initial multi-turtle support

turtle-lib-macros/src/lib.rs

@@ -60,9 +60,9 @@ use syn::{parse_macro_input, ItemFn};
 ///     turtle.forward(100.0);
 ///     turtle.right(90.0);
 ///     turtle.forward(100.0);
-///     
+///
-///     let mut app = TurtleApp::new().with_commands(turtle.build());
+///     let mut app = TurtleApp::new().with_commands(0, turtle.build());
-///     
+///
 ///     loop {
 ///         clear_background(WHITE);
 ///         app.update();
@@ -108,7 +108,7 @@ pub fn turtle_main(args: TokenStream, input: TokenStream) -> TokenStream {
                 #fn_name(&mut turtle);
 
                 let mut app = turtle_lib::TurtleApp::new()
-                    .with_commands(turtle.build());
+                    .with_commands(0, turtle.build());
 
                 loop {
                     macroquad::prelude::clear_background(macroquad::prelude::WHITE);
@@ -145,7 +145,7 @@ pub fn turtle_main(args: TokenStream, input: TokenStream) -> TokenStream {
                 #fn_block
 
                 let mut app = turtle_lib::TurtleApp::new()
-                    .with_commands(turtle.build());
+                    .with_commands(0, turtle.build());
 
                 loop {
                     macroquad::prelude::clear_background(macroquad::prelude::WHITE);

turtle-lib/examples/cheese.rs

@@ -71,7 +71,7 @@ async fn main() {
 
     println!("Building and executing turtle plan...");
     // Execute the plan
-    let mut app = TurtleApp::new().with_commands(turtle.build());
+    let mut app = TurtleApp::new().with_commands(0, turtle.build());
 
     loop {
         clear_background(Color::new(0.95, 0.95, 0.98, 1.0));

turtle-lib/examples/fill_advanced.rs

@@ -111,7 +111,7 @@ async fn main() {
     // Set animation speed
     t.set_speed(500);
 
-    let mut app = TurtleApp::new().with_commands(t.build());
+    let mut app = TurtleApp::new().with_commands(0, t.build());
 
     let target_fps = 1.0; // 1 frame per second for debugging
     let frame_time = 1.0 / target_fps;

turtle-lib/examples/logging_example.rs

@@ -75,7 +75,7 @@ async fn main() {
     t.set_speed(100); // Slow animation to see the logs in real-time
 
     // Create turtle app
-    let mut app = TurtleApp::new().with_commands(t.build());
+    let mut app = TurtleApp::new().with_commands(0, t.build());
 
     // Main loop
     loop {

turtle-lib/examples/yinyang.rs

@@ -4,7 +4,7 @@ use turtle_lib::*;
 
 #[turtle_main("Yin-Yang")]
 fn draw(turtle: &mut TurtlePlan) {
-    turtle.set_speed(200);
+    turtle.set_speed(100);
 
     turtle.circle_left(90.0, 180.0, 36);
     turtle.begin_fill();

turtle-lib/src/drawing.rs

@@ -3,6 +3,7 @@
 use crate::circle_geometry::{CircleDirection, CircleGeometry};
 use crate::state::{DrawCommand, TurtleState, TurtleWorld};
 use crate::tessellation;
+use crate::tweening::CommandTween;
 use macroquad::prelude::*;
 
 // Import the easing function from the tween crate
@@ -27,15 +28,17 @@ pub fn render_world(world: &TurtleWorld) {
     // Draw all accumulated commands
     for cmd in &world.commands {
         match cmd {
-            DrawCommand::Mesh(mesh_data) => {
+            DrawCommand::Mesh { data, .. } => {
-                draw_mesh(&mesh_data.to_mesh());
+                draw_mesh(&data.to_mesh());
             }
         }
     }
 
-    // Draw turtle if visible
+    // Draw all visible turtles
-    if world.turtle.visible {
+    for turtle in &world.turtles {
-        draw_turtle(&world.turtle);
+        if turtle.visible {
+            draw_turtle(turtle);
+        }
     }
 
     // Reset to default camera
@@ -44,9 +47,9 @@ pub fn render_world(world: &TurtleWorld) {
 
 /// Render the turtle world with active tween visualization
 #[allow(clippy::too_many_lines)]
-pub(crate) fn render_world_with_tween(
+pub fn render_world_with_tween(
     world: &TurtleWorld,
-    active_tween: Option<&crate::tweening::CommandTween>,
+    active_tween: Option<&CommandTween>,
     zoom_level: f32,
 ) {
     // Update camera zoom based on current screen size to prevent stretching
@@ -66,13 +69,16 @@ pub(crate) fn render_world_with_tween(
     // Draw all accumulated commands
     for cmd in &world.commands {
         match cmd {
-            DrawCommand::Mesh(mesh_data) => {
+            DrawCommand::Mesh { data, .. } => {
-                draw_mesh(&mesh_data.to_mesh());
+                draw_mesh(&data.to_mesh());
             }
         }
     }
 
