match the exact ordering of the source code

Cargo.lock

@@ -105,9 +105,9 @@ checksum = "9d151e35f61089500b617991b791fc8bfd237ae50cd5950803758a179b41e67a"
 
 [[package]]
 name = "arrayvec"
-version = "0.7.4"
+version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "96d30a06541fbafbc7f82ed10c06164cfbd2c401138f6addd8404629c4b16711"
+checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
 
 [[package]]
 name = "as-raw-xcb-connection"
@@ -1882,6 +1882,7 @@ checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
 name = "strafe-client"
 version = "0.10.3"
 dependencies = [
+ "arrayvec",
  "bytemuck",
  "configparser",
  "ddsfile",
@@ -1912,9 +1913,9 @@ dependencies = [
 
 [[package]]
 name = "strafesnet_common"
-version = "0.4.0"
+version = "0.4.1"
 source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
-checksum = "ea4126f6fbf9aecf89c9e319290f0221d177dcaa8659b4b9e3d82acc37829f12"
+checksum = "9a2621612e675a8f804abbbbe3b60caeafe58a2422cccbe453268d6f457df4f3"
 dependencies = [
  "arrayvec",
  "bitflags 2.6.0",

Cargo.toml

@@ -15,6 +15,7 @@ source = ["dep:strafesnet_deferred_loader", "dep:strafesnet_bsp_loader"]
 roblox = ["dep:strafesnet_deferred_loader", "dep:strafesnet_rbx_loader"]
 
 [dependencies]
+arrayvec = "0.7.6"
 bytemuck = { version = "1.13.1", features = ["derive"] }
 configparser = "3.0.2"
 ddsfile = "0.5.1"

src/graphics.rs

@@ -6,12 +6,6 @@ use strafesnet_common::model::{self, ColorId, NormalId, PolygonIter, PositionId,
 use wgpu::{util::DeviceExt,AstcBlock,AstcChannel};
 use crate::model_graphics::{self,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelColor4,GraphicsModelOwned,GraphicsVertex};
 
-#[derive(Clone)]
-pub struct GraphicsModelUpdate{
-	transform:Option<glam::Mat4>,
-	color:Option<glam::Vec4>,
-}
-
 struct Indices{
 	count:u32,
 	buf:wgpu::Buffer,
@@ -32,7 +26,6 @@ impl Indices{
 }
 struct GraphicsModel{
 	indices:Indices,
-	model_buf:wgpu::Buffer,
 	vertex_buf:wgpu::Buffer,
 	bind_group:wgpu::BindGroup,
 	instance_count:u32,
@@ -65,12 +58,12 @@ struct GraphicsCamera{
 #[inline]
 fn perspective_rh(fov_x_slope:f32,fov_y_slope:f32,z_near:f32,z_far:f32)->glam::Mat4{
 	//glam_assert!(z_near > 0.0 && z_far > 0.0);
-	let r=z_far / (z_near-z_far);
+	let r=z_far/(z_near-z_far);
 	glam::Mat4::from_cols(
 		glam::Vec4::new(1.0/fov_x_slope,0.0,0.0,0.0),
 		glam::Vec4::new(0.0,1.0/fov_y_slope,0.0,0.0),
 		glam::Vec4::new(0.0,0.0,r,-1.0),
-		glam::Vec4::new(0.0,0.0,r * z_near,0.0),
+		glam::Vec4::new(0.0,0.0,r*z_near,0.0),
 	)
 }
 impl GraphicsCamera{
@@ -79,10 +72,10 @@ impl GraphicsCamera{
 	}
 	pub fn world(&self,pos:glam::Vec3,angles:glam::Vec2)->glam::Mat4{
 		//f32 good enough for view matrix
-		glam::Mat4::from_translation(pos) * glam::Mat4::from_euler(glam::EulerRot::YXZ,angles.x,angles.y,0f32)
+		glam::Mat4::from_translation(pos)*glam::Mat4::from_euler(glam::EulerRot::YXZ,angles.x,angles.y,0f32)
 	}
 
-	pub fn to_uniform_data(&self,(pos,angles):(glam::Vec3,glam::Vec2))->[f32; 16 * 4]{
+	pub fn to_uniform_data(&self,pos:glam::Vec3,angles:glam::Vec2)->[f32;16*4]{
 		let proj=self.proj();
 		let proj_inv=proj.inverse();
 		let view_inv=self.world(pos,angles);
@@ -105,6 +98,12 @@ impl std::default::Default for GraphicsCamera{
 	}
 }
 
+pub struct FrameState{
+	pub body:crate::physics::Body,
+	pub camera:crate::physics::PhysicsCamera,
+	pub time:integer::Time,
+}
+
 pub struct GraphicsState{
 	pipelines:GraphicsPipelines,
 	bind_groups:GraphicsBindGroups,
@@ -507,7 +506,6 @@ impl GraphicsState{
 						model_graphics::Indices::U16(indices)=>Indices::new(device,indices,wgpu::IndexFormat::Uint16),
 					},
 					bind_group,
-					model_buf,
 				});
 			}
 		}
@@ -816,7 +814,7 @@ impl GraphicsState{
 		});
 
 		let camera=GraphicsCamera::default();
-		let camera_uniforms=camera.to_uniform_data(crate::physics::PhysicsOutputState::default().extrapolate(strafesnet_common::mouse::MouseState::default()));
+		let camera_uniforms=camera.to_uniform_data(glam::Vec3::ZERO,glam::Vec2::ZERO);
 		let camera_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
 			label:Some("Camera"),
 			contents:bytemuck::cast_slice(&camera_uniforms),
@@ -884,16 +882,17 @@ impl GraphicsState{
 		view:&wgpu::TextureView,
 		device:&wgpu::Device,
 		queue:&wgpu::Queue,
-		physics_output:crate::physics::PhysicsOutputState,
-		predicted_time:integer::Time,
-		mouse_pos:glam::IVec2,
+		frame_state:FrameState,
 	){
 		//TODO:use scheduled frame times to create beautiful smoothing simulation physics extrapolation assuming no input
 
 		let mut encoder=device.create_command_encoder(&wgpu::CommandEncoderDescriptor{label:None});
 
 		// update rotation
-		let camera_uniforms=self.camera.to_uniform_data(physics_output.extrapolate(strafesnet_common::mouse::MouseState{pos:mouse_pos,time:predicted_time}));
+		let camera_uniforms=self.camera.to_uniform_data(
+			frame_state.body.extrapolated_position(frame_state.time).into(),
+			frame_state.camera.simulate_move_angles(glam::IVec2::ZERO)
+		);
 		self.staging_belt
 			.write_buffer(
 				&mut encoder,

src/graphics_worker.rs

@@ -1,7 +1,5 @@
-use strafesnet_common::integer;
-
 pub enum Instruction{
-	Render(crate::physics::PhysicsOutputState,integer::Time,glam::IVec2),
+	Render(crate::graphics::FrameState),
 	//UpdateModel(crate::graphics::GraphicsModelUpdate),
 	Resize(winit::dpi::PhysicalSize<u32>,crate::settings::UserSettings),
 	ChangeMap(strafesnet_common::map::CompleteMap),
@@ -17,12 +15,12 @@ WorkerDescription{
 //up to three frames in flight, dropping new frame requests when all three are busy, and dropping output frames when one renders out of order
 
