fixme

The physics algorithm expects vertices to align exactly with faces.  Since the face normal is calculated via the cross product of vertex positions, this allows the face normals to be exact with respect to the vertex positions.

Cargo.toml

@@ -24,3 +24,7 @@ resolver = "2"
 #lto = true
 strip = true
 codegen-units = 1
+
+[profile.dev]
+strip = false
+opt-level = 3

engine/graphics/src/graphics.rs

@@ -11,15 +11,6 @@ pub fn required_limits()->wgpu::Limits{
 	wgpu::Limits::default()
 }
 
-// physics debug view:
-// render two meshes adjacent according to Minkowski FEV
-// render additional mesh at path point
-// render path parabola
-// highlight meshes according to Minkowski FEV
-//
-// debug process:
-// press a button to step physics by one transition
-
 struct Indices{
 	count:u32,
 	buf:wgpu::Buffer,

engine/physics/src/face_crawler.rs

@@ -2,7 +2,6 @@ use crate::model::{GigaTime,FEV,MeshQuery,DirectedEdge};
 use strafesnet_common::integer::{Fixed,Ratio,vec3::Vector3};
 use crate::physics::{Time,Body};
 
-#[derive(Debug)]
 enum Transition<M:MeshQuery>{
 	Miss,
 	Next(FEV<M>,GigaTime),
@@ -28,18 +27,17 @@ impl<M:MeshQuery> CrawlResult<M>{
 	}
 }
 
-impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>+std::fmt::Debug> FEV<M>
+impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 	where
 		// This is hardcoded for MinkowskiMesh lol
 		M::Face:Copy,
 		M::Edge:Copy,
 		M::Vert:Copy,
-		F:core::ops::Mul<Fixed<1,32>,Output=Fixed<4,128>>+std::fmt::Debug+std::fmt::Display,
+		F:core::ops::Mul<Fixed<1,32>,Output=Fixed<4,128>>,
 		<F as core::ops::Mul<Fixed<1,32>>>::Output:core::iter::Sum,
 		<M as MeshQuery>::Offset:core::ops::Sub<<F as std::ops::Mul<Fixed<1,32>>>::Output>,
 {
 	fn next_transition(&self,body_time:GigaTime,mesh:&M,body:&Body,mut best_time:GigaTime)->Transition<M>{
-		println!("next_transition fev={self:?}");
 		//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;
@@ -77,7 +75,6 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>+std::fmt::Debug>
 				//if none:
 			},
 			&FEV::Edge(edge_id)=>{
-				println!("test edge={edge_id:?}");
 				//test each face collision time, ignoring roots with zero or conflicting derivative
 				let edge_n=mesh.edge_n(edge_id);
 				let edge_verts=mesh.edge_verts(edge_id);
@@ -87,7 +84,6 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>+std::fmt::Debug>
 					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);
-					println!("edge_face={edge_face_id:?} face_n={face_n} n={n}");
 					//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()){
@@ -142,9 +138,7 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>+std::fmt::Debug>
 			Ratio::new(r.num.widen_4(),r.den.widen_4())
 		};
 		for _ in 0..20{
-			let transition=self.next_transition(body_time,mesh,relative_body,time_limit);
-			println!("transition={transition:?}");
-			match transition{
+			match self.next_transition(body_time,mesh,relative_body,time_limit){
 				Transition::Miss=>return CrawlResult::Miss(self),
 				Transition::Next(next_fev,next_time)=>(self,body_time)=(next_fev,next_time),
 				Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),

