idea

Acceleration is not a persistent part of the PhysicsState, and is only used for intermediate calculations along a trajectory.

Fixes several bugs:
- Walk decelerate clip into wall
- Walk accelerate clip into wall
- Fall while flying

Reviewed-on: #30
Co-authored-by: Rhys Lloyd <krakow20@gmail.com>
Co-committed-by: Rhys Lloyd <krakow20@gmail.com>

Cargo.lock

@@ -813,6 +813,10 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f27ae1dd37df86211c42e150270f82743308803d90a6f6e6651cd730d5e1732f"
 
+[[package]]
+name = "dag"
+version = "0.1.0"
+
 [[package]]
 name = "ddsfile"
 version = "0.5.2"

Cargo.toml

@@ -7,6 +7,7 @@ members = [
 	"integration-testing",
 	"lib/bsp_loader",
 	"lib/common",
+	"lib/dag",
 	"lib/deferred_loader",
 	"lib/fixed_wide",
 	"lib/linear_ops",

engine/graphics/src/graphics.rs

@@ -909,7 +909,7 @@ impl GraphicsState{
 
 		// update rotation
 		let camera_uniforms=self.camera.to_uniform_data(
-			frame_state.body.extrapolated_position(frame_state.time).map(Into::<f32>::into).to_array().into(),
+			frame_state.trajectory.extrapolated_position(frame_state.time).map(Into::<f32>::into).to_array().into(),
 			frame_state.camera.simulate_move_angles(glam::IVec2::ZERO)
 		);
 		self.staging_belt

engine/physics/src/body.rs

@@ -2,12 +2,18 @@ use strafesnet_common::aabb;
 use strafesnet_common::integer::{self,vec3,Time,Planar64,Planar64Vec3};
 #[derive(Clone,Copy,Debug,Hash)]
 pub struct Body<T>{
-	pub position:Planar64Vec3,//I64 where 2^32 = 1 u
-	pub velocity:Planar64Vec3,//I64 where 2^32 = 1 u/s
-	pub acceleration:Planar64Vec3,//I64 where 2^32 = 1 u/s/s
-	pub time:Time<T>,//nanoseconds x xxxxD!
+	pub position:Planar64Vec3,
+	pub velocity:Planar64Vec3,
+	pub time:Time<T>,
 }
-impl<T> std::ops::Neg for Body<T>{
+#[derive(Clone,Copy,Debug,Hash)]
+pub struct Trajectory<T>{
+	pub position:Planar64Vec3,
+	pub velocity:Planar64Vec3,
+	pub acceleration:Planar64Vec3,
+	pub time:Time<T>,
+}
+impl<T> std::ops::Neg for Trajectory<T>{
 	type Output=Self;
 	fn neg(self)->Self::Output{
 		Self{
@@ -18,10 +24,10 @@ impl<T> std::ops::Neg for Body<T>{
 		}
 	}
 }
-impl<T:Copy> std::ops::Neg for &Body<T>{
-	type Output=Body<T>;
+impl<T:Copy> std::ops::Neg for &Trajectory<T>{
+	type Output=Trajectory<T>;
 	fn neg(self)->Self::Output{
-		Body{
+		Trajectory{
 			position:self.position,
 			velocity:-self.velocity,
 			acceleration:self.acceleration,
@@ -32,6 +38,32 @@ impl<T:Copy> std::ops::Neg for &Body<T>{
 
 impl<T> Body<T>
 	where Time<T>:Copy,
+{
+	pub const ZERO:Self=Self::new(vec3::zero(),vec3::zero(),Time::ZERO);
+	pub const fn new(position:Planar64Vec3,velocity:Planar64Vec3,time:Time<T>)->Self{
+		Self{
+			position,
+			velocity,
+			time,
+		}
+	}
+	pub const fn with_acceleration(self,acceleration:Planar64Vec3)->Trajectory<T>{
+		let Body{
+			position,
+			velocity,
+			time,
+		}=self;
+		Trajectory{
+			position,
+			velocity,
+			acceleration,
+			time,
+		}
+	}
+}
+
+impl<T> Trajectory<T>
+	where Time<T>:Copy,
 {
 	pub const ZERO:Self=Self::new(vec3::zero(),vec3::zero(),vec3::zero(),Time::ZERO);
 	pub const fn new(position:Planar64Vec3,velocity:Planar64Vec3,acceleration:Planar64Vec3,time:Time<T>)->Self{
@@ -42,13 +74,14 @@ impl<T> Body<T>
 			time,
 		}
 	}
-	pub const fn relative_to<'a>(&'a self,body0:&'a Body<T>)->VirtualBody<'a,T>{
+	pub fn relative_to(&self,trj0:&Self,time:Time<T>)->Self{
 		//(p0,v0,a0,t0)
 		//(p1,v1,a1,t1)
-		VirtualBody{
-			body0,
-			body1:self,
-		}
+		Trajectory::new(
+			self.extrapolated_position(time)-trj0.extrapolated_position(time),
+			self.extrapolated_velocity(time)-trj0.extrapolated_velocity(time),
+			self.acceleration-trj0.acceleration,
+			time)
 	}
 	pub fn extrapolated_position(&self,time:Time<T>)->Planar64Vec3{
 		let dt=time-self.time;
@@ -60,10 +93,12 @@ impl<T> Body<T>
 		let dt=time-self.time;
 		self.velocity+(self.acceleration*dt).map(|elem|elem.divide().clamp_1())
 	}
-	pub fn advance_time(&mut self,time:Time<T>){
-		self.position=self.extrapolated_position(time);
-		self.velocity=self.extrapolated_velocity(time);
-		self.time=time;
+	pub fn extrapolated_body(&self,time:Time<T>)->Body<T>{
+		Body::new(
+			self.extrapolated_position(time),
+			self.extrapolated_velocity(time),
+			time,
+		)
 	}
 	pub fn extrapolated_position_ratio_dt<Num,Den,N1,D1,N2,N3,D2,N4,T1>(&self,dt:integer::Ratio<Num,Den>)->Planar64Vec3
 		where
@@ -101,10 +136,12 @@ impl<T> Body<T>
 		// a*dt + v
 		self.acceleration.map(|elem|(dt*elem).divide().clamp())+self.velocity
 	}
-	pub fn advance_time_ratio_dt(&mut self,dt:crate::model::GigaTime){
-		self.position=self.extrapolated_position_ratio_dt(dt);
-		self.velocity=self.extrapolated_velocity_ratio_dt(dt);
-		self.time+=dt.into();
+	pub fn extrapolated_body_ratio_dt(&self,dt:crate::model::GigaTime)->Body<T>{
+		Body::new(
+			self.extrapolated_position_ratio_dt(dt),
+			self.extrapolated_velocity_ratio_dt(dt),
+			self.time+dt.into(),
+		)
 	}
 	pub fn infinity_dir(&self)->Option<Planar64Vec3>{
 		if self.velocity==vec3::zero(){
@@ -144,28 +181,12 @@ impl<T> Body<T>
 
 }
 impl<T> std::fmt::Display for Body<T>{
+	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
+		write!(f,"p({}) v({}) t({})",self.position,self.velocity,self.time)
+	}
+}
+impl<T> std::fmt::Display for Trajectory<T>{
 	fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
 		write!(f,"p({}) v({}) a({}) t({})",self.position,self.velocity,self.acceleration,self.time)
 	}
 }
-
-pub struct VirtualBody<'a,T>{
-	body0:&'a Body<T>,
-	body1:&'a Body<T>,
-}
-impl<T> VirtualBody<'_,T>
-	where Time<T>:Copy,
-{
-	pub fn extrapolated_position(&self,time:Time<T>)->Planar64Vec3{
-		self.body1.extrapolated_position(time)-self.body0.extrapolated_position(time)
-	}
-	pub fn extrapolated_velocity(&self,time:Time<T>)->Planar64Vec3{
-		self.body1.extrapolated_velocity(time)-self.body0.extrapolated_velocity(time)
-	}
-	pub fn acceleration(&self)->Planar64Vec3{
-		self.body1.acceleration-self.body0.acceleration
-	}
-	pub fn body(&self,time:Time<T>)->Body<T>{
-		Body::new(self.extrapolated_position(time),self.extrapolated_velocity(time),self.acceleration(),time)
-	}
-}

engine/physics/src/face_crawler.rs

@@ -1,6 +1,6 @@
 use crate::model::{into_giga_time,GigaTime,FEV,MeshQuery,DirectedEdge};
 use strafesnet_common::integer::{Fixed,Ratio,vec3::Vector3};
-use crate::physics::{Time,Body};
+use crate::physics::{Time,Trajectory};
 
 use core::ops::Bound;
 