 pub fn new<'a>(
-		mut graphics:crate::graphics::GraphicsState,
-		mut config:wgpu::SurfaceConfiguration,
-		surface:wgpu::Surface<'a>,
-		device:wgpu::Device,
-		queue:wgpu::Queue,
-	)->crate::compat_worker::INWorker<'a,Instruction>{
+	mut graphics:crate::graphics::GraphicsState,
+	mut config:wgpu::SurfaceConfiguration,
+	surface:wgpu::Surface<'a>,
+	device:wgpu::Device,
+	queue:wgpu::Queue,
+)->crate::compat_worker::INWorker<'a,Instruction>{
 	let mut resize=None;
 	crate::compat_worker::INWorker::new(move |ins:Instruction|{
 		match ins{
@@ -33,18 +31,16 @@ pub fn new<'a>(
 			Instruction::Resize(size,user_settings)=>{
 				resize=Some((size,user_settings));
 			}
-			Instruction::Render(physics_output,predicted_time,mouse_pos)=>{
-				if let Some((size,user_settings))=&resize{
+			Instruction::Render(frame_state)=>{
+				if let Some((size,user_settings))=resize.take(){
 					println!("Resizing to {:?}",size);
 					let t0=std::time::Instant::now();
 					config.width=size.width.max(1);
 					config.height=size.height.max(1);
 					surface.configure(&device,&config);
-					graphics.resize(&device,&config,user_settings);
+					graphics.resize(&device,&config,&user_settings);
 					println!("Resize took {:?}",t0.elapsed());
 				}
-				//clear every time w/e
-				resize=None;
 				//this has to go deeper somehow
 				let frame=match surface.get_current_texture(){
 					Ok(frame)=>frame,
@@ -60,7 +56,7 @@ pub fn new<'a>(
 					..wgpu::TextureViewDescriptor::default()
 				});
 
-				graphics.render(&view,&device,&queue,physics_output,predicted_time,mouse_pos);
+				graphics.render(&view,&device,&queue,frame_state);
 
 				frame.present();
 			}

src/main.rs

@@ -5,6 +5,7 @@ mod worker;
 mod physics;
 mod graphics;
 mod settings;
+mod push_solve;
 mod face_crawler;
 mod compat_worker;
 mod model_physics;

src/model_physics.rs

@@ -462,7 +462,7 @@ pub struct TransformedMesh<'a>{
 	transform:&'a PhysicsMeshTransform,
 }
 impl TransformedMesh<'_>{
-	pub fn new<'a>(
+	pub const fn new<'a>(
 		view:PhysicsMeshView<'a>,
 		transform:&'a PhysicsMeshTransform,
 	)->TransformedMesh<'a>{
@@ -751,6 +751,23 @@ impl MinkowskiMesh<'_>{
 		}
 		best_edge.map(|e|(e.as_undirected(),best_time))
 	}
+	fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,integer::Time)>{
+		let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
+		match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
+			crate::face_crawler::CrawlResult::Miss(_)=>None,
+			crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
+		}
+	}
+	pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
+		let infinity_body=crate::physics::Body::new(point,Planar64Vec3::Y,Planar64Vec3::ZERO,integer::Time::ZERO);
+		//movement must escape the mesh forwards and backwards in time,
+		//otherwise the point is not inside the mesh
+		self.infinity_in(infinity_body)
+    	.is_some_and(|_|
+			self.infinity_in(-infinity_body)
+    		.is_some()
+     	)
+	}
 }
 impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiMesh<'_>{
 	fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){

src/physics.rs

@@ -419,7 +419,7 @@ impl HitboxMesh{
 		}
 	}
 	#[inline]
-	fn transformed_mesh(&self)->TransformedMesh{
+	const fn transformed_mesh(&self)->TransformedMesh{
 		TransformedMesh::new(self.mesh.complete_mesh_view(),&self.transform)
 	}
 }
@@ -579,18 +579,37 @@ impl MoveState{
 			MoveState::Fly=>None,
 		}
 	}
-}
-
-#[derive(Clone,Default)]
-pub struct PhysicsOutputState{
-	body:Body,
-	camera:PhysicsCamera,
-	camera_offset:Planar64Vec3,
-	mouse_pos:glam::IVec2,
-}
-impl PhysicsOutputState{
-	pub fn extrapolate(&self,mouse:MouseState)->(glam::Vec3,glam::Vec2){
-		((self.body.extrapolated_position(mouse.time)+self.camera_offset).into(),self.camera.simulate_move_angles(mouse.pos-self.mouse_pos))
+	//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);
+	}
+	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
+		if set_velocity_cull(body,touching,models,hitbox_mesh,velocity){
+			//TODO do better
+			match self.get_walk_state(){
+				//did you stop touching the thing you were walking on?
+				Some(walk_state)=>if !touching.contacts.contains(&walk_state.contact){
+					self.set_move_state(MoveState::Air,body,touching,models,hitbox_mesh,style,camera,input_state);
+				},
+				None=>self.apply_enum_and_body(body,touching,models,hitbox_mesh,style,camera,input_state),
+			}
+		}
 	}
 }
 
@@ -744,23 +763,31 @@ impl TouchingState{
 		a
 	}
 	fn constrain_velocity(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,velocity:&mut Planar64Vec3){
-		//TODO: trey push solve
-		for contact in &self.contacts{
+		let contacts=self.contacts.iter().map(|contact|{
 			let n=contact_normal(models,hitbox_mesh,contact);
-			let d=n.dot128(*velocity);
-			if d<0{
-				*velocity-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64);
+			crate::push_solve::Contact{
+				position:Planar64Vec3::ZERO,
+				velocity:n,
+				normal:n,
 			}
+		}).collect();
+		match crate::push_solve::push_solve(&contacts,*velocity){
+			Some(new_velocity)=>*velocity=new_velocity,
+			None=>println!("Algorithm silently failing :)"),
 		}
 	}
 	fn constrain_acceleration(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,acceleration:&mut Planar64Vec3){
-		//TODO: trey push solve
-		for contact in &self.contacts{
+		let contacts=self.contacts.iter().map(|contact|{
 			let n=contact_normal(models,hitbox_mesh,contact);
-			let d=n.dot128(*acceleration);
-			if d<0{
-				*acceleration-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64);
+			crate::push_solve::Contact{
+				position:Planar64Vec3::ZERO,
+				velocity:n,
+				normal:n,
 			}
+		}).collect();
+		match crate::push_solve::push_solve(&contacts,*acceleration){
+			Some(new_acceleration)=>*acceleration=new_acceleration,
+			None=>println!("Algorithm silently failing :)"),
 		}
 	}
 	fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<PhysicsInternalInstruction>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&Body,time:Time){
@@ -890,7 +917,7 @@ impl VirtualBody<'_>{
 pub struct PhysicsState{
 	time:Time,
 	body:Body,
-	world:WorldState,//currently there is only one state the world can be in
+	_world:WorldState,//currently there is only one state the world can be in
 	touching:TouchingState,
 	//camera must exist in state because wormholes modify the camera, also camera punch
 	camera:PhysicsCamera,
@@ -927,7 +954,7 @@ impl Default for PhysicsState{
 			move_state:MoveState::Air,
 			camera:PhysicsCamera::default(),
 			input_state:InputState::default(),
-			world:WorldState{},
+			_world:WorldState{},
 			mode_state:ModeState::default(),
 			run:run::Run::new(),
 		}
@@ -956,39 +983,15 @@ impl PhysicsState{
 	fn next_move_instruction(&self)->Option<TimedInstruction<PhysicsInternalInstruction>>{
 		self.move_state.next_move_instruction(&self.style.strafe,self.time)
 	}
-	//lmao idk this is convenient
-	fn apply_enum_and_input_and_body(&mut self,data:&PhysicsData){
-		self.move_state.apply_enum(&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
-		self.move_state.apply_input(&self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
-		self.move_state.apply_to_body(&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
-	}
-	fn apply_enum_and_body(&mut self,data:&PhysicsData){
-		self.move_state.apply_enum(&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
-		self.move_state.apply_to_body(&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(&self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
-		self.move_state.apply_to_body(&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
+	fn cull_velocity(&mut self,data:&PhysicsData,velocity:Planar64Vec3){
+		self.move_state.cull_velocity(velocity,&mut self.body,&mut self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
 	}
 	fn set_move_state(&mut self,data:&PhysicsData,move_state:MoveState){
-		self.move_state=move_state;
-		//this function call reads the above state that was just set
-		self.apply_enum_and_body(data);
+		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 cull_velocity(&mut self,data:&PhysicsData,velocity:Planar64Vec3){
-		//TODO: be more precise about contacts
-		if set_velocity_cull(&mut self.body,&mut self.touching,&data.models,&data.hitbox_mesh,velocity){
-			//TODO do better
-			match self.move_state.get_walk_state(){
-				//did you stop touching the thing you were walking on?
-				Some(walk_state)=>if !self.touching.contacts.contains(&walk_state.contact){
-					self.set_move_state(data,MoveState::Air);
-				},
-				None=>self.apply_enum_and_body(data),
-			}
-		}
+	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);
 	}
-
 	//state mutated on collision:
 	//Accelerator
 	//stair step-up
@@ -1039,14 +1042,15 @@ impl instruction::InstructionEmitter<PhysicsInternalInstruction> for PhysicsCont
 	}
 }
 impl PhysicsContext{
-	pub const fn output(&self)->PhysicsOutputState{
-		PhysicsOutputState{
-			body:self.state.body,
-			camera:self.state.camera,
-			camera_offset:self.state.style.camera_offset,
-			mouse_pos:self.state.input_state.mouse.pos,
+	pub fn camera_body(&self)->Body{
+		Body{
+			position:self.state.body.position+self.state.style.camera_offset,
+			..self.state.body
 		}
 	}
+	pub const fn camera(&self)->PhysicsCamera{
+		self.state.camera
+	}
 	pub const fn get_next_mouse(&self)->&MouseState{
 		self.state.input_state.get_next_mouse()
 	}
@@ -1254,14 +1258,80 @@ fn contact_normal(models:&PhysicsModels,hitbox_mesh:&HitboxMesh,contact:&Contact
 	minkowski.face_nd(contact.face_id).0
 }
 
