
+FmtZero = 64;
+FmtUnsigned = 128;
+FmtShort = 256;
+FmtLong = 512;
+FmtVLong = 1024;
+FmtComma = 2048;
+FmtByte = 4096;
+FmtFlag = 8192;
+sizeofTm = 40;
+aggr Tm
+{
+	'D' 0 sec;
+	'D' 4 min;
+	'D' 8 hour;
+	'D' 12 mday;
+	'D' 16 mon;
+	'D' 20 year;
+	'D' 24 wday;
+	'D' 28 yday;
+	'a' 32 zone;
+	'D' 36 tzoff;
+};
+
+defn
+Tm(addr) {
+	complex Tm addr;
+	print("	sec	", addr.sec, "\n");
+	print("	min	", addr.min, "\n");
+	print("	hour	", addr.hour, "\n");
+	print("	mday	", addr.mday, "\n");
+	print("	mon	", addr.mon, "\n");
+	print("	year	", addr.year, "\n");
+	print("	wday	", addr.wday, "\n");
+	print("	yday	", addr.yday, "\n");
+	print("	zone	", addr.zone, "\n");
+	print("	tzoff	", addr.tzoff, "\n");
+};
+
+PNPROC = 1;
+PNGROUP = 2;
+Profoff = 0;
+Profuser = 1;
+Profkernel = 2;
+Proftime = 3;
+Profsample = 4;
+sizeofLock = 8;
+aggr Lock
+{
+	'D' 0 val;
+};
+
+defn
+Lock(addr) {
+	complex Lock addr;
+	print("	val	", addr.val, "\n");
+};
+
+sizeofQLp = 16;
+aggr QLp
+{
+	'D' 0 inuse;
+	'D' 4 state;
+	'A' QLp 8 next;
+};
+
+defn
+QLp(addr) {
+	complex QLp addr;
+	print("	inuse	", addr.inuse, "\n");
+	print("	state	", addr.state, "\n");
+	print("	next	", addr.next\Y, "\n");
+};
+
+sizeofQLock = 32;
+aggr QLock
+{
+	Lock 0 lock;
+	'D' 8 locked;
+	'A' QLp 16 $head;
+	'A' QLp 24 $tail;
+};
+
+defn
+QLock(addr) {
+	complex QLock addr;
+	print("Lock lock {\n");
+	Lock(addr.lock);
+	print("}\n");
+	print("	locked	", addr.locked, "\n");
+	print("	$head	", addr.$head\Y, "\n");
+	print("	$tail	", addr.$tail\Y, "\n");
+};
+
+sizeofRWLock = 32;
+aggr RWLock
+{
+	Lock 0 lock;
+	'D' 8 readers;
+	'D' 12 writer;
+	'A' QLp 16 $head;
+	'A' QLp 24 $tail;
+};
+
+defn
+RWLock(addr) {
+	complex RWLock addr;
+	print("Lock lock {\n");
+	Lock(addr.lock);
+	print("}\n");
+	print("	readers	", addr.readers, "\n");
+	print("	writer	", addr.writer, "\n");
+	print("	$head	", addr.$head\Y, "\n");
+	print("	$tail	", addr.$tail\Y, "\n");
+};
+
+sizeofRendez = 24;
+aggr Rendez
+{
+	'A' QLock 0 l;
+	'A' QLp 8 $head;
+	'A' QLp 16 $tail;
+};
+
+defn
+Rendez(addr) {
+	complex Rendez addr;
+	print("	l	", addr.l\Y, "\n");
+	print("	$head	", addr.$head\Y, "\n");
+	print("	$tail	", addr.$tail\Y, "\n");
+};
+
+sizeofNetConnInfo = 72;
+aggr NetConnInfo
+{
+	'Y' 0 dir;
+	'Y' 8 root;
+	'Y' 16 spec;
+	'Y' 24 lsys;
+	'Y' 32 lserv;
+	'Y' 40 rsys;
+	'Y' 48 rserv;
+	'Y' 56 laddr;
+	'Y' 64 raddr;
+};
+
+defn
+NetConnInfo(addr) {
+	complex NetConnInfo addr;
+	print("	dir	", addr.dir\Y, "\n");
+	print("	root	", addr.root\Y, "\n");
+	print("	spec	", addr.spec\Y, "\n");
+	print("	lsys	", addr.lsys\Y, "\n");
+	print("	lserv	", addr.lserv\Y, "\n");
+	print("	rsys	", addr.rsys\Y, "\n");
+	print("	rserv	", addr.rserv\Y, "\n");
+	print("	laddr	", addr.laddr\Y, "\n");
+	print("	raddr	", addr.raddr\Y, "\n");
+};
+
+RFNAMEG = 1;
+RFENVG = 2;
+RFFDG = 4;
+RFNOTEG = 8;
+RFPROC = 16;
+RFMEM = 32;
+RFNOWAIT = 64;
+RFCNAMEG = 1024;
+RFCENVG = 2048;
+RFCFDG = 4096;
+RFREND = 8192;
+RFNOMNT = 16384;
+sizeofQid = 16;
+aggr Qid
+{
+	'W' 0 path;
+	'U' 8 vers;
+	'b' 12 type;
+};
+
+defn
+Qid(addr) {
+	complex Qid addr;
+	print("	path	", addr.path, "\n");
+	print("	vers	", addr.vers, "\n");
+	print("	type	", addr.type, "\n");
+};
+
+sizeofDir = 80;
+aggr Dir
+{
+	'u' 0 type;
+	'U' 4 dev;
+	Qid 8 qid;
+	'U' 24 mode;
+	'U' 28 atime;
+	'U' 32 mtime;
+	'V' 40 length;
+	'Y' 48 name;
+	'Y' 56 uid;
+	'Y' 64 gid;
+	'Y' 72 muid;
+};
+
+defn
+Dir(addr) {
+	complex Dir addr;
+	print("	type	", addr.type, "\n");
+	print("	dev	", addr.dev, "\n");
+	print("Qid qid {\n");
+	Qid(addr.qid);
+	print("}\n");
+	print("	mode	", addr.mode, "\n");
+	print("	atime	", addr.atime, "\n");
+	print("	mtime	", addr.mtime, "\n");
+	print("	length	", addr.length, "\n");
+	print("	name	", addr.name\Y, "\n");
+	print("	uid	", addr.uid\Y, "\n");