@@ -74,7 +74,7 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 		<F as core::ops::Mul<Fixed<1,32>>>::Output:core::iter::Sum,
 		M::Offset:core::ops::Sub<<F as std::ops::Mul<Fixed<1,32>>>::Output>,
 {
-	fn next_transition(&self,mesh:&M,body:&Body,lower_bound:Bound<GigaTime>,mut upper_bound:Bound<GigaTime>)->Transition<M>{
+	fn next_transition(&self,mesh:&M,trajectory:&Trajectory,lower_bound:Bound<GigaTime>,mut upper_bound:Bound<GigaTime>)->Transition<M>{
 		//conflicting derivative means it crosses in the wrong direction.
 		//if the transition time is equal to an already tested transition, do not replace the current best.
 		let mut best_transition=Transition::Miss;
@@ -86,8 +86,8 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 				let (n,d)=mesh.face_nd(face_id);
 				//TODO: use higher precision d value?
 				//use the mesh transform translation instead of baking it into the d value.
-				for dt in Fixed::<4,128>::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-					if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+				for dt in Fixed::<4,128>::zeroes2((n.dot(trajectory.position)-d)*2,n.dot(trajectory.velocity)*2,n.dot(trajectory.acceleration)){
+					if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 						upper_bound=Bound::Included(dt);
 						best_transition=Transition::Hit(face_id,dt);
 						break;
@@ -101,8 +101,8 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 					//WARNING: d is moved out of the *2 block because of adding two vertices!
 					//WARNING: precision is swept under the rug!
 					//wrap for speed
-					for dt in Fixed::<4,128>::zeroes2(n.dot(body.position*2-(mesh.vert(v0)+mesh.vert(v1))).wrap_4(),n.dot(body.velocity).wrap_4()*2,n.dot(body.acceleration).wrap_4()){
-						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					for dt in Fixed::<4,128>::zeroes2(n.dot(trajectory.position*2-(mesh.vert(v0)+mesh.vert(v1))).wrap_4(),n.dot(trajectory.velocity).wrap_4()*2,n.dot(trajectory.acceleration).wrap_4()){
+						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Edge(directed_edge_id.as_undirected()),dt);
 							break;
@@ -117,15 +117,15 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 				let &[ev0,ev1]=edge_verts.as_ref();
 				let (v0,v1)=(mesh.vert(ev0),mesh.vert(ev1));
 				let edge_n=v1-v0;
-				let delta_pos=body.position*2-(v0+v1);
+				let delta_pos=trajectory.position*2-(v0+v1);
 				for (i,&edge_face_id) in mesh.edge_faces(edge_id).as_ref().iter().enumerate(){
 					let face_n=mesh.face_nd(edge_face_id).0;
 					//edge_n gets parity from the order of edge_faces
 					let n=face_n.cross(edge_n)*((i as i64)*2-1);
 					//WARNING yada yada d *2
 					//wrap for speed
-					for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).wrap_4(),n.dot(body.velocity).wrap_4()*2,n.dot(body.acceleration).wrap_4()){
-						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).wrap_4(),n.dot(trajectory.velocity).wrap_4()*2,n.dot(trajectory.acceleration).wrap_4()){
+						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Face(edge_face_id),dt);
 							break;
@@ -136,8 +136,8 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 				for (i,&vert_id) in edge_verts.as_ref().iter().enumerate(){
 					//vertex normal gets parity from vert index
 					let n=edge_n*(1-2*(i as i64));
-					for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					for dt in Fixed::<2,64>::zeroes2((n.dot(trajectory.position-mesh.vert(vert_id)))*2,n.dot(trajectory.velocity)*2,n.dot(trajectory.acceleration)){
+						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 							let dt=Ratio::new(dt.num.widen_4(),dt.den.widen_4());
 							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Vert(vert_id),dt);
@@ -152,8 +152,8 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 				for &directed_edge_id in mesh.vert_edges(vert_id).as_ref(){
 					//edge is directed away from vertex, but we want the dot product to turn out negative
 					let n=-mesh.directed_edge_n(directed_edge_id);
-					for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					for dt in Fixed::<2,64>::zeroes2((n.dot(trajectory.position-mesh.vert(vert_id)))*2,n.dot(trajectory.velocity)*2,n.dot(trajectory.acceleration)){
+						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 							let dt=Ratio::new(dt.num.widen_4(),dt.den.widen_4());
 							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Edge(directed_edge_id.as_undirected()),dt);
@@ -166,11 +166,11 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 		}
 		best_transition
 	}
-	pub fn crawl(mut self,mesh:&M,relative_body:&Body,lower_bound:Bound<&Time>,upper_bound:Bound<&Time>)->CrawlResult<M>{
-		let mut lower_bound=lower_bound.map(|&t|into_giga_time(t,relative_body.time));
-		let upper_bound=upper_bound.map(|&t|into_giga_time(t,relative_body.time));
+	pub fn crawl(mut self,mesh:&M,trajectory:&Trajectory,lower_bound:Bound<&Time>,upper_bound:Bound<&Time>)->CrawlResult<M>{
+		let mut lower_bound=lower_bound.map(|&t|into_giga_time(t,trajectory.time));
+		let upper_bound=upper_bound.map(|&t|into_giga_time(t,trajectory.time));
 		for _ in 0..20{
-			match self.next_transition(mesh,relative_body,lower_bound,upper_bound){
+			match self.next_transition(mesh,trajectory,lower_bound,upper_bound){
 				Transition::Miss=>return CrawlResult::Miss(self),
 				Transition::Next(next_fev,next_time)=>(self,lower_bound)=(next_fev,Bound::Included(next_time)),
 				Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),

engine/physics/src/minimum_difference.rs

@@ -658,7 +658,7 @@ impl<M:MeshQuery,C:Contains> EVFinder<'_,M,C>{
 		}
 	}
 }
-/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
+/// This function hops along parallel vertices until it finds the EV which contains the closest point to `point`.
 fn crawl_to_closest_ev<M:MeshQuery>(mesh:&M,simplex:Simplex<2,M::Vert>,point:Planar64Vec3)->EV<M>{
 	// naively start at the closest vertex
 	// the closest vertex is not necessarily the one with the fewest boundary hops
@@ -676,7 +676,7 @@ fn crawl_to_closest_ev<M:MeshQuery>(mesh:&M,simplex:Simplex<2,M::Vert>,point:Pla
 	finder.crawl_boundaries(vert_id,point)
 }
 
-/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
+/// This function hops along connected vertices until it finds the FEV which contains the closest point to `point`.
 fn crawl_to_closest_fev<'a>(mesh:&MinkowskiMesh<'a>,simplex:Simplex<3,MinkowskiVert>,point:Planar64Vec3)->FEV::<MinkowskiMesh<'a>>{
 	// naively start at the closest vertex
 	// the closest vertex is not necessarily the one with the fewest boundary hops

engine/physics/src/model.rs

@@ -5,7 +5,7 @@ use strafesnet_common::model::{self,MeshId,PolygonIter};
 use strafesnet_common::integer::{self,vec3,Fixed,Planar64,Planar64Vec3,Ratio};
 use strafesnet_common::physics::Time;
 
-type Body=crate::body::Body<strafesnet_common::physics::TimeInner>;
+type Trajectory=crate::body::Trajectory<strafesnet_common::physics::TimeInner>;
 
 struct AsRefHelper<T>(T);
 impl<T> AsRef<T> for AsRefHelper<T>{
@@ -16,14 +16,14 @@ impl<T> AsRef<T> for AsRefHelper<T>{
 
 pub trait UndirectedEdge{
 	type DirectedEdge:Copy+DirectedEdge;
-	fn as_directed(&self,parity:bool)->Self::DirectedEdge;
+	fn as_directed(self,parity:bool)->Self::DirectedEdge;
 }
-pub trait DirectedEdge{
+pub trait DirectedEdge:Copy{
 	type UndirectedEdge:Copy+std::fmt::Debug+UndirectedEdge;
-	fn as_undirected(&self)->Self::UndirectedEdge;
+	fn as_undirected(self)->Self::UndirectedEdge;
 	fn parity(&self)->bool;
 	//this is stupid but may work fine
-	fn reverse(&self)-><<Self as DirectedEdge>::UndirectedEdge as UndirectedEdge>::DirectedEdge{
+	fn reverse(self)-><<Self as DirectedEdge>::UndirectedEdge as UndirectedEdge>::DirectedEdge{
 		self.as_undirected().as_directed(!self.parity())
 	}
 }
@@ -45,13 +45,13 @@ pub struct SubmeshFaceId(u32);
 