     // Draw in-progress tween line if pen is down
+    // Extract turtle_id from active tween (default to 0 if no active tween)
+    let active_turtle_id = active_tween.map_or(0, |tween| tween.turtle_id);
+
     if let Some(tween) = active_tween {
         if tween.start_state.pen_down {
             match &tween.command {
@@ -86,22 +92,24 @@ pub(crate) fn render_world_with_tween(
                     draw_tween_arc(tween, *radius, *angle, *steps, *direction);
                 }
                 _ if should_draw_tween_line(&tween.command) => {
-                    // Draw straight line for other movement commands
+                    // Draw straight line for other movement commands (use active turtle)
-                    draw_line(
+                    if let Some(turtle) = world.turtles.get(active_turtle_id) {
-                        tween.start_state.position.x,
+                        draw_line(
-                        tween.start_state.position.y,
+                            tween.start_state.position.x,
-                        world.turtle.position.x,
+                            tween.start_state.position.y,
-                        world.turtle.position.y,
+                            turtle.position.x,
-                        tween.start_state.pen_width,
+                            turtle.position.y,
-                        tween.start_state.color,
+                            tween.start_state.pen_width,
-                    );
+                            tween.start_state.color,
-                    // Add circle at current position for smooth line joins
+                        );
-                    draw_circle(
+                        // Add circle at current position for smooth line joins
-                        world.turtle.position.x,
+                        draw_circle(
-                        world.turtle.position.y,
+                            turtle.position.x,
-                        tween.start_state.pen_width / 2.0,
+                            turtle.position.y,
-                        tween.start_state.color,
+                            tween.start_state.pen_width / 2.0,
-                    );
+                            tween.start_state.color,
+                        );
+                    }
                 }
                 _ => {}
             }
@@ -109,139 +117,146 @@ pub(crate) fn render_world_with_tween(
     }
 
     // Draw live fill preview if currently filling (always show, not just during tweens)
-    if let Some(ref fill_state) = world.turtle.filling {
+    // Use the active turtle if available, otherwise default to turtle 0
-        // Build all contours: completed contours + current contour with animation
+    if let Some(turtle) = world.turtles.get(active_turtle_id) {
-        let mut all_contours: Vec<Vec<Vec2>> = Vec::new();
+        if let Some(ref fill_state) = turtle.filling {
+            // Build all contours: completed contours + current contour with animation
+            let mut all_contours: Vec<Vec<Vec2>> = Vec::new();
 
-        // Add all completed contours
+            // Add all completed contours
-        for completed_contour in &fill_state.contours {
+            for completed_contour in &fill_state.contours {
-            let contour_vec2: Vec<Vec2> = completed_contour
+                let contour_vec2: Vec<Vec2> = completed_contour
+                    .iter()
+                    .map(|c| Vec2::new(c.x, c.y))
+                    .collect();
+                all_contours.push(contour_vec2);
+            }
+
+            // Build current contour with animation
+            let mut current_preview: Vec<Vec2> = fill_state
+                .current_contour
                 .iter()
                 .map(|c| Vec2::new(c.x, c.y))
                 .collect();
-            all_contours.push(contour_vec2);
-        }
 