+	print("	gid	", addr.gid\Y, "\n");
+	print("	muid	", addr.muid\Y, "\n");
+};
+
+sizeofWaitmsg = 24;
+aggr Waitmsg
+{
+	'D' 0 pid;
+	'a' 4 time;
+	'Y' 16 msg;
+};
+
+defn
+Waitmsg(addr) {
+	complex Waitmsg addr;
+	print("	pid	", addr.pid, "\n");
+	print("	time	", addr.time, "\n");
+	print("	msg	", addr.msg\Y, "\n");
+};
+
+sizeofIOchunk = 16;
+aggr IOchunk
+{
+	'Y' 0 addr;
+	'U' 8 len;
+};
+
+defn
+IOchunk(addr) {
+	complex IOchunk addr;
+	print("	addr	", addr.addr\Y, "\n");
+	print("	len	", addr.len, "\n");
+};
+
+Nqwds = 2;
+Nqshift = 5;
+Nqmask = -1;
+Nqbits = 64;
+sizeofChannel = 48;
+aggr Channel
+{
+	'D' 0 s;
+	'U' 4 f;
+	'U' 8 n;
+	'D' 12 e;
+	'D' 16 freed;
+	'Y' 24 qentry;
+	'D' 32 nentry;
+	'D' 36 closed;
+	'a' 40 v;
+};
+
+defn
+Channel(addr) {
+	complex Channel addr;
+	print("	s	", addr.s, "\n");
+	print("	f	", addr.f, "\n");
+	print("	n	", addr.n, "\n");
+	print("	e	", addr.e, "\n");
+	print("	freed	", addr.freed, "\n");
+	print("	qentry	", addr.qentry\Y, "\n");
+	print("	nentry	", addr.nentry, "\n");
+	print("	closed	", addr.closed, "\n");
+	print("	v	", addr.v, "\n");
+};
+
+CHANEND = 0;
+CHANSND = 1;
+CHANRCV = 2;
+CHANNOP = 3;
+CHANNOBLK = 4;
+sizeofAlt = 48;
+aggr Alt
+{
+	'A' Channel 0 c;
+	'Y' 8 v;
+	'D' 16 op;
+	'Y' 24 err;
+	'A' Channel 32 tag;
+	'D' 40 entryno;
+};
+
+defn
+Alt(addr) {
+	complex Alt addr;
+	print("	c	", addr.c\Y, "\n");
+	print("	v	", addr.v\Y, "\n");
+	print("	op	", addr.op, "\n");
+	print("	err	", addr.err\Y, "\n");
+	print("	tag	", addr.tag\Y, "\n");
+	print("	entryno	", addr.entryno, "\n");
+};
+
+sizeofRef = 8;
+aggr Ref
+{
+	'D' 0 ref;
+};
+
+defn
+Ref(addr) {
+	complex Ref addr;
+	print("	ref	", addr.ref, "\n");
+};
+
+DOpaque = 4294967295;
+DTransparent = 0;
+DBlack = 255;
+DWhite = 4294967295;
+DRed = 4278190335;
+DGreen = 16711935;
+DBlue = 65535;
+DCyan = 16777215;
+DMagenta = 4278255615;
+DYellow = 4294902015;
+DPaleyellow = 4294945535;
+DDarkyellow = 4008615679;
+DDarkgreen = 1149781247;
+DPalegreen = 2868882175;
+DMedgreen = 2295105791;
+DDarkblue = 22015;
+DPalebluegreen = 2868903935;
+DPaleblue = 48127;
+DBluegreen = 8947967;
+DGreygreen = 1437248255;
+DPalegreygreen = 2666458879;
+DYellowgreen = 2576960767;
+DMedblue = 39423;
+DGreyblue = 6142975;
+DPalegreyblue = 1234427391;
+DPurpleblue = 2290666751;
+DNotacolor = 4294967040;
+DNofill = 4294967040;
+Displaybufsize = 8000;
+ICOSSCALE = 1024;
+Borderwidth = 4;
+Refbackup = 0;
+Refnone = 1;
+Refmesg = 2;
+Endsquare = 0;
+Enddisc = 1;
+Endarrow = 2;
+Endmask = 31;
+Clear = 0;
+SinD = 8;
+DinS = 4;
+SoutD = 2;
+DoutS = 1;
+S = 10;
+SoverD = 11;
+SatopD = 9;
+SxorD = 3;
+D = 5;
+DoverS = 7;
+DatopS = 6;
+DxorS = 3;
+Ncomp = 12;
+CRed = 0;
+CGreen = 1;
+CBlue = 2;
+CGrey = 3;
+CAlpha = 4;
+CMap = 5;
+CIgnore = 6;
+NChan = 7;
+GREY1 = 49;
+GREY2 = 50;
+GREY4 = 52;
+GREY8 = 56;
+CMAP8 = 88;
+RGB15 = 1627723045;
+RGB16 = 333349;
+RGB24 = 530472;
+RGBA32 = 135800904;
+ARGB32 = 1208490024;
+XRGB32 = 1745360936;
+BGR24 = 2627592;
+ABGR32 = 1210587144;
+XBGR32 = 1747458056;
+sizeofPoint = 8;
+aggr Point
+{
+	'D' 0 x;
+	'D' 4 y;
+};
+
+defn
+Point(addr) {
+	complex Point addr;
+	print("	x	", addr.x, "\n");
+	print("	y	", addr.y, "\n");
+};
+
+sizeofRectangle = 16;
+aggr Rectangle
+{
+	Point 0 min;
+	Point 8 max;
+};
+
+defn
+Rectangle(addr) {
+	complex Rectangle addr;
+	print("Point min {\n");
+	Point(addr.min);
+	print("}\n");
+	print("Point max {\n");
+	Point(addr.max);
+	print("}\n");
+};
+
+sizeofScreen = 32;
+aggr Screen
+{
+	'Y' 0 display;
+	'D' 8 id;
+	'Y' 16 image;
+	'Y' 24 fill;
+};
+
+defn
+Screen(addr) {
+	complex Screen addr;
+	print("	display	", addr.display\Y, "\n");
+	print("	id	", addr.id, "\n");
+	print("	image	", addr.image\Y, "\n");
+	print("	fill	", addr.fill\Y, "\n");
+};
+
+sizeofDisplay = 264;
+aggr Display
+{
