finally got collisions working acceptably. It's slower, but it works, and is not prone to exploding like the last one was. The real trick is making sure that at worst, the algorithm does not allow the body to penetrate. It must bail out to denying movement, so you can't get so deeply into a mesh. Also, have to recurse to find proper movement vector. I'm limiting to a max depth of 10, if we dont get a solution by then, bail and deny movement