physics v0.0.2-surf2 with surf bodge

strafe ticks need to be stateful so they can participate in zero-time events.

Cargo.lock

@@ -4045,7 +4045,7 @@ dependencies = [
 
 [[package]]
 name = "strafesnet_physics"
-version = "0.0.2"
+version = "0.0.2-surf2"
 dependencies = [
  "arrayvec",
  "glam",

engine/physics/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "strafesnet_physics"
-version = "0.0.2"
+version = "0.0.2-surf2"
 edition = "2024"
 
 [dependencies]

engine/physics/src/physics.rs

@@ -174,8 +174,7 @@ fn ground_things(walk_settings:&gameplay_style::WalkSettings,contact:&ContactCol
 	let gravity=touching.base_acceleration(models,style,camera,input_state);
 	let control_dir=style.get_y_control_dir(camera,input_state.controls);
 	let target_velocity=walk_settings.get_walk_target_velocity(control_dir,normal);
-	let contacts=touching.contacts(models,hitbox_mesh);
-	let target_velocity_clipped=touching.constrain_velocity(&contacts,target_velocity).velocity;
+	let target_velocity_clipped=touching.constrain_velocity(models,hitbox_mesh,target_velocity);
 	(gravity,target_velocity_clipped)
 }
 fn ladder_things(ladder_settings:&gameplay_style::LadderSettings,contact:&ContactCollision,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->(Planar64Vec3,Planar64Vec3){
@@ -183,8 +182,7 @@ fn ladder_things(ladder_settings:&gameplay_style::LadderSettings,contact:&Contac
 	let gravity=touching.base_acceleration(models,style,camera,input_state);
 	let control_dir=style.get_y_control_dir(camera,input_state.controls);
 	let target_velocity=ladder_settings.get_ladder_target_velocity(control_dir,normal);
-	let contacts=touching.contacts(models,hitbox_mesh);
-	let target_velocity_clipped=touching.constrain_velocity(&contacts,target_velocity).velocity;
+	let target_velocity_clipped=touching.constrain_velocity(models,hitbox_mesh,target_velocity);
 	(gravity,target_velocity_clipped)
 }
 