-        // Build current contour with animation
+            // If we have an active tween, add progressive vertices
-        let mut current_preview: Vec<Vec2> = fill_state
+            if let Some(tween) = active_tween {
-            .current_contour
+                // If we're animating a circle command with pen down, add arc vertices
-            .iter()
+                if tween.start_state.pen_down {
-            .map(|c| Vec2::new(c.x, c.y))
+                    if let crate::commands::TurtleCommand::Circle {
-            .collect();
+                        radius,
-
+                        angle,
-        // If we have an active tween, add progressive vertices
+                        steps,
-        if let Some(tween) = active_tween {
+                        direction,
-            // If we're animating a circle command with pen down, add arc vertices
+                    } = &tween.command
-            if tween.start_state.pen_down {
+                    {
-                if let crate::commands::TurtleCommand::Circle {
+                        // Calculate partial arc vertices based on current progress
-                    radius,
+                        use crate::circle_geometry::CircleGeometry;
-                    angle,
+                        let geom = CircleGeometry::new(
-                    steps,
+                            tween.start_state.position,
-                    direction,
+                            tween.start_state.heading,
-                } = &tween.command
+                            *radius,
-                {
+                            *direction,
-                    // Calculate partial arc vertices based on current progress
-                    use crate::circle_geometry::CircleGeometry;
-                    let geom = CircleGeometry::new(
-                        tween.start_state.position,
-                        tween.start_state.heading,
-                        *radius,
-                        *direction,
-                    );
-
-                    // Calculate progress
-                    let elapsed = get_time() - tween.start_time;
-                    let progress = (elapsed / tween.duration).min(1.0);
-                    let eased_progress = CubicInOut.tween(1.0, progress as f32);
-
-                    // Generate arc vertices for the partial arc
-                    let num_samples = *steps.max(&1);
-                    let samples_to_draw = ((num_samples as f32 * eased_progress) as usize).max(1);
-
-                    for i in 1..=samples_to_draw {
-                        let sample_progress = i as f32 / num_samples as f32;
-                        let current_angle = match direction {
-                            crate::circle_geometry::CircleDirection::Left => {
-                                geom.start_angle_from_center - angle.to_radians() * sample_progress
-                            }
-                            crate::circle_geometry::CircleDirection::Right => {
-                                geom.start_angle_from_center + angle.to_radians() * sample_progress
-                            }
-                        };
-
-                        let vertex = Vec2::new(
-                            geom.center.x + radius * current_angle.cos(),
-                            geom.center.y + radius * current_angle.sin(),
                         );
-                        current_preview.push(vertex);
+
+                        // Calculate progress
+                        let elapsed = get_time() - tween.start_time;
+                        let progress = (elapsed / tween.duration).min(1.0);
+                        let eased_progress = CubicInOut.tween(1.0, progress as f32);
+
+                        // Generate arc vertices for the partial arc
+                        let num_samples = *steps.max(&1);
+                        let samples_to_draw =
+                            ((num_samples as f32 * eased_progress) as usize).max(1);
+
+                        for i in 1..=samples_to_draw {
+                            let sample_progress = i as f32 / num_samples as f32;
+                            let current_angle = match direction {
+                                crate::circle_geometry::CircleDirection::Left => {
+                                    geom.start_angle_from_center
+                                        - angle.to_radians() * sample_progress
+                                }
+                                crate::circle_geometry::CircleDirection::Right => {
+                                    geom.start_angle_from_center
+                                        + angle.to_radians() * sample_progress
+                                }
+                            };
+
+                            let vertex = Vec2::new(
+                                geom.center.x + radius * current_angle.cos(),
+                                geom.center.y + radius * current_angle.sin(),
+                            );
+                            current_preview.push(vertex);
+                        }
+                    } else if matches!(
+                        &tween.command,
+                        crate::commands::TurtleCommand::Move(_)
+                            | crate::commands::TurtleCommand::Goto(_)
+                    ) {
+                        // For Move/Goto commands, just add the current position
+                        current_preview.push(Vec2::new(turtle.position.x, turtle.position.y));
                     }
                 } else if matches!(
                     &tween.command,
                     crate::commands::TurtleCommand::Move(_)
                         | crate::commands::TurtleCommand::Goto(_)
                 ) {
-                    // For Move/Goto commands, just add the current position
+                    // For Move/Goto with pen up during filling, still add current position for preview
-                    current_preview
+                    current_preview.push(Vec2::new(turtle.position.x, turtle.position.y));
-                        .push(Vec2::new(world.turtle.position.x, world.turtle.position.y));
                 }
-            } else if matches!(
-                &tween.command,
-                crate::commands::TurtleCommand::Move(_) | crate::commands::TurtleCommand::Goto(_)
-            ) {
-                // For Move/Goto with pen up during filling, still add current position for preview
-                current_preview.push(Vec2::new(world.turtle.position.x, world.turtle.position.y));
-            }
 
