???

Splits the MeshQuery trait into MeshQuery and MeshTopology and cleans up much of the physics traits.  A notable optimization is using a closure for iterating variable length topological lists.  Intermediate allocations are avoided in this way.

Reviewed-on: #33
Co-authored-by: Rhys Lloyd <krakow20@gmail.com>
Co-committed-by: Rhys Lloyd <krakow20@gmail.com>

engine/physics/src/body.rs

@@ -74,7 +74,7 @@ impl<T> Trajectory<T>
 			time,
 		}
 	}
-	pub fn relative_to(&self,trj0:&Trajectory<T>,time:Time<T>)->Trajectory<T>{
+	pub fn relative_to(&self,trj0:&Self,time:Time<T>)->Self{
 		//(p0,v0,a0,t0)
 		//(p1,v1,a1,t1)
 		Trajectory::new(

engine/physics/src/face_crawler.rs

@@ -1,20 +1,21 @@
-use crate::model::{into_giga_time,GigaTime,FEV,MeshQuery,DirectedEdge};
-use strafesnet_common::integer::{Fixed,Ratio,vec3::Vector3};
+use crate::model::{into_giga_time,GigaTime};
+use strafesnet_common::integer::{Fixed,Ratio,vec3::Vector3,Planar64Vec3};
 use crate::physics::{Time,Trajectory};
+use crate::mesh_query::{FEV,DirectedEdge,MeshQuery,MeshTopology};
 
 use core::ops::Bound;
 
-enum Transition<M:MeshQuery>{
+enum Transition<M:MeshTopology>{
 	Miss,
 	Next(FEV<M>,GigaTime),
 	Hit(M::Face,GigaTime),
 }
 
-pub enum CrawlResult<M:MeshQuery>{
+pub enum CrawlResult<M:MeshTopology>{
 	Miss(FEV<M>),
 	Hit(M::Face,GigaTime),
 }
-impl<M:MeshQuery> CrawlResult<M>{
+impl<M:MeshTopology> CrawlResult<M>{
 	pub fn hit(self)->Option<(M::Face,GigaTime)>{
 		match self{
 			CrawlResult::Miss(_)=>None,
@@ -64,11 +65,12 @@ where
 	}
 }
 
-impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
+impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>,Position=Planar64Vec3,Direction=Planar64Vec3>> FEV<M>
 	where
 		// This is hardcoded for MinkowskiMesh lol
 		M::Face:Copy,
 		M::Edge:Copy,
+		M::DirectedEdge:Copy,
 		M::Vert:Copy,
 		F:core::ops::Mul<Fixed<1,32>,Output=Fixed<4,128>>,
 		<F as core::ops::Mul<Fixed<1,32>>>::Output:core::iter::Sum,
@@ -94,7 +96,7 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 					}
 				}
 				//test each edge collision time, ignoring roots with zero or conflicting derivative
-				for &directed_edge_id in mesh.face_edges(face_id).as_ref(){
+				mesh.for_each_face_edge(face_id,|directed_edge_id|{
 					let edge_n=mesh.directed_edge_n(directed_edge_id);
 					let n=n.cross(edge_n);
 					let &[v0,v1]=mesh.edge_verts(directed_edge_id.as_undirected()).as_ref();
@@ -108,7 +110,7 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 							break;
 						}
 					}
-				}
+				});
 				//if none:
 			},
 			&FEV::Edge(edge_id)=>{
@@ -149,7 +151,7 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 			},
 			&FEV::Vert(vert_id)=>{
 				//test each edge collision time, ignoring roots with zero or conflicting derivative
-				for &directed_edge_id in mesh.vert_edges(vert_id).as_ref(){
+				mesh.for_each_vert_edge(vert_id,|directed_edge_id|{
 					//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(trajectory.position-mesh.vert(vert_id)))*2,n.dot(trajectory.velocity)*2,n.dot(trajectory.acceleration)){
@@ -160,7 +162,7 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 							break;
 						}
 					}
-				}
+				});
 				//if none:
 			},
 		}

engine/physics/src/lib.rs

@@ -1,5 +1,7 @@
 mod body;
 mod face_crawler;
+mod mesh_query;
+mod minkowski;
 mod model;
 mod push_solve;
 mod minimum_difference;