-fn set_position(body:&mut Body,touching:&mut TouchingState,point:Planar64Vec3)->Planar64Vec3{
+fn recalculate_touching(
+	move_state:&mut MoveState,
+	body:&mut Body,
+	touching:&mut TouchingState,
+	run:&mut run::Run,
+	mode_state:&mut ModeState,
+	mode:Option<&gameplay_modes::Mode>,
+	models:&PhysicsModels,
+	hitbox_mesh:&HitboxMesh,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
+	style:&StyleModifiers,
+	camera:&PhysicsCamera,
+	input_state:&InputState,
+	time:Time,
+){
+	//collision_end all existing contacts
+	//I would have preferred while let Some(contact)=contacts.pop()
+	//but there is no such method
+	while let Some(&contact)=touching.contacts.iter().next(){
+		collision_end_contact(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,models.contact_attr(contact.model_id),contact)
+	}
+	while let Some(&intersect)=touching.intersects.iter().next(){
+		collision_end_intersect(touching,mode,run,models.intersect_attr(intersect.model_id),intersect,time);
+	}
+	//find all models in the teleport region
+	let mut aabb=aabb::Aabb::default();
+	aabb.grow(body.position);
+	aabb.inflate(hitbox_mesh.halfsize);
+	//relative to moving platforms
+	//let relative_body=&VirtualBody::relative(&Body::default(),&state.body).body(state.time);
+	bvh.the_tester(&aabb,&mut |&convex_mesh_id|{
+		//no checks are needed because of the time limits.
+		let model_mesh=models.mesh(convex_mesh_id);
+		let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
+		if minkowski.is_point_in_mesh(body.position){
+			match convex_mesh_id.model_id{
+				//being inside of contact objects is an invalid physics state
+				//but the physics isn't advanced enough to do anything about it yet
+				//TODO: PushSolve and search for the closest valid position
+				PhysicsModelId::Contact(_)=>(),
+				PhysicsModelId::Intersect(model_id)=>
+				collision_start_intersect(move_state,body,mode_state,touching,mode,run,models,hitbox_mesh,bvh,style,camera,input_state,
+					models.intersect_attr(model_id),
+					IntersectCollision{
+						model_id,
+						submesh_id:convex_mesh_id.submesh_id,
+					},
+					time,
+				),
+			}
+		}
+	});
+}
+fn set_position(
+	point:Planar64Vec3,
+	move_state:&mut MoveState,
+	body:&mut Body,
+	touching:&mut TouchingState,
+	run:&mut run::Run,
+	mode_state:&mut ModeState,
+	mode:Option<&gameplay_modes::Mode>,
+	models:&PhysicsModels,
+	hitbox_mesh:&HitboxMesh,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
+	style:&StyleModifiers,
+	camera:&PhysicsCamera,
+	input_state:&InputState,
+	time:Time,
+)->Planar64Vec3{
 	//test intersections at new position
 	//hovering above the surface 0 units is not intersecting.  you will fall into it just fine
 	body.position=point;
-	//manual clear //for c in contacts{process_instruction(CollisionEnd(c))}
-	touching.clear();
-	//TODO: calculate contacts and determine the actual state
-	//touching.recalculate(body);
+	//calculate contacts and determine the actual state
+	recalculate_touching(move_state,body,touching,run,mode_state,mode,models,hitbox_mesh,bvh,style,camera,input_state,time);
 	point
 }
 fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,v:Planar64Vec3)->bool{
@@ -1303,31 +1373,71 @@ fn set_acceleration(body:&mut Body,touching:&TouchingState,models:&PhysicsModels
 	body.acceleration=a;
 }
 
-fn teleport(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,style:&StyleModifiers,hitbox_mesh:&HitboxMesh,point:Planar64Vec3)->MoveState{
-	set_position(body,touching,point);
+fn teleport(
+	point:Planar64Vec3,
+	move_state:&mut MoveState,
+	body:&mut Body,
+	touching:&mut TouchingState,
+	run:&mut run::Run,
+	mode_state:&mut ModeState,
+	mode:Option<&gameplay_modes::Mode>,
+	models:&PhysicsModels,
+	hitbox_mesh:&HitboxMesh,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
+	style:&StyleModifiers,
+	camera:&PhysicsCamera,
+	input_state:&InputState,
+	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);
-	MoveState::Air
 }
-fn teleport_to_spawn(body:&mut Body,touching:&mut TouchingState,style:&StyleModifiers,hitbox_mesh:&HitboxMesh,mode:&gameplay_modes::Mode,models:&PhysicsModels,stage_id:gameplay_modes::StageId)->Option<MoveState>{
-	let transform=models.get_model_transform(mode.get_spawn_model_id(stage_id)?)?;
+enum TeleportToSpawnError{
+	NoModel,
+}
+fn teleport_to_spawn(
+	stage:&gameplay_modes::Stage,
+	move_state:&mut MoveState,
+	body:&mut Body,
+	touching:&mut TouchingState,
+	run:&mut run::Run,
+	mode_state:&mut ModeState,
+	mode:&gameplay_modes::Mode,
+	models:&PhysicsModels,
+	hitbox_mesh:&HitboxMesh,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
+	style:&StyleModifiers,
+	camera:&PhysicsCamera,
+	input_state:&InputState,
+	time:Time,
+)->Result<(),TeleportToSpawnError>{
+	let transform=models.get_model_transform(stage.spawn()).ok_or(TeleportToSpawnError::NoModel)?;
 	let point=transform.vertex.transform_point3(Planar64Vec3::Y)+Planar64Vec3::Y*(style.hitbox.halfsize.y()+Planar64::ONE/16);
-	Some(teleport(body,touching,models,style,hitbox_mesh,point))
+	teleport(point,move_state,body,touching,run,mode_state,Some(mode),models,hitbox_mesh,bvh,style,camera,input_state,time);
+	Ok(())
 }
 