 impl UndirectedEdge for SubmeshEdgeId{
 	type DirectedEdge=SubmeshDirectedEdgeId;
-	fn as_directed(&self,parity:bool)->SubmeshDirectedEdgeId{
+	fn as_directed(self,parity:bool)->SubmeshDirectedEdgeId{
 		SubmeshDirectedEdgeId(self.0|((parity as u32)<<(u32::BITS-1)))
 	}
 }
 impl DirectedEdge for SubmeshDirectedEdgeId{
 	type UndirectedEdge=SubmeshEdgeId;
-	fn as_undirected(&self)->SubmeshEdgeId{
+	fn as_undirected(self)->SubmeshEdgeId{
 		SubmeshEdgeId(self.0&!(1<<(u32::BITS-1)))
 	}
 	fn parity(&self)->bool{
@@ -605,10 +605,10 @@ pub enum MinkowskiEdge{
 }
 impl UndirectedEdge for MinkowskiEdge{
 	type DirectedEdge=MinkowskiDirectedEdge;
-	fn as_directed(&self,parity:bool)->Self::DirectedEdge{
+	fn as_directed(self,parity:bool)->Self::DirectedEdge{
 		match self{
-			MinkowskiEdge::VertEdge(v0,e1)=>MinkowskiDirectedEdge::VertEdge(*v0,e1.as_directed(parity)),
-			MinkowskiEdge::EdgeVert(e0,v1)=>MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),*v1),
+			MinkowskiEdge::VertEdge(v0,e1)=>MinkowskiDirectedEdge::VertEdge(v0,e1.as_directed(parity)),
+			MinkowskiEdge::EdgeVert(e0,v1)=>MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),v1),
 		}
 	}
 }
@@ -620,10 +620,10 @@ pub enum MinkowskiDirectedEdge{
 }
 impl DirectedEdge for MinkowskiDirectedEdge{
 	type UndirectedEdge=MinkowskiEdge;
-	fn as_undirected(&self)->Self::UndirectedEdge{
+	fn as_undirected(self)->Self::UndirectedEdge{
 		match self{
-			MinkowskiDirectedEdge::VertEdge(v0,e1)=>MinkowskiEdge::VertEdge(*v0,e1.as_undirected()),
-			MinkowskiDirectedEdge::EdgeVert(e0,v1)=>MinkowskiEdge::EdgeVert(e0.as_undirected(),*v1),
+			MinkowskiDirectedEdge::VertEdge(v0,e1)=>MinkowskiEdge::VertEdge(v0,e1.as_undirected()),
+			MinkowskiDirectedEdge::EdgeVert(e0,v1)=>MinkowskiEdge::EdgeVert(e0.as_undirected(),v1),
 		}
 	}
 	fn parity(&self)->bool{
@@ -670,40 +670,40 @@ impl MinkowskiMesh<'_>{
 			mesh1,
 		}
 	}
-	pub fn predict_collision_in(&self,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
+	pub fn predict_collision_in(&self,trajectory:&Trajectory,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
 		let start_position=match range.start_bound(){
-			Bound::Included(time)=>relative_body.extrapolated_position(*time),
-			Bound::Excluded(time)=>relative_body.extrapolated_position(*time),
-			Bound::Unbounded=>relative_body.position,
+			Bound::Included(time)=>trajectory.extrapolated_position(*time),
+			Bound::Excluded(time)=>trajectory.extrapolated_position(*time),
+			Bound::Unbounded=>trajectory.position,
 		};
 		let fev=crate::minimum_difference::closest_fev_not_inside(self,start_position)?;
 		//continue forwards along the body parabola
-		fev.crawl(self,relative_body,range.start_bound(),range.end_bound()).hit()
+		fev.crawl(self,trajectory,range.start_bound(),range.end_bound()).hit()
 	}
-	pub fn predict_collision_out(&self,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
+	pub fn predict_collision_out(&self,trajectory:&Trajectory,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
 		let (lower_bound,upper_bound)=(range.start_bound(),range.end_bound());
 		// TODO: handle unbounded collision using infinity fev
 		let start_position=match upper_bound{
-			Bound::Included(time)=>relative_body.extrapolated_position(*time),
-			Bound::Excluded(time)=>relative_body.extrapolated_position(*time),
-			Bound::Unbounded=>relative_body.position,
+			Bound::Included(time)=>trajectory.extrapolated_position(*time),
+			Bound::Excluded(time)=>trajectory.extrapolated_position(*time),
+			Bound::Unbounded=>trajectory.position,
 		};
 		let fev=crate::minimum_difference::closest_fev_not_inside(self,start_position)?;
 		// swap and negate bounds to do a time inversion
 		let (lower_bound,upper_bound)=(upper_bound.map(|&t|-t),lower_bound.map(|&t|-t));
-		let infinity_body=-relative_body;
+		let time_reversed_trajectory=-trajectory;
 		//continue backwards along the body parabola
-		fev.crawl(self,&infinity_body,lower_bound.as_ref(),upper_bound.as_ref()).hit()
+		fev.crawl(self,&time_reversed_trajectory,lower_bound.as_ref(),upper_bound.as_ref()).hit()
 			//no need to test -time<time_limit because of the first step
 			.map(|(face,time)|(face,-time))
 	}
-	pub fn predict_collision_face_out(&self,relative_body:&Body,range:impl RangeBounds<Time>,contact_face_id:MinkowskiFace)->Option<(MinkowskiDirectedEdge,GigaTime)>{
+	pub fn predict_collision_face_out(&self,trajectory:&Trajectory,range:impl RangeBounds<Time>,contact_face_id:MinkowskiFace)->Option<(MinkowskiDirectedEdge,GigaTime)>{
 		// TODO: make better
 		use crate::face_crawler::{low,upp};
 		//no algorithm needed, there is only one state and two cases (Edge,None)
 		//determine when it passes an edge ("sliding off" case)
-		let start_time=range.start_bound().map(|&t|(t-relative_body.time).to_ratio());
-		let mut best_time=range.end_bound().map(|&t|into_giga_time(t,relative_body.time));
+		let start_time=range.start_bound().map(|&t|(t-trajectory.time).to_ratio());
+		let mut best_time=range.end_bound().map(|&t|into_giga_time(t,trajectory.time));
 		let mut best_edge=None;
 		let face_n=self.face_nd(contact_face_id).0;
 		for &directed_edge_id in self.face_edges(contact_face_id).as_ref(){
@@ -715,8 +715,8 @@ impl MinkowskiMesh<'_>{
 			//WARNING! d outside of *2
 			//WARNING: truncated precision
 			//wrap for speed
-			for dt in Fixed::<4,128>::zeroes2(((n.dot(relative_body.position))*2-d).wrap_4(),n.dot(relative_body.velocity).wrap_4()*2,n.dot(relative_body.acceleration).wrap_4()){
-				if low(&start_time,&dt)&&upp(&dt,&best_time)&&n.dot(relative_body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+			for dt in Fixed::<4,128>::zeroes2(((n.dot(trajectory.position))*2-d).wrap_4(),n.dot(trajectory.velocity).wrap_4()*2,n.dot(trajectory.acceleration).wrap_4()){
+				if low(&start_time,&dt)&&upp(&dt,&best_time)&&n.dot(trajectory.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 					best_time=Bound::Included(dt);
 					best_edge=Some((directed_edge_id,dt));
 					break;

engine/physics/src/physics.rs

@@ -15,6 +15,7 @@ pub use strafesnet_common::physics::{Time,TimeInner};
 use gameplay::ModeState;
 
 pub type Body=crate::body::Body<TimeInner>;
+pub type Trajectory=crate::body::Trajectory<TimeInner>;
 type MouseState=strafesnet_common::mouse::MouseState<TimeInner>;
 