engine/physics/src/mesh_query.rs

@@ -0,0 +1,56 @@
+pub enum FEV<M:MeshTopology>{
+	Vert(M::Vert),
+	Edge(M::Edge),
+	Face(M::Face),
+}
+
+pub trait UndirectedEdge{
+	type DirectedEdge:DirectedEdge<UndirectedEdge=Self>;
+	fn as_directed(self,parity:bool)->Self::DirectedEdge;
+}
+pub trait DirectedEdge{
+	type UndirectedEdge:UndirectedEdge<DirectedEdge=Self>;
+	fn as_undirected(self)->Self::UndirectedEdge;
+	fn parity(&self)->bool;
+	fn reverse(self)->Self
+		where
+			Self:Sized
+	{
+		let parity=!self.parity();
+		self.as_undirected().as_directed(parity)
+	}
+}
+
+pub trait MeshTopology{
+	type Face;
+	type Edge:UndirectedEdge<DirectedEdge=Self::DirectedEdge>;
+	type DirectedEdge:DirectedEdge<UndirectedEdge=Self::Edge>;
+	type Vert;
+	fn for_each_vert_edge(&self,vert_id:Self::Vert,f:impl FnMut(Self::DirectedEdge));
+	fn for_each_vert_face(&self,vert_id:Self::Vert,f:impl FnMut(Self::Face));
+	fn edge_faces(&self,edge_id:Self::Edge)->impl AsRef<[Self::Face;2]>;
+	fn edge_verts(&self,edge_id:Self::Edge)->impl AsRef<[Self::Vert;2]>;
+	#[expect(unused)]
+	fn for_each_face_vert(&self,face_id:Self::Face,f:impl FnMut(Self::Vert));
+	fn for_each_face_edge(&self,face_id:Self::Face,f:impl FnMut(Self::DirectedEdge));
+}
+
+// Make face_nd d value relative
+// euclidean point?
+// Simplex physics
+// Directed edge necessary?
+// recursive for_each function calls
+// define faces from vertices (Fixed<2> vs Fixed<3>)
+pub trait MeshQuery:MeshTopology{
+	type Position;
+	type Direction;
+	type Normal;
+	type Offset;
+	fn vert(&self,vert_id:Self::Vert)->Self::Position;
+	fn farthest_vert(&self,dir:Self::Direction)->Self::Vert;
+	/// This must return a point inside the mesh.
+	fn hint_point(&self)->Self::Position;
+	fn face_nd(&self,face_id:Self::Face)->(Self::Normal,Self::Offset);
+	fn edge_n(&self,edge_id:Self::Edge)->Self::Direction;
+	fn directed_edge_n(&self,directed_edge_id:Self::DirectedEdge)->Self::Direction;
+}

engine/physics/src/minimum_difference.rs

@@ -2,9 +2,9 @@ use strafesnet_common::integer::vec3;
 use strafesnet_common::integer::vec3::Vector3;
 use strafesnet_common::integer::{Fixed,Planar64,Planar64Vec3};
 
-use crate::model::{DirectedEdge,FEV,MeshQuery};
+use crate::mesh_query::{FEV,DirectedEdge,MeshQuery,MeshTopology};
 // TODO: remove mesh invert
-use crate::model::{MinkowskiMesh,MinkowskiVert};
+use crate::minkowski::{MinkowskiMesh,MinkowskiVert};
 
 // This algorithm is based on Lua code
 // written by Trey Reynolds in 2021
@@ -46,7 +46,7 @@ local function absDet(r, u, v, w)
 end
 */
 impl<Vert> Simplex2_4<Vert>{
-	fn det_is_zero<M:MeshQuery<Vert=Vert>>(self,mesh:&M)->bool{
+	fn det_is_zero<M:MeshQuery<Vert=Vert,Position=Planar64Vec3>>(self,mesh:&M)->bool{
 		match self{
 			Self::Simplex4([p0,p1,p2,p3])=>{
 				let p0=mesh.vert(p0);
@@ -131,11 +131,13 @@ fn narrow_dir3(dir:Vector3<Fixed<3,96>>)->Planar64Vec3{
 	}.narrow_1().unwrap()
 }
 