@@ -503,6 +501,27 @@ impl StyleHelper for StyleModifiers{
 	}
 }
 #[derive(Clone,Debug)]
+struct StrafeTickState{
+	tick_number:u64,
+}
+impl StrafeTickState{
+	fn new(time:Time,settings:&gameplay_style::StrafeSettings)->Self{
+		// let time=n*seconds/ticks;
+		let time=time.nanos() as i128;
+		let ticks=settings.tick_rate.num() as i128;
+		let seconds=settings.tick_rate.den() as i128;
+		let tick_number=(time*ticks/seconds) as u64;
+		StrafeTickState{tick_number}
+	}
+	fn next_tick(&self,settings:&gameplay_style::StrafeSettings)->Time{
+		let n=self.tick_number as i128;
+		let ticks=settings.tick_rate.num() as i128;
+		let seconds=settings.tick_rate.den() as i128;
+		let time=n*seconds/ticks;
+		Time::from_nanos(time as i64)
+	}
+}
+#[derive(Clone,Debug)]
 enum MoveState{
 	Air,
 	Walk(ContactMoveState),
@@ -522,8 +541,7 @@ impl MoveState{
 				// calculate base acceleration
 				let base_acceleration=touching.base_acceleration(models,style,camera,input_state);
 				// constrain_acceleration clips according to contacts
-				let contacts=touching.contacts(models,hitbox_mesh);
-				touching.constrain_acceleration(&contacts,base_acceleration).acceleration
+				touching.constrain_acceleration(models,hitbox_mesh,base_acceleration)
 			},
 			MoveState::Walk(walk_state)
 			|MoveState::Ladder(walk_state)
@@ -581,7 +599,7 @@ impl MoveState{
 			=>None,
 		}
 	}
-	fn next_move_instruction(&self,strafe:&Option<gameplay_style::StrafeSettings>,time:Time)->Option<TimedInstruction<InternalInstruction,Time>>{
+	fn next_move_instruction(&self)->Option<TimedInstruction<InternalInstruction,Time>>{
 		//check if you have a valid walk state and create an instruction
 		match self{
 			MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>match &walk_state.target{
@@ -593,13 +611,7 @@ impl MoveState{
 				|TransientAcceleration::Reached
 				=>None,
 			}
-			MoveState::Air=>strafe.as_ref().map(|strafe|{
-				TimedInstruction{
-					time:strafe.next_tick(time),
-					//only poll the physics if there is a before and after mouse event
-					instruction:InternalInstruction::StrafeTick
-				}
-			}),
+			MoveState::Air=>None,
 			MoveState::Water=>None,//TODO
 			MoveState::Fly=>None,
 		}
@@ -756,18 +768,6 @@ impl Collision{
 		}
 	}
 }
-struct Contacts<'a>{
-	contacts:Vec<crate::push_solve::Contact>,
-	lifetime:core::marker::PhantomData<&'a ()>,
-}
-struct ConstrainedVelocity<'a>{
-	velocity:Planar64Vec3,
-	constraints:crate::push_solve::Conts<'a>,
-}
-struct ConstrainedAcceleration<'a>{
-	acceleration:Planar64Vec3,
-	constraints:crate::push_solve::Conts<'a>,
-}
 #[derive(Clone,Debug,Default)]
 struct TouchingState{
 	// This is kind of jank, it's a ContactCollision
@@ -823,8 +823,8 @@ impl TouchingState{
 		//TODO: add water
 		a
 	}
-	fn contacts<'a>(&'a self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh)->Contacts<'a>{
-		let contacts=self.contacts.iter().map(|(convex_mesh_id,face_id)|{
+	fn constrain_velocity(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,velocity:Planar64Vec3)->Planar64Vec3{
+		let contacts:Vec<_>=self.contacts.iter().map(|(convex_mesh_id,face_id)|{
 			let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
 			crate::push_solve::Contact{
 				position:vec3::zero(),
@@ -832,24 +832,18 @@ impl TouchingState{
 				normal:n,
 			}
 		}).collect();
-		Contacts{
-			contacts,
-			lifetime:core::marker::PhantomData,
-		}
+		crate::push_solve::push_solve(&contacts,velocity).0
 	}
-	fn constrain_velocity<'a>(&self,contacts:&'a Contacts<'_>,velocity:Planar64Vec3)->ConstrainedVelocity<'a>{
-		let (velocity,constraints)=crate::push_solve::push_solve(&contacts.contacts,velocity);
-		ConstrainedVelocity{
-			velocity,
-			constraints
-		}
-	}
-	fn constrain_acceleration<'a>(&self,contacts:&'a Contacts<'_>,acceleration:Planar64Vec3)->ConstrainedAcceleration<'a>{
-		let (acceleration,constraints)=crate::push_solve::push_solve(&contacts.contacts,acceleration);
-		ConstrainedAcceleration{
-			acceleration,
-			constraints
-		}
+	fn constrain_acceleration(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,acceleration:Planar64Vec3)->Planar64Vec3{
+		let contacts:Vec<_>=self.contacts.iter().map(|(convex_mesh_id,face_id)|{
+			let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
+			crate::push_solve::Contact{
+				position:vec3::zero(),
+				velocity:n,
+				normal:n,
+			}
+		}).collect();
+		crate::push_solve::push_solve(&contacts,acceleration).0
 	}
 	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);
@@ -899,6 +893,7 @@ pub struct PhysicsState{
 	//gameplay_state
 	mode_state:ModeState,
 	move_state:MoveState,
+	strafe_tick_state:StrafeTickState,
 	//run is non optional: when you spawn in a run is created
 	//the run cannot be finished unless you start it by visiting
 	//a start zone.  If you change mode, a new run is created.
@@ -917,6 +912,7 @@ impl Default for PhysicsState{
 			input_state:InputState::default(),
 			_world:WorldState{},
 			mode_state:ModeState::default(),
+			strafe_tick_state:StrafeTickState::new(Time::ZERO,&StyleModifiers::default().strafe.unwrap()),
 			run:run::Run::new(),
 		}
 	}
@@ -963,7 +959,7 @@ impl PhysicsState{
 		*self=Self::default();
 	}
 	fn next_move_instruction(&self)->Option<TimedInstruction<InternalInstruction,Time>>{
-		self.move_state.next_move_instruction(&self.style.strafe,self.time)
+		self.move_state.next_move_instruction()
 	}
 	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);
@@ -1221,8 +1217,18 @@ fn next_instruction_internal(state:&PhysicsState,data:&PhysicsData,time_limit:Ti
 	//JUST POLLING!!! NO MUTATION
 	let mut collector=instruction::InstructionCollector::new(time_limit);
 
+	// walking
 	collector.collect(state.next_move_instruction());
 