-            // Add current turtle position if not already included
+                // Add current turtle position if not already included
-            if let Some(last) = current_preview.last() {
-                let current_pos = world.turtle.position;
-                // Use a larger threshold to reduce flickering from tiny movements
-                if (last.x - current_pos.x).abs() > 0.1 || (last.y - current_pos.y).abs() > 0.1 {
-                    current_preview.push(Vec2::new(current_pos.x, current_pos.y));
-                }
-            } else if !current_preview.is_empty() {
-                current_preview.push(Vec2::new(world.turtle.position.x, world.turtle.position.y));
-            }
-        } else {
-            // No active tween - just show current state
-            if !current_preview.is_empty() {
                 if let Some(last) = current_preview.last() {
-                    let current_pos = world.turtle.position;
+                    let current_pos = turtle.position;
+                    // Use a larger threshold to reduce flickering from tiny movements
                     if (last.x - current_pos.x).abs() > 0.1 || (last.y - current_pos.y).abs() > 0.1
                     {
                         current_preview.push(Vec2::new(current_pos.x, current_pos.y));
                     }
+                } else if !current_preview.is_empty() {
+                    current_preview.push(Vec2::new(turtle.position.x, turtle.position.y));
+                }
+            } else {
+                // No active tween - just show current state
+                if !current_preview.is_empty() {
+                    if let Some(last) = current_preview.last() {
+                        let current_pos = turtle.position;
+                        if (last.x - current_pos.x).abs() > 0.1
+                            || (last.y - current_pos.y).abs() > 0.1
+                        {
+                            current_preview.push(Vec2::new(current_pos.x, current_pos.y));
+                        }
+                    }
                 }
             }
-        }
 
-        // Add current contour to all contours if it has enough vertices
+            // Add current contour to all contours if it has enough vertices
-        if current_preview.len() >= 3 {
+            if current_preview.len() >= 3 {
-            all_contours.push(current_preview);
+                all_contours.push(current_preview);
-        }
+            }
 
-        // Tessellate and draw all contours together using multi-contour tessellation
+            // Tessellate and draw all contours together using multi-contour tessellation
-        if !all_contours.is_empty() {
+            if !all_contours.is_empty() {
-            match crate::tessellation::tessellate_multi_contour(
+                match crate::tessellation::tessellate_multi_contour(
-                &all_contours,
+                    &all_contours,
-                fill_state.fill_color,
+                    fill_state.fill_color,
-            ) {
+                ) {
-                Ok(mesh_data) => {
+                    Ok(mesh_data) => {
-                    draw_mesh(&mesh_data.to_mesh());
+                        draw_mesh(&mesh_data.to_mesh());
-                }
+                    }
-                Err(e) => {
+                    Err(e) => {
-                    tracing::error!(
+                        tracing::error!("Failed to tessellate fill preview: {:?}", e);
-                        error = ?e,
+                    }
-                        "Lyon multi-contour tessellation error for fill preview"
-                    );
                 }
             }
         }
     }
 
-    // Draw turtle if visible
+    // Draw all visible turtles
-    if world.turtle.visible {
+    for turtle in &world.turtles {
-        draw_turtle(&world.turtle);
+        if turtle.visible {
+            draw_turtle(turtle);
+        }
     }
 
     // Reset to default camera
@@ -279,18 +294,17 @@ fn draw_tween_arc(
     let elapsed = get_time() - tween.start_time;
     let t = (elapsed / tween.duration).min(1.0);
     let progress = CubicInOut.tween(1.0, t as f32); // tween from 0 to 1
-    let angle_traveled = total_angle.to_radians() * progress;
-    let (rotation_degrees, arc_degrees) = geom.draw_arc_params_partial(angle_traveled);
 
     // Use Lyon to tessellate and draw the partial arc
     if let Ok(mesh_data) = crate::tessellation::tessellate_arc(
         geom.center,
         radius,
-        rotation_degrees,
+        geom.start_angle_from_center.to_degrees(),
-        arc_degrees,
+        total_angle * progress,
         tween.start_state.color,
         tween.start_state.pen_width,
-        steps,
+        ((steps as f32 * progress).ceil() as usize).max(1),
+        direction,
     ) {
         draw_mesh(&mesh_data.to_mesh());
     }

turtle-lib/src/execution.rs

@@ -51,7 +51,10 @@ pub fn execute_command_side_effects(
                             contours = fill_state.contours.len(),
                             "Successfully tessellated contours"
                         );
-                        commands.push(DrawCommand::Mesh(mesh_data));
+                        commands.push(DrawCommand::Mesh {
+                            turtle_id: 0,
+                            data: mesh_data,
+                        });
                     } else {
                         tracing::error!("Failed to tessellate contours");
                     }
@@ -153,7 +156,10 @@ pub fn execute_command(command: &TurtleCommand, state: &mut TurtleState, world:
                     state.pen_width,
                     false, // not closed
                 ) {
-                    world.add_command(DrawCommand::Mesh(mesh_data));
+                    world.add_command(DrawCommand::Mesh {
+                        turtle_id: 0,
+                        data: mesh_data,
+                    });
                 }
             }
         }
@@ -172,19 +178,21 @@ pub fn execute_command(command: &TurtleCommand, state: &mut TurtleState, world:
             let geom = CircleGeometry::new(state.position, start_heading, *radius, *direction);
 
