diff --git a/util/compression/zstd.cpp b/util/compression/zstd.cpp
new file mode 100644
index 0000000..2c60f06
--- /dev/null
+++ b/util/compression/zstd.cpp
@@ -0,0 +1,160 @@
+#include "zstd.hpp"
+#include <cstdint>
+#include <vector>
+#include <cstring>
+#include <memory>
+#include <algorithm>
+
+// Implementation of ZSTD_CompressStream methods
+size_t ZSTD_CompressStream::compress_continue(const void* src, void* dst, size_t srcSize) {
+    // For compatibility with the original interface where dst size is inferred
+    size_t dstCapacity = ZSTD_compressBound(srcSize);
+    return this->compress(src, srcSize, dst, dstCapacity);
+}
+
+// Implementation of ZSTD_DecompressStream methods  
+size_t ZSTD_DecompressStream::decompress_continue(const void* src, void* dst, size_t srcSize) {
+    // Note: srcSize parameter is actually the destination buffer size
+    // This matches the confusing usage in the original VoxelOctree code
+    return this->decompress(src, srcSize, dst, srcSize);
+}
+
+// Helper functions for the compression system
+namespace {
+    // Simple hash function for LZ77-style matching
+    uint32_t computeHash(const uint8_t* data) {
+        return (data[0] << 16) | (data[1] << 8) | data[2];
+    }
+}
+
+// More advanced compression implementation
+size_t ZSTD_CompressStream::compress(const void* src, size_t srcSize, void* dst, size_t dstCapacity) {
+    if (srcSize == 0 || dstCapacity == 0) return 0;
+    
+    const uint8_t* srcBytes = static_cast<const uint8_t*>(src);
+    uint8_t* dstBytes = static_cast<uint8_t*>(dst);
+    
+    size_t dstPos = 0;
+    size_t srcPos = 0;
+    
+    // Simple LZ77 compression
+    while (srcPos < srcSize && dstPos + 3 < dstCapacity) {
+        // Try to find a match in previous data
+        size_t bestMatchPos = 0;
+        size_t bestMatchLen = 0;
+        
+        // Look for matches in recent data (simplified search window)
+        size_t searchStart = (srcPos > 1024) ? srcPos - 1024 : 0;
+        for (size_t i = searchStart; i < srcPos && i + 3 <= srcSize; i++) {
+            if (srcBytes[i] == srcBytes[srcPos]) {
+                size_t matchLen = 1;
+                while (srcPos + matchLen < srcSize && 
+                       i + matchLen < srcPos &&
+                       srcBytes[i + matchLen] == srcBytes[srcPos + matchLen] &&
+                       matchLen < 255) {
+                    matchLen++;
+                }
+                
+                if (matchLen > bestMatchLen && matchLen >= 4) {
+                    bestMatchLen = matchLen;
+                    bestMatchPos = srcPos - i;
+                }
+            }
+        }
+        
+        if (bestMatchLen >= 4) {
+            // Encode match
+            dstBytes[dstPos++] = 0x80 | ((bestMatchLen - 4) & 0x7F);
+            dstBytes[dstPos++] = (bestMatchPos >> 8) & 0xFF;
+            dstBytes[dstPos++] = bestMatchPos & 0xFF;
+            srcPos += bestMatchLen;
+        } else {
+            // Encode literals
+            size_t literalStart = srcPos;
+            size_t maxLiteral = std::min(srcSize - srcPos, size_t(127));
+            
+            // Find run of non-compressible data
+            while (srcPos - literalStart < maxLiteral) {
+                // Check if next few bytes could be compressed
+                bool canCompress = false;
+                if (srcPos + 3 < srcSize) {
+                    // Simple heuristic: repeated bytes or patterns
+                    if (srcBytes[srcPos] == srcBytes[srcPos + 1] && 
+                        srcBytes[srcPos] == srcBytes[srcPos + 2]) {
+                        canCompress = true;
+                    }
+                }
+                if (canCompress) break;
+                srcPos++;
+            }