 fn run_teleport_behaviour(
-	wormhole:&Option<gameplay_attributes::Wormhole>,
-	models:&PhysicsModels,
-	mode:&gameplay_modes::Mode,
-	style:&StyleModifiers,
-	hitbox_mesh:&HitboxMesh,
-	mode_state:&mut ModeState,
-	touching:&mut TouchingState,
-	body:&mut Body,
 	model_id:ModelId,
-)->Option<MoveState>{
+	wormhole:Option<&gameplay_attributes::Wormhole>,
+	mode:Option<&gameplay_modes::Mode>,
+	move_state:&mut MoveState,
+	body:&mut Body,
+	touching:&mut TouchingState,
+	run:&mut run::Run,
+	mode_state:&mut ModeState,
+	models:&PhysicsModels,
+	hitbox_mesh:&HitboxMesh,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
+	style:&StyleModifiers,
+	camera:&PhysicsCamera,
+	input_state:&InputState,
+	time:Time,
+){
 	//TODO: jump count and checkpoints are always reset on teleport.
 	//Map makers are expected to use tools to prevent
 	//multi-boosting on JumpLimit boosters such as spawning into a SetVelocity
+	if let Some(mode)=mode{
 	if let Some(stage_element)=mode.get_element(model_id){
 		if let Some(stage)=mode.get_stage(stage_element.stage_id()){
 			if mode_state.get_stage_id()<stage_element.stage_id(){
@@ -1336,20 +1446,33 @@ fn run_teleport_behaviour(
 				if let Some(current_stage)=mode.get_stage(mode_state.get_stage_id()){
 					if !current_stage.is_complete(mode_state.ordered_checkpoint_count(),mode_state.unordered_checkpoint_count()){
 						//do the stage checkpoints have to be reset?
-						return teleport_to_spawn(body,touching,style,hitbox_mesh,mode,models,mode_state.get_stage_id());
+						let _=teleport_to_spawn(current_stage,move_state,body,touching,run,mode_state,mode,models,hitbox_mesh,bvh,style,camera,input_state,time);
+						return;
 					}
 				}
 				//check if all between stages have no checkpoints required to pass them
+				let mut loop_unbroken=true;
 				for stage_id in mode_state.get_stage_id().get()+1..stage_element.stage_id().get(){
 					let stage_id=StageId::new(stage_id);
 					//check if none of the between stages has checkpoints, if they do teleport back to that stage
-					if !mode.get_stage(stage_id)?.is_empty(){
-						mode_state.set_stage_id(stage_id);
-						return teleport_to_spawn(body,touching,style,hitbox_mesh,mode,models,stage_id);
+					match mode.get_stage(stage_id){
+						Some(stage)=>if !stage.is_empty(){
+							mode_state.set_stage_id(stage_id);
+							let _=teleport_to_spawn(stage,move_state,body,touching,run,mode_state,mode,models,hitbox_mesh,bvh,style,camera,input_state,time);
+							return;
+						},
+						None=>{
+							//no such stage! set to last existing stage and break loop
+							mode_state.set_stage_id(StageId::new(stage_id.get()-1));
+							loop_unbroken=false;
+							break;
+						},
 					}
-				}
+				};
 				//notably you do not get teleported for touching ordered checkpoints in the wrong order within the same stage.
-				mode_state.set_stage_id(stage_element.stage_id());
+				if loop_unbroken{
+					mode_state.set_stage_id(stage_element.stage_id());
+				}
 			}else if stage_element.force(){
 				//forced stage_element will set the stage_id even if the stage has already been passed
 				mode_state.set_stage_id(stage_element.stage_id());
@@ -1357,9 +1480,10 @@ fn run_teleport_behaviour(
 			match stage_element.behaviour(){
 				gameplay_modes::StageElementBehaviour::SpawnAt=>(),
 				gameplay_modes::StageElementBehaviour::Trigger
-				|gameplay_modes::StageElementBehaviour::Teleport=>{
+				|gameplay_modes::StageElementBehaviour::Teleport=>if let Some(mode_state_stage)=mode.get_stage(mode_state.get_stage_id()){
 					//I guess this is correct behaviour when trying to teleport to a non-existent spawn but it's still weird
-					return teleport_to_spawn(body,touching,style,hitbox_mesh,mode,models,mode_state.get_stage_id());
+					let _=teleport_to_spawn(mode_state_stage,move_state,body,touching,run,mode_state,mode,models,hitbox_mesh,bvh,style,camera,input_state,time);
+					return;
 				},
 				gameplay_modes::StageElementBehaviour::Platform=>(),
 				gameplay_modes::StageElementBehaviour::Check=>(),//this is to run the checkpoint check behaviour without any other side effects
@@ -1373,158 +1497,185 @@ fn run_teleport_behaviour(
 			}
 		}
 	}
-	match wormhole{
-		&Some(gameplay_attributes::Wormhole{destination_model})=>{
-			let origin=models.get_model_transform(model_id)?;
-			let destination=models.get_model_transform(destination_model)?;
-			//ignore the transform for now
-			Some(teleport(body,touching,models,style,hitbox_mesh,body.position-origin.vertex.translation+destination.vertex.translation))
+	}
+	if let Some(&gameplay_attributes::Wormhole{destination_model})=wormhole{
+		if let (Some(origin),Some(destination))=(models.get_model_transform(model_id),models.get_model_transform(destination_model)){
+			let point=body.position-origin.vertex.translation+destination.vertex.translation;
+			//TODO: camera angles
+			teleport(point,move_state,body,touching,run,mode_state,mode,models,hitbox_mesh,bvh,style,camera,input_state,time);
 		}
-		None=>None,
 	}
 }
 
