diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..2f7896d
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+target/
diff --git a/Cargo.lock b/Cargo.lock
index 25da3ce..3154d8b 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -3,16 +3,13 @@
 version = 4
 
 [[package]]
-name = "adler2"
-version = "2.0.1"
+name = "aho-corasick"
+version = "1.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa"
-
-[[package]]
-name = "allocator-api2"
-version = "0.2.21"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
+checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
+dependencies = [
+ "memchr",
+]
 
 [[package]]
 name = "android_system_properties"
@@ -23,6 +20,15 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "ansi_term"
+version = "0.12.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d52a9bb7ec0cf484c551830a7ce27bd20d67eac647e1befb56b0be4ee39a55d2"
+dependencies = [
+ "winapi",
+]
+
 [[package]]
 name = "anstream"
 version = "0.6.21"
@@ -73,6 +79,12 @@ dependencies = [
  "windows-sys",
 ]
 
+[[package]]
+name = "anyhow"
+version = "1.0.102"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c"
+
 [[package]]
 name = "approx"
 version = "0.5.1"
@@ -83,10 +95,15 @@ dependencies = [
 ]
 
 [[package]]
-name = "arrayvec"
-version = "0.7.6"
+name = "atty"
+version = "0.2.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
+checksum = "d9b39be18770d11421cdb1b9947a45dd3f37e93092cbf377614828a319d5fee8"
+dependencies = [
+ "hermit-abi",
+ "libc",
+ "winapi",
+]
 
 [[package]]
 name = "autocfg"
@@ -101,10 +118,27 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
 [[package]]
-name = "bit-vec"
-version = "0.8.0"
+name = "bindgen"
+version = "0.58.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e764a1d40d510daf35e07be9eb06e75770908c27d411ee6c92109c9840eaaf7"
+checksum = "0f8523b410d7187a43085e7e064416ea32ded16bd0a4e6fc025e21616d01258f"
+dependencies = [
+ "bitflags 1.3.2",
+ "cexpr",
+ "clang-sys",
+ "clap 2.34.0",
+ "env_logger",
+ "lazy_static",
+ "lazycell",
+ "log",
+ "peeking_take_while",
+ "proc-macro2",
+ "quote",
+ "regex",
+ "rustc-hash",
+ "shlex",
+ "which",
+]
 
 [[package]]
 name = "bitflags"
@@ -131,10 +165,23 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c8efb64bd706a16a1bdde310ae86b351e4d21550d98d056f22f8a7f7a2183fec"
 
 [[package]]
-name = "byteorder"
-version = "1.5.0"
+name = "cbindgen"
+version = "0.19.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+checksum = "38728c31b994e4b849cf59feefb4a8bf26acd299ee0b92c9fb35bd14ad4b8dfa"
+dependencies = [
+ "clap 2.34.0",
+ "heck 0.3.3",
+ "indexmap 1.9.3",
+ "log",
+ "proc-macro2",
+ "quote",
+ "serde",
+ "serde_json",
+ "syn 1.0.109",
+ "tempfile",
+ "toml 0.5.11",
+]
 
 [[package]]
 name = "cc"
@@ -146,6 +193,15 @@ dependencies = [
  "shlex",
 ]
 
+[[package]]
+name = "cexpr"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f4aedb84272dbe89af497cf81375129abda4fc0a9e7c5d317498c15cc30c0d27"
+dependencies = [
+ "nom",
+]
+
 [[package]]
 name = "cfg-if"
 version = "1.0.4"
@@ -164,6 +220,32 @@ dependencies = [
  "windows-link",
 ]
 
+[[package]]
+name = "clang-sys"
+version = "1.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b023947811758c97c59bf9d1c188fd619ad4718dcaa767947df1cadb14f39f4"
+dependencies = [
+ "glob",
+ "libc",
+ "libloading",
+]
+
+[[package]]
+name = "clap"
+version = "2.34.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a0610544180c38b88101fecf2dd634b174a62eef6946f84dfc6a7127512b381c"
+dependencies = [
+ "ansi_term",
+ "atty",
+ "bitflags 1.3.2",
+ "strsim 0.8.0",
+ "textwrap",
+ "unicode-width",
+ "vec_map",
+]
+
 [[package]]
 name = "clap"
 version = "4.5.60"
@@ -183,7 +265,7 @@ dependencies = [
  "anstream",
  "anstyle",
  "clap_lex",
- "strsim",
+ "strsim 0.11.1",
 ]
 