-fn reduce1<M:MeshQuery>(
+fn reduce1<M:MeshQuery<Position=Planar64Vec3>>(
 	[v0]:Simplex<1,M::Vert>,
 	mesh:&M,
 	point:Planar64Vec3,
-)->Reduced<M::Vert>{
+)->Reduced<M::Vert>
+	where M::Vert:Copy,
+{
 	// --debug.profilebegin("reduceSimplex0")
 	// local a = a1 - a0
 	let p0=mesh.vert(v0);
@@ -160,11 +162,14 @@ fn reduce1<M:MeshQuery>(
 }
 
 // local function reduceSimplex1(a0, a1, b0, b1)
-fn reduce2<M:MeshQuery>(
+fn reduce2<M:MeshQuery<Position=Planar64Vec3>>(
 	[v0,v1]:Simplex<2,M::Vert>,
 	mesh:&M,
 	point:Planar64Vec3,
-)->Reduced<M::Vert>{
+)->Reduced<M::Vert>
+	where
+		M::Vert:Copy
+{
 	// --debug.profilebegin("reduceSimplex1")
 	// local a = a1 - a0
 	// local b = b1 - b0
@@ -217,11 +222,14 @@ fn reduce2<M:MeshQuery>(
 }
 
 // local function reduceSimplex2(a0, a1, b0, b1, c0, c1)
-fn reduce3<M:MeshQuery>(
+fn reduce3<M:MeshQuery<Position=Planar64Vec3>>(
 	[v0,mut v1,v2]:Simplex<3,M::Vert>,
 	mesh:&M,
 	point:Planar64Vec3,
-)->Reduced<M::Vert>{
+)->Reduced<M::Vert>
+	where
+		M::Vert:Copy
+{
 	// --debug.profilebegin("reduceSimplex2")
 	// local a = a1 - a0
 	// local b = b1 - b0
@@ -326,11 +334,14 @@ fn reduce3<M:MeshQuery>(
 }
 
 // local function reduceSimplex3(a0, a1, b0, b1, c0, c1, d0, d1)
-fn reduce4<M:MeshQuery>(
+fn reduce4<M:MeshQuery<Position=Planar64Vec3>>(
 	[v0,mut v1,mut v2,v3]:Simplex<4,M::Vert>,
 	mesh:&M,
 	point:Planar64Vec3,
-)->Reduce<M::Vert>{
+)->Reduce<M::Vert>
+	where
+		M::Vert:Copy
+{
 	// --debug.profilebegin("reduceSimplex3")
 	// local a = a1 - a0
 	// local b = b1 - b0
@@ -516,7 +527,10 @@ enum Reduce<Vert>{
 }
 
 impl<Vert> Simplex2_4<Vert>{
-	fn reduce<M:MeshQuery<Vert=Vert>>(self,mesh:&M,point:Planar64Vec3)->Reduce<Vert>{
+	fn reduce<M:MeshQuery<Vert=Vert,Position=Planar64Vec3>>(self,mesh:&M,point:Planar64Vec3)->Reduce<Vert>
+		where
+			M::Vert:Copy
+	{
 		match self{
 			Self::Simplex2(simplex)=>Reduce::Reduced(reduce2(simplex,mesh,point)),
 			Self::Simplex3(simplex)=>Reduce::Reduced(reduce3(simplex,mesh,point)),
@@ -531,11 +545,11 @@ enum Transition<Vert>{
 	Done,//found closest vert, no edges are better
 	Vert(Vert),//transition to vert
 }
-enum EV<M:MeshQuery>{
+enum EV<M:MeshTopology>{
 	Vert(M::Vert),
-	Edge(<M::Edge as DirectedEdge>::UndirectedEdge),
+	Edge(M::Edge),
 }
-impl<M:MeshQuery> From<EV<M>> for FEV<M>{
+impl<M:MeshTopology> From<EV<M>> for FEV<M>{
 	fn from(value:EV<M>)->Self{
 		match value{
 			EV::Vert(minkowski_vert)=>FEV::Vert(minkowski_vert),
@@ -555,7 +569,7 @@ struct ThickPlane{
 	epsilon:Fixed<3,96>,
 }
 impl ThickPlane{
-	fn new<M:MeshQuery>(mesh:&M,[v0,v1,v2]:Simplex<3,M::Vert>)->Self{
+	fn new<M:MeshQuery<Position=Planar64Vec3>>(mesh:&M,[v0,v1,v2]:Simplex<3,M::Vert>)->Self{
 		let p0=mesh.vert(v0);
 		let p1=mesh.vert(v1);
 		let p2=mesh.vert(v2);
@@ -579,7 +593,7 @@ struct ThickLine{
 	epsilon:Fixed<4,128>,
 }
 impl ThickLine{
-	fn new<M:MeshQuery>(mesh:&M,[v0,v1]:Simplex<2,M::Vert>)->Self{
+	fn new<M:MeshQuery<Position=Planar64Vec3>>(mesh:&M,[v0,v1]:Simplex<2,M::Vert>)->Self{
 		let p0=mesh.vert(v0);
 		let p1=mesh.vert(v1);
 		let point=p0;
@@ -602,10 +616,14 @@ struct EVFinder<'a,M,C>{
 	best_distance_squared:Fixed<2,64>,
 }
 