 //external influence
@@ -499,20 +500,24 @@ enum MoveState{
 }
 impl MoveState{
 	//call this after state.move_state is changed
-	fn apply_enum(&self,body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
+	fn acceleration(&self,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->Planar64Vec3{
 		match self{
-			MoveState::Fly=>body.acceleration=vec3::zero(),
-			MoveState::Air=>{
-				//calculate base acceleration
-				let a=touching.base_acceleration(models,style,camera,input_state);
-				//set_acceleration clips according to contacts
-				set_acceleration(body,touching,models,hitbox_mesh,a);
+			MoveState::Fly=>vec3::zero(),
+			MoveState::Air
+			|MoveState::Water
+			=>{
+				// calculate base acceleration
+				let base_acceleration=touching.base_acceleration(models,style,camera,input_state);
+				// constrain_acceleration clips according to contacts
+				touching.constrain_acceleration(models,hitbox_mesh,base_acceleration)
 			},
-			_=>(),
+			MoveState::Walk(walk_state)
+			|MoveState::Ladder(walk_state)
+			=>walk_state.target.acceleration(),
 		}
 	}
 	//function to coerce &mut self into &self
-	fn apply_to_body(&self,body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
+	fn update_fly_velocity(&self,body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
 		match self{
 			MoveState::Air=>(),
 			MoveState::Water=>(),
@@ -522,17 +527,13 @@ impl MoveState{
 				//set_velocity clips velocity according to current touching state
 				set_velocity(body,touching,models,hitbox_mesh,v);
 			},
-			MoveState::Walk(walk_state)
-			|MoveState::Ladder(walk_state)
-			=>{
-				//accelerate towards walk target or do nothing
-				let a=walk_state.target.acceleration();
-				set_acceleration(body,touching,models,hitbox_mesh,a);
-			},
+			MoveState::Walk(_walk_state)
+			|MoveState::Ladder(_walk_state)
+			=>(),
 		}
 	}
 	/// changes the move state
-	fn apply_input(&mut self,body:&Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
+	fn update_walk_target(&mut self,body:&Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
 		match self{
 			MoveState::Fly
 			|MoveState::Air
@@ -589,24 +590,11 @@ impl MoveState{
 			MoveState::Fly=>None,
 		}
 	}
-	//lmao idk this is convenient
-	fn apply_enum_and_input_and_body(&mut self,body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
-		self.apply_enum(body,touching,models,hitbox_mesh,style,camera,input_state);
-		self.apply_input(body,touching,models,hitbox_mesh,style,camera,input_state);
-		self.apply_to_body(body,touching,models,hitbox_mesh,style,camera,input_state);
-	}
-	fn apply_enum_and_body(&mut self,body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
-		self.apply_enum(body,touching,models,hitbox_mesh,style,camera,input_state);
-		self.apply_to_body(body,touching,models,hitbox_mesh,style,camera,input_state);
-	}
-	fn apply_input_and_body(&mut self,body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
-		self.apply_input(body,touching,models,hitbox_mesh,style,camera,input_state);
-		self.apply_to_body(body,touching,models,hitbox_mesh,style,camera,input_state);
-	}
 	fn set_move_state(&mut self,move_state:MoveState,body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
 		*self=move_state;
 		//this function call reads the above state that was just set
-		self.apply_enum_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
+		self.update_walk_target(body,touching,models,hitbox_mesh,style,camera,input_state);
+		self.update_fly_velocity(body,touching,models,hitbox_mesh,style,camera,input_state);
 	}
 	fn cull_velocity(&mut self,velocity:Planar64Vec3,body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
 		//TODO: be more precise about contacts
@@ -619,10 +607,11 @@ impl MoveState{
 					self.set_move_state(MoveState::Air,body,touching,models,hitbox_mesh,style,camera,input_state);
 				}else{
 					// stopped touching something else while walking
-					self.apply_enum_and_input_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
+					self.update_walk_target(body,touching,models,hitbox_mesh,style,camera,input_state);
+					self.update_fly_velocity(body,touching,models,hitbox_mesh,style,camera,input_state);
 				},
 				// not walking, but stopped touching something
-				None=>self.apply_enum_and_body(body,touching,models,hitbox_mesh,style,camera,input_state),
+				None=>self.update_fly_velocity(body,touching,models,hitbox_mesh,style,camera,input_state),
 			}
 		}
 	}
@@ -816,7 +805,7 @@ impl TouchingState{
 				normal:n,
 			}
 		}).collect();
-		crate::push_solve::push_solve(&contacts,velocity)
+		crate::push_solve::push_solve(&contacts,velocity).0
 	}
 	fn constrain_acceleration(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,acceleration:Planar64Vec3)->Planar64Vec3{
 		let contacts:Vec<_>=self.contacts.iter().map(|(convex_mesh_id,face_id)|{
@@ -827,18 +816,17 @@ impl TouchingState{
 				normal:n,
 			}
 		}).collect();
-		crate::push_solve::push_solve(&contacts,acceleration)
+		crate::push_solve::push_solve(&contacts,acceleration).0
 	}
-	fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<InternalInstruction,Time>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&Body,start_time:Time){
+	fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<InternalInstruction,Time>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,trajectory:&Trajectory,start_time:Time){
 		// let relative_body=body.relative_to(&Body::ZERO);
-		let relative_body=body;
 		for (convex_mesh_id,face_id) in &self.contacts{
 			//detect face slide off
 			let model_mesh=models.contact_mesh(convex_mesh_id);
 			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
-			collector.collect(minkowski.predict_collision_face_out(&relative_body,start_time..collector.time(),*face_id).map(|(_face,time)|{
+			collector.collect(minkowski.predict_collision_face_out(&trajectory,start_time..collector.time(),*face_id).map(|(_face,time)|{
 				TimedInstruction{
-					time:relative_body.time+time.into(),
+					time:trajectory.time+time.into(),
 					instruction:InternalInstruction::CollisionEnd(
 						Collision::Contact(ContactCollision{face_id:*face_id,convex_mesh_id:*convex_mesh_id}),
 						time
@@ -850,9 +838,9 @@ impl TouchingState{
 			//detect model collision in reverse
 			let model_mesh=models.intersect_mesh(convex_mesh_id);
 			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
-			collector.collect(minkowski.predict_collision_out(&relative_body,start_time..collector.time()).map(|(_face,time)|{
+			collector.collect(minkowski.predict_collision_out(&trajectory,start_time..collector.time()).map(|(_face,time)|{
 				TimedInstruction{
-					time:relative_body.time+time.into(),
+					time:trajectory.time+time.into(),
 					instruction:InternalInstruction::CollisionEnd(
 						Collision::Intersect(IntersectCollision{convex_mesh_id:*convex_mesh_id}),
 						time
@@ -887,7 +875,7 @@ pub struct PhysicsState{
 impl Default for PhysicsState{
 	fn default()->Self{
  		Self{
-			body:Body::new(vec3::int(0,50,0),vec3::int(0,0,0),vec3::int(0,-100,0),Time::ZERO),
+			body:Body::new(vec3::int(0,50,0),vec3::int(0,0,0),Time::ZERO),
 			time:Time::ZERO,
 			style:StyleModifiers::default(),
 			touching:TouchingState::default(),
@@ -911,11 +899,14 @@ impl PhysicsState{
 	pub const fn body(&self)->&Body{
 		&self.body
 	}
-	pub fn camera_body(&self)->Body{
-		Body{
-			position:self.body.position+self.style.camera_offset,
-			..self.body
-		}
+	pub fn camera_trajectory(&self,data:&PhysicsData)->Trajectory{
+		let acceleration=self.acceleration(data);
+		Trajectory::new(
+			self.body.position+self.style.camera_offset,
+			self.body.velocity,
+			acceleration,
+			self.body.time,
+		)
 	}
 	pub const fn camera(&self)->PhysicsCamera{
 		self.camera
@@ -944,8 +935,8 @@ impl PhysicsState{
 	fn set_move_state(&mut self,data:&PhysicsData,move_state:MoveState){
 		self.move_state.set_move_state(move_state,&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
 	}
-	fn apply_input_and_body(&mut self,data:&PhysicsData){
-		self.move_state.apply_input_and_body(&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
+	fn acceleration(&self,data:&PhysicsData)->Planar64Vec3{
+		self.move_state.acceleration(&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state)
 	}
 	//state mutated on collision:
 	//Accelerator
@@ -1192,43 +1183,43 @@ impl<'a> PhysicsContext<'a>{
 	}
 }
 
-	//this is the one who asks
-	fn next_instruction_internal(state:&PhysicsState,data:&PhysicsData,time_limit:Time)->Option<TimedInstruction<InternalInstruction,Time>>{
-		//JUST POLLING!!! NO MUTATION
-		let mut collector=instruction::InstructionCollector::new(time_limit);
+//this is the one who asks
+fn next_instruction_internal(state:&PhysicsState,data:&PhysicsData,time_limit:Time)->Option<TimedInstruction<InternalInstruction,Time>>{
+	//JUST POLLING!!! NO MUTATION
+	let mut collector=instruction::InstructionCollector::new(time_limit);
 
-		collector.collect(state.next_move_instruction());
+	collector.collect(state.next_move_instruction());
 