 [[package]]
@@ -192,10 +274,10 @@ version = "4.5.55"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a92793da1a46a5f2a02a6f4c46c6496b28c43638adea8306fcb0caa1634f24e5"
 dependencies = [
- "heck",
+ "heck 0.5.0",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -204,12 +286,6 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3a822ea5bc7590f9d40f1ba12c0dc3c2760f3482c6984db1573ad11031420831"
 
-[[package]]
-name = "color_quant"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d7b894f5411737b7867f4827955924d7c254fc9f4d91a6aad6b097804b1018b"
-
 [[package]]
 name = "colorchoice"
 version = "1.0.4"
@@ -222,15 +298,6 @@ version = "0.8.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
 
-[[package]]
-name = "crc32fast"
-version = "1.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9481c1c90cbf2ac953f07c8d4a58aa3945c425b7185c9154d67a65e4230da511"
-dependencies = [
- "cfg-if",
-]
-
 [[package]]
 name = "darling"
 version = "0.21.3"
@@ -251,8 +318,8 @@ dependencies = [
  "ident_case",
  "proc-macro2",
  "quote",
- "strsim",
- "syn",
+ "strsim 0.11.1",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -263,7 +330,7 @@ checksum = "d38308df82d1080de0afee5d069fa14b0326a88c14f15c5ccda35b4a6c414c81"
 dependencies = [
  "darling_core",
  "quote",
- "syn",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -276,24 +343,18 @@ dependencies = [
  "serde_core",
 ]
 
-[[package]]
-name = "downcast-rs"
-version = "2.0.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "117240f60069e65410b3ae1bb213295bd828f707b5bec6596a1afc8793ce0cbc"
-
 [[package]]
 name = "drone_controller"
 version = "0.1.0"
 dependencies = [
- "clap",
- "macroquad",
+ "bindgen",
+ "cbindgen",
+ "clap 4.5.60",
  "nalgebra",
- "rapier3d",
  "serde",
  "serde_json",
  "serde_with",
- "toml",
+ "toml 0.9.12+spec-1.1.0",
 ]
 
 [[package]]
@@ -303,18 +364,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d0881ea181b1df73ff77ffaaf9c7544ecc11e82fba9b5f27b262a3c73a332555"
 
 [[package]]
-name = "either"
-version = "1.15.0"
+name = "env_logger"
+version = "0.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719"
-
-[[package]]
-name = "ena"
-version = "0.14.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eabffdaee24bd1bf95c5ef7cec31260444317e72ea56c4c91750e8b7ee58d5f1"
+checksum = "a19187fea3ac7e84da7dacf48de0c45d63c6a76f9490dae389aead16c243fce3"
 dependencies = [
+ "atty",
+ "humantime",
  "log",
+ "regex",
+ "termcolor",
 ]
 
 [[package]]
@@ -324,30 +383,27 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"
 
 [[package]]
-name = "fdeflate"
-version = "0.3.7"
+name = "errno"
+version = "0.3.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e6853b52649d4ac5c0bd02320cddc5ba956bdb407c4b75a2c6b75bf51500f8c"
+checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
 dependencies = [
- "simd-adler32",
+ "libc",
+ "windows-sys",
 ]
 
+[[package]]
+name = "fastrand"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "37909eebbb50d72f9059c3b6d82c0463f2ff062c9e95845c43a6c9c0355411be"
+
 [[package]]
 name = "find-msvc-tools"
 version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5baebc0774151f905a1a2cc41989300b1e6fbb29aff0ceffa1064fdd3088d582"
 
-[[package]]
-name = "flate2"
-version = "1.1.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "843fba2746e448b37e26a819579957415c8cef339bf08564fe8b7ddbd959573c"
-dependencies = [
- "crc32fast",
- "miniz_oxide",
-]
-
 [[package]]
 name = "fnv"
 version = "1.0.7"
@@ -361,19 +417,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d9c4f5dac5e15c24eb999c26181a6ca40b39fe946cbe4c263c7209467bc83af2"
 