+            
+            size_t literalLength = srcPos - literalStart;
+            if (literalLength > 0) {
+                if (dstPos + literalLength + 1 > dstCapacity) {
+                    // Not enough space
+                    break;
+                }
+                
+                dstBytes[dstPos++] = literalLength & 0x7F;
+                memcpy(dstBytes + dstPos, srcBytes + literalStart, literalLength);
+                dstPos += literalLength;
+            }
+        }
+    }
+    
+    return dstPos;
+}
+
+size_t ZSTD_DecompressStream::decompress(const void* src, size_t srcSize, void* dst, size_t dstCapacity) {
+    if (srcSize == 0 || dstCapacity == 0) return 0;
+    
+    const uint8_t* srcBytes = static_cast<const uint8_t*>(src);
+    uint8_t* dstBytes = static_cast<uint8_t*>(dst);
+    
+    size_t srcPos = 0;
+    size_t dstPos = 0;
+    
+    while (srcPos < srcSize && dstPos < dstCapacity) {
+        uint8_t header = srcBytes[srcPos++];
+        
+        if (header & 0x80) {
+            // Match
+            if (srcPos + 1 >= srcSize) break;
+            
+            size_t matchLen = (header & 0x7F) + 4;
+            uint16_t matchDist = (srcBytes[srcPos] << 8) | srcBytes[srcPos + 1];
+            srcPos += 2;
+            
+            if (matchDist == 0 || matchDist > dstPos) {
+                // Invalid match distance
+                break;
+            }
+            
+            size_t toCopy = std::min(matchLen, dstCapacity - dstPos);
+            size_t matchPos = dstPos - matchDist;
+            
+            for (size_t i = 0; i < toCopy; i++) {
+                dstBytes[dstPos++] = dstBytes[matchPos + i];
+            }
+            
+            if (toCopy < matchLen) {
+                break; // Output buffer full
+            }
+        } else {
+            // Literals
+            size_t literalLength = header;
+            if (srcPos + literalLength > srcSize) break;
+            
+            size_t toCopy = std::min(literalLength, dstCapacity - dstPos);
+            memcpy(dstBytes + dstPos, srcBytes + srcPos, toCopy);
+            srcPos += toCopy;
+            dstPos += toCopy;
+            
+            if (toCopy < literalLength) {
+                break; // Output buffer full
+            }
+        }
+    }
+    
+    return dstPos;
+}
\ No newline at end of file
diff --git a/util/compression/zstd.hpp b/util/compression/zstd.hpp
new file mode 100644
index 0000000..876f592
--- /dev/null
+++ b/util/compression/zstd.hpp
@@ -0,0 +1,207 @@
+#ifndef ZSTD_HPP
+#define ZSTD_HPP
+
+#include <cstdint>
+#include <vector>
+#include <cstring>
+#include <memory>
+
+// Simple ZSTD compression implementation (simplified version)
+class ZSTD_Stream {
+public:
+    virtual ~ZSTD_Stream() = default;
+};
+
+class ZSTD_CompressStream : public ZSTD_Stream {
+private:
+    std::vector<uint8_t> buffer;
+    size_t position;
+    
+public:
+    ZSTD_CompressStream() : position(0) {
+        buffer.reserve(1024 * 1024); // 1MB initial capacity
+    }
+    
+    void reset() {
+        buffer.clear();
+        position = 0;
+    }
+    
+    size_t compress(const void* src, size_t srcSize, void* dst, size_t dstCapacity) {
+        // Simplified compression - in reality this would use actual ZSTD algorithm
+        // For this example, we'll just copy with simple RLE-like compression
+        
+        if (dstCapacity < srcSize) {
+            return 0; // Not enough space
+        }
+        
+        const uint8_t* srcBytes = static_cast<const uint8_t*>(src);
+        uint8_t* dstBytes = static_cast<uint8_t*>(dst);
+        
+        size_t dstPos = 0;
+        size_t srcPos = 0;
+        
+        while (srcPos < srcSize && dstPos + 2 < dstCapacity) {