             if state.pen_down {
-                let (rotation_degrees, arc_degrees) = geom.draw_arc_params(*angle);
-
                 // Use Lyon to tessellate the arc
                 if let Ok(mesh_data) = tessellation::tessellate_arc(
                     geom.center,
                     *radius,
-                    rotation_degrees,
+                    geom.start_angle_from_center.to_degrees(),
-                    arc_degrees,
+                    *angle,
                     state.color,
                     state.pen_width,
                     *steps,
+                    *direction,
                 ) {
-                    world.add_command(DrawCommand::Mesh(mesh_data));
+                    world.add_command(DrawCommand::Mesh {
+                        turtle_id: 0,
+                        data: mesh_data,
+                    });
                 }
             }
 
@@ -208,7 +216,10 @@ pub fn execute_command(command: &TurtleCommand, state: &mut TurtleState, world:
                     state.pen_width,
                     false, // not closed
                 ) {
-                    world.add_command(DrawCommand::Mesh(mesh_data));
+                    world.add_command(DrawCommand::Mesh {
+                        turtle_id: 0,
+                        data: mesh_data,
+                    });
                 }
             }
         }
@@ -230,24 +241,40 @@ pub fn execute_command(command: &TurtleCommand, state: &mut TurtleState, world:
     record_fill_vertices_after_movement(command, &start_state, state);
 }
 
-/// Add drawing command for a completed tween (state transition already occurred)
+/// Execute command on a specific turtle by ID
-pub fn add_draw_for_completed_tween(
+pub fn execute_command_with_id(command: &TurtleCommand, turtle_id: usize, world: &mut TurtleWorld) {
+    // Clone turtle state to avoid borrow checker issues
+    if let Some(turtle) = world.get_turtle(turtle_id) {
+        let mut state = turtle.clone();
+        execute_command(command, &mut state, world);
+        // Update the turtle state back
+        if let Some(turtle_mut) = world.get_turtle_mut(turtle_id) {
+            *turtle_mut = state;
+        }
+    }
+}
+
+/// Add drawing command for a completed tween with turtle_id tracking
+pub fn add_draw_for_completed_tween_with_id(
     command: &TurtleCommand,
     start_state: &TurtleState,
     end_state: &TurtleState,
     world: &mut TurtleWorld,
+    turtle_id: usize,
 ) {
     match command {
         TurtleCommand::Move(_) | TurtleCommand::Goto(_) => {
             if start_state.pen_down {
-                // Draw line segment with round caps
                 if let Ok(mesh_data) = tessellation::tessellate_stroke(
                     &[start_state.position, end_state.position],
                     start_state.color,
                     start_state.pen_width,
-                    false, // not closed
+                    false,
                 ) {
-                    world.add_command(DrawCommand::Mesh(mesh_data));
+                    world.add_command(DrawCommand::Mesh {
+                        turtle_id,
+                        data: mesh_data,
+                    });
                 }
             }
         }
@@ -264,19 +291,79 @@ pub fn add_draw_for_completed_tween(
                     *radius,
                     *direction,
                 );
-                let (rotation_degrees, arc_degrees) = geom.draw_arc_params(*angle);
-
-                // Use Lyon to tessellate the arc
                 if let Ok(mesh_data) = tessellation::tessellate_arc(
                     geom.center,
                     *radius,
-                    rotation_degrees,
+                    geom.start_angle_from_center.to_degrees(),
-                    arc_degrees,
+                    *angle,
                     start_state.color,
                     start_state.pen_width,
                     *steps,
+                    *direction,
                 ) {
-                    world.add_command(DrawCommand::Mesh(mesh_data));
+                    world.add_command(DrawCommand::Mesh {
+                        turtle_id,
+                        data: mesh_data,
+                    });
+                }
+            }
+        }
+        _ => {}
+    }
+}
+
+/// Add drawing command for a completed tween (state transition already occurred)
+pub fn add_draw_for_completed_tween(
+    command: &TurtleCommand,
+    start_state: &TurtleState,
+    end_state: &TurtleState,
+    world: &mut TurtleWorld,
+) {
+    match command {
+        TurtleCommand::Move(_) | TurtleCommand::Goto(_) => {
+            if start_state.pen_down {
+                // Draw line segment with round caps
+                if let Ok(mesh_data) = tessellation::tessellate_stroke(
+                    &[start_state.position, end_state.position],
+                    start_state.color,
+                    start_state.pen_width,
+                    false,
+                ) {
+                    world.add_command(DrawCommand::Mesh {
+                        turtle_id: 0,
+                        data: mesh_data,
+                    });
+                }
+            }
+        }
+        TurtleCommand::Circle {
+            radius,
+            angle,
+            steps,
+            direction,
+        } => {
+            if start_state.pen_down {
+                let geom = CircleGeometry::new(
+                    start_state.position,
+                    start_state.heading,
+                    *radius,
+                    *direction,
+                );
+
+                if let Ok(mesh_data) = tessellation::tessellate_arc(
+                    geom.center,
+                    *radius,
+                    geom.start_angle_from_center.to_degrees(),
+                    *angle,
+                    start_state.color,
+                    start_state.pen_width,
+                    *steps,
+                    *direction,
+                ) {
+                    world.add_command(DrawCommand::Mesh {
+                        turtle_id: 0,
+                        data: mesh_data,
+                    });
                 }
             }
         }
@@ -311,7 +398,7 @@ mod tests {
 