 [[package]]
-name = "foldhash"
-version = "0.2.0"
+name = "getrandom"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77ce24cb58228fbb8aa041425bb1050850ac19177686ea6e0f41a70416f56fdb"
-
-[[package]]
-name = "fontdue"
-version = "0.9.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2e57e16b3fe8ff4364c0661fdaac543fb38b29ea9bc9c2f45612d90adf931d2b"
+checksum = "0de51e6874e94e7bf76d726fc5d13ba782deca734ff60d5bb2fb2607c7406555"
 dependencies = [
- "hashbrown 0.15.5",
- "ttf-parser",
+ "cfg-if",
+ "libc",
+ "r-efi",
+ "wasip2",
+ "wasip3",
 ]
 
 [[package]]
@@ -473,13 +526,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "19fc433e8437a212d1b6f1e68c7824af3aed907da60afa994e7f542d18d12aa9"
 
 [[package]]
-name = "hash32"
-version = "0.3.1"
+name = "glob"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
-dependencies = [
- "byteorder",
-]
+checksum = "0cc23270f6e1808e30a928bdc84dea0b9b4136a8bc82338574f23baf47bbd280"
 
 [[package]]
 name = "hashbrown"
@@ -493,9 +543,7 @@ version = "0.15.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9229cfe53dfd69f0609a49f65461bd93001ea1ef889cd5529dd176593f5338a1"
 dependencies = [
- "allocator-api2",
- "equivalent",
- "foldhash 0.1.5",
+ "foldhash",
 ]
 
 [[package]]
@@ -503,18 +551,14 @@ name = "hashbrown"
 version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "841d1cc9bed7f9236f321df977030373f4a4163ae1a7dbfe1a51a2c1a51d9100"
-dependencies = [
- "foldhash 0.2.0",
-]
 
 [[package]]
-name = "heapless"
-version = "0.8.0"
+name = "heck"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+checksum = "6d621efb26863f0e9924c6ac577e8275e5e6b77455db64ffa6c65c904e9e132c"
 dependencies = [
- "hash32",
- "stable_deref_trait",
+ "unicode-segmentation",
 ]
 
 [[package]]
@@ -523,12 +567,27 @@ version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea"
 
+[[package]]
+name = "hermit-abi"
+version = "0.1.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "62b467343b94ba476dcb2500d242dadbb39557df889310ac77c5d99100aaac33"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "hex"
 version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7f24254aa9a54b5c858eaee2f5bccdb46aaf0e486a595ed5fd8f86ba55232a70"
 
+[[package]]
+name = "humantime"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "135b12329e5e3ce057a9f972339ea52bc954fe1e9358ef27f95e89716fbc5424"
+
 [[package]]
 name = "iana-time-zone"
 version = "0.1.65"
@@ -553,25 +612,18 @@ dependencies = [
  "cc",
 ]
 
+[[package]]
+name = "id-arena"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d3067d79b975e8844ca9eb072e16b31c3c1c36928edf9c6789548c524d0d954"
+
 [[package]]
 name = "ident_case"
 version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
 
-[[package]]
-name = "image"
-version = "0.24.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5690139d2f55868e080017335e4b94cb7414274c74f1669c84fb5feba2c9f69d"
-dependencies = [
- "bytemuck",
- "byteorder",
- "color_quant",
- "num-traits",
- "png",
-]
-
 [[package]]
 name = "indexmap"
 version = "1.9.3"
@@ -617,6 +669,24 @@ dependencies = [
  "wasm-bindgen",
 ]
 
+[[package]]
+name = "lazy_static"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
+
+[[package]]
+name = "lazycell"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
+
+[[package]]
+name = "leb128fmt"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "09edd9e8b54e49e587e4f6295a7d29c3ea94d469cb40ab8ca70b288248a81db2"
+
 [[package]]
 name = "libc"
 version = "0.2.183"
@@ -624,10 +694,20 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b5b646652bf6661599e1da8901b3b9522896f01e736bad5f723fe7a3a27f899d"
 
 [[package]]
-name = "libm"
-version = "0.2.16"
+name = "libloading"
+version = "0.8.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b6d2cec3eae94f9f509c767b45932f1ada8350c4bdb85af2fcab4a3c14807981"
+checksum = "d7c4b02199fee7c5d21a5ae7d8cfa79a6ef5bb2fc834d6e9058e89c825efdc55"
+dependencies = [
+ "cfg-if",
+ "windows-link",
+]
+
+[[package]]
+name = "linux-raw-sys"
+version = "0.12.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32a66949e030da00e8c7d4434b251670a91556f4144941d37452769c25d58a53"
 