-impl<M:MeshQuery,C:Contains> EVFinder<'_,M,C>{
+impl<M:MeshQuery<Position=Planar64Vec3>,C:Contains> EVFinder<'_,M,C>
+	where
+		M::Vert:Copy,
+		M::DirectedEdge:Copy,
+{
 	fn next_transition_vert(&mut self,vert_id:M::Vert,point:Planar64Vec3)->Transition<M::Vert>{
 		let mut best_transition=Transition::Done;
-		for &directed_edge_id in self.mesh.vert_edges(vert_id).as_ref(){
+		self.mesh.for_each_vert_edge(vert_id,|directed_edge_id|{
 			//test if this edge's opposite vertex closer
 			let edge_verts=self.mesh.edge_verts(directed_edge_id.as_undirected());
 			//select opposite vertex
@@ -618,14 +636,14 @@ impl<M:MeshQuery,C:Contains> EVFinder<'_,M,C>{
 				best_transition=Transition::Vert(test_vert_id);
 				self.best_distance_squared=distance_squared;
 			}
-		}
+		});
 		best_transition
 	}
 	fn final_ev(&mut self,vert_id:M::Vert,point:Planar64Vec3)->EV<M>{
 		let mut best_transition=EV::Vert(vert_id);
 		let vert_pos=self.mesh.vert(vert_id);
 		let diff=point-vert_pos;
-		for &directed_edge_id in self.mesh.vert_edges(vert_id).as_ref(){
+		self.mesh.for_each_vert_edge(vert_id,|directed_edge_id|{
 			//test if this edge is closer
 			let edge_verts=self.mesh.edge_verts(directed_edge_id.as_undirected());
 			let test_vert_id=edge_verts.as_ref()[directed_edge_id.parity() as usize];
@@ -646,10 +664,13 @@ impl<M:MeshQuery,C:Contains> EVFinder<'_,M,C>{
 					self.best_distance_squared=distance_squared;
 				}
 			}
-		}
+		});
 		best_transition
 	}
-	fn crawl_boundaries(&mut self,mut vert_id:M::Vert,point:Planar64Vec3)->EV<M>{
+	fn crawl_boundaries(&mut self,mut vert_id:M::Vert,point:Planar64Vec3)->EV<M>
+		where
+			M::Vert:Copy
+	{
 		loop{
 			match self.next_transition_vert(vert_id,point){
 				Transition::Done=>return self.final_ev(vert_id,point),
@@ -659,7 +680,11 @@ impl<M:MeshQuery,C:Contains> EVFinder<'_,M,C>{
 	}
 }
 /// 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>{
+fn crawl_to_closest_ev<M:MeshQuery<Position=Planar64Vec3>>(mesh:&M,simplex:Simplex<2,M::Vert>,point:Planar64Vec3)->EV<M>
+	where
+		M::Vert:Copy,
+		M::DirectedEdge:Copy,
+{
 	// naively start at the closest vertex
 	// the closest vertex is not necessarily the one with the fewest boundary hops
 	// but it doesn't matter, we will get there regardless.
@@ -787,13 +812,16 @@ pub fn contains_point(mesh:&MinkowskiMesh<'_>,point:Planar64Vec3)->bool{
 // 	queryQ, radiusQ,
 // 	exitRadius, testIntersection
 // )
-fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery>(
+fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery<Position=Planar64Vec3,Direction=Planar64Vec3>>(
 	mesh:&M,
 	point:Planar64Vec3,
 	on_exact:impl FnOnce(bool,Simplex1_3<M::Vert>)->T,
 	on_escape:impl FnOnce(Simplex<4,M::Vert>)->T,
 	on_fast_fail:impl FnOnce()->T,
-)->T{
+)->T
+	where
+		M::Vert:Copy
+{
 	// local initialAxis = queryQ() - queryP()
 	// local new_point_p = queryP(initialAxis)
 	// local new_point_q = queryQ(-initialAxis)