engine/physics/src/model.rs

@@ -68,17 +68,16 @@ pub enum FEV<M:MeshQuery>{
 }
 
 //use Unit32 #[repr(C)] for map files
-#[derive(Clone,Debug,Hash,Eq,PartialEq)]
+#[derive(Clone,Hash,Eq,PartialEq)]
 struct Face{
 	normal:Planar64Vec3,
 	dot:Planar64,
 }
-#[derive(Debug)]
 struct Vert(Planar64Vec3);
 pub trait MeshQuery{
-	type Face:Copy+std::fmt::Debug;
-	type Edge:Copy+DirectedEdge+std::fmt::Debug;
-	type Vert:Copy+std::fmt::Debug;
+	type Face:Copy;
+	type Edge:Copy+DirectedEdge;
+	type Vert:Copy;
 	// Vertex must be Planar64Vec3 because it represents an actual position
 	type Normal;
 	type Offset;
@@ -98,22 +97,18 @@ pub trait MeshQuery{
 	fn vert_edges(&self,vert_id:Self::Vert)->impl AsRef<[Self::Edge]>;
 	fn vert_faces(&self,vert_id:Self::Vert)->impl AsRef<[Self::Face]>;
 }
-#[derive(Debug)]
 struct FaceRefs{
 	edges:Vec<SubmeshDirectedEdgeId>,
 	//verts:Vec<VertId>,
 }
-#[derive(Debug)]
 struct EdgeRefs{
 	faces:[SubmeshFaceId;2],//left, right
 	verts:[SubmeshVertId;2],//bottom, top
 }
-#[derive(Debug)]
 struct VertRefs{
 	faces:Vec<SubmeshFaceId>,
 	edges:Vec<SubmeshDirectedEdgeId>,
 }
-#[derive(Debug)]
 pub struct PhysicsMeshData{
 	//this contains all real and virtual faces used in both the complete mesh and convex submeshes
 	//faces are sorted such that all faces that belong to the complete mesh appear first, and then
@@ -123,7 +118,6 @@ pub struct PhysicsMeshData{
 	faces:Vec<Face>,//MeshFaceId indexes this list
 	verts:Vec<Vert>,//MeshVertId indexes this list
 }
-#[derive(Debug)]
 pub struct PhysicsMeshTopology{
 	//mapping of local ids to PhysicsMeshData ids
 	faces:Vec<MeshFaceId>,//SubmeshFaceId indexes this list
@@ -431,7 +425,6 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 	}
 }
 
-#[derive(Debug)]
 pub struct PhysicsMeshView<'a>{
 	data:&'a PhysicsMeshData,
 	topology:&'a PhysicsMeshTopology,
@@ -468,7 +461,6 @@ impl MeshQuery for PhysicsMeshView<'_>{
 	}
 }
 
-#[derive(Debug)]
 pub struct PhysicsMeshTransform{
 	pub vertex:integer::Planar64Affine3,
 	pub normal:integer::mat3::Matrix3<Fixed<2,64>>,
@@ -484,7 +476,6 @@ impl PhysicsMeshTransform{
 	}
 }
 
-#[derive(Debug)]
 pub struct TransformedMesh<'a>{
 	view:PhysicsMeshView<'a>,
 	transform:&'a PhysicsMeshTransform,
@@ -610,7 +601,6 @@ pub enum MinkowskiFace{
 	//FaceFace
 }
 
-#[derive(Debug)]
 pub struct MinkowskiMesh<'a>{
 	mesh0:TransformedMesh<'a>,
 	mesh1:TransformedMesh<'a>,
@@ -755,9 +745,7 @@ impl MinkowskiMesh<'_>{
 		})
 	}
 	pub fn predict_collision_in(&self,relative_body:&Body,Range{start:start_time,end:time_limit}:Range<Time>)->Option<(MinkowskiFace,GigaTime)>{
-		println!("=== physics setup ===");
 		self.closest_fev_not_inside(relative_body.clone(),start_time).and_then(|fev|{
-			println!("=== physics crawl ===");
 			//continue forwards along the body parabola
 			fev.crawl(self,relative_body,start_time,time_limit).hit()
 		})
@@ -914,7 +902,6 @@ impl MeshQuery for MinkowskiMesh<'_>{
 				}))
 			},
 			MinkowskiEdge::EdgeVert(e0,v1)=>{
-				println!("MinkowskiEdge::EdgeVert({e0:?},{v1:?})");
 				//tracking index with an external variable because .enumerate() is not available
 				let v1e=self.mesh1.vert_edges(v1);
 				let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).as_ref();
@@ -922,18 +909,14 @@ impl MeshQuery for MinkowskiMesh<'_>{
 					let mut best_edge=None;
 					let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
 					let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
-					println!("edge_face0_n={edge_face0_n}");
 					let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
 					for &directed_edge_id1 in v1e.as_ref(){
 						let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
-						println!("edge1_n={edge1_n}");
 						let d=edge_face0_n.dot(edge1_n);
-						println!("d={d} {d:?}");
 						if d.is_negative(){
 							let edge1_nn=edge1_n.dot(edge1_n);
 							let dd=(d*d)/(edge_face0_nn*edge1_nn);
-							if !dd.den.is_zero()&&best_d<dd{
-								println!("dd={dd:?}");
+							if best_d<dd{
 								best_d=dd;
 								best_edge=Some(directed_edge_id1);
 							}