 [[package]]
 name = "log"
@@ -635,35 +715,6 @@ version = "0.4.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5e5032e24019045c762d3c0f28f5b6b8bbf38563a65908389bf7978758920897"
 
-[[package]]
-name = "macroquad"
-version = "0.4.14"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d2befbae373456143ef55aa93a73594d080adfb111dc32ec96a1123a3e4ff4ae"
-dependencies = [
- "fontdue",
- "glam 0.27.0",
- "image",
- "macroquad_macro",
- "miniquad",
- "quad-rand",
-]
-
-[[package]]
-name = "macroquad_macro"
-version = "0.1.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64b1d96218903768c1ce078b657c0d5965465c95a60d2682fd97443c9d2483dd"
-
-[[package]]
-name = "malloc_buf"
-version = "0.0.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62bb907fe88d54d8d9ce32a3cceab4218ed2f6b7d35617cafe9adf84e43919cb"
-dependencies = [
- "libc",
-]
-
 [[package]]
 name = "matrixmultiply"
 version = "0.3.10"
@@ -680,28 +731,6 @@ version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f8ca58f447f06ed17d5fc4043ce1b10dd205e060fb3ce5b979b8ed8e59ff3f79"
 
-[[package]]
-name = "miniquad"
-version = "0.4.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2fb3e758e46dbc45716a8a49ca9edc54b15bcca826277e80b1f690708f67f9e3"
-dependencies = [
- "libc",
- "ndk-sys",
- "objc-rs",
- "winapi",
-]
-
-[[package]]
-name = "miniz_oxide"
-version = "0.8.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1fa76a2c86f704bdb222d66965fb3d63269ce38518b83cb0575fca855ebb6316"
-dependencies = [
- "adler2",
- "simd-adler32",
-]
-
 [[package]]
 name = "nalgebra"
 version = "0.34.1"
@@ -742,14 +771,18 @@ checksum = "973e7178a678cfd059ccec50887658d482ce16b0aa9da3888ddeab5cd5eb4889"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.117",
 ]
 
 [[package]]
-name = "ndk-sys"
-version = "0.2.2"
+name = "nom"
+version = "5.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e1bcdd74c20ad5d95aacd60ef9ba40fdf77f767051040541df557b7a9b2a2121"
+checksum = "08959a387a676302eebf4ddbcbc611da04285579f76f88ee0506c63b1a61dd4b"
+dependencies = [
+ "memchr",
+ "version_check",
+]
 
 [[package]]
 name = "num-bigint"
@@ -776,17 +809,6 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cf97ec579c3c42f953ef76dbf8d55ac91fb219dde70e49aa4a6b7d74e9919050"
 
-[[package]]
-name = "num-derive"
-version = "0.4.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
-
 [[package]]
 name = "num-integer"
 version = "0.1.46"
@@ -814,16 +836,6 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
  "autocfg",
- "libm",
-]
-
-[[package]]
-name = "objc-rs"
-version = "0.2.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64a1e7069a2525126bf12a9f1f7916835fafade384fb27cabf698e745e2a1eb8"
-dependencies = [
- "malloc_buf",
 ]
 
 [[package]]
@@ -838,44 +850,6 @@ version = "1.70.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "384b8ab6d37215f3c5301a95a4accb5d64aa607f1fcb26a11b5303878451b4fe"
 
-[[package]]
-name = "ordered-float"
-version = "5.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f4779c6901a562440c3786d08192c6fbda7c1c2060edd10006b05ee35d10f2d"
-dependencies = [
- "num-traits",
-]
-
-[[package]]
-name = "parry3d"
-version = "0.25.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e99471b7b6870f7fe406d5611dd4b4c9b07aa3e5436b1d27e1515f9832bb0c6b"
-dependencies = [
- "approx",
- "arrayvec",
- "bitflags 2.11.0",
- "downcast-rs",
- "either",
- "ena",
- "foldhash 0.2.0",
- "glam 0.30.10",
- "hashbrown 0.16.1",
- "log",
- "nalgebra",
- "num-derive",
- "num-traits",
- "ordered-float",
- "rstar",
- "simba",
- "slab",
- "smallvec",
- "spade",
- "static_assertions",
- "thiserror",
-]
-
 [[package]]
 name = "paste"
 version = "1.0.15"
@@ -883,17 +857,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
-name = "png"
-version = "0.17.16"
+name = "peeking_take_while"
+version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "82151a2fc869e011c153adc57cf2789ccb8d9906ce52c0b39a6b5697749d7526"
-dependencies = [
- "bitflags 1.3.2",
- "crc32fast",
- "fdeflate",
- "flate2",
- "miniz_oxide",
-]
+checksum = "19b17cddbe7ec3f8bc800887bab5e717348c95ea2ca0b1bf0837fb964dc67099"
 