+	QLock 0 qlock;
+	'D' 32 locking;
+	'D' 36 dirno;
+	'D' 40 fd;
+	'D' 44 reffd;
+	'D' 48 ctlfd;
+	'D' 52 imageid;
+	'D' 56 $local;
+	'Y' 64 error;
+	'Y' 72 devdir;
+	'Y' 80 windir;
+	'a' 88 oldlabel;
+	'U' 152 dataqid;
+	'Y' 160 white;
+	'Y' 168 black;
+	'Y' 176 opaque;
+	'Y' 184 transparent;
+	'Y' 192 image;
+	'Y' 200 buf;
+	'D' 208 bufsize;
+	'Y' 216 bufp;
+	'Y' 224 defaultfont;
+	'Y' 232 defaultsubfont;
+	'Y' 240 windows;
+	'Y' 248 screenimage;
+	'D' 256 _isnewdisplay;
+};
+
+defn
+Display(addr) {
+	complex Display addr;
+	print("QLock qlock {\n");
+	QLock(addr.qlock);
+	print("}\n");
+	print("	locking	", addr.locking, "\n");
+	print("	dirno	", addr.dirno, "\n");
+	print("	fd	", addr.fd, "\n");
+	print("	reffd	", addr.reffd, "\n");
+	print("	ctlfd	", addr.ctlfd, "\n");
+	print("	imageid	", addr.imageid, "\n");
+	print("	$local	", addr.$local, "\n");
+	print("	error	", addr.error\Y, "\n");
+	print("	devdir	", addr.devdir\Y, "\n");
+	print("	windir	", addr.windir\Y, "\n");
+	print("	oldlabel	", addr.oldlabel, "\n");
+	print("	dataqid	", addr.dataqid, "\n");
+	print("	white	", addr.white\Y, "\n");
+	print("	black	", addr.black\Y, "\n");
+	print("	opaque	", addr.opaque\Y, "\n");
+	print("	transparent	", addr.transparent\Y, "\n");
+	print("	image	", addr.image\Y, "\n");
+	print("	buf	", addr.buf\Y, "\n");
+	print("	bufsize	", addr.bufsize, "\n");
+	print("	bufp	", addr.bufp\Y, "\n");
+	print("	defaultfont	", addr.defaultfont\Y, "\n");
+	print("	defaultsubfont	", addr.defaultsubfont\Y, "\n");
+	print("	windows	", addr.windows\Y, "\n");
+	print("	screenimage	", addr.screenimage\Y, "\n");
+	print("	_isnewdisplay	", addr._isnewdisplay, "\n");
+};
+
+sizeofImage = 80;
+aggr Image
+{
+	'A' Display 0 display;
+	'D' 8 id;
+	Rectangle 16 r;
+	Rectangle 32 clipr;
+	'D' 48 depth;
+	'U' 52 chan;
+	'D' 56 repl;
+	'A' Screen 64 screen;
+	'A' Image 72 next;
+};
+
+defn
+Image(addr) {
+	complex Image addr;
+	print("	display	", addr.display\Y, "\n");
+	print("	id	", addr.id, "\n");
+	print("Rectangle r {\n");
+	Rectangle(addr.r);
+	print("}\n");
+	print("Rectangle clipr {\n");
+	Rectangle(addr.clipr);
+	print("}\n");
+	print("	depth	", addr.depth, "\n");
+	print("	chan	", addr.chan, "\n");
+	print("	repl	", addr.repl, "\n");
+	print("	screen	", addr.screen\Y, "\n");
+	print("	next	", addr.next\Y, "\n");
+};
+
+sizeofRGB = 16;
+aggr RGB
+{
+	'U' 0 red;
+	'U' 4 green;
+	'U' 8 blue;
+};
+
+defn
+RGB(addr) {
+	complex RGB addr;
+	print("	red	", addr.red, "\n");
+	print("	green	", addr.green, "\n");
+	print("	blue	", addr.blue, "\n");
+};
+
+sizeofFontchar = 8;
+aggr Fontchar
+{
+	'D' 0 x;
+	'b' 4 top;
+	'b' 5 bottom;
+	'C' 6 left;
+	'b' 7 width;
+};
+
+defn
+Fontchar(addr) {
+	complex Fontchar addr;
+	print("	x	", addr.x, "\n");
+	print("	top	", addr.top, "\n");
+	print("	bottom	", addr.bottom, "\n");
+	print("	left	", addr.left, "\n");
+	print("	width	", addr.width, "\n");
+};
+
+sizeofSubfont = 40;
+aggr Subfont
+{
+	'Y' 0 name;
+	'd' 8 n;
+	'b' 10 height;
+	'C' 11 ascent;
+	'A' Fontchar 16 info;
+	'A' Image 24 bits;
+	'D' 32 ref;
+};
+
+defn
+Subfont(addr) {
+	complex Subfont addr;
+	print("	name	", addr.name\Y, "\n");
+	print("	n	", addr.n, "\n");
+	print("	height	", addr.height, "\n");
+	print("	ascent	", addr.ascent, "\n");
+	print("	info	", addr.info\Y, "\n");
+	print("	bits	", addr.bits\Y, "\n");
+	print("	ref	", addr.ref, "\n");
+};
+
+LOG2NFCACHE = 6;
+NFCACHE = 64;
+NFLOOK = 5;
+NFSUBF = 2;
+MAXFCACHE = 1029;
+MAXSUBF = 50;
+DSUBF = 4;
+SUBFAGE = 10000;
+CACHEAGE = 10000;
+sizeofCachefont = 32;
+aggr Cachefont
+{
+	'U' 0 min;
+	'U' 4 max;
+	'D' 8 offset;
+	'Y' 16 name;
+	'Y' 24 subfontname;
+};
+
+defn
+Cachefont(addr) {
+	complex Cachefont addr;
+	print("	min	", addr.min, "\n");
+	print("	max	", addr.max, "\n");
+	print("	offset	", addr.offset, "\n");