+            // Simple RLE compression for repeated bytes
+            uint8_t current = srcBytes[srcPos];
+            size_t runLength = 1;
+            
+            while (srcPos + runLength < srcSize && 
+                   srcBytes[srcPos + runLength] == current && 
+                   runLength < 127) {
+                runLength++;
+            }
+            
+            if (runLength > 3) {
+                // Encode as RLE
+                dstBytes[dstPos++] = 0x80 | (runLength & 0x7F);
+                dstBytes[dstPos++] = current;
+                srcPos += runLength;
+            } else {
+                // Encode as literal run
+                size_t literalStart = srcPos;
+                while (srcPos < srcSize && 
+                       (srcPos - literalStart < 127) &&
+                       (srcPos + 1 >= srcSize || 
+                        srcBytes[srcPos] != srcBytes[srcPos + 1] ||
+                        srcPos + 2 >= srcSize || 
+                        srcBytes[srcPos] != srcBytes[srcPos + 2])) {
+                    srcPos++;
+                }
+                
+                size_t literalLength = srcPos - literalStart;
+                if (dstPos + literalLength + 1 > dstCapacity) {
+                    break;
+                }
+                
+                dstBytes[dstPos++] = literalLength & 0x7F;
+                memcpy(dstBytes + dstPos, srcBytes + literalStart, literalLength);
+                dstPos += literalLength;
+            }
+        }
+        
+        return dstPos;
+    }
+    
+    size_t compress_continue(const void* src, size_t srcSize, void* dst, size_t dstCapacity) {
+        return compress(src, srcSize, dst, dstCapacity);
+    }
+    
+    const std::vector<uint8_t>& getBuffer() const { return buffer; }
+};
+
+class ZSTD_DecompressStream : public ZSTD_Stream {
+private:
+    size_t position;
+    
+public:
+    ZSTD_DecompressStream() : position(0) {}
+    
+    void reset() {
+        position = 0;
+    }
+    
+    size_t decompress(const void* src, size_t srcSize, void* dst, size_t dstCapacity) {
+        const uint8_t* srcBytes = static_cast<const uint8_t*>(src);
+        uint8_t* dstBytes = static_cast<uint8_t*>(dst);
+        
+        size_t srcPos = 0;
+        size_t dstPos = 0;
+        
+        while (srcPos < srcSize && dstPos < dstCapacity) {
+            uint8_t header = srcBytes[srcPos++];
+            
+            if (header & 0x80) {
+                // RLE encoded
+                size_t runLength = header & 0x7F;
+                if (srcPos >= srcSize) break;
+                
+                uint8_t value = srcBytes[srcPos++];
+                
+                size_t toCopy = std::min(runLength, dstCapacity - dstPos);
+                memset(dstBytes + dstPos, value, toCopy);
+                dstPos += toCopy;
+                
+                if (toCopy < runLength) {
+                    break; // Output buffer full
+                }
+            } else {
+                // Literal data
+                size_t literalLength = header;
+                if (srcPos + literalLength > srcSize) break;
+                
+                size_t toCopy = std::min(literalLength, dstCapacity - dstPos);
+                memcpy(dstBytes + dstPos, srcBytes + srcPos, toCopy);
+                srcPos += toCopy;
+                dstPos += toCopy;
+                
+                if (toCopy < literalLength) {
+                    break; // Output buffer full
+                }
+            }
+        }
+        
+        return dstPos;
+    }
+    
+    size_t decompress_continue(const void* src, size_t srcSize, void* dst, size_t dstCapacity) {
+        return decompress(src, srcSize, dst, dstCapacity);
+    }
+};
+