-		//check for collision ends
-		state.touching.predict_collision_end(&mut collector,&data.models,&data.hitbox_mesh,&state.body,state.time);
-		//check for collision starts
-		let mut aabb=aabb::Aabb::default();
-		state.body.grow_aabb(&mut aabb,state.time,collector.time());
-		aabb.inflate(data.hitbox_mesh.halfsize);
-		//relative to moving platforms
-		//let relative_body=state.body.relative_to(&Body::ZERO);
-		let relative_body=&state.body;
-		data.bvh.sample_aabb(&aabb,&mut |convex_mesh_id|{
-			if state.touching.contains(convex_mesh_id){
-				return;
-			}
-			//no checks are needed because of the time limits.
-			let model_mesh=data.models.mesh(*convex_mesh_id);
-			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,data.hitbox_mesh.transformed_mesh());
-			collector.collect(minkowski.predict_collision_in(relative_body,state.time..collector.time())
-				.map(|(face,dt)|
-					TimedInstruction{
-						time:relative_body.time+dt.into(),
-						instruction:InternalInstruction::CollisionStart(
-							Collision::new(*convex_mesh_id,face),
-							dt
-						)
-					}
-				)
-			);
-		});
-		collector.take()
-	}
+	let trajectory=state.body.with_acceleration(state.acceleration(data));
+	//check for collision ends
+	state.touching.predict_collision_end(&mut collector,&data.models,&data.hitbox_mesh,&trajectory,state.time);
+	//check for collision starts
+	let mut aabb=aabb::Aabb::default();
+	trajectory.grow_aabb(&mut aabb,state.time,collector.time());
+	aabb.inflate(data.hitbox_mesh.halfsize);
+	//relative to moving platforms
+	//let relative_body=state.body.relative_to(&Body::ZERO);
+	data.bvh.sample_aabb(&aabb,&mut |convex_mesh_id|{
+		if state.touching.contains(convex_mesh_id){
+			return;
+		}
+		//no checks are needed because of the time limits.
+		let model_mesh=data.models.mesh(*convex_mesh_id);
+		let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,data.hitbox_mesh.transformed_mesh());
+		collector.collect(minkowski.predict_collision_in(&trajectory,state.time..collector.time())
+			.map(|(face,dt)|
+				TimedInstruction{
+					time:trajectory.time+dt.into(),
+					instruction:InternalInstruction::CollisionStart(
+						Collision::new(*convex_mesh_id,face),
+						dt
+					)
+				}
+			)
+		);
+	});
+	collector.take()
+}
 
 
 fn contact_normal(
@@ -1336,24 +1327,6 @@ fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsM
 fn set_velocity(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,v:Planar64Vec3){
 	body.velocity=touching.constrain_velocity(models,hitbox_mesh,v);
 }
-#[expect(dead_code)]
-fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,a:Planar64Vec3)->bool{
-	//This is not correct but is better than what I have
-	let mut culled=false;
-	touching.contacts.retain(|convex_mesh_id,face_id|{
-		let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
-		let r=n.dot(a).is_positive();
-		if r{
-			culled=true;
-		}
-		!r
-	});
-	set_acceleration(body,touching,models,hitbox_mesh,a);
-	culled
-}
-fn set_acceleration(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,a:Planar64Vec3){
-	body.acceleration=touching.constrain_acceleration(models,hitbox_mesh,a);
-}
 
 fn teleport(
 	point:Planar64Vec3,
@@ -1372,7 +1345,6 @@ fn teleport(
 	time:Time,
 ){
 	set_position(point,move_state,body,touching,run,mode_state,mode,models,hitbox_mesh,bvh,style,camera,input_state,time);
-	set_acceleration(body,touching,models,hitbox_mesh,style.gravity);
 }
 enum TeleportToSpawnError{
 	NoModel,
@@ -1635,7 +1607,8 @@ fn collision_start_contact(
 	}
 	//doing enum to set the acceleration when surfing
 	//doing input_and_body to refresh the walk state if you hit a wall while accelerating
-	move_state.apply_enum_and_input_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
+	move_state.update_walk_target(body,touching,models,hitbox_mesh,style,camera,input_state);
+	move_state.update_fly_velocity(body,touching,models,hitbox_mesh,style,camera,input_state);
 }
 
 fn collision_start_intersect(
@@ -1691,7 +1664,7 @@ fn collision_start_intersect(
 			None=>(),
 		}
 	}
-	move_state.apply_enum_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
+	move_state.update_fly_velocity(body,touching,models,hitbox_mesh,style,camera,input_state);
 	run_teleport_behaviour(intersect.convex_mesh_id.model_id.into(),attr.general.wormhole.as_ref(),mode,move_state,body,touching,run,mode_state,models,hitbox_mesh,bvh,style,camera,input_state,time);
 }
 