engine/physics/src/physics.rs

@@ -857,12 +857,6 @@ impl Default for PhysicsState{
 }
 
 impl PhysicsState{
-	pub fn new_at_position(position:Planar64Vec3)->Self{
-		Self{
-			body:Body::new(position,vec3::int(0,0,0),vec3::int(0,-100,0),Time::ZERO),
-			..Self::default()
-		}
-	}
 	pub fn camera_body(&self)->Body{
 		Body{
 			position:self.body.position+self.style.camera_offset,
@@ -1128,7 +1122,7 @@ impl PhysicsData{
 		//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);
@@ -1140,7 +1134,6 @@ impl PhysicsData{
 		//let relative_body=state.body.relative_to(&Body::ZERO);
 		let relative_body=&state.body;
 		data.bvh.sample_aabb(&aabb,&mut |&convex_mesh_id|{
-			println!("sample model={:?}",convex_mesh_id.model_id);
 			//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());
@@ -1672,7 +1665,6 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 	}
 		match ins.instruction{
 			InternalInstruction::CollisionStart(collision,_)=>{
-				println!("yeaahhh!");
 				let mode=data.modes.get_mode(state.mode_state.get_mode_id());
 				match collision{
 					Collision::Contact(contact)=>collision_start_contact(

integration-testing/src/main.rs

@@ -9,37 +9,10 @@ fn main(){
 	match arg.as_deref(){
 		Some("determinism")|None=>test_determinism().unwrap(),
 		Some("replay")=>run_replay().unwrap(),
-		Some("bug2")=>physics_bug_2().unwrap(),
 		_=>println!("invalid argument"),
 	}
 }
 
-fn physics_bug_2()->Result<(),ReplayError>{
-	println!("loading map file..");
-	let data=read_entire_file("bhop_monster_jam.snfm")?;
-	let map=strafesnet_snf::read_map(data)?.into_complete_map()?;
-
-	// create recording
-	let mut physics_data=PhysicsData::default();
-	println!("generating models..");
-	physics_data.generate_models(&map);
-	println!("simulating...");
-
-	//teleport to bug
-	// body pos = Vector { array: [Fixed { bits: 554895163352 }, Fixed { bits: 1485633089990 }, Fixed { bits: 1279601007173 }] }
-	// after the fix it's still happening, possibly for a different reason, new position to evince:
-	// body pos = Vector { array: [Fixed { bits: 555690659654 }, Fixed { bits: 1490485868773 }, Fixed { bits: 1277783839382 }] }
-	let mut physics=PhysicsState::new_at_position(strafesnet_common::integer::vec3::raw_xyz(555690659654,1490485868773,1277783839382));
-	// wait one second to activate the bug
-	// hit=Some(ModelId(2262))
-	PhysicsContext::run_input_instruction(&mut physics,&physics_data,strafesnet_common::instruction::TimedInstruction{
-		time:strafesnet_common::integer::Time::from_millis(500),
-		instruction:strafesnet_common::physics::Instruction::Idle,
-	});
-
-	Ok(())
-}
-
 #[allow(unused)]
 #[derive(Debug)]
 enum ReplayError{

lib/common/src/integer.rs

@@ -648,7 +648,7 @@ pub mod mat3{
 	}
 }
 
-#[derive(Clone,Copy,Debug,Default,Hash,Eq,PartialEq)]
+#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
 pub struct Planar64Affine3{
 	pub matrix3:Planar64Mat3,//includes scale above 1
 	pub translation:Planar64Vec3,

tools/dev

@@ -0,0 +1 @@
+RUST_BACKTRACE=1 mangohud ../target/debug/strafe-client "$@"