+// Type definitions for compatibility with original code
+using ZSTD_stream_t = ZSTD_CompressStream;
+
+// Stream creation functions
+inline ZSTD_CompressStream* ZSTD_createStream() {
+    return new ZSTD_CompressStream();
+}
+
+inline ZSTD_DecompressStream* ZSTD_createStreamDecode() {
+    return new ZSTD_DecompressStream();
+}
+
+// Stream free functions
+inline void ZSTD_freeStream(ZSTD_Stream* stream) {
+    delete stream;
+}
+
+inline void ZSTD_freeStreamDecode(ZSTD_Stream* stream) {
+    delete stream;
+}
+
+// Stream reset functions
+inline void ZSTD_resetStream(ZSTD_CompressStream* stream) {
+    if (stream) stream->reset();
+}
+
+inline void ZSTD_setStreamDecode(ZSTD_DecompressStream* stream, const void* dict, size_t dictSize) {
+    if (stream) stream->reset();
+    // Note: dict parameter is ignored in this simplified version
+    (void)dict;
+    (void)dictSize;
+}
+
+// Compression functions
+inline size_t ZSTD_compressBound(size_t srcSize) {
+    // Worst case: no compression + 1 byte header per 127 bytes
+    return srcSize + (srcSize / 127) + 1;
+}
+
+inline size_t ZSTD_Compress_continue(ZSTD_CompressStream* stream, 
+                                     const void* src, void* dst, 
+                                     size_t srcSize) {
+    if (!stream) return 0;
+    return stream->compress_continue(src, srcSize, dst, ZSTD_compressBound(srcSize));
+}
+
+inline size_t ZSTD_Decompress_continue(ZSTD_DecompressStream* stream,
+                                       const void* src, void* dst,
+                                       size_t srcSize) {
+    if (!stream) return 0;
+    // Note: srcSize is actually the destination size in the original code
+    // This is confusing but matches the usage in VoxelOctree
+    return stream->decompress_continue(src, srcSize, dst, srcSize);
+}
+
+#endif // ZSTD_HPP
\ No newline at end of file
diff --git a/util/grid/svo.hpp b/util/grid/svo.hpp
new file mode 100644
index 0000000..0d45ccf
--- /dev/null
+++ b/util/grid/svo.hpp
@@ -0,0 +1,124 @@
+#ifndef VOXELOCTREE_HPP
+#define VOXELOCTREE_HPP
+
+#include "../vectorlogic/vec3.hpp"
+#include "../compression/zstd.hpp"
+#include <memory>
+#include <vector>
+#include <iostream>
+#include <algorithm>
+#include <fstream>
+#include <array>
+#include <cstdint>
+#include <cmath>
+#include <bit>
+
+class VoxelData;
+
+static const size_t CompressionBlockSize = 64*1024*1024;
+
+class VoxelOctree {
+private:
+    static const size_t MaxScale = 23;
+    size_t _octSize;
+    std::vector<uint32_t> _octree;
+    VoxelData* _voxels;
+    Vec3f _center;
+    size_t buildOctree(ChunkedAllocator<uint32_t>& allocator, int x, int y, int z, int size, size_t descriptorIndex) {
+        _voxels->prepateDataAccess(x, y, z, size);
+
+        int halfSize = size >> 1;
+        const std::array<int, 8> posX = { x + halfSize, x, x+halfSize, x, x+halfSize, x, x+halfSize, x};
+        const std::array<int, 8> posY = { y + halfSize, y+halfSize, y, y, y+halfSize, y+halfSize, y, y};
+        const std::array<int, 8> posZ = { z + halfSize, z+halfSize, z+halfSize, z+halfSize, z, z, z, z};
+        
+    }
+public:
+    VoxelOctree(const std::string& path) : _voxels(nullptr) {
+        std::ifstream file = std::ifstream(path, std::ios::binary);
+        if (!file.isopen()) {
+            throw std::runtime_error(std::string("failed to open: ") + path);
+        }
+
+        float cd[3];
+        file.read(reinterpret_cast<char*>(cd), sizeof(float) * 3);
+        _center = Vec3f(cd);
+
+        uint64_t octreeSize;
+        file.read(reinterpret_cast<char*>(&octreeSize), sizeof(uint64_t));
+        _octSize = octreeSize;
+
+        _octree.resize(_octSize);
+
+        std::vector<uint8_t> compressionBuffer(zstd(static_cast<int>(CompressionBlockSize)));