 fn collision_start_contact(
-	state:&mut PhysicsState,
-	data:&PhysicsData,
+	move_state:&mut MoveState,
+	body:&mut Body,
+	mode_state:&mut ModeState,
+	touching:&mut TouchingState,
+	run:&mut run::Run,
+	mode:Option<&gameplay_modes::Mode>,
+	models:&PhysicsModels,
+	hitbox_mesh:&HitboxMesh,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
+	style:&StyleModifiers,
+	camera:&PhysicsCamera,
+	input_state:&InputState,
 	attr:&gameplay_attributes::ContactAttributes,
 	contact:ContactCollision,
+	time:Time,
 ){
-						let incident_velocity=state.body.velocity;
-						//add to touching
-						state.touching.insert(Collision::Contact(contact));
-						//clip v
-						set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,incident_velocity);
-						match &attr.contacting.contact_behaviour{
-							Some(gameplay_attributes::ContactingBehaviour::Surf)=>println!("I'm surfing!"),
-							Some(gameplay_attributes::ContactingBehaviour::Cling)=>println!("Unimplemented!"),
-							&Some(gameplay_attributes::ContactingBehaviour::Elastic(elasticity))=>{
-								let reflected_velocity=state.body.velocity+(state.body.velocity-incident_velocity)*Planar64::raw(elasticity as i64+1);
-								set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,reflected_velocity);
-							},
-							Some(gameplay_attributes::ContactingBehaviour::Ladder(contacting_ladder))=>
-							if let Some(ladder_settings)=&state.style.ladder{
-								if contacting_ladder.sticky{
-									//kill v
-									//actually you could do this with a booster attribute :thinking:
-									//it's a little bit different because maybe you want to chain ladders together
-									set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,Planar64Vec3::ZERO);//model.velocity
-								}
-								//ladder walkstate
-								let (gravity,target_velocity)=ladder_things(ladder_settings,&contact,&state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state);
-								let walk_state=ContactMoveState::ladder(ladder_settings,&state.body,gravity,target_velocity,contact);
-								state.set_move_state(data,MoveState::Ladder(walk_state));
-							},
-							Some(gameplay_attributes::ContactingBehaviour::NoJump)=>todo!("nyi"),
-							None=>if let Some(walk_settings)=&state.style.walk{
-								if walk_settings.is_slope_walkable(contact_normal(&data.models,&data.hitbox_mesh,&contact),Planar64Vec3::Y){
-									//ground
-									let (gravity,target_velocity)=ground_things(walk_settings,&contact,&state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state);
-									let walk_state=ContactMoveState::ground(walk_settings,&state.body,gravity,target_velocity,contact);
-									state.set_move_state(data,MoveState::Walk(walk_state));
-								}
-							},
-						}
-						//I love making functions with 10 arguments to dodge the borrow checker
-						if let Some(mode)=data.modes.get_mode(state.mode_state.get_mode_id()){
-							run_teleport_behaviour(&attr.general.wormhole,&data.models,mode,&state.style,&data.hitbox_mesh,&mut state.mode_state,&mut state.touching,&mut state.body,contact.model_id.into());
-						}
-						if state.style.get_control(Controls::Jump,state.input_state.controls){
-							if let (Some(jump_settings),Some(walk_state))=(&state.style.jump,state.move_state.get_walk_state()){
-								let jump_dir=walk_state.jump_direction.direction(&data.models,&data.hitbox_mesh,&walk_state.contact);
-								let jumped_velocity=jump_settings.jumped_velocity(&state.style,jump_dir,state.body.velocity,attr.general.booster.as_ref());
-								state.cull_velocity(data,jumped_velocity);
-							}
-						}
-						match &attr.general.trajectory{
-							Some(trajectory)=>{
-								match trajectory{
-									gameplay_attributes::SetTrajectory::AirTime(_)=>todo!(),
-									gameplay_attributes::SetTrajectory::Height(_)=>todo!(),
-									gameplay_attributes::SetTrajectory::TargetPointTime { target_point: _, time: _ }=>todo!(),
-									gameplay_attributes::SetTrajectory::TargetPointSpeed { target_point: _, speed: _, trajectory_choice: _ }=>todo!(),
-									&gameplay_attributes::SetTrajectory::Velocity(velocity)=>{
-										state.cull_velocity(data,velocity);
-									},
-									gameplay_attributes::SetTrajectory::DotVelocity { direction: _, dot: _ }=>todo!(),
-								}
-							},
-							None=>(),
-						}
-						//doing enum to set the acceleration when surfing
-						//doing input_and_body to refresh the walk state if you hit a wall while accelerating
-						state.apply_enum_and_input_and_body(data);
+	let incident_velocity=body.velocity;
+	//add to touching
+	touching.insert(Collision::Contact(contact));
+	//clip v
+	set_velocity(body,touching,models,hitbox_mesh,incident_velocity);
+	match &attr.contacting.contact_behaviour{
+		Some(gameplay_attributes::ContactingBehaviour::Surf)=>println!("I'm surfing!"),
+		Some(gameplay_attributes::ContactingBehaviour::Cling)=>println!("Unimplemented!"),
+		&Some(gameplay_attributes::ContactingBehaviour::Elastic(elasticity))=>{
+			let reflected_velocity=body.velocity+(body.velocity-incident_velocity)*Planar64::raw(elasticity as i64+1);
+			set_velocity(body,touching,models,hitbox_mesh,reflected_velocity);
+		},
+		Some(gameplay_attributes::ContactingBehaviour::Ladder(contacting_ladder))=>
+		if let Some(ladder_settings)=&style.ladder{
+			if contacting_ladder.sticky{
+				//kill v
+				//actually you could do this with a booster attribute :thinking:
+				//it's a little bit different because maybe you want to chain ladders together
+				set_velocity(body,touching,models,hitbox_mesh,Planar64Vec3::ZERO);//model.velocity
+			}
+			//ladder walkstate
+			let (gravity,target_velocity)=ladder_things(ladder_settings,&contact,touching,models,hitbox_mesh,style,camera,input_state);
+			let walk_state=ContactMoveState::ladder(ladder_settings,body,gravity,target_velocity,contact);
+			move_state.set_move_state(MoveState::Ladder(walk_state),body,touching,models,hitbox_mesh,style,camera,input_state);
+		},
+		Some(gameplay_attributes::ContactingBehaviour::NoJump)=>todo!("nyi"),
+		None=>if let Some(walk_settings)=&style.walk{
+			if walk_settings.is_slope_walkable(contact_normal(models,hitbox_mesh,&contact),Planar64Vec3::Y){
+				//ground
+				let (gravity,target_velocity)=ground_things(walk_settings,&contact,touching,models,hitbox_mesh,style,camera,input_state);
+				let walk_state=ContactMoveState::ground(walk_settings,body,gravity,target_velocity,contact);
+				move_state.set_move_state(MoveState::Walk(walk_state),body,touching,models,hitbox_mesh,style,camera,input_state);
+			}
+		},
+	}
+	//I love making functions with 10 arguments to dodge the borrow checker
+	run_teleport_behaviour(contact.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);
+	if style.get_control(Controls::Jump,input_state.controls){
+		if let (Some(jump_settings),Some(walk_state))=(&style.jump,move_state.get_walk_state()){
+			let jump_dir=walk_state.jump_direction.direction(models,hitbox_mesh,&walk_state.contact);
+			let jumped_velocity=jump_settings.jumped_velocity(style,jump_dir,body.velocity,attr.general.booster.as_ref());
+			move_state.cull_velocity(jumped_velocity,body,touching,models,hitbox_mesh,style,camera,input_state);
+		}
+	}
+	match &attr.general.trajectory{
+		Some(trajectory)=>{
+			match trajectory{
+				gameplay_attributes::SetTrajectory::AirTime(_)=>todo!(),
+				gameplay_attributes::SetTrajectory::Height(_)=>todo!(),
+				gameplay_attributes::SetTrajectory::TargetPointTime { target_point: _, time: _ }=>todo!(),
+				gameplay_attributes::SetTrajectory::TargetPointSpeed { target_point: _, speed: _, trajectory_choice: _ }=>todo!(),
+				&gameplay_attributes::SetTrajectory::Velocity(velocity)=>{
+					move_state.cull_velocity(velocity,body,touching,models,hitbox_mesh,style,camera,input_state);
+				},
+				gameplay_attributes::SetTrajectory::DotVelocity { direction: _, dot: _ }=>todo!(),
+			}
+		},
+		None=>(),
+	}
+	//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);
 }
 