engine/physics/src/minkowski.rs

@@ -0,0 +1,407 @@
+use core::ops::{Bound,RangeBounds};
+
+use strafesnet_common::integer::{Planar64Vec3,Ratio,Fixed,vec3::Vector3};
+use crate::model::into_giga_time;
+use crate::model::{SubmeshVertId,SubmeshEdgeId,SubmeshDirectedEdgeId,SubmeshFaceId,TransformedMesh,GigaTime};
+use crate::mesh_query::{MeshQuery,MeshTopology,DirectedEdge,UndirectedEdge};
+use crate::physics::{Time,Trajectory};
+
+struct AsRefHelper<T>(T);
+impl<T> AsRef<T> for AsRefHelper<T>{
+	fn as_ref(&self)->&T{
+		&self.0
+	}
+}
+
+//Note that a face on a minkowski mesh refers to a pair of fevs on the meshes it's summed from
+//(face,vertex)
+//(edge,edge)
+//(vertex,face)
+#[derive(Clone,Copy,Debug,Eq,PartialEq)]
+pub enum MinkowskiVert{
+	VertVert(SubmeshVertId,SubmeshVertId),
+}
+// TODO: remove this
+impl core::ops::Neg for MinkowskiVert{
+	type Output=Self;
+	fn neg(self)->Self::Output{
+		match self{
+			MinkowskiVert::VertVert(v0,v1)=>MinkowskiVert::VertVert(v1,v0),
+		}
+	}
+}
+#[derive(Clone,Copy,Debug)]
+pub enum MinkowskiEdge{
+	VertEdge(SubmeshVertId,SubmeshEdgeId),
+	EdgeVert(SubmeshEdgeId,SubmeshVertId),
+	//EdgeEdge when edges are parallel
+}
+impl UndirectedEdge for MinkowskiEdge{
+	type DirectedEdge=MinkowskiDirectedEdge;
+	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),
+		}
+	}
+}
+#[derive(Clone,Copy,Debug)]
+pub enum MinkowskiDirectedEdge{
+	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
+	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
+	//EdgeEdge when edges are parallel
+}
+impl DirectedEdge for MinkowskiDirectedEdge{
+	type UndirectedEdge=MinkowskiEdge;
+	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),
+		}
+	}
+	fn parity(&self)->bool{
+		match self{
+			MinkowskiDirectedEdge::VertEdge(_,e)
+			|MinkowskiDirectedEdge::EdgeVert(e,_)=>e.parity(),
+		}
+	}
+}
+#[derive(Clone,Copy,Debug,Hash)]
+pub enum MinkowskiFace{
+	VertFace(SubmeshVertId,SubmeshFaceId),
+	EdgeEdge(SubmeshEdgeId,SubmeshEdgeId,bool),
+	FaceVert(SubmeshFaceId,SubmeshVertId),
+	//EdgeFace
+	//FaceEdge
+	//FaceFace
+}
+
+#[derive(Debug)]
+pub struct MinkowskiMesh<'a>{
+	mesh0:TransformedMesh<'a>,
+	mesh1:TransformedMesh<'a>,
+}
+
+// TODO: remove this
+impl<'a> core::ops::Neg for &MinkowskiMesh<'a>{
+	type Output=MinkowskiMesh<'a>;
+	fn neg(self)->Self::Output{
+		MinkowskiMesh::minkowski_sum(self.mesh1,self.mesh0)
+	}
+}
+
+impl MinkowskiMesh<'_>{
+	pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
+		MinkowskiMesh{
+			mesh0,
+			mesh1,
+		}
+	}
+	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)=>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,trajectory,range.start_bound(),range.end_bound()).hit()
+	}
+	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)=>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 time_reversed_trajectory=-trajectory;
+		//continue backwards along the body parabola
+		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,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-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;
+		self.for_each_face_edge(contact_face_id,|directed_edge_id|{
+			let edge_n=self.directed_edge_n(directed_edge_id);
+			//f x e points in
+			let n=face_n.cross(edge_n);
+			let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