+	print("	name	", addr.name\Y, "\n");
+	print("	subfontname	", addr.subfontname\Y, "\n");
+};
+
+sizeofCacheinfo = 16;
+aggr Cacheinfo
+{
+	'u' 0 x;
+	'b' 2 width;
+	'C' 3 left;
+	'U' 4 value;
+	'u' 8 age;
+};
+
+defn
+Cacheinfo(addr) {
+	complex Cacheinfo addr;
+	print("	x	", addr.x, "\n");
+	print("	width	", addr.width, "\n");
+	print("	left	", addr.left, "\n");
+	print("	value	", addr.value, "\n");
+	print("	age	", addr.age, "\n");
+};
+
+sizeofCachesubf = 24;
+aggr Cachesubf
+{
+	'U' 0 age;
+	'A' Cachefont 8 cf;
+	'A' Subfont 16 f;
+};
+
+defn
+Cachesubf(addr) {
+	complex Cachesubf addr;
+	print("	age	", addr.age, "\n");
+	print("	cf	", addr.cf\Y, "\n");
+	print("	f	", addr.f\Y, "\n");
+};
+
+sizeofFont = 72;
+aggr Font
+{
+	'Y' 0 name;
+	'A' Display 8 display;
+	'd' 16 height;
+	'd' 18 ascent;
+	'd' 20 width;
+	'd' 22 nsub;
+	'U' 24 age;
+	'D' 28 maxdepth;
+	'D' 32 ncache;
+	'D' 36 nsubf;
+	'A' Cacheinfo 40 cache;
+	'A' Cachesubf 48 subf;
+	'A' Cachefont 56 sub;
+	'A' Image 64 cacheimage;
+};
+
+defn
+Font(addr) {
+	complex Font addr;
+	print("	name	", addr.name\Y, "\n");
+	print("	display	", addr.display\Y, "\n");
+	print("	height	", addr.height, "\n");
+	print("	ascent	", addr.ascent, "\n");
+	print("	width	", addr.width, "\n");
+	print("	nsub	", addr.nsub, "\n");
+	print("	age	", addr.age, "\n");
+	print("	maxdepth	", addr.maxdepth, "\n");
+	print("	ncache	", addr.ncache, "\n");
+	print("	nsubf	", addr.nsubf, "\n");
+	print("	cache	", addr.cache\Y, "\n");
+	print("	subf	", addr.subf\Y, "\n");
+	print("	sub	", addr.sub\Y, "\n");
+	print("	cacheimage	", addr.cacheimage\Y, "\n");
+};
+
+complex Point ZP;
+complex Rectangle ZR;
+complex Display display;
+complex Font font;
+complex Image screen;
+complex Screen _screen;
+sizeofMouse = 24;
+aggr Mouse
+{
+	'D' 0 buttons;
+	Point 8 xy;
+	'U' 16 msec;
+};
+
+defn
+Mouse(addr) {
+	complex Mouse addr;
+	print("	buttons	", addr.buttons, "\n");
+	print("Point xy {\n");
+	Point(addr.xy);
+	print("}\n");
+	print("	msec	", addr.msec, "\n");
+};
+
+sizeofMousectl = 72;
+aggr Mousectl
+{
+	{
+	'D' 0 buttons;
+	Point 8 xy;
+	'U' 16 msec;
+	};
+	'A' Channel 24 c;
+	'A' Channel 32 resizec;
+	'Y' 40 file;
+	'D' 48 mfd;
+	'D' 52 cfd;
+	'D' 56 pid;
+	'A' Image 64 image;
+};
+
+defn
+Mousectl(addr) {
+	complex Mousectl addr;
+	print("Mouse {\n");
+		Mouse(addr+0);
+	print("}\n");
+	print("	c	", addr.c\Y, "\n");
+	print("	resizec	", addr.resizec\Y, "\n");
+	print("	file	", addr.file\Y, "\n");
+	print("	mfd	", addr.mfd, "\n");
+	print("	cfd	", addr.cfd, "\n");
+	print("	pid	", addr.pid, "\n");
+	print("	image	", addr.image\Y, "\n");
+};
+
+sizeofMenu = 24;
+aggr Menu
+{
+	'Y' 0 item;
+	'Y' 8 gen;
+	'D' 16 lasthit;
+};
+
+defn
+Menu(addr) {
+	complex Menu addr;
+	print("	item	", addr.item\Y, "\n");
+	print("	gen	", addr.gen\Y, "\n");
+	print("	lasthit	", addr.lasthit, "\n");
+};
+
+sizeofKeyboardctl = 32;
+aggr Keyboardctl
+{
+	'A' Channel 0 c;
+	'Y' 8 file;
+	'D' 16 consfd;
+	'D' 20 ctlfd;
+	'D' 24 pid;
+};
+
+defn
+Keyboardctl(addr) {
+	complex Keyboardctl addr;
+	print("	c	", addr.c\Y, "\n");
+	print("	file	", addr.file\Y, "\n");
+	print("	consfd	", addr.consfd, "\n");
+	print("	ctlfd	", addr.ctlfd, "\n");
+	print("	pid	", addr.pid, "\n");
+};
+
+KF = 61440;
+Spec = 63488;
+PF = 63520;
+Kview = 63488;
+Khome = 61453;
+Kup = 61454;
+Kdown = 63488;
+Kpgup = 61455;
+Kprint = 61456;
+Kleft = 61457;
+Kright = 61458;
+Kpgdown = 61459;
+Kins = 61460;
+Kalt = 61461;
+Kshift = 61462;
+Kctl = 61463;
+Kend = 61464;
+Kscroll = 61465;
+Kscrolloneup = 61472;
+Kscrollonedown = 61473;
+Ksoh = 1;
+Kstx = 2;
+Ketx = 3;
+Keof = 4;
+Kenq = 5;
+Kack = 6;
+Kbs = 8;
+Knack = 21;
+Ketb = 23;
+Kdel = 127;
+Kesc = 27;
+Kbreak = 63585;
+Kcaps = 63588;
+Knum = 63589;
+Kmiddle = 63590;
+Kaltgr = 63591;
+Kmouse = 63744;