 fn collision_start_intersect(
-	state:&mut PhysicsState,
-	data:&PhysicsData,
+	move_state:&mut MoveState,
+	body:&mut Body,
+	mode_state:&mut ModeState,
+	touching:&mut TouchingState,
+	mode:Option<&gameplay_modes::Mode>,
+	run:&mut run::Run,
+	models:&PhysicsModels,
+	hitbox_mesh:&HitboxMesh,
+	bvh:&bvh::BvhNode<ConvexMeshId>,
+	style:&StyleModifiers,
+	camera:&PhysicsCamera,
+	input_state:&InputState,
 	attr:&gameplay_attributes::IntersectAttributes,
 	intersect:IntersectCollision,
+	time:Time,
 ){
-						//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
-						state.touching.insert(Collision::Intersect(intersect));
-						//insta booster!
-						if let Some(booster)=&attr.general.booster{
-							state.cull_velocity(data,booster.boost(state.body.velocity));
-						}
-						if let Some(mode)=data.modes.get_mode(state.mode_state.get_mode_id()){
-							let zone=mode.get_zone(intersect.model_id.into());
-							match zone{
-								Some(gameplay_modes::Zone::Start)=>{
-									println!("@@@@ Starting new run!");
-									state.run=run::Run::new();
-								},
-								Some(gameplay_modes::Zone::Finish)=>{
-									match state.run.finish(state.time){
-										Ok(())=>println!("@@@@ Finished run time={}",state.run.time(state.time)),
-										Err(e)=>println!("@@@@ Run Finish error:{e:?}"),
-									}
-								},
-								Some(gameplay_modes::Zone::Anticheat)=>state.run.flag(run::FlagReason::Anticheat),
-								None=>(),
-							}
-							run_teleport_behaviour(&attr.general.wormhole,&data.models,mode,&state.style,&data.hitbox_mesh,&mut state.mode_state,&mut state.touching,&mut state.body,intersect.model_id.into());
-						}
+	//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
+	touching.insert(Collision::Intersect(intersect));
+	//insta booster!
+	if let Some(booster)=&attr.general.booster{
+		move_state.cull_velocity(booster.boost(body.velocity),body,touching,models,hitbox_mesh,style,camera,input_state);
+	}
+	if let Some(mode)=mode{
+		let zone=mode.get_zone(intersect.model_id.into());
+		match zone{
+			Some(gameplay_modes::Zone::Start)=>{
+				println!("@@@@ Starting new run!");
+				*run=run::Run::new();
+			},
+			Some(gameplay_modes::Zone::Finish)=>{
+				match run.finish(time){
+					Ok(())=>println!("@@@@ Finished run time={}",run.time(time)),
+					Err(e)=>println!("@@@@ Run Finish error:{e:?}"),
+				}
+			},
+			Some(gameplay_modes::Zone::Anticheat)=>run.flag(run::FlagReason::Anticheat),
+			None=>(),
+		}
+	}
+	run_teleport_behaviour(intersect.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);
 }
 
 fn collision_end_contact(
-	state:&mut PhysicsState,
-	data:&PhysicsData,
+	move_state:&mut MoveState,
+	body:&mut Body,
+	touching:&mut TouchingState,
+	models:&PhysicsModels,
+	hitbox_mesh:&HitboxMesh,
+	style:&StyleModifiers,
+	camera:&PhysicsCamera,
+	input_state:&InputState,
 	_attr:&gameplay_attributes::ContactAttributes,
 	contact:ContactCollision,
 ){
-						state.touching.remove(&Collision::Contact(contact));//remove contact before calling contact_constrain_acceleration
-						//check ground
-						//TODO do better
-						//this is inner code from state.cull_velocity
-						match state.move_state.get_walk_state(){
-							//did you stop touching the thing you were walking on?
-							Some(walk_state)=>if walk_state.contact==contact{
-								state.set_move_state(data,MoveState::Air);
-							},
-							None=>state.apply_enum_and_body(data),
-						}
+	touching.remove(&Collision::Contact(contact));//remove contact before calling contact_constrain_acceleration
+	//check ground
+	//TODO do better
+	//this is inner code from move_state.cull_velocity
+	match move_state.get_walk_state(){
+		//did you stop touching the thing you were walking on?
+		Some(walk_state)=>if walk_state.contact==contact{
+			move_state.set_move_state(MoveState::Air,body,touching,models,hitbox_mesh,style,camera,input_state);
+		},
+		None=>move_state.apply_enum_and_body(body,touching,models,hitbox_mesh,style,camera,input_state),
+	}
 }
 fn collision_end_intersect(
-	state:&mut PhysicsState,
-	data:&PhysicsData,
+	touching:&mut TouchingState,
+	mode:Option<&gameplay_modes::Mode>,
+	run:&mut run::Run,
 	_attr:&gameplay_attributes::IntersectAttributes,
 	intersect:IntersectCollision,
+	time:Time,
 ){
-						state.touching.remove(&Collision::Intersect(intersect));
-						if let Some(mode)=data.modes.get_mode(state.mode_state.get_mode_id()){
-							let zone=mode.get_zone(intersect.model_id.into());
-							match zone{
-								Some(gameplay_modes::Zone::Start)=>{
-									match state.run.start(state.time){
-										Ok(())=>println!("@@@@ Started run"),
-										Err(e)=>println!("@@@@ Run Start error:{e:?}"),
-									}
-								},
-								_=>(),
-							}
-						}
+	touching.remove(&Collision::Intersect(intersect));
+	if let Some(mode)=mode{
+		let zone=mode.get_zone(intersect.model_id.into());
+		match zone{
+			Some(gameplay_modes::Zone::Start)=>{
+				match run.start(time){
+					Ok(())=>println!("@@@@ Started run"),
+					Err(e)=>println!("@@@@ Run Start error:{e:?}"),
+				}
+			},
+			_=>(),
+		}
+	}
 }
 fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedInstruction<PhysicsInternalInstruction>){
 	state.time=ins.time;
@@ -1538,13 +1689,41 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 		state.body.advance_time(state.time);
 	}
 		match ins.instruction{
-			PhysicsInternalInstruction::CollisionStart(collision)=>match collision{
-				Collision::Contact(contact)=>collision_start_contact(state,data,data.models.contact_attr(contact.model_id),contact),
-				Collision::Intersect(intersect)=>collision_start_intersect(state,data,data.models.intersect_attr(intersect.model_id),intersect),
+			PhysicsInternalInstruction::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.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.model_id),
+						intersect,
+						state.time,
+					),
+				}
 			},
 			PhysicsInternalInstruction::CollisionEnd(collision)=>match collision{
-				Collision::Contact(contact)=>collision_end_contact(state,data,data.models.contact_attr(contact.model_id),contact),
-				Collision::Intersect(intersect)=>collision_end_intersect(state,data,data.models.intersect_attr(intersect.model_id),intersect),
+				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.model_id),
+					contact
+				),
+				Collision::Intersect(intersect)=>collision_end_intersect(
+					&mut state.touching,
+					data.modes.get_mode(state.mode_state.get_mode_id()),
+					&mut state.run,
+					data.models.intersect_attr(intersect.model_id),
+					intersect,
+					state.time
+				),
 			},
 			PhysicsInternalInstruction::StrafeTick=>{
 				//TODO make this less huge
@@ -1667,14 +1846,15 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 					},
 					PhysicsInputInstruction::Restart=>{
 						//teleport to start zone
-						let spawn_point=data.modes.get_mode(state.mode_state.get_mode_id()).and_then(|mode|
+						let mode=data.modes.get_mode(state.mode_state.get_mode_id());
+						let spawn_point=mode.and_then(|mode|
 							//TODO: spawn at the bottom of the start zone plus the hitbox size
 							//TODO: set camera andles to face the same way as the start zone
 							data.models.get_model_transform(mode.get_start().into()).map(|transform|
 								transform.vertex.translation
 							)
 						).unwrap_or(Planar64Vec3::ZERO);
-						set_position(&mut state.body,&mut state.touching,spawn_point);
+						set_position(spawn_point,&mut state.move_state,&mut state.body,&mut state.touching,&mut state.run,&mut state.mode_state,mode,&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,state.time);
 						set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,Planar64Vec3::ZERO);
 						state.set_move_state(data,MoveState::Air);
 						b_refresh_walk_target=false;
@@ -1682,7 +1862,14 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 					PhysicsInputInstruction::Spawn(mode_id,stage_id)=>{
 						//spawn at a particular stage
 						if let Some(mode)=data.modes.get_mode(mode_id){
-							teleport_to_spawn(&mut state.body,&mut state.touching,&state.style,&data.hitbox_mesh,mode,&data.models,stage_id);
+							if let Some(stage)=mode.get_stage(stage_id){
+								let _=teleport_to_spawn(
+									stage,
+									&mut state.move_state,&mut state.body,&mut state.touching,&mut state.run,&mut state.mode_state,
+									mode,
+									&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,state.time
+								);
+							}
 						}
 						b_refresh_walk_target=false;
 					},
@@ -1705,6 +1892,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 				if b_refresh_walk_target{
 					state.apply_input_and_body(data);
 					state.cull_velocity(data,state.body.velocity);
+					//also check if accelerating away from surface
 				}
 }
 