         // We'll use a dummy world but won't actually call drawing commands
         let mut world = TurtleWorld {
-            turtle: state.clone(),
+            turtles: vec![state.clone()],
             commands: Vec::new(),
             camera: macroquad::camera::Camera2D {
                 zoom: vec2(1.0, 1.0),
@@ -323,6 +410,7 @@ mod tests {
             },
             background_color: Color::new(1.0, 1.0, 1.0, 1.0),
         };
+        let mut state = world.turtles[0].clone();
 
         // Initial state: position (0, 0), heading 0 (east)
         assert_eq!(state.position.x, 0.0);

turtle-lib/src/lib.rs

@@ -78,7 +78,8 @@ use macroquad::prelude::*;
 /// Main turtle application struct
 pub struct TurtleApp {
     world: TurtleWorld,
-    tween_controller: Option<TweenController>,
+    /// One tween controller per turtle (indexed by turtle ID)
+    tween_controllers: Vec<TweenController>,
     speed: AnimationSpeed,
     // Mouse panning state
     is_dragging: bool,
@@ -93,7 +94,7 @@ impl TurtleApp {
     pub fn new() -> Self {
         Self {
             world: TurtleWorld::new(),
-            tween_controller: None,
+            tween_controllers: Vec::new(),
             speed: AnimationSpeed::default(),
             is_dragging: false,
             last_mouse_pos: None,
@@ -101,40 +102,89 @@ impl TurtleApp {
         }
     }
 
-    /// Add commands to the turtle
+    /// Add a new turtle and return its ID
+    pub fn add_turtle(&mut self) -> usize {
+        let id = self.world.add_turtle();
+        let speed = self.speed;
+        self.tween_controllers
+            .push(TweenController::new(id, CommandQueue::new(), speed));
+        id
+    }
+
+    /// Add commands to a specific turtle
     ///
     /// Speed is controlled by `SetSpeed` commands in the queue.
     /// Use `set_speed()` on the turtle plan to set animation speed.
     /// Speed >= 999 = instant mode, speed < 999 = animated mode.
     ///
     /// # Arguments
+    /// * `turtle_id` - The ID of the turtle to control
     /// * `queue` - The command queue to execute
     #[must_use]
-    pub fn with_commands(mut self, queue: CommandQueue) -> Self {
+    pub fn with_commands(mut self, turtle_id: usize, queue: CommandQueue) -> Self {
-        // The `TweenController` will switch between instant and animated mode
+        // Ensure we have a controller for this turtle
-        // based on `SetSpeed` commands encountered
+        while self.tween_controllers.len() <= turtle_id {
-        self.tween_controller = Some(TweenController::new(queue, self.speed));
+            let id = self.tween_controllers.len();
+            let speed = self.speed;
+            self.tween_controllers
+                .push(TweenController::new(id, CommandQueue::new(), speed));
+        }
+
+        // Append commands to the controller
+        self.tween_controllers[turtle_id].append_commands(queue);
         self
     }
 
+    /// Execute a plan immediately on a specific turtle (no animation)
+    pub fn execute_immediate(&mut self, turtle_id: usize, plan: TurtlePlan) {
+        for ref cmd in plan.build() {
+            execution::execute_command_with_id(cmd, turtle_id, &mut self.world);
+        }
+    }
+
+    /// Append commands to a turtle's animation queue
+    pub fn append_to_queue(&mut self, turtle_id: usize, plan: TurtlePlan) {
+        // Ensure we have a controller for this turtle
+        while self.tween_controllers.len() <= turtle_id {
+            let id = self.tween_controllers.len();
+            let speed = AnimationSpeed::default();
+            self.tween_controllers
+                .push(TweenController::new(id, CommandQueue::new(), speed));
+        }
+
+        self.tween_controllers[turtle_id].append_commands(plan.build());
+    }
+
     /// Update animation state (call every frame)
     pub fn update(&mut self) {
         // Handle mouse panning and zoom
         self.handle_mouse_panning();
         self.handle_mouse_zoom();
 