+
+        std::unique_ptr<ZSTD_Stream, decltype(&ZSTD_freeStreamDecode)> stream(ZSTD_freeStreamDecode);
+        ZSTD_setStreamDecode(stream.get(), reinterpret_cast<char*>(_octree.data()), 0);
+
+        uint64_t compressedSize = 0;
+        const size_t elementSize = sizeof(uint32_t);
+        for (uint64_t offset = 0; offset < _octSize * elementSize; offset += CompressionBlockSize) {
+            uint64_t compsize;
+            file.read(reinterpret_cast<char*>(&compsize), sizeof(uint64_t));
+
+            if (compsize > compressionBuffer.size()) compressionBuffer.resize(compsize);
+            file.read(compressionBuffer.data(), static_cast<std::streamsize>(compsize));
+
+            int outsize = std::min(_octSize * elementSize - offset, CompressionBlockSize);
+            ZSTD_Decompress_continue(stream.get(), compressionBuffer.data(), reinterpret_cast<char*>(_octree.data()) + offset, outsize);
+
+            compressedSize += compsize + sizeof(uint64_t);
+        }
+    }
+
+    VoxelOctree(VoxelData* voxels) : _voxels(voxels) {
+        std::unique_ptr<ChunkedAllocator<uint32_t>> octreeAllocator = std::make_unique<ChunkedAllocator<uint32_t>>();
+
+        octreeAllocator->pushBack(0);
+        buildOctree(*octreeAllocator, 0, 0, 0, _voxels->sideLength(), 0);
+        (*octreeAllocator)[0] |= 1 << 18;
+
+        _octSize = octreeAllocator->size() + octreeAllocator-> insertionCount();
+        _octree = octreeAllocator->finalize();
+        _center = _voxels->getCenter();
+    }
+
+    void save(const char* path) {
+        std::ofstream file(path, std::iod::binary);
+        if (!file.is_open()) {
+            throw std::runtime_error(std::string("failed to write: ") + path);
+        }
+
+        float cd[3] = _center;
+
+        file.write(reinterpret_cast<const char*>(cd), sizeof(float) * 3);
+
+        file.write(reinterpret_cast<const char*>(static_cast<uint64_t>(_octSize)), sizeof(uint64_t));
+        std::vector<uint8_t> compressionBuffer(ZSTD_compressBound(static_cast<int>(CompressionBlockSize)));
+        std::unique_ptr<ZSTD_stream_t, decltype(&ZSTD_freeStream)> stream(ZSTD_createStream(), ZSTD_freeStream);
+
+        ZSTD_resetStream(stream.get());
+
+        uint64_t compressedSize = 0;
+        const size_t elementSize = sizeof(uint32_t);
+        const char* src = reinterpret_cast<const char*>(_octree.data());
+
+        for (uint64_t offset = 0; offset < _octSize * elementSize; offset += CompressionBlockSize) {
+            int outSize = _octSize * elementSize - offset, CompressionBlockSize;
+            uint64_t compSize = ZSTD_Compress_continue(stream.get(), src+offset, compressionBuffer.data(), outSize);
+
+            file.write(reinterpret_cast<const char*>(&compSize), sizeof(uint64_t));
+            file.write(compressionBuffer.data(), static_cast<std::streamsize>(compSize));
+
+            compressedSize += compSize + sizeof(uint64_t);
+        }
+    }
+    
+    bool rayMarch(const Vec3f& origin, const Vec3f& dest, float rayScale, uint32_t& normal, float& t);
+
+    Vec3f center() const {
+        return _center;
+    }
+};
+
+#endif
\ No newline at end of file
diff --git a/util/vectorlogic/vec3.hpp b/util/vectorlogic/vec3.hpp
index 2af1f96..fce7e9a 100644
--- a/util/vectorlogic/vec3.hpp
+++ b/util/vectorlogic/vec3.hpp
@@ -9,14 +9,15 @@
 template<typename T>
 class Vec3 {
 public:
-    T x, y, z;
+    struct{ T x, y, z; };
     
     Vec3() : x(0), y(0), z(0) {}
     Vec3(T x, T y, T z) : x(x), y(y), z(z) {}
     Vec3(T scalar) : x(scalar), y(scalar), z(scalar) {}
+    Vec3(float[3] acd) : x(acd[0]), y(acd[1]), z(acd[2]) {}
 
     Vec3(const class Vec2& vec2, T z = 0);
-
+    
     Vec3& move(const Vec3& newpos) {
         x = newpos.x;
         y = newpos.y;