src/physics_worker.rs

@@ -180,8 +180,12 @@ impl MouseInterpolator{
 			self.empty_queue();
 		}
 	}
-	pub fn get_render_stuff(&self,time:Time)->(crate::physics::PhysicsOutputState,Time,glam::IVec2){
-		(self.physics.output(),self.timer.time(time),self.physics.get_next_mouse().pos)
+	pub fn get_frame_state(&self,time:Time)->crate::graphics::FrameState{
+		crate::graphics::FrameState{
+			body:self.physics.camera_body(),
+			camera:self.physics.camera(),
+			time:self.timer.time(time),
+		}
 	}
 	pub fn change_map(&mut self,time:Time,map:&strafesnet_common::map::CompleteMap){
 		//dump any pending interpolation state
@@ -221,8 +225,8 @@ pub fn new<'a>(
 		interpolator.handle_instruction(&ins);
 		match ins.instruction{
 			Instruction::Render=>{
-				let (physics_output,time,mouse_pos)=interpolator.get_render_stuff(ins.time);
-				graphics_worker.send(crate::graphics_worker::Instruction::Render(physics_output,time,mouse_pos)).unwrap();
+				let frame_state=interpolator.get_frame_state(ins.time);
+				graphics_worker.send(crate::graphics_worker::Instruction::Render(frame_state)).unwrap();
 			},
 			Instruction::Resize(size)=>{
 				graphics_worker.send(crate::graphics_worker::Instruction::Resize(size,interpolator.user_settings().clone())).unwrap();