 [[package]]
 name = "powerfmt"
@@ -901,6 +868,16 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "439ee305def115ba05938db6eb1644ff94165c5ab5e9420d1c1bcedbba909391"
 
+[[package]]
+name = "prettyplease"
+version = "0.2.37"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "479ca8adacdd7ce8f1fb39ce9ecccbfe93a3f1344b3d0d97f20bc0196208f62b"
+dependencies = [
+ "proc-macro2",
+ "syn 2.0.117",
+]
+
 [[package]]
 name = "proc-macro2"
 version = "1.0.106"
@@ -910,31 +887,6 @@ dependencies = [
  "unicode-ident",
 ]
 
-[[package]]
-name = "profiling"
-version = "1.0.17"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3eb8486b569e12e2c32ad3e204dbaba5e4b5b216e9367044f25f1dba42341773"
-dependencies = [
- "profiling-procmacros",
-]
-
-[[package]]
-name = "profiling-procmacros"
-version = "1.0.17"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "52717f9a02b6965224f95ca2a81e2e0c5c43baacd28ca057577988930b6c3d5b"
-dependencies = [
- "quote",
- "syn",
-]
-
-[[package]]
-name = "quad-rand"
-version = "0.2.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a651516ddc9168ebd67b24afd085a718be02f8858fe406591b013d101ce2f40"
-
 [[package]]
 name = "quote"
 version = "1.0.45"
@@ -945,30 +897,10 @@ dependencies = [
 ]
 
 [[package]]
-name = "rapier3d"
-version = "0.31.0"
+name = "r-efi"
+version = "6.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68073fdc88f6b709002767ce8deffffb05ac06824bf9f98a23e270bcea64ba9f"
-dependencies = [
- "approx",
- "arrayvec",
- "bit-vec",
- "bitflags 2.11.0",
- "downcast-rs",
- "log",
- "nalgebra",
- "num-derive",
- "num-traits",
- "ordered-float",
- "parry3d",
- "profiling",
- "rustc-hash",
- "simba",
- "static_assertions",
- "thiserror",
- "vec_map",
- "wide",
-]
+checksum = "f8dcc9c7d52a811697d2151c701e0d08956f92b0e24136cf4cf27b57a6a0d9bf"
 
 [[package]]
 name = "rawpointer"
@@ -993,31 +925,56 @@ checksum = "b7186006dcb21920990093f30e3dea63b7d6e977bf1256be20c3563a5db070da"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.117",
 ]
 
 [[package]]
-name = "robust"
-version = "1.2.0"
+name = "regex"
+version = "1.12.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e27ee8bb91ca0adcf0ecb116293afa12d393f9c2b9b9cd54d33e8078fe19839"
-
-[[package]]
-name = "rstar"
-version = "0.12.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "421400d13ccfd26dfa5858199c30a5d76f9c54e0dba7575273025b43c5175dbb"
+checksum = "e10754a14b9137dd7b1e3e5b0493cc9171fdd105e0ab477f51b72e7f3ac0e276"
 dependencies = [
- "heapless",
- "num-traits",
- "smallvec",
+ "aho-corasick",
+ "memchr",
+ "regex-automata",
+ "regex-syntax",
 ]
 
+[[package]]
+name = "regex-automata"
+version = "0.4.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6e1dd4122fc1595e8162618945476892eefca7b88c52820e74af6262213cae8f"
+dependencies = [
+ "aho-corasick",
+ "memchr",
+ "regex-syntax",
+]
+
+[[package]]
+name = "regex-syntax"
+version = "0.8.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc897dd8d9e8bd1ed8cdad82b5966c3e0ecae09fb1907d58efaa013543185d0a"
+
 [[package]]
 name = "rustc-hash"
-version = "2.1.1"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d"
+checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
+
+[[package]]
+name = "rustix"
+version = "1.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6fe4565b9518b83ef4f91bb47ce29620ca828bd32cb7e408f0062e9930ba190"
+dependencies = [
+ "bitflags 2.11.0",
+ "errno",
+ "libc",
+ "linux-raw-sys",
+ "windows-sys",
+]
 