+sizeofPoint2 = 24;
+aggr Point2
+{
+	'F' 0 x;
+	'F' 8 y;
+	'F' 16 w;
+};
+
+defn
+Point2(addr) {
+	complex Point2 addr;
+	print("	x	", addr.x, "\n");
+	print("	y	", addr.y, "\n");
+	print("	w	", addr.w, "\n");
+};
+
+sizeofPoint3 = 32;
+aggr Point3
+{
+	'F' 0 x;
+	'F' 8 y;
+	'F' 16 z;
+	'F' 24 w;
+};
+
+defn
+Point3(addr) {
+	complex Point3 addr;
+	print("	x	", addr.x, "\n");
+	print("	y	", addr.y, "\n");
+	print("	z	", addr.z, "\n");
+	print("	w	", addr.w, "\n");
+};
+
+sizeofQuaternion = 32;
+aggr Quaternion
+{
+	'F' 0 r;
+	'F' 8 i;
+	'F' 16 j;
+	'F' 24 k;
+};
+
+defn
+Quaternion(addr) {
+	complex Quaternion addr;
+	print("	r	", addr.r, "\n");
+	print("	i	", addr.i, "\n");
+	print("	j	", addr.j, "\n");
+	print("	k	", addr.k, "\n");
+};
+
+sizeofReferenceFrame = 72;
+aggr ReferenceFrame
+{
+	Point2 0 p;
+	Point2 24 xb;
+	Point2 48 yb;
+};
+
+defn
+ReferenceFrame(addr) {
+	complex ReferenceFrame addr;
+	print("Point2 p {\n");
+	Point2(addr.p);
+	print("}\n");
+	print("Point2 xb {\n");
+	Point2(addr.xb);
+	print("}\n");
+	print("Point2 yb {\n");
+	Point2(addr.yb);
+	print("}\n");
+};
+
+sizeofReferenceFrame3 = 128;
+aggr ReferenceFrame3
+{
+	Point3 0 p;
+	Point3 32 xb;
+	Point3 64 yb;
+	Point3 96 zb;
+};
+
+defn
+ReferenceFrame3(addr) {
+	complex ReferenceFrame3 addr;
+	print("Point3 p {\n");
+	Point3(addr.p);
+	print("}\n");
+	print("Point3 xb {\n");
+	Point3(addr.xb);
+	print("}\n");
+	print("Point3 yb {\n");
+	Point3(addr.yb);
+	print("}\n");
+	print("Point3 zb {\n");
+	Point3(addr.zb);
+	print("}\n");
+};
+
+sizeofTriangle3 = 96;
+aggr Triangle3
+{
+	Point3 0 p0;
+	Point3 32 p1;
+	Point3 64 p2;
+};
+
+defn
+Triangle3(addr) {
+	complex Triangle3 addr;
+	print("Point3 p0 {\n");
+	Point3(addr.p0);
+	print("}\n");
+	print("Point3 p1 {\n");
+	Point3(addr.p1);
+	print("}\n");
+	print("Point3 p2 {\n");
+	Point3(addr.p2);
+	print("}\n");
+};
+
+Portho = 0;
+Ppersp = 1;
+sizeofVertex = 64;
+aggr Vertex
+{
+	Point3 0 p;
+	Point3 32 n;
+};
+
+defn
+Vertex(addr) {
+	complex Vertex addr;
+	print("Point3 p {\n");
+	Point3(addr.p);
+	print("}\n");
+	print("Point3 n {\n");
+	Point3(addr.n);
+	print("}\n");
+};
+
+sizeofTriangle = 24;
+aggr Triangle
+{
+	Point 0 p0;
+	Point 8 p1;
+	Point 16 p2;
+};
+
+defn
+Triangle(addr) {
+	complex Triangle addr;
+	print("Point p0 {\n");
+	Point(addr.p0);
+	print("}\n");
+	print("Point p1 {\n");
+	Point(addr.p1);
+	print("}\n");
+	print("Point p2 {\n");
+	Point(addr.p2);
+	print("}\n");
+};
+
+sizeof_2_ = 16;
+aggr _2_
+{
+	'F' 0 n;
+	'F' 8 f;
+};
+
+defn
+_2_(addr) {
+	complex _2_ addr;
+	print("	n	", addr.n, "\n");
+	print("	f	", addr.f, "\n");
+};
+
+sizeofCamera = 296;
+aggr Camera
+{
+	{
+	Point3 0 p;
+	Point3 32 xb;
+	Point3 64 yb;
+	Point3 96 zb;
+	};
+	'A' Image 128 viewport;
+	'F' 136 fov;
+	_2_ 144 clip;
+	'D' 160 ptype;
+	'a' 168 proj;
+};
+
+defn
+Camera(addr) {
+	complex Camera addr;
+	print("ReferenceFrame3 {\n");
+		ReferenceFrame3(addr+0);
+	print("}\n");
+	print("	viewport	", addr.viewport\Y, "\n");
+	print("	fov	", addr.fov, "\n");
+	print("_2_ clip {\n");
+	_2_(addr.clip);
+	print("}\n");
+	print("	ptype	", addr.ptype, "\n");
+	print("	proj	", addr.proj, "\n");
+};
+
+STACK = 8192;
+SEC = 1000;
+FPS = 60;
+Scamno = 0;
+Scampos = 1;
+Scambs = 2;
+Sfov = 3;
+Se = 4;
+complex Mousectl mctl;
+complex Keyboardctl kctl;
+complex ReferenceFrame scrrf;
+complex RWLock worldlock;
+complex Triangle3 tri;
+complex Camera cam0;
+complex Camera cam1;
+complex Camera cam2;
+complex Camera cam3;
+complex Camera maincam;
+complex Fmt vfmt:f;
+complex Point2 vfmt:p;
+complex Fmt Vfmt:f;
+complex Point3 Vfmt:p;
+complex Point3 flatten:p;
+complex Point2 toscreen:p;
+complex Point fromscreen:p;
+complex Triangle redraw:trit;
+complex Quaternion key:q;
+complex Quaternion key:qtmp;
+MOUSE = 0;
+KBD = 1;