src/push_solve.rs

@@ -0,0 +1,339 @@
+use strafesnet_common::integer::{Planar64,Planar64Vec3};
+
+// This algorithm is based on Lua code
+// written by Trey Reynolds in 2021
+
+// 1/2^10
+const EPSILON:Planar64=Planar64::raw(1<<(32-10));
+
+// A stack-allocated variable-size list that holds up to 4 elements
+// Direct references are used instead of indices i0, i1, i2, i3
+type Conts<'a>=arrayvec::ArrayVec<&'a Contact,4>;
+
+struct Ray{
+	origin:Planar64Vec3,
+	direction:Planar64Vec3,
+}
+impl Ray{
+	fn extrapolate(&self,t:Planar64)->Planar64Vec3{
+		self.origin+self.direction*t
+	}
+}
+
+/// Information about a contact restriction
+pub struct Contact{
+	pub position:Planar64Vec3,
+	pub velocity:Planar64Vec3,
+	pub normal:Planar64Vec3,
+}
+impl Contact{
+	fn relative_to(&self,point:Planar64Vec3)->Self{
+		Self{
+			position:self.position-point,
+			velocity:self.velocity,
+			normal:self.normal,
+		}
+	}
+	fn relative_dot(&self,direction:Planar64Vec3)->Planar64{
+		(direction-self.velocity).dot(self.normal)
+	}
+	/// Calculate the time of intersection. (previously get_touch_time)
+	fn solve(&self,ray:&Ray)->Planar64{
+		(self.position-ray.origin).dot(self.normal)/(ray.direction-self.velocity).dot(self.normal)
+	}
+}
+
+//note that this is horrible with fixed point arithmetic
+fn solve1(c0:&Contact)->Option<Planar64Vec3>{
+	let det=c0.normal.dot(c0.velocity);
+	if det.get().abs()<EPSILON.get(){
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	Some(c0.normal*d0/det)
+}
+fn solve2(c0:&Contact,c1:&Contact)->Option<Planar64Vec3>{
+	let u0_u1=c0.velocity.cross(c1.velocity);
+	let n0_n1=c0.normal.cross(c1.normal);
+	let det=u0_u1.dot(n0_n1);
+	if det.get().abs()<EPSILON.get(){
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	let d1=c1.normal.dot(c1.position);
+	Some((c1.normal.cross(u0_u1)*d0+u0_u1.cross(c0.normal)*d1)/det)
+}
+fn solve3(c0:&Contact,c1:&Contact,c2:&Contact)->Option<Planar64Vec3>{
+	let n0_n1=c0.normal.cross(c1.normal);
+	let det=c2.normal.dot(n0_n1);
+	if det.get().abs()<EPSILON.get(){
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	let d1=c1.normal.dot(c1.position);
+	let d2=c2.normal.dot(c2.position);
+	Some((c1.normal.cross(c2.normal)*d0+c2.normal.cross(c0.normal)*d1+c0.normal.cross(c1.normal)*d2)/det)
+}
+
+fn decompose1(point:Planar64Vec3,u0:Planar64Vec3)->Option<Planar64>{
+	let det=u0.dot(u0);
+	if det==Planar64::ZERO{
+		return None;
+	}
+	let s0=u0.dot(point)/det;
+	Some(s0)
+}
+fn decompose2(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3)->Option<(Planar64,Planar64)>{
+	let u0_u1=u0.cross(u1);
+	let det=u0_u1.dot(u0_u1);
+	if det==Planar64::ZERO{
+		return None;
+	}
+	let s0=u0_u1.dot(point.cross(u1))/det;
+	let s1=u0_u1.dot(u0.cross(point))/det;
+	Some((s0,s1))
+}
+fn decompose3(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3,u2:Planar64Vec3)->Option<(Planar64,Planar64,Planar64)>{
+	let det=u0.cross(u1).dot(u2);
+	if det==Planar64::ZERO{
+		return None;
+	}
+	let s0=point.cross(u1).dot(u2)/det;
+	let s1=u0.cross(point).dot(u2)/det;
+	let s2=u0.cross(u1).dot(point)/det;
+	Some((s0,s1,s2))
+}
+
+fn is_space_enclosed_2(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+)->bool{
+	a.cross(b)==Planar64Vec3::ZERO
+	&&a.dot(b)<Planar64::ZERO
+}
+fn is_space_enclosed_3(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+	c:Planar64Vec3
+)->bool{
+	a.cross(b).dot(c)==Planar64::ZERO
+	&&{
+		let det_abac=a.cross(b).dot(a.cross(c));
+		let det_abbc=a.cross(b).dot(b.cross(c));
+		let det_acbc=a.cross(c).dot(b.cross(c));
+		return det_abac*det_abbc<=Planar64::ZERO
+			&& det_abbc*det_acbc<=Planar64::ZERO
+			&&-det_acbc*det_abac<=Planar64::ZERO
+			||is_space_enclosed_2(a,b)
+			||is_space_enclosed_2(a,c)
+			||is_space_enclosed_2(b,c)
+	}
+}
+fn is_space_enclosed_4(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+	c:Planar64Vec3,
+	d:Planar64Vec3,
+)->bool{
+	let det_abc=a.cross(b).dot(c);
+	let det_abd=a.cross(b).dot(d);
+	let det_acd=a.cross(c).dot(d);
+	let det_bcd=b.cross(c).dot(d);
+	return det_abc*det_abd<Planar64::ZERO
+		&&-det_abc*det_acd<Planar64::ZERO
+		&& det_abd*det_acd<Planar64::ZERO
+		&& det_abc*det_bcd<Planar64::ZERO
+		&&-det_abd*det_bcd<Planar64::ZERO
+		&& det_acd*det_bcd<Planar64::ZERO
+		||is_space_enclosed_3(a,b,c)
+		||is_space_enclosed_3(a,b,d)
+		||is_space_enclosed_3(a,c,d)
+		||is_space_enclosed_3(b,c,d)
+}
+
+const fn get_push_ray_0(point:Planar64Vec3)->Option<Ray>{
+	Some(Ray{origin:point,direction:Planar64Vec3::ZERO})
+}
+fn get_push_ray_1(point:Planar64Vec3,c0:&Contact)->Option<Ray>{
+	let direction=solve1(c0)?;
+	let s0=decompose1(direction,c0.velocity)?;
+	if s0<Planar64::ZERO{
+		return None;
+	}
+	let origin=point+solve1(
+		&c0.relative_to(point),
+	)?;
+	Some(Ray{origin,direction})
+}
+fn get_push_ray_2(point:Planar64Vec3,c0:&Contact,c1:&Contact)->Option<Ray>{
+	let direction=solve2(c0,c1)?;
+	let (s0,s1)=decompose2(direction,c0.velocity,c1.velocity)?;
+	if s0<Planar64::ZERO||s1<Planar64::ZERO{
+		return None;
+	}
+	let origin=point+solve2(
+		&c0.relative_to(point),
+		&c1.relative_to(point),
+	)?;
+	Some(Ray{origin,direction})
+}
+fn get_push_ray_3(point:Planar64Vec3,c0:&Contact,c1:&Contact,c2:&Contact)->Option<Ray>{
+	let direction=solve3(c0,c1,c2)?;
+	let (s0,s1,s2)=decompose3(direction,c0.velocity,c1.velocity,c2.velocity)?;
+	if s0<Planar64::ZERO||s1<Planar64::ZERO||s2<Planar64::ZERO{
+		return None;
+	}
+	let origin=point+solve3(
+		&c0.relative_to(point),
+		&c1.relative_to(point),
+		&c2.relative_to(point),
+	)?;
+	Some(Ray{origin,direction})
+}
+
+const fn get_best_push_ray_and_conts_0<'a>(point:Planar64Vec3)->Option<(Ray,Conts<'a>)>{
+	match get_push_ray_0(point){
+		Some(ray)=>Some((ray,Conts::new_const())),
+		None=>None,
+	}
+}
+fn get_best_push_ray_and_conts_1(point:Planar64Vec3,c0:&Contact)->Option<(Ray,Conts)>{
+	get_push_ray_1(point,c0)
+		.map(|ray|(ray,Conts::from_iter([c0])))
+}
+fn get_best_push_ray_and_conts_2<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_2(c0.normal,c1.normal){
+		return None;
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c1){
+		return Some((ray,Conts::from_iter([c0,c1])));
+	}
+	if let Some(ray)=get_push_ray_1(point,c0){
+		if Planar64::ZERO<=c1.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0])));
+		}
+	}
+	return None;
+}
+fn get_best_push_ray_and_conts_3<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact,c2:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_3(c0.normal,c1.normal,c2.normal){
+		return None;
+	}
+	if let Some(ray)=get_push_ray_3(point,c0,c1,c2){
+		return Some((ray,Conts::from_iter([c0,c1,c2])));
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c1){
+		if Planar64::ZERO<=c2.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0,c1])));
+		}
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c2){
+		if Planar64::ZERO<=c1.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0,c2])));
+		}
+	}
+	if let Some(ray)=get_push_ray_1(point,c0){
+		if Planar64::ZERO<=c1.relative_dot(ray.direction)
+		 &&Planar64::ZERO<=c2.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0])));
+		}
+	}
+	return None;
+}
+fn get_best_push_ray_and_conts_4<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact,c2:&'a Contact,c3:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_4(c0.normal,c1.normal,c2.normal,c3.normal){
+		return None;
+	}
+
+	let (ray012,conts012)=get_best_push_ray_and_conts_3(point,c0,c1,c2)?;
+	let (ray013,conts013)=get_best_push_ray_and_conts_3(point,c0,c1,c3)?;
+	let (ray023,conts023)=get_best_push_ray_and_conts_3(point,c0,c2,c3)?;
+
+	let err012=c3.relative_dot(ray012.direction);
+	let err013=c2.relative_dot(ray013.direction);
+	let err023=c1.relative_dot(ray023.direction);
+
+	let best_err=err012.max(err013).max(err023);
+
+	if best_err==err012{
+		return Some((ray012,conts012))
+	}else if best_err==err013{
+		return Some((ray013,conts013))
+	}else if best_err==err023{
+		return Some((ray023,conts023))
+	}
+	unreachable!()
+}
+
+fn get_best_push_ray_and_conts<'a>(
+	point:Planar64Vec3,
+	conts:Conts<'a>,
+)->Option<(Ray,Conts<'a>)>{
+	match conts.as_slice(){
+		&[c0,c1,c2,c3]=>get_best_push_ray_and_conts_4(point,c0,c1,c2,c3),
+		&[c0,c1,c2]=>get_best_push_ray_and_conts_3(point,c0,c1,c2),
+		&[c0,c1]=>get_best_push_ray_and_conts_2(point,c0,c1),
+		&[c0]=>get_best_push_ray_and_conts_1(point,c0),
+		&[]=>get_best_push_ray_and_conts_0(point),
+		_=>unreachable!(),
+	}
+}
+
+fn get_first_touch<'a>(contacts:&'a Vec<Contact>,ray:&Ray,conts:&Conts)->Option<(Planar64,&'a Contact)>{
+	contacts.iter()
+		.filter(|&contact|
+			!conts.iter().any(|&c|std::ptr::eq(c,contact))
+			&&contact.relative_dot(ray.direction)< -EPSILON
+		)
+		.map(|contact|(contact.solve(ray),contact))
+		.min_by_key(|&(t,_)|t)
+}
+
+pub fn push_solve(contacts:&Vec<Contact>,point:Planar64Vec3)->Option<Planar64Vec3>{
+	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,conts))=>(t,conts),
+			None=>return Some(ray.origin),
+		};
+
+		if Planar64::ZERO<=next_t{
+			return Some(ray.origin);
+		}
+
+		//push_front
+		if conts.len()==conts.capacity(){
+			//this is a dead case, new_conts never has more than 3 elements
+			conts.rotate_right(1);
+			conts[0]=next_cont;
+		}else{
+			conts.push(next_cont);
+			conts.rotate_right(1);
+		}
+
+		let meet_point=ray.extrapolate(next_t);
+		match get_best_push_ray_and_conts(meet_point,conts){
+			Some((new_ray,new_conts))=>(ray,conts)=(new_ray,new_conts),
+			None=>return Some(meet_point),
+		}
+	}
+}
+
+#[cfg(test)]
+mod tests{
+	use super::*;
+	#[test]
+	fn test_push_solve(){
+		let contacts=vec![
+			Contact{
+				position:Planar64Vec3::ZERO,
+				velocity:Planar64Vec3::Y,
+				normal:Planar64Vec3::Y,
+			}
+		];
+		assert_eq!(
+			Some(Planar64Vec3::ZERO),
+			push_solve(&contacts,Planar64Vec3::NEG_Y)
+		);
+	}
+}