+			let d=n.dot(self.vert(v0)+self.vert(v1));
+			//WARNING! d outside of *2
+			//WARNING: truncated precision
+			//wrap for speed
+			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;
+				}
+			}
+		});
+		best_edge
+	}
+	pub fn contains_point(&self,point:Planar64Vec3)->bool{
+		crate::minimum_difference::contains_point(self,point)
+	}
+}
+impl MeshQuery for MinkowskiMesh<'_>{
+	type Direction=Planar64Vec3;
+	type Position=Planar64Vec3;
+	type Normal=Vector3<Fixed<3,96>>;
+	type Offset=Fixed<4,128>;
+	// TODO: relative d
+	fn face_nd(&self,face_id:MinkowskiFace)->(Self::Normal,Self::Offset){
+		match face_id{
+			MinkowskiFace::VertFace(v0,f1)=>{
+				let (n,d)=self.mesh1.face_nd(f1);
+				(-n,d-n.dot(self.mesh0.vert(v0)))
+			},
+			MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
+				let edge0_n=self.mesh0.edge_n(e0);
+				let edge1_n=self.mesh1.edge_n(e1);
+				let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).as_ref();
+				let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).as_ref();
+				let n=edge0_n.cross(edge1_n);
+				let e0d=n.dot(self.mesh0.vert(e0v0)+self.mesh0.vert(e0v1));
+				let e1d=n.dot(self.mesh1.vert(e1v0)+self.mesh1.vert(e1v1));
+				((n*(parity as i64*4-2)).widen_3(),((e0d-e1d)*(parity as i64*2-1)).widen_4())
+			},
+			MinkowskiFace::FaceVert(f0,v1)=>{
+				let (n,d)=self.mesh0.face_nd(f0);
+				(n,d-n.dot(self.mesh1.vert(v1)))
+			},
+		}
+	}
+	fn vert(&self,vert_id:MinkowskiVert)->Planar64Vec3{
+		match vert_id{
+			MinkowskiVert::VertVert(v0,v1)=>{
+				self.mesh0.vert(v0)-self.mesh1.vert(v1)
+			},
+		}
+	}
+	fn hint_point(&self)->Planar64Vec3{
+		self.mesh0.hint_point()-self.mesh1.hint_point()
+	}
+	fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
+		MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
+	}
+	fn edge_n(&self,edge_id:Self::Edge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(edge_id).as_ref();
+		self.vert(v1)-self.vert(v0)
+	}
+	fn directed_edge_n(&self,directed_edge_id:Self::DirectedEdge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
+		(self.vert(v1)-self.vert(v0))*((directed_edge_id.parity() as i64)*2-1)
+	}
+}
+impl MeshTopology for MinkowskiMesh<'_>{
+	type Face=MinkowskiFace;
+	type Edge=MinkowskiEdge;
+	type DirectedEdge=MinkowskiDirectedEdge;
+	type Vert=MinkowskiVert;
+	fn for_each_vert_edge(&self,vert_id:Self::Vert,mut f:impl FnMut(Self::DirectedEdge)){
+		match vert_id{
+			MinkowskiVert::VertVert(v0,v1)=>{
+				//detect shared volume when the other mesh is mirrored along a test edge dir
+				let v0f={
+					let mut faces=Vec::new();
+					self.mesh0.for_each_vert_face(v0,|face|faces.push(face));
+					faces
+				};
+				let v1f={
+					let mut faces=Vec::new();
+					self.mesh1.for_each_vert_face(v1,|face|faces.push(face));
+					faces
+				};
+				let v0f_n:Vec<_>=v0f.iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
+				let v1f_n:Vec<_>=v1f.iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
+				// scratch vector
+				let mut face_normals=Vec::with_capacity(v0f.len()+v1f.len());
+				face_normals.clone_from(&v0f_n);
+				self.mesh0.for_each_vert_edge(v0,|directed_edge_id|{
+					let n=self.mesh0.directed_edge_n(directed_edge_id);
+					let nn=n.dot(n);
+					// TODO: there's gotta be a better way to do this