 [[package]]
 name = "rustversion"
@@ -1058,6 +1015,12 @@ dependencies = [
  "serde_json",
 ]
 
+[[package]]
+name = "semver"
+version = "1.0.27"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d767eb0aabc880b29956c35734170f26ed551a859dbd361d140cdbeca61ab1e2"
+
 [[package]]
 name = "serde"
 version = "1.0.228"
@@ -1085,7 +1048,7 @@ checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1138,7 +1101,7 @@ dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1161,46 +1124,10 @@ dependencies = [
 ]
 
 [[package]]
-name = "simd-adler32"
-version = "0.3.8"
+name = "strsim"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e320a6c5ad31d271ad523dcf3ad13e2767ad8b1cb8f047f75a8aeaf8da139da2"
-
-[[package]]
-name = "slab"
-version = "0.4.12"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c790de23124f9ab44544d7ac05d60440adc586479ce501c1d6d7da3cd8c9cf5"
-
-[[package]]
-name = "smallvec"
-version = "1.15.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03"
-
-[[package]]
-name = "spade"
-version = "2.15.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb313e1c8afee5b5647e00ee0fe6855e3d529eb863a0fdae1d60006c4d1e9990"
-dependencies = [
- "hashbrown 0.15.5",
- "num-traits",
- "robust",
- "smallvec",
-]
-
-[[package]]
-name = "stable_deref_trait"
-version = "1.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6ce2be8dc25455e1f91df71bfa12ad37d7af1092ae736f3a6cd0e37bc7810596"
-
-[[package]]
-name = "static_assertions"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
+checksum = "8ea5119cdb4c55b55d432abb513a0429384878c15dde60cc77b1c99de1a95a6a"
 
 [[package]]
 name = "strsim"
@@ -1208,6 +1135,17 @@ version = "0.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
 
+[[package]]
+name = "syn"
+version = "1.0.109"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
 [[package]]
 name = "syn"
 version = "2.0.117"
@@ -1220,23 +1158,34 @@ dependencies = [
 ]
 
 [[package]]
-name = "thiserror"
-version = "2.0.18"
+name = "tempfile"
+version = "3.27.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4288b5bcbc7920c07a1149a35cf9590a2aa808e0bc1eafaade0b80947865fbc4"
+checksum = "32497e9a4c7b38532efcdebeef879707aa9f794296a4f0244f6f69e9bc8574bd"
 dependencies = [
- "thiserror-impl",
+ "fastrand",
+ "getrandom",
+ "once_cell",
+ "rustix",
+ "windows-sys",
 ]
 
 [[package]]
-name = "thiserror-impl"
-version = "2.0.18"
+name = "termcolor"
+version = "1.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ebc4ee7f67670e9b64d05fa4253e753e016c6c95ff35b89b7941d6b856dec1d5"
+checksum = "06794f8f6c5c898b3275aebefa6b8a1cb24cd2c6c79397ab15774837a0bc5755"
 dependencies = [
- "proc-macro2",
- "quote",
- "syn",
+ "winapi-util",
+]
+
+[[package]]
+name = "textwrap"
+version = "0.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d326610f408c7a4eb6f51c37c330e496b08506c9457c9d34287ecc38809fb060"
+dependencies = [
+ "unicode-width",
 ]
 
 [[package]]
@@ -1270,6 +1219,15 @@ dependencies = [
  "time-core",
 ]
 
+[[package]]
+name = "toml"
+version = "0.5.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f4f7f0dd8d50a853a531c426359045b1998f04219d88799810762cd4ad314234"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "toml"
 version = "0.9.12+spec-1.1.0"
@@ -1309,12 +1267,6 @@ version = "1.0.6+spec-1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ab16f14aed21ee8bfd8ec22513f7287cd4a91aa92e44edfe2c17ddd004e92607"
 
-[[package]]
-name = "ttf-parser"
-version = "0.21.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c591d83f69777866b9126b24c6dd9a18351f177e49d625920d19f989fd31cf8"
-
 [[package]]
 name = "typenum"
 version = "1.19.0"
@@ -1327,6 +1279,24 @@ version = "1.0.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
 