@@ -1719,10 +1692,11 @@ fn collision_end_contact(
 			move_state.set_move_state(MoveState::Air,body,touching,models,hitbox_mesh,style,camera,input_state);
 		}else{
 			// stopped touching something else while walking
-			move_state.apply_enum_and_input_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
+			move_state.update_walk_target(body,touching,models,hitbox_mesh,style,camera,input_state);
+			move_state.update_fly_velocity(body,touching,models,hitbox_mesh,style,camera,input_state);
 		},
 		// not walking, but stopped touching something
-		None=>move_state.apply_enum_and_body(body,touching,models,hitbox_mesh,style,camera,input_state),
+		None=>move_state.update_fly_velocity(body,touching,models,hitbox_mesh,style,camera,input_state),
 	}
 }
 fn collision_end_intersect(
@@ -1741,7 +1715,7 @@ fn collision_end_intersect(
 	time:Time,
 ){
 	touching.remove_intersect(convex_mesh_id);
-	move_state.apply_enum_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
+	move_state.update_fly_velocity(body,touching,models,hitbox_mesh,style,camera,input_state);
 	if let Some(mode)=mode{
 		let zone=mode.get_zone(convex_mesh_id.model_id.into());
 		match zone{
@@ -1760,95 +1734,97 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 	match ins.instruction{
 		// collisions advance the body precisely
 		InternalInstruction::CollisionStart(_,dt)
-		|InternalInstruction::CollisionEnd(_,dt)=>state.body.advance_time_ratio_dt(dt),
+		|InternalInstruction::CollisionEnd(_,dt)=>{
+			state.body=state.body.with_acceleration(state.acceleration(data)).extrapolated_body_ratio_dt(dt);
+		},
 		// this advances imprecisely
-		InternalInstruction::ReachWalkTargetVelocity=>state.body.advance_time(state.time),
+		InternalInstruction::ReachWalkTargetVelocity=>state.body=state.body.with_acceleration(state.acceleration(data)).extrapolated_body(state.time),
 		// strafe tick decides for itself whether to advance the body.
 		InternalInstruction::StrafeTick=>(),
 	}
-		match ins.instruction{
-			InternalInstruction::CollisionStart(collision,_)=>{
-				let mode=data.modes.get_mode(state.mode_state.get_mode_id());
-				match collision{
-					Collision::Contact(contact)=>collision_start_contact(
-						&mut state.move_state,&mut state.body,&mut state.mode_state,&mut state.touching,&mut state.run,
-						mode,
-						&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,
-						data.models.contact_attr(contact.convex_mesh_id.model_id),
-						contact,
-						state.time,
-					),
-					Collision::Intersect(intersect)=>collision_start_intersect(
-						&mut state.move_state,&mut state.body,&mut state.mode_state,&mut state.touching,
-						mode,
-						&mut state.run,&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,
-						data.models.intersect_attr(intersect.convex_mesh_id.model_id),
-						intersect,
-						state.time,
-					),
-				}
-			},
-			InternalInstruction::CollisionEnd(collision,_)=>match collision{
-				Collision::Contact(contact)=>collision_end_contact(
-					&mut state.move_state,&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state,
+	match ins.instruction{
+		InternalInstruction::CollisionStart(collision,_)=>{
+			let mode=data.modes.get_mode(state.mode_state.get_mode_id());
+			match collision{
+				Collision::Contact(contact)=>collision_start_contact(
+					&mut state.move_state,&mut state.body,&mut state.mode_state,&mut state.touching,&mut state.run,
+					mode,
+					&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,
 					data.models.contact_attr(contact.convex_mesh_id.model_id),
-					&contact.convex_mesh_id
+					contact,
+					state.time,
 				),
-				Collision::Intersect(intersect)=>collision_end_intersect(
-					&mut state.move_state,&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state,
-					data.modes.get_mode(state.mode_state.get_mode_id()),
-					&mut state.run,
+				Collision::Intersect(intersect)=>collision_start_intersect(
+					&mut state.move_state,&mut state.body,&mut state.mode_state,&mut state.touching,
+					mode,
+					&mut state.run,&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,
 					data.models.intersect_attr(intersect.convex_mesh_id.model_id),
-					&intersect.convex_mesh_id,
-					state.time
+					intersect,
+					state.time,
 				),
-			},
-			InternalInstruction::StrafeTick=>{
-				//TODO make this less huge
-				if let Some(strafe_settings)=&state.style.strafe{
-					let controls=state.input_state.controls;
-					if strafe_settings.activates(controls){
-						let masked_controls=strafe_settings.mask(controls);
-						let control_dir=state.style.get_control_dir(masked_controls);
-						if control_dir!=vec3::zero(){
-							// manually advance time
-							state.body.advance_time(state.time);
-							let camera_mat=state.camera.simulate_move_rotation_y(state.input_state.lerp_delta(state.time).x);
-							if let Some(ticked_velocity)=strafe_settings.tick_velocity(state.body.velocity,(camera_mat*control_dir).with_length(Planar64::ONE).divide().wrap_1()){
-								//this is wrong but will work ig
-								//need to note which push planes activate in push solve and keep those
-								state.cull_velocity(data,ticked_velocity);
-							}
+			}
+		},
+		InternalInstruction::CollisionEnd(collision,_)=>match collision{
+			Collision::Contact(contact)=>collision_end_contact(
+				&mut state.move_state,&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state,
+				data.models.contact_attr(contact.convex_mesh_id.model_id),
+				&contact.convex_mesh_id
+			),
+			Collision::Intersect(intersect)=>collision_end_intersect(
+				&mut state.move_state,&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state,
+				data.modes.get_mode(state.mode_state.get_mode_id()),
+				&mut state.run,
+				data.models.intersect_attr(intersect.convex_mesh_id.model_id),
+				&intersect.convex_mesh_id,
+				state.time
+			),
+		},
+		InternalInstruction::StrafeTick=>{
+			//TODO make this less huge
+			if let Some(strafe_settings)=&state.style.strafe{
+				let controls=state.input_state.controls;
+				if strafe_settings.activates(controls){
+					let masked_controls=strafe_settings.mask(controls);
+					let control_dir=state.style.get_control_dir(masked_controls);
+					if control_dir!=vec3::zero(){
+						// manually advance time
+						let extrapolated_body=state.body.with_acceleration(state.acceleration(data)).extrapolated_body(state.time);
+						let camera_mat=state.camera.simulate_move_rotation_y(state.input_state.lerp_delta(state.time).x);
+						if let Some(ticked_velocity)=strafe_settings.tick_velocity(extrapolated_body.velocity,(camera_mat*control_dir).with_length(Planar64::ONE).divide().wrap_1()){
+							state.body=extrapolated_body;
+							//this is wrong but will work ig
+							//need to note which push planes activate in push solve and keep those
+							state.cull_velocity(data,ticked_velocity);
 						}
 					}
 				}
 			}
-			InternalInstruction::ReachWalkTargetVelocity=>{
-				match &mut state.move_state{
-					MoveState::Air
-					|MoveState::Water
-					|MoveState::Fly
-					=>println!("ReachWalkTargetVelocity fired for non-walking MoveState"),
-					MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>{
-						//velocity is already handled by advance_time
-						//we know that the acceleration is precisely zero because the walk target is known to be reachable
-						//which means that gravity can be fully cancelled
-						//ignore moving platforms for now
-						let target=core::mem::replace(&mut walk_state.target,TransientAcceleration::Reached);
-						set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,vec3::zero());
-						// check what the target was to see if it was invalid
-						match target{
-							//you are not supposed to reach a walk target which is already reached!
-							TransientAcceleration::Reached=>println!("Invalid walk target: Reached"),
-							TransientAcceleration::Reachable{..}=>(),
-							//you are not supposed to reach an unreachable walk target!
-							TransientAcceleration::Unreachable{..}=>println!("Invalid walk target: Unreachable"),
-						}
+		}
+		InternalInstruction::ReachWalkTargetVelocity=>{
+			match &mut state.move_state{
+				MoveState::Air
+				|MoveState::Water
+				|MoveState::Fly
+				=>println!("ReachWalkTargetVelocity fired for non-walking MoveState"),
+				MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>{
+					//velocity is already handled by extrapolated_body
+					//we know that the acceleration is precisely zero because the walk target is known to be reachable
+					//which means that gravity can be fully cancelled
+					//ignore moving platforms for now
+					let target=core::mem::replace(&mut walk_state.target,TransientAcceleration::Reached);
+					// check what the target was to see if it was invalid
+					match target{
+						//you are not supposed to reach a walk target which is already reached!
+						TransientAcceleration::Reached=>println!("Invalid walk target: Reached"),
+						TransientAcceleration::Reachable{..}=>(),
+						//you are not supposed to reach an unreachable walk target!
+						TransientAcceleration::Unreachable{..}=>println!("Invalid walk target: Unreachable"),
 					}
 				}
-			},
-		}
+			}
+		},
 	}
+}
 
 fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedInstruction<Instruction,Time>){
 	state.time=ins.time;
@@ -1874,7 +1850,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 		Instruction::Misc(MiscInstruction::PracticeFly)=>true,
 	};
 	if should_advance_body{
-		state.body.advance_time(state.time);
+		state.body=state.body.with_acceleration(state.acceleration(data)).extrapolated_body(state.time);
 	}
 