+RESIZE = 2;
diff --git a/main.c b/main.c
new file mode 100644
index 0000000..369c3f2
--- /dev/null
+++ b/main.c
@@ -0,0 +1,396 @@
+#include <u.h>
+#include <libc.h>
+#include <thread.h>
+#include <draw.h>
+#include <mouse.h>
+#include <keyboard.h>
+#include "geometry.h"
+#include "graphics.h"
+#include "obj.h"
+#include "dat.h"
+#include "fns.h"
+
+Rune keys[Ke] = {
+ [K↑]		= Kup,
+ [K↓]		= Kdown,
+ [K←]		= Kleft,
+ [K→]		= Kright,
+ [Krise]	= Kpgup,
+ [Kfall]	= Kpgdown,
+ [KR↑]		= 'w',
+ [KR↓]		= 's',
+ [KR←]		= 'a',
+ [KR→]		= 'd',
+ [KR↺]		= 'q',
+ [KR↻]		= 'e',
+ [Kcam0]	= KF|1,
+ [Kcam1]	= KF|2,
+ [Kcam2]	= KF|3,
+ [Kcam3]	= KF|4,
+ [Kscrshot]	= KF|12
+};
+
+char stats[Se][256];
+
+Mousectl *mctl;
+int kdown;
+double t0, Δt;
+RWLock worldlock;
+Mesh model;
+char *mdlpath = "../threedee/mdl/rocket.obj";
+
+Camera cams[4], *maincam;
+
+#pragma varargck type "v" Point2
+int
+vfmt(Fmt *f)
+{
+	Point2 p;
+
+	p = va_arg(f->args, Point2);
+	return fmtprint(f, "[%g %g %g]", p.x, p.y, p.w);
+}
+
+#pragma varargck type "V" Point3
+int
+Vfmt(Fmt *f)
+{
+	Point3 p;
+
+	p = va_arg(f->args, Point3);
+	return fmtprint(f, "[%g %g %g %g]", p.x, p.y, p.z, p.w);
+}
+
+void *
+emalloc(ulong n)
+{
+	void *p;
+
+	p = malloc(n);
+	if(p == nil)
+		sysfatal("malloc: %r");
+	setmalloctag(p, getcallerpc(&n));
+	return p;
+}
+
+void *
+erealloc(void *p, ulong n)
+{
+	void *np;
+
+	np = realloc(p, n);
+	if(np == nil)
+		sysfatal("realloc: %r");
+	setrealloctag(np, getcallerpc(&p));
+	return np;
+}
+
+int
+depthcmp(void *a, void *b)
+{
+	Triangle3 *ta, *tb;
+	double za, zb;
+
+	ta = (Triangle3 *)a;
+	tb = (Triangle3 *)b;
+	za = (ta->p0.z + ta->p1.z + ta->p2.z)/3;
+	zb = (tb->p0.z + tb->p1.z + tb->p2.z)/3;
+	return zb-za;
+}
+
+void
+drawaxis(void)
+{
+	Point3	op = (Point3){0, 0, 0, 1},
+		px = (Point3){1, 0, 0, 1},
+		py = (Point3){0, 1, 0, 1},
+		pz = (Point3){0, 0, 1, 1};
+
+	line3(maincam, op, px, 0, Endarrow, display->black);
+	string3(maincam, px, display->black, font, "x");
+	line3(maincam, op, py, 0, Endarrow, display->black);
+	string3(maincam, py, display->black, font, "y");
+	line3(maincam, op, pz, 0, Endarrow, display->black);
+	string3(maincam, pz, display->black, font, "z");
+}
+
+void
+drawstats(void)
+{
+	int i;
+
+	snprint(stats[Scamno], sizeof(stats[Scamno]), "CAM %d", maincam-cams+1);
+	snprint(stats[Sfov], sizeof(stats[Sfov]), "FOV %g°", maincam->fov);
+	snprint(stats[Scampos], sizeof(stats[Scampos]), "%V", maincam->p);
+	snprint(stats[Scambx], sizeof(stats[Scambx]), "bx %V", maincam->bx);
+	snprint(stats[Scamby], sizeof(stats[Scamby]), "by %V", maincam->by);
+	snprint(stats[Scambz], sizeof(stats[Scambz]), "bz %V", maincam->bz);
+	for(i = 0; i < Se; i++)
+		stringn(maincam->viewport, addpt(screen->r.min, Pt(10, 10 + i*font->height)), display->black, ZP, font, stats[i], sizeof(stats[i]));
+}
+
+void
+redraw(void)
+{
+	Triangle3 tmp;
+	static TTriangle3 *vistris;
+	static int nallocvistri;
+	Triangle trit;
+	Point3 n;
+	u8int c;
+	int i, nvistri;
+
+	nvistri = 0;
+	if(nallocvistri == 0 && vistris == nil){
+		nallocvistri = model.ntri/2;
+		vistris = emalloc(nallocvistri*sizeof(TTriangle3));
+	}
+	for(i = 0; i < model.ntri; i++){
+		/* world to camera */
+		tmp.p0 = WORLD2VCS(maincam, model.tris[i].p0);
+		tmp.p1 = WORLD2VCS(maincam, model.tris[i].p1);
+		tmp.p2 = WORLD2VCS(maincam, model.tris[i].p2);
+		/* back-face culling */
+		n = normvec3(crossvec3(subpt3(tmp.p1, tmp.p0), subpt3(tmp.p2, tmp.p0)));
+		if(dotvec3(n, mulpt3(tmp.p0, -1)) <= 0)
+			continue;
+		/* camera to projected ndc */
+		tmp.p0 = VCS2NDC(maincam, tmp.p0);
+		tmp.p1 = VCS2NDC(maincam, tmp.p1);
+		tmp.p2 = VCS2NDC(maincam, tmp.p2);
+		/* clipping */
+		/*
+		 * no clipping for now, the whole triangle is ignored
+		 * if any of its vertices gets outside the fustrum.