+[[package]]
+name = "unicode-segmentation"
+version = "1.12.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f6ccf251212114b54433ec949fd6a7841275f9ada20dddd2f29e9ceea4501493"
+
+[[package]]
+name = "unicode-width"
+version = "0.1.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7dd6e30e90baa6f72411720665d41d89b9a3d039dc45b8faea1ddd07f617f6af"
+
+[[package]]
+name = "unicode-xid"
+version = "0.2.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ebc1c04c71510c7f702b52b7c350734c9ff1295c464a03335b00bb84fc54f853"
+
 [[package]]
 name = "utf8parse"
 version = "0.2.2"
@@ -1339,6 +1309,30 @@ version = "0.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f1bddf1187be692e79c5ffeab891132dfb0f236ed36a43c7ed39f1165ee20191"
 
+[[package]]
+name = "version_check"
+version = "0.9.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
+
+[[package]]
+name = "wasip2"
+version = "1.0.2+wasi-0.2.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9517f9239f02c069db75e65f174b3da828fe5f5b945c4dd26bd25d89c03ebcf5"
+dependencies = [
+ "wit-bindgen",
+]
+
+[[package]]
+name = "wasip3"
+version = "0.4.0+wasi-0.3.0-rc-2026-01-06"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5428f8bf88ea5ddc08faddef2ac4a67e390b88186c703ce6dbd955e1c145aca5"
+dependencies = [
+ "wit-bindgen",
+]
+
 [[package]]
 name = "wasm-bindgen"
 version = "0.2.114"
@@ -1371,7 +1365,7 @@ dependencies = [
  "bumpalo",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.117",
  "wasm-bindgen-shared",
 ]
 
@@ -1384,6 +1378,49 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "wasm-encoder"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "990065f2fe63003fe337b932cfb5e3b80e0b4d0f5ff650e6985b1048f62c8319"
+dependencies = [
+ "leb128fmt",
+ "wasmparser",
+]
+
+[[package]]
+name = "wasm-metadata"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bb0e353e6a2fbdc176932bbaab493762eb1255a7900fe0fea1a2f96c296cc909"
+dependencies = [
+ "anyhow",
+ "indexmap 2.13.0",
+ "wasm-encoder",
+ "wasmparser",
+]
+
+[[package]]
+name = "wasmparser"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47b807c72e1bac69382b3a6fb3dbe8ea4c0ed87ff5629b8685ae6b9a611028fe"
+dependencies = [
+ "bitflags 2.11.0",
+ "hashbrown 0.15.5",
+ "indexmap 2.13.0",
+ "semver",
+]
+
+[[package]]
+name = "which"
+version = "3.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d011071ae14a2f6671d0b74080ae0cd8ebf3a6f8c9589a2cd45f23126fe29724"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "wide"
 version = "0.7.33"
@@ -1410,6 +1447,15 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
 
+[[package]]
+name = "winapi-util"
+version = "0.1.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2a7b1c03c876122aa43f3020e6c3c3ee5c05081c9a00739faf7503aeba10d22"
+dependencies = [
+ "windows-sys",
+]
+
 [[package]]
 name = "winapi-x86_64-pc-windows-gnu"
 version = "0.4.0"
@@ -1437,7 +1483,7 @@ checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1448,7 +1494,7 @@ checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1490,6 +1536,94 @@ version = "0.7.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "df79d97927682d2fd8adb29682d1140b343be4ac0f08fd68b7765d9c059d3945"
 