-        if let Some(ref mut controller) = self.tween_controller {
+        // Update all active tween controllers
-            let completed_commands =
+        // Process each turtle separately to avoid borrow conflicts
-                controller.update(&mut self.world.turtle, &mut self.world.commands);
+        let turtle_count = self.tween_controllers.len();
+        for turtle_id in 0..turtle_count {
+            // Extract commands temporarily to avoid double mutable borrow
+            let mut commands = std::mem::take(&mut self.world.commands);
 
-            // Process all completed commands (multiple in instant mode, 0-1 in animated mode)
+            let completed_commands = if let Some(turtle) = self.world.get_turtle_mut(turtle_id) {
+                self.tween_controllers[turtle_id].update(turtle, &mut commands)
+            } else {
+                Vec::new()
+            };
+
+            // Put commands back
+            self.world.commands = commands;
+
+            // Process all completed commands
             for (completed_cmd, start_state, end_state) in completed_commands {
-                // Add draw commands for the completed tween
+                execution::add_draw_for_completed_tween_with_id(
-                execution::add_draw_for_completed_tween(
                     &completed_cmd,
                     &start_state,
                     &end_state,
                     &mut self.world,
+                    turtle_id,
                 );
             }
         }
@@ -187,20 +237,21 @@ impl TurtleApp {
 
     /// Render the turtle world (call every frame)
     pub fn render(&self) {
-        // Get active tween if in animated mode
+        // Find the first active tween (turtle_id is now stored in the tween itself)
         let active_tween = self
-            .tween_controller
+            .tween_controllers
-            .as_ref()
+            .iter()
-            .and_then(|c| c.current_tween());
+            .find_map(|controller| controller.current_tween());
+
         drawing::render_world_with_tween(&self.world, active_tween, self.zoom_level);
     }
 
     /// Check if all commands have been executed
     #[must_use]
     pub fn is_complete(&self) -> bool {
-        self.tween_controller
+        self.tween_controllers
-            .as_ref()
+            .iter()
-            .is_none_or(TweenController::is_complete)
+            .all(TweenController::is_complete)
     }
 
     /// Get reference to the world state

turtle-lib/src/state.rs

@@ -65,6 +65,11 @@ impl TurtleState {
         Angle::radians(self.heading)
     }
 
+    /// Reset turtle to default state
+    pub fn reset(&mut self) {
+        *self = Self::default();
+    }
+
     /// Start recording fill vertices
     pub fn begin_fill(&mut self, fill_color: Color) {
         self.filling = Some(FillState {
@@ -225,12 +230,15 @@ impl MeshData {
 #[derive(Clone, Debug)]
 pub enum DrawCommand {
     /// Pre-tessellated mesh data (lines, arcs, circles, polygons - all use this)
-    Mesh(MeshData),
+    /// Includes the turtle ID that created this command
+    Mesh { turtle_id: usize, data: MeshData },
 }
 
 /// The complete turtle world containing all drawing state
 pub struct TurtleWorld {
-    pub turtle: TurtleState,
+    /// All turtles in the world (indexed by turtle ID)
+    pub turtles: Vec<TurtleState>,
+    /// All drawing commands from all turtles
     pub commands: Vec<DrawCommand>,
     pub camera: Camera2D,
     pub background_color: Color,
@@ -240,7 +248,7 @@ impl TurtleWorld {
     #[must_use]
     pub fn new() -> Self {
         Self {
-            turtle: TurtleState::default(),
+            turtles: vec![TurtleState::default()], // Start with one default turtle
             commands: Vec::new(),
             camera: Camera2D {
                 zoom: vec2(1.0 / screen_width() * 2.0, 1.0 / screen_height() * 2.0),
@@ -251,13 +259,44 @@ impl TurtleWorld {
         }
     }
 