+		 */
+		if(isclipping(tmp.p0) || isclipping(tmp.p1) || isclipping(tmp.p2))
+			continue;
+		if(nvistri >= nallocvistri){
+			nallocvistri += model.ntri/3;
+			vistris = erealloc(vistris, nallocvistri*sizeof(TTriangle3));
+		}
+		vistris[nvistri] = (TTriangle3)tmp;
+		c = 0xff*fabs(dotvec3(n, Vec3(0, 0, 1)));
+		vistris[nvistri].tx = allocimage(display, Rect(0, 0, 1, 1), screen->chan, 1, c<<24|c<<16|c<<8|0xff);
+		nvistri++;
+	}
+	qsort(vistris, nvistri, sizeof(TTriangle3), depthcmp);
+	lockdisplay(display);
+	draw(maincam->viewport, maincam->viewport->r, display->white, nil, ZP);
+	drawaxis();
+	for(i = 0; i < nvistri; i++){
+		/* ndc to screen */
+		trit.p0 = toviewport(maincam, vistris[i].p0);
+		trit.p1 = toviewport(maincam, vistris[i].p1);
+		trit.p2 = toviewport(maincam, vistris[i].p2);
+		filltriangle(maincam->viewport, trit, vistris[i].tx, ZP);
+		triangle(maincam->viewport, trit, 0, display->black, ZP);
+		freeimage(vistris[i].tx);
+	}
+	drawstats();
+	flushimage(display, 1);
+	unlockdisplay(display);
+}
+
+void
+scrsynproc(void *)
+{
+	threadsetname("scrsynproc");
+	for(;;){
+		rlock(&worldlock);
+		redraw();
+		runlock(&worldlock);
+		sleep(FPS2MS(60));
+	}
+}
+
+void
+screenshot(void)
+{
+	int fd;
+	static char buf[128];
+
+	enter("Path", buf, sizeof buf, mctl, nil, nil);
+	if(buf[0] == 0)
+		return;
+	fd = create(buf, OWRITE, 0644);
+	if(fd < 0)
+		sysfatal("open: %r");
+	if(writeimage(fd, screen, 1) < 0)
+		sysfatal("writeimage: %r");
+	close(fd);
+}
+
+void
+mouse(void)
+{
+	if(mctl->buttons & 1)
+		fprint(2, "%v\n", fromviewport(maincam, mctl->xy));
+	if(mctl->buttons & 8){
+		maincam->fov -= 5;
+		if(maincam->fov < 1)
+			maincam->fov = 1;
+		reloadcamera(maincam);
+	}
+	if(mctl->buttons & 16){
+		maincam->fov += 5;
+		if(maincam->fov > 359)
+			maincam->fov = 359;
+		reloadcamera(maincam);
+	}
+}
+
+void
+kbdproc(void *)
+{
+	Rune r, *a;
+	char buf[128], *s;
+	int fd, n;
+
+	threadsetname("kbdproc");
+	if((fd = open("/dev/kbd", OREAD)) < 0)
+		sysfatal("kbdproc: %r");
+	memset(buf, 0, sizeof buf);
+	for(;;){
+		if(buf[0] != 0){
+			n = strlen(buf)+1;
+			memmove(buf, buf+n, sizeof(buf)-n);
+		}
+		if(buf[0] == 0){
+			if((n = read(fd, buf, sizeof(buf)-1)) <= 0)
+				break;
+			buf[n-1] = 0;
+			buf[n] = 0;
+		}
+		if(buf[0] == 'c'){
+			if(utfrune(buf, Kdel)){
+				close(fd);
+				threadexitsall(nil);
+			}
+		}
+		if(buf[0] != 'k' && buf[0] != 'K')
+			continue;
+		s = buf+1;
+		kdown = 0;
+		while(*s){
+			s += chartorune(&r, s);
+			for(a = keys; a < keys+Ke; a++)
+				if(r == *a){
+					kdown |= 1 << a-keys;
+					break;
+				}
+		}
+	}
+}
+
+void
+handlekeys(void)
+{
+	if(kdown & 1<<K↑)
+		placecamera(maincam, subpt3(maincam->p, maincam->bz), maincam->bz, maincam->by);
+	if(kdown & 1<<K↓)
+		placecamera(maincam, addpt3(maincam->p, maincam->bz), maincam->bz, maincam->by);
+	if(kdown & 1<<K←)
+		placecamera(maincam, subpt3(maincam->p, maincam->bx), maincam->bz, maincam->by);
+	if(kdown & 1<<K→)
+		placecamera(maincam, addpt3(maincam->p, maincam->bx), maincam->bz, maincam->by);
+	if(kdown & 1<<Krise)
+		placecamera(maincam, addpt3(maincam->p, maincam->by), maincam->bz, maincam->by);
+	if(kdown & 1<<Kfall)
+		placecamera(maincam, subpt3(maincam->p, maincam->by), maincam->bz, maincam->by);
+	if(kdown & 1<<KR↑)
+		aimcamera(maincam, qrotate(maincam->bz, maincam->bx, 5*DEG));
+	if(kdown & 1<<KR↓)
+		aimcamera(maincam, qrotate(maincam->bz, maincam->bx, -5*DEG));
+	if(kdown & 1<<KR←)
+		aimcamera(maincam, qrotate(maincam->bz, maincam->by, 5*DEG));
+	if(kdown & 1<<KR→)
+		aimcamera(maincam, qrotate(maincam->bz, maincam->by, -5*DEG));
+	if(kdown & 1<<KR↺)
+		placecamera(maincam, maincam->p, maincam->bz, qrotate(maincam->by, maincam->bz, 5*DEG));
+	if(kdown & 1<<KR↻)
+		placecamera(maincam, maincam->p, maincam->bz, qrotate(maincam->by, maincam->bz, -5*DEG));
+	if(kdown & 1<<Kcam0)
+		maincam = &cams[0];
+	if(kdown & 1<<Kcam1)
+		maincam = &cams[1];
+	if(kdown & 1<<Kcam2)
+		maincam = &cams[2];
+	if(kdown & 1<<Kcam3)
+		maincam = &cams[3];