+	// strafe tick
+	collector.collect(state.style.strafe.as_ref().map(|strafe|{
+		TimedInstruction{
+			time:state.strafe_tick_state.next_tick(strafe),
+			//only poll the physics if there is a before and after mouse event
+			instruction:InternalInstruction::StrafeTick
+		}
+	}));
+
 	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);
@@ -1348,50 +1354,22 @@ fn set_position(
 	recalculate_touching(move_state,body,touching,run,mode_state,mode,models,hitbox_mesh,bvh,style,camera,input_state,time);
 	point
 }
-/// Returns true when a contact was removed
 fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,v:Planar64Vec3)->bool{
-	let contacts=touching.contacts(models,hitbox_mesh);
-	let ConstrainedVelocity{velocity,mut constraints}=touching.constrain_velocity(&contacts,v);
-
-	// prep list for drain
-	constraints.sort_by_key(|&cont|{
-		let cont_ptr:*const crate::push_solve::Contact=cont;
-		contacts.contacts.len()-(cont_ptr as usize-contacts.contacts.as_ptr() as usize)
-	});
-	// create a list of indices to retain
-	let mut indices:arrayvec::ArrayVec<_,4>=constraints.iter().map(|&cont|{
-		let cont_ptr:*const crate::push_solve::Contact=cont;
-		cont_ptr as usize-contacts.contacts.as_ptr() as usize
-	}).collect();
-
-	drop(constraints);
-
-	let mut is_contact_removed=false;
-
-	// Delete contacts which do not constrain the velocity
-	let mut i=0;
-	touching.contacts.retain(|_,_|{
-		if let Some(&next_i)=indices.last(){
-			let is_active=i==next_i;
-			if is_active{
-				indices.pop();
-			}else{
-				is_contact_removed=true;
-			}
-			i+=1;
-			return is_active
+	//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(v)>>52).is_positive();
+		if r{
+			culled=true;
 		}
-		is_contact_removed=true;
-		false
+		!r
 	});
-
-	body.velocity=velocity;
-
-	is_contact_removed
+	set_velocity(body,touching,models,hitbox_mesh,v);
+	culled
 }
 fn set_velocity(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,v:Planar64Vec3){
-	let contacts=touching.contacts(models,hitbox_mesh);
-	body.velocity=touching.constrain_velocity(&contacts,v).velocity;
+	body.velocity=touching.constrain_velocity(models,hitbox_mesh,v);
 }
 
 fn teleport(
@@ -1831,6 +1809,7 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 			),
 		},
 		InternalInstruction::StrafeTick=>{
+			state.strafe_tick_state.tick_number+=1;
 			//TODO make this less huge
 			if let Some(strafe_settings)=&state.style.strafe{
 				let controls=state.input_state.controls;

engine/physics/src/push_solve.rs

@@ -10,7 +10,7 @@ use strafesnet_common::ray::Ray;
 
 // A stack-allocated variable-size list that holds up to 4 elements
 // Direct references are used instead of indices i0, i1, i2, i3
-pub type Conts<'a>=arrayvec::ArrayVec<&'a Contact,4>;
+type Conts<'a>=arrayvec::ArrayVec<&'a Contact,4>;
 
 // hack to allow comparing ratios to zero
 const RATIO_ZERO:Ratio<F64_32,F64_32>=Ratio::new(Fixed::ZERO,Fixed::EPSILON);

engine/session/src/session.rs

@@ -244,18 +244,18 @@ impl InstructionConsumer<Instruction<'_>> for Session{
 				self.clear_recording();
 				let mode_id=self.simulation.physics.mode();
 				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);
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Misc(MiscInstruction::SetSensitivity(self.user_settings().calculate_sensitivity())));
+				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Mode(ModeInstruction::Restart(mode_id)));
 			},
 			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);
+				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)));
 			},
 			Instruction::Input(SessionInputInstruction::Misc(misc_instruction))=>{
 				run_mouse_interpolator_instruction!(MouseInterpolatorInstruction::Misc(misc_instruction));

integration-testing/src/test_scenes.rs

@@ -111,3 +111,21 @@ fn bug_3(){
 	assert_eq!(body.velocity,vec3::int(0,0,0));
 	assert_eq!(body.time,Time::from_secs(2));
 }
+
+#[test]
+fn press_w(){
+	let physics_data=test_scene();
+	let mut physics=PhysicsState::default();
+	// press W
+	PhysicsContext::run_input_instruction(&mut physics,&physics_data,strafesnet_common::instruction::TimedInstruction{
+		time:Time::ZERO,
+		instruction:strafesnet_common::physics::Instruction::SetControl(strafesnet_common::physics::SetControlInstruction::SetMoveForward(true)),
+	});
+	// wait 10 ms
+	PhysicsContext::run_input_instruction(&mut physics,&physics_data,strafesnet_common::instruction::TimedInstruction{
+		time:Time::from_millis(10),
+		instruction:strafesnet_common::physics::Instruction::Idle,
+	});
+	// observe current velocity
+	assert_eq!(physics.body().velocity,vec3::raw_xyz(0,-1<<32,-0x2b3333333));
+}

lib/common/src/gameplay_style.rs

@@ -2,7 +2,6 @@ const VALVE_SCALE:Planar64=Planar64::raw(1<<28);// 1/16
 
 use crate::integer::{int,vec3::int as int3,AbsoluteTime,Ratio64,Planar64,Planar64Vec3};
 use crate::controls_bitflag::Controls;
-use crate::physics::Time as PhysicsTime;
 
 #[derive(Clone,Debug)]
 pub struct StyleModifiers{
@@ -273,9 +272,6 @@ impl StrafeSettings{
 			false=>None,
 		}
 	}
-	pub fn next_tick(&self,time:PhysicsTime)->PhysicsTime{
-		PhysicsTime::from_nanos(self.tick_rate.rhs_div_int(self.tick_rate.mul_int(time.nanos())+1))
-	}
 	pub const fn activates(&self,controls:Controls)->bool{
 		self.enable.activates(controls)
 	}