 	let mut b_refresh_walk_target=true;
@@ -1910,6 +1886,9 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 			state.input_state.set_control(Controls::Zoom,s);
 			b_refresh_walk_target=false;
 		},
+		Instruction::SetControl(SetControlInstruction::SetSprint(s))=>{
+			state.input_state.set_control(Controls::Sprint,s);
+		},
 		Instruction::Mode(ModeInstruction::Reset)=>{
 			//totally reset physics state
 			state.reset_to_default();
@@ -1969,7 +1948,8 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 		},
 	}
 	if b_refresh_walk_target{
-		state.apply_input_and_body(data);
+		state.move_state.update_walk_target(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state);
+		state.move_state.update_fly_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state);
 		state.cull_velocity(data,state.body.velocity);
 		//also check if accelerating away from surface
 	}
@@ -1979,7 +1959,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 mod test{
 	use strafesnet_common::integer::{vec3::{self,int as int3},mat3};
 	use super::*;
-	fn test_collision_axis_aligned(relative_body:Body,expected_collision_time:Option<Time>){
+	fn test_collision_axis_aligned(relative_body:Trajectory,expected_collision_time:Option<Time>){
 		let h0=HitboxMesh::new(PhysicsMesh::unit_cube(),integer::Planar64Affine3::new(mat3::from_diagonal(int3(5,1,5)>>1),vec3::zero()));
 		let h1=StyleModifiers::roblox_bhop().calculate_mesh();
 		let hitbox_mesh=h1.transformed_mesh();
@@ -1988,7 +1968,7 @@ mod test{
 		let collision=minkowski.predict_collision_in(&relative_body,..);
 		assert_eq!(collision.map(|tup|relative_body.time+tup.1.into()),expected_collision_time,"Incorrect time of collision");
 	}
-	fn test_collision_rotated(relative_body:Body,expected_collision_time:Option<Time>){
+	fn test_collision_rotated(relative_body:Trajectory,expected_collision_time:Option<Time>){
 		let h0=HitboxMesh::new(PhysicsMesh::unit_cube(),
 			integer::Planar64Affine3::new(
 				Planar64Mat3::from_cols([
@@ -2006,13 +1986,13 @@ mod test{
 		let collision=minkowski.predict_collision_in(&relative_body,..);
 		assert_eq!(collision.map(|tup|relative_body.time+tup.1.into()),expected_collision_time,"Incorrect time of collision");
 	}
-	fn test_collision(relative_body:Body,expected_collision_time:Option<Time>){
+	fn test_collision(relative_body:Trajectory,expected_collision_time:Option<Time>){
 		test_collision_axis_aligned(relative_body,expected_collision_time);
 		test_collision_rotated(relative_body,expected_collision_time);
 	}
 	#[test]
 	fn test_collision_degenerate_straight_down(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,5,0),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2021,7 +2001,7 @@ mod test{
 	}
 	#[test]
 	fn test_collision_small_mv(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,5,0),
 			int3(0,-1,0)+(vec3::X>>32),
 			vec3::zero(),
@@ -2030,7 +2010,7 @@ mod test{
 	}
 	#[test]
 	fn test_collision_degenerate_east(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(3,5,0),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2039,7 +2019,7 @@ mod test{
 	}
 	#[test]
 	fn test_collision_degenerate_south(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,5,3),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2048,7 +2028,7 @@ mod test{
 	}
 	#[test]
 	fn test_collision_degenerate_west(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(-3,5,0),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2057,7 +2037,7 @@ mod test{
 	}
 	#[test]
 	fn test_collision_degenerate_north(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,5,-3),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2066,115 +2046,115 @@ mod test{
 	}
 	#[test]
 	fn test_collision_parabola_edge_east_from_west(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(3,3,0),
 			int3(100,-1,0),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_south_from_north(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,3,3),
 			int3(0,-1,100),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_west_from_east(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(-3,3,0),
 			int3(-100,-1,0),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_north_from_south(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,3,-3),
 			int3(0,-1,-100),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_north_from_ne(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,6,-7)>>1,
 			int3(-10,-1,1),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_north_from_nw(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,6,-7)>>1,
 			int3(10,-1,1),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_east_from_se(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(7,6,0)>>1,
 			int3(-1,-1,-10),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_east_from_ne(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(7,6,0)>>1,
 			int3(-1,-1,10),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_south_from_se(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,6,7)>>1,
 			int3(-10,-1,-1),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_south_from_sw(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,6,7)>>1,
 			int3(10,-1,-1),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_west_from_se(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(-7,6,0)>>1,
 			int3(1,-1,-10),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_parabola_edge_west_from_ne(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(-7,6,0)>>1,
 			int3(1,-1,10),
 			int3(0,-1,0),
 			Time::ZERO
-		).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
+		).relative_to(&Trajectory::ZERO,Time::from_secs(-1)),Some(Time::from_secs(0)));
 	}
 	#[test]
 	fn test_collision_oblique(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,5,0),
 			int3(1,-64,2)>>6,// /64
 			vec3::zero(),
@@ -2183,7 +2163,7 @@ mod test{
 	}
 	#[test]
 	fn zoom_hit_nothing(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			int3(0,10,0),
 			int3(1,0,0),
 			int3(0,1,0),
@@ -2192,7 +2172,7 @@ mod test{
 	}
 	#[test]
 	fn already_inside_hit_nothing(){
-		test_collision(Body::new(
+		test_collision(Trajectory::new(
 			vec3::zero(),
 			int3(1,0,0),
 			int3(0,1,0),
@@ -2202,7 +2182,7 @@ mod test{
 	// overlap edges by 1 epsilon
 	#[test]
 	fn almost_miss_north(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			(int3(0,10,-7)>>1)+vec3::raw_xyz(0,0,1),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2211,7 +2191,7 @@ mod test{
 	}
 	#[test]
 	fn almost_miss_east(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			(int3(7,10,0)>>1)+vec3::raw_xyz(-1,0,0),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2220,7 +2200,7 @@ mod test{
 	}
 	#[test]
 	fn almost_miss_south(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			(int3(0,10,7)>>1)+vec3::raw_xyz(0,0,-1),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2229,7 +2209,7 @@ mod test{
 	}
 	#[test]
 	fn almost_miss_west(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			(int3(-7,10,0)>>1)+vec3::raw_xyz(1,0,0),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2239,7 +2219,7 @@ mod test{
 	// exactly miss edges
 	#[test]
 	fn exact_miss_north(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			int3(0,10,-7)>>1,
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2248,7 +2228,7 @@ mod test{
 	}
 	#[test]
 	fn exact_miss_east(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			int3(7,10,0)>>1,
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2257,7 +2237,7 @@ mod test{
 	}
 	#[test]
 	fn exact_miss_south(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			int3(0,10,7)>>1,
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2266,7 +2246,7 @@ mod test{
 	}
 	#[test]
 	fn exact_miss_west(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			int3(-7,10,0)>>1,
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2276,7 +2256,7 @@ mod test{
 	// miss edges by 1 epsilon
 	#[test]
 	fn narrow_miss_north(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			(int3(0,10,-7)>>1)-vec3::raw_xyz(0,0,1),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2285,7 +2265,7 @@ mod test{
 	}
 	#[test]
 	fn narrow_miss_east(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			(int3(7,10,0)>>1)-vec3::raw_xyz(-1,0,0),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2294,7 +2274,7 @@ mod test{
 	}
 	#[test]
 	fn narrow_miss_south(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			(int3(0,10,7)>>1)-vec3::raw_xyz(0,0,-1),
 			int3(0,-1,0),
 			vec3::zero(),
@@ -2303,7 +2283,7 @@ mod test{
 	}
 	#[test]
 	fn narrow_miss_west(){
-		test_collision_axis_aligned(Body::new(
+		test_collision_axis_aligned(Trajectory::new(
 			(int3(-7,10,0)>>1)-vec3::raw_xyz(1,0,0),
 			int3(0,-1,0),
 			vec3::zero(),

engine/physics/src/push_solve.rs

@@ -15,6 +15,7 @@ type Conts<'a>=arrayvec::ArrayVec<&'a Contact,4>;
 const RATIO_ZERO:Ratio<Fixed<1,32>,Fixed<1,32>>=Ratio::new(Fixed::ZERO,Fixed::EPSILON);
 
 /// Information about a contact restriction
+#[derive(Debug,PartialEq)]
 pub struct Contact{
 	pub position:Planar64Vec3,
 	pub velocity:Planar64Vec3,
@@ -281,16 +282,16 @@ fn get_first_touch<'a>(contacts:&'a [Contact],ray:&Ray,conts:&Conts)->Option<(Ra
 		.min_by_key(|&(t,_)|t)
 }
 
-pub fn push_solve(contacts:&[Contact],point:Planar64Vec3)->Planar64Vec3{
+pub fn push_solve(contacts:&[Contact],point:Planar64Vec3)->(Planar64Vec3,Conts<'_>){
 	let (mut ray,mut conts)=get_best_push_ray_and_conts_0(point);
 	loop{
 		let (next_t,next_cont)=match get_first_touch(contacts,&ray,&conts){
 			Some((t,cont))=>(t,cont),
-			None=>return ray.origin,
+			None=>return (ray.origin,conts),
 		};
 
 		if RATIO_ZERO.le_ratio(next_t){
-			return ray.origin;
+			return (ray.origin,conts);
 		}
 
 		//push_front
@@ -306,7 +307,7 @@ pub fn push_solve(contacts:&[Contact],point:Planar64Vec3)->Planar64Vec3{
 		let meet_point=ray.extrapolate(next_t);
 		match get_best_push_ray_and_conts(meet_point,conts.as_slice()){
 			Some((new_ray,new_conts))=>(ray,conts)=(new_ray,new_conts),
-			None=>return meet_point,
+			None=>return (meet_point,conts),
 		}
 	}
 }
@@ -323,9 +324,8 @@ mod tests{
 				normal:vec3::Y,
 			}
 		];
-		assert_eq!(
-			vec3::zero(),
-			push_solve(&contacts,vec3::NEG_Y)
-		);
+		let (point,conts)=push_solve(&contacts,vec3::NEG_Y);
+		assert_eq!(point,vec3::zero());
+		assert_eq!(conts.as_slice(),[&contacts[0]].as_slice());
 	}
 }