+	if(kdown & 1<<Kscrshot)
+		screenshot();
+}
+
+void
+resize(void)
+{
+	lockdisplay(display);
+	if(getwindow(display, Refnone) < 0)
+		fprint(2, "can't reattach to window\n");
+	unlockdisplay(display);
+	maincam->viewport = screen;
+	reloadcamera(maincam);
+}
+
+void
+usage(void)
+{
+	fprint(2, "usage: %s\n", argv0);
+	exits("usage");
+}
+
+void
+threadmain(int argc, char *argv[])
+{
+	OBJ *objmesh;
+
+	fmtinstall('V', Vfmt);
+	fmtinstall('v', vfmt);
+	ARGBEGIN{
+	default: usage();
+	case 'l':
+		mdlpath = EARGF(usage());
+		break;
+	}ARGEND;
+	if(argc != 0)
+		usage();
+	if(initdraw(nil, nil, "3d") < 0)
+		sysfatal("initdraw: %r");
+	if((mctl = initmouse(nil, screen)) == nil)
+		sysfatal("initmouse: %r");
+	placecamera(&cams[0], Pt3(2, 0, -4, 1), Pt3(0, 0, 0, 1), Vec3(0, 1, 0));
+	configcamera(&cams[0], screen, 90, 0.1, 100, Ppersp);
+	placecamera(&cams[1], Pt3(-2, 0, -4, 1), Pt3(0, 0, 0, 1), Vec3(0, 1, 0));
+	configcamera(&cams[1], screen, 120, 0.1, 100, Ppersp);
+	placecamera(&cams[2], Pt3(-2, 0, 4, 1), Pt3(0, 0, 0, 1), Vec3(0, 1, 0));
+	configcamera(&cams[2], screen, 90, 0.1, 100, Ppersp);
+	placecamera(&cams[3], Pt3(2, 0, 4, 1), Pt3(0, 0, 0, 1), Vec3(0, 1, 0));
+	configcamera(&cams[3], screen, 120, 0.1, 100, Ppersp);
+	maincam = &cams[0];
+	if((objmesh = objparse(mdlpath)) == nil)
+		sysfatal("objparse: %r");
+	display->locking = 1;
+	unlockdisplay(display);
+	proccreate(scrsynproc, nil, mainstacksize);
+	proccreate(kbdproc, nil, mainstacksize);
+	t0 = nsec();
+	for(;;){
+		enum {MOUSE, RESIZE};
+		Alt a[] = {
+			{mctl->c, &mctl->Mouse, CHANRCV},
+			{mctl->resizec, nil, CHANRCV},
+			{nil, nil, CHANNOBLK}
+		};
+		wlock(&worldlock);
+		switch(alt(a)){
+		case MOUSE: mouse(); break;
+		case RESIZE: resize(); break;
+		}
+		Δt = (nsec()-t0)/1e9;
+		handlekeys();
+		t0 += Δt*1e9;
+		wunlock(&worldlock);
+		sleep(16);
+	}
+}
diff --git a/mkfile b/mkfile
new file mode 100644
index 0000000..c56ce21
--- /dev/null
+++ b/mkfile
@@ -0,0 +1,33 @@
+</$objtype/mkfile
+
+BIN=$home/$objtype/bin
+TARG=3d
+OFILES=\
+	main.$O\
+
+HFILES=geometry.h graphics.h obj.h dat.h fns.h
+
+LIB=\
+	libgeometry.a$O\
+	libgraphics.a$O\
+	libobj.a$O
+
+</sys/src/cmd/mkone
+
+libgeometry.a$O:
+	cd libgeometry
+	mk install
+
+libgraphics.a$O:
+	cd libgraphics
+	mk install
+
+libobj.a$O:
+	cd libobj
+	mk install
+
+clean nuke:V:
+	rm -f *.[$OS] [$OS].out y.tab.? y.debug y.output $TARG
+	@{cd libgeometry; mk $target}
+	@{cd libgraphics; mk $target}
+	@{cd libobj; mk $target}
diff --git a/obj.h b/obj.h
new file mode 100644
index 0000000..19bfdcb
--- /dev/null
+++ b/obj.h
@@ -0,0 +1,92 @@
+/* vertex types */
+enum {
+	OBJVGeometric,
+	OBJVTexture,
+	OBJVNormal,
+	OBJVParametric,
+	OBJNVERT
+};
+/* element types */
+enum {
+	OBJEPoint,
+	OBJELine,
+	OBJEFace,
+	OBJECurve,
+	OBJECurve2,
+	OBJESurface
+};
+/* grouping types */
+enum {
+	OBJGGlobal,
+	OBJGSmoothing,
+	OBJGMerging
+};
+/* object hash table size */
+enum {
+	OBJHTSIZE = 17
+};
+
+typedef struct OBJVertex OBJVertex;
+typedef struct OBJVertexArray OBJVertexArray;
+typedef struct OBJElem OBJElem;
+//typedef struct OBJGroup OBJGroup;
+typedef struct OBJObject OBJObject;
+typedef struct OBJ OBJ;
+
+#pragma varargck type "O" OBJ*
+
+struct OBJVertex
+{
+	union {
+		struct { double x, y, z, w; };	/* geometric */
+		struct { double u, v, vv; };	/* texture and parametric */
+		struct { double i, j, k; };	/* normal */
+	};
+};
+
+struct OBJVertexArray
+{
+	OBJVertex *verts;
+	int nvert;
+};
+
+struct OBJElem
+{
+	int *indices;
+	int nindex;
+	int type;
+	OBJElem *next;
+};
+
+//struct OBJGroup
+//{
+//	char *name;
+//	int type;
+//	OBJElem *elem0;
+//	OBJGroup *next;
+//};
+//struct OBJObject
+//{
+//	char *name;
+//	OBJGroup *grptab[OBJHTSIZE];
+//	OBJObject *next;
+//};
+
+struct OBJObject
+{
+	char *name;
+	OBJElem *child;
+	OBJObject *next;
+};
+
+struct OBJ
+{
+	OBJVertexArray vertdata[OBJNVERT];
+	OBJObject *objtab[OBJHTSIZE];
+};
+
+OBJ *objparse(char*);
+void objfree(OBJ*);
+
+int OBJfmt(Fmt*);
+void OBJfmtinstall(void);