+[[package]]
+name = "wit-bindgen"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d7249219f66ced02969388cf2bb044a09756a083d0fab1e566056b04d9fbcaa5"
+dependencies = [
+ "wit-bindgen-rust-macro",
+]
+
+[[package]]
+name = "wit-bindgen-core"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ea61de684c3ea68cb082b7a88508a8b27fcc8b797d738bfc99a82facf1d752dc"
+dependencies = [
+ "anyhow",
+ "heck 0.5.0",
+ "wit-parser",
+]
+
+[[package]]
+name = "wit-bindgen-rust"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b7c566e0f4b284dd6561c786d9cb0142da491f46a9fbed79ea69cdad5db17f21"
+dependencies = [
+ "anyhow",
+ "heck 0.5.0",
+ "indexmap 2.13.0",
+ "prettyplease",
+ "syn 2.0.117",
+ "wasm-metadata",
+ "wit-bindgen-core",
+ "wit-component",
+]
+
+[[package]]
+name = "wit-bindgen-rust-macro"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c0f9bfd77e6a48eccf51359e3ae77140a7f50b1e2ebfe62422d8afdaffab17a"
+dependencies = [
+ "anyhow",
+ "prettyplease",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.117",
+ "wit-bindgen-core",
+ "wit-bindgen-rust",
+]
+
+[[package]]
+name = "wit-component"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9d66ea20e9553b30172b5e831994e35fbde2d165325bec84fc43dbf6f4eb9cb2"
+dependencies = [
+ "anyhow",
+ "bitflags 2.11.0",
+ "indexmap 2.13.0",
+ "log",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "wasm-encoder",
+ "wasm-metadata",
+ "wasmparser",
+ "wit-parser",
+]
+
+[[package]]
+name = "wit-parser"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ecc8ac4bc1dc3381b7f59c34f00b67e18f910c2c0f50015669dde7def656a736"
+dependencies = [
+ "anyhow",
+ "id-arena",
+ "indexmap 2.13.0",
+ "log",
+ "semver",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "unicode-xid",
+ "wasmparser",
+]
+
 [[package]]
 name = "zmij"
 version = "1.0.21"
diff --git a/Cargo.toml b/Cargo.toml
index 5837d25..0c25d51 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,7 +1,16 @@
+
 [package]
 name = "drone_controller"
 version = "0.1.0"
-edition = "2024"
+edition = "2018"
+
+[lib]
+crate-type = ["staticlib"]
+
+[build-dependencies]
+bindgen = "0.58"
+cbindgen = "0.19"
+
 
 [dependencies]
 
@@ -14,8 +23,20 @@ serde_json = "1.0.149"
 
 clap = { version = "4", features = ["derive"] }
 
-[lib]
-crate-type = ["lib", "cdylib"]
+[features]
+std = []
 
-[build-dependencies]
-cbindgen = "0.29"
+[profile.dev]
+# Optimization level 1 is similar to "g" in gcc/clang, although for some reason
+# Cargo doesn't support that flag.
+#opt-level = 1
+opt-level = "s"
+
+[profile.release]
+debug = true
+opt-level = "z"
+#debug = true
+#lto = true
+#opt-level = "z"
+#codegen-units = 1
+#panic = "abort"
diff --git a/build.rs b/build.rs
index 3465469..c266995 100644
--- a/build.rs
+++ b/build.rs
@@ -1,11 +1,22 @@
-extern crate cbindgen;
-
 use std::env;
+use std::path::{Path, PathBuf};
 
 fn main() {
-    let crate_dir = env::var("CARGO_MANIFEST_DIR").unwrap();
+    let cargo_dir = PathBuf::from(env::var("CARGO_MANIFEST_DIR").unwrap());
+    let target_dir = PathBuf::from(env::var("CARGO_BUILD_TARGET_DIR").unwrap());
 
-    let _ = cbindgen::generate(crate_dir)
-        .unwrap()
-        .write_to_file("bindings.h");
+    run_cbindgen(&cargo_dir, &target_dir);
+}
+
+fn run_cbindgen(cargo_dir: &Path, target_dir: &Path) {
+    let out = target_dir.join("drone_controller.h");
+
+    cbindgen::Builder::new()
+        .with_crate(cargo_dir)
+        .with_language(cbindgen::Language::C)
+        .generate()
+        .expect("Unable to generate bindings")
+        .write_to_file(&out);
+
+    println!("cargo:rerun-if-changed={}", out.display());
 }
diff --git a/cbindgen.toml b/cbindgen.toml
deleted file mode 100644
index 94d7633..0000000
--- a/cbindgen.toml
+++ /dev/null
@@ -1,36 +0,0 @@
-# This is a template cbindgen.toml file with all of the default values.
-# Some values are commented out because their absence is the real default.
-#
-# See https://github.com/mozilla/cbindgen/blob/main/docs.md#cbindgentoml
-# for detailed documentation of every option here.
-
-
-language = "C++"
-
-
-include_guard = "my_bindings_h"
-autogen_warning = "/* Warning, this file is autogenerated by cbindgen. Don't modify this manually. */"
-include_version = true
-
-
-braces = "SameLine"
-line_length = 100
-tab_width = 2
-documentation = true
-documentation_style = "auto"
-documentation_length = "full"
-line_endings = "LF"
-
-namespace = "dcont"
-
-
-style = "both"
-sort_by = "Name"
-usize_is_size_t = true
-
-[export]
-include = []
-exclude = []
-# prefix = "DCONT_"
-item_types = []
-renaming_overrides_prefixing = false