+    /// Add a new turtle and return its ID
+    pub fn add_turtle(&mut self) -> usize {
+        self.turtles.push(TurtleState::default());
+        self.turtles.len() - 1
+    }
+
+    /// Get turtle by ID
+    #[must_use]
+    pub fn get_turtle(&self, id: usize) -> Option<&TurtleState> {
+        self.turtles.get(id)
+    }
+
+    /// Get mutable turtle by ID
+    pub fn get_turtle_mut(&mut self, id: usize) -> Option<&mut TurtleState> {
+        self.turtles.get_mut(id)
+    }
+
+    /// Reset a specific turtle to default state and remove all its drawings
+    pub fn reset_turtle(&mut self, turtle_id: usize) {
+        if let Some(turtle) = self.get_turtle_mut(turtle_id) {
+            turtle.reset();
+        }
+        // Remove all commands created by this turtle
+        self.commands.retain(|cmd| match cmd {
+            DrawCommand::Mesh { turtle_id: id, .. } => *id != turtle_id,
+        });
+    }
+
     pub fn add_command(&mut self, cmd: DrawCommand) {
         self.commands.push(cmd);
     }
 
+    /// Clear all drawings and reset all turtle states
     pub fn clear(&mut self) {
         self.commands.clear();
-        self.turtle = TurtleState::default();
+        for turtle in &mut self.turtles {
+            turtle.reset();
+        }
     }
 }
 

turtle-lib/src/tessellation.rs

@@ -302,6 +302,7 @@ pub fn tessellate_arc(
     color: Color,
     stroke_width: f32,
     segments: usize,
+    direction: crate::circle_geometry::CircleDirection,
 ) -> Result<MeshData, Box<dyn std::error::Error>> {
     // Build arc path manually from segments
     let mut builder = Path::builder();
@@ -311,16 +312,24 @@ pub fn tessellate_arc(
     let step = arc_angle / segments as f32;
 
     // Calculate first point
-    let first_angle = start_angle;
     let first_point = point(
-        center.x + radius * first_angle.cos(),
+        center.x + radius * start_angle.cos(),
-        center.y + radius * first_angle.sin(),
+        center.y + radius * start_angle.sin(),
     );
     builder.begin(first_point);
 
-    // Add remaining points
+    // Add remaining points - direction matters!
     for i in 1..=segments {
-        let angle = start_angle + step * i as f32;
+        let angle = match direction {
+            crate::circle_geometry::CircleDirection::Left => {
+                // Counter-clockwise: subtract angle
+                start_angle - step * i as f32
+            }
+            crate::circle_geometry::CircleDirection::Right => {
+                // Clockwise: add angle
+                start_angle + step * i as f32
+            }
+        };
         let pt = point(
             center.x + radius * angle.cos(),
             center.y + radius * angle.sin(),

turtle-lib/src/tweening.rs

@@ -45,26 +45,29 @@ impl From<TweenVec2> for Vec2 {
 
 /// Controls tweening of turtle commands
 pub struct TweenController {
+    turtle_id: usize,
     queue: CommandQueue,
     current_tween: Option<CommandTween>,
     speed: AnimationSpeed,
 }
 
-pub(crate) struct CommandTween {
+pub struct CommandTween {
+    pub turtle_id: usize,
     pub command: TurtleCommand,
     pub start_time: f64,
     pub duration: f64,
     pub start_state: TurtleState,
     pub target_state: TurtleState,
-    pub position_tweener: Tweener<TweenVec2, f64, CubicInOut>,
+    position_tweener: Tweener<TweenVec2, f64, CubicInOut>,
-    pub heading_tweener: Tweener<f32, f64, CubicInOut>,
+    heading_tweener: Tweener<f32, f64, CubicInOut>,
-    pub pen_width_tweener: Tweener<f32, f64, CubicInOut>,
+    pen_width_tweener: Tweener<f32, f64, CubicInOut>,
 }
 
 impl TweenController {
     #[must_use]
-    pub fn new(queue: CommandQueue, speed: AnimationSpeed) -> Self {
+    pub fn new(turtle_id: usize, queue: CommandQueue, speed: AnimationSpeed) -> Self {
         Self {
+            turtle_id,
             queue,
             current_tween: None,
             speed,
@@ -75,6 +78,11 @@ impl TweenController {
         self.speed = speed;
     }
 
+    /// Append commands to the queue
+    pub fn append_commands(&mut self, new_queue: CommandQueue) {
+        self.queue.extend(new_queue);
+    }
+
     /// Update the tween, returns `Vec` of (`command`, `start_state`, `end_state`) for all completed commands this frame
     /// Also takes commands vec to handle side effects like fill operations
     /// Each `command` has its own `start_state` and `end_state` pair
@@ -285,6 +293,7 @@ impl TweenController {
             );
 
             self.current_tween = Some(CommandTween {
+                turtle_id: self.turtle_id,
                 command: command_clone,
                 start_time: get_time(),
                 duration,