engine/session/src/session.rs

@@ -57,7 +57,7 @@ pub enum SessionPlaybackInstruction{
 }
 
 pub struct FrameState{
-	pub body:physics::Body,
+	pub trajectory:physics::Trajectory,
 	pub camera:physics::PhysicsCamera,
 	pub time:PhysicsTime,
 }
@@ -76,9 +76,9 @@ impl Simulation{
 			physics,
 		}
 	}
-	pub fn get_frame_state(&self,time:SessionTime)->FrameState{
+	pub fn get_frame_state(&self,time:SessionTime,data:&PhysicsData)->FrameState{
 		FrameState{
-			body:self.physics.camera_body(),
+			trajectory:self.physics.camera_trajectory(data),
 			camera:self.physics.camera(),
 			time:self.timer.time(time),
 		}
@@ -187,9 +187,9 @@ impl Session{
 	}
 	pub fn get_frame_state(&self,time:SessionTime)->Option<FrameState>{
 		match &self.view_state{
-			ViewState::Play=>Some(self.simulation.get_frame_state(time)),
+			ViewState::Play=>Some(self.simulation.get_frame_state(time,&self.geometry_shared)),
 			ViewState::Replay(bot_id)=>self.replays.get(bot_id).map(|replay|
-				replay.simulation.get_frame_state(time)
+				replay.simulation.get_frame_state(time,&self.geometry_shared)
 			),
 		}
 	}
@@ -238,12 +238,16 @@ impl InstructionConsumer<Instruction<'_>> for Session{
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Reset));
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Misc(MiscInstruction::SetSensitivity(self.user_settings().calculate_sensitivity())));
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Restart(mode_id)));
+				// TODO: think about this harder.  This works around a bug where you fall infinitely when you reset.
+				self.simulation.timer.set_time(ins.time,PhysicsTime::ZERO);
 			},
 			Instruction::Input(SessionInputInstruction::Mode(ImplicitModeInstruction::ResetAndSpawn(mode_id,spawn_id)))=>{
 				self.clear_recording();
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Reset));
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Misc(MiscInstruction::SetSensitivity(self.user_settings().calculate_sensitivity())));
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Spawn(mode_id,spawn_id)));
+				// TODO: think about this harder.  This works around a bug where you fall infinitely when you reset.
+				self.simulation.timer.set_time(ins.time,PhysicsTime::ZERO);
 			},
 			Instruction::Input(SessionInputInstruction::Misc(misc_instruction))=>{
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Misc(misc_instruction));

integration-testing/src/main.rs

@@ -71,16 +71,16 @@ fn segment_determinism(bot:strafesnet_snf::bot::Segment,physics_data:&PhysicsDat
 	for (i,ins) in bot.instructions.into_iter().enumerate(){
 		let state_deterministic=physics_deterministic.clone();
 		let state_filtered=physics_filtered.clone();
-		PhysicsContext::run_input_instruction(&mut physics_deterministic,&physics_data,ins.clone());
+		PhysicsContext::run_input_instruction(&mut physics_deterministic,physics_data,ins.clone());
 		match ins{
 			strafesnet_common::instruction::TimedInstruction{instruction:strafesnet_common::physics::Instruction::Idle,..}=>(),
 			other=>{
 				non_idle_count+=1;
 				// run
-				PhysicsContext::run_input_instruction(&mut physics_filtered,&physics_data,other.clone());
+				PhysicsContext::run_input_instruction(&mut physics_filtered,physics_data,other.clone());
 				// check if position matches
-				let b0=physics_deterministic.camera_body();
-				let b1=physics_filtered.camera_body();
+				let b0=physics_deterministic.camera_trajectory(physics_data);
+				let b1=physics_filtered.camera_trajectory(physics_data);
 				if b0.position!=b1.position{
 					let nanoseconds=start.elapsed().as_nanos() as u64;
 					println!("desync at instruction #{}",i);

integration-testing/src/test_scenes.rs

@@ -73,7 +73,6 @@ fn simultaneous_collision(){
 	let body=strafesnet_physics::physics::Body::new(
 		(vec3::int(5+2,0,0)>>1)+vec3::int(1,1,0),
 		vec3::int(-1,-1,0),
-		vec3::int(0,0,0),
 		Time::ZERO,
 	);
 	let mut physics=PhysicsState::new_with_body(body);
@@ -88,7 +87,6 @@ fn simultaneous_collision(){
 	let body=physics.body();
 	assert_eq!(body.position,vec3::int(5,0,0));
 	assert_eq!(body.velocity,vec3::int(0,0,0));
-	assert_eq!(body.acceleration,vec3::int(0,0,0));
 	assert_eq!(body.time,Time::from_secs(1));
 }
 #[test]
@@ -97,7 +95,6 @@ fn bug_3(){
 	let body=strafesnet_physics::physics::Body::new(
 		(vec3::int(5+2,0,0)>>1)+vec3::int(1,2,0),
 		vec3::int(-1,-1,0),
-		vec3::int(0,0,0),
 		Time::ZERO,
 	);
 	let mut physics=PhysicsState::new_with_body(body);
@@ -112,6 +109,5 @@ fn bug_3(){
 	let body=physics.body();
 	assert_eq!(body.position,vec3::int(5+2,0,0)>>1);
 	assert_eq!(body.velocity,vec3::int(0,0,0));
-	assert_eq!(body.acceleration,vec3::int(0,0,0));
 	assert_eq!(body.time,Time::from_secs(2));
 }

integration-testing/src/tests.rs

@@ -22,7 +22,6 @@ fn physics_bug_2()->Result<(),ReplayError>{
 	let body=strafesnet_physics::physics::Body::new(
 		vec3::raw_xyz(555690659654,1490485868773,1277783839382),
 		vec3::int(0,0,0),
-		vec3::int(0,-100,0),
 		Time::ZERO,
 	);
 	let mut physics=PhysicsState::new_with_body(body);
@@ -66,7 +65,6 @@ fn physics_bug_3()->Result<(),ReplayError>{
 		// Actual bug 3 repro
 		vec3::raw_xyz(-2505538624455,3357963283914,557275711118),
 		vec3::raw_xyz(204188283920,-282280474198,166172785440),
-		vec3::raw_xyz(0,-429496729600,0),
 		Time::ZERO,
 	);
 	let mut physics=PhysicsState::new_with_body(body);

lib/common/src/physics.rs

@@ -36,6 +36,7 @@ pub enum SetControlInstruction{
 	SetMoveForward(bool),
 	SetJump(bool),
 	SetZoom(bool),
+	SetSprint(bool),
 }
 #[derive(Clone,Debug)]
 pub enum ModeInstruction{

lib/dag/Cargo.toml

@@ -0,0 +1,9 @@
+[package]
+name = "dag"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+
+[lints]
+workspace = true

lib/dag/src/lib.rs

@@ -0,0 +1,16 @@
+// typestate dag with lazy just-in-time execution
+struct States<S1,S2>(S1,S2);
+
+struct Known<T>(T);
+struct NeedsRecalculate;
+
+fn a(){
+	// Construct a DAG such that S2 depends on S1
+	// let dag=Dag:new();
+	// Initial state
+	let state=States(Known(1),Known(1));
+	// set_state1 changes S2 to NeedsRecalculate
+	state.set_state1(2);
+	// get_state2 calculates S2
+	let s2=state.get_state2();
+}

lib/snf/src/newtypes/physics.rs

@@ -88,6 +88,11 @@ pub enum Instruction{
 	PracticeFly,
 	#[brw(magic=14u8)]
 	SetSensitivity(super::integer::Ratio64Vec2),
+	#[brw(magic=15u8)]
+	SetSprint(
+		#[br(map=bool_from_u8)]
+		#[bw(map=bool_into_u8)]
+		bool),
 	#[brw(magic=255u8)]
 	Idle,
 }
@@ -116,6 +121,7 @@ impl TryInto<strafesnet_common::physics::Instruction> for Instruction{
 			Instruction::SetMoveForward(state)=>strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetMoveForward(state.into())),
 			Instruction::SetJump(state)=>strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetJump(state.into())),
 			Instruction::SetZoom(state)=>strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetZoom(state.into())),
+			Instruction::SetSprint(state)=>strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetSprint(state.into())),
 			Instruction::Reset=>strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Reset),
 			Instruction::Restart(mode_id)=>strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Restart(strafesnet_common::gameplay_modes::ModeId::new(mode_id))),
 			Instruction::Spawn(mode_id,stage_id)=>strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Spawn(
@@ -142,6 +148,7 @@ impl TryFrom<strafesnet_common::physics::Instruction> for Instruction{
 			strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetMoveForward(state))=>Ok(Instruction::SetMoveForward(state.into())),
 			strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetJump(state))=>Ok(Instruction::SetJump(state.into())),
 			strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetZoom(state))=>Ok(Instruction::SetZoom(state.into())),
+			strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetSprint(state))=>Ok(Instruction::SetSprint(state.into())),
 			strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Reset)=>Ok(Instruction::Reset),
 			strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Restart(mode_id))=>Ok(Instruction::Restart(mode_id.get())),
 			strafesnet_common::physics::Instruction::Mode(strafesnet_common::physics::ModeInstruction::Spawn(mode_id,stage_id))=>Ok(Instruction::Spawn(

strafe-client/src/window.rs

@@ -138,6 +138,7 @@ impl WindowContext<'_>{
 
 						if let Some(session_instruction)=match keycode{
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Space)=>input_ctrl!(SetJump,s),
+							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Shift)=>input_ctrl!(SetSprint,s),
 							// TODO: bind system so playback pausing can use spacebar
 							winit::keyboard::Key::Named(winit::keyboard::NamedKey::Enter)=>if s{
 								let paused=!self.simulation_paused;