+					// drop faces beyond v0f_n
+					face_normals.truncate(v0f.len());
+					// make a set of faces from mesh0's perspective
+					for face_n in &v1f_n{
+						//add reflected mesh1 faces
+						//wrap for speed
+						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().wrap_3());
+					}
+					if is_empty_volume(&face_normals){
+						f(MinkowskiDirectedEdge::EdgeVert(directed_edge_id,v1));
+					}
+				});
+				face_normals.clone_from(&v1f_n);
+				self.mesh1.for_each_vert_edge(v1,|directed_edge_id|{
+					let n=self.mesh1.directed_edge_n(directed_edge_id);
+					let nn=n.dot(n);
+					// drop faces beyond v1f_n
+					face_normals.truncate(v1f.len());
+					// make a set of faces from mesh1's perspective
+					for face_n in &v0f_n{
+						//wrap for speed
+						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().wrap_3());
+					}
+					if is_empty_volume(&face_normals){
+						f(MinkowskiDirectedEdge::VertEdge(v0,directed_edge_id));
+					}
+				});
+			},
+		}
+	}
+	fn for_each_vert_face(&self,_vert_id:Self::Vert,_f:impl FnMut(Self::Face)){
+		unimplemented!()
+	}
+	fn edge_faces(&self,edge_id:Self::Edge)->impl AsRef<[Self::Face;2]>{
+		match edge_id{
+			MinkowskiEdge::VertEdge(v0,e1)=>{
+				//faces are listed backwards from the minkowski mesh
+				let v0e={
+					let mut edges=Vec::new();
+					self.mesh0.for_each_vert_edge(v0,|edge|edges.push(edge));
+					edges
+				};
+				let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).as_ref();
+				AsRefHelper([(e1f1,false),(e1f0,true)].map(|(edge_face_id1,face_parity)|{
+					let mut best_edge=None;
+					let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
+					let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
+					let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
+					for &directed_edge_id0 in &v0e{
+						let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
+						//must be behind other face.
+						let d=edge_face1_n.dot(edge0_n);
+						if d.is_negative(){
+							let edge0_nn=edge0_n.dot(edge0_n);
+							// Assume not every number is huge
+							// TODO: revisit this
+							let dd=(d*d)/(edge_face1_nn*edge0_nn);
+							if best_d<dd{
+								best_d=dd;
+								best_edge=Some(directed_edge_id0);
+							}
+						}
+					}
+					best_edge.map_or(
+						MinkowskiFace::VertFace(v0,edge_face_id1),
+						|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_undirected(),e1,directed_edge_id0.parity()^face_parity)
+					)
+				}))
+			},
+			MinkowskiEdge::EdgeVert(e0,v1)=>{
+				//tracking index with an external variable because .enumerate() is not available
+				let v1e={
+					let mut edges=Vec::new();
+					self.mesh1.for_each_vert_edge(v1,|edge|edges.push(edge));
+					edges
+				};
+				let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).as_ref();
+				AsRefHelper([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
+					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;
+					let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
+					for &directed_edge_id1 in &v1e{
+						let edge1_n=self.mesh1.directed_edge_n(directed_edge_id1);
+						let d=edge_face0_n.dot(edge1_n);
+						if d.is_negative(){
+							let edge1_nn=edge1_n.dot(edge1_n);
+							let dd=(d*d)/(edge_face0_nn*edge1_nn);
+							if best_d<dd{
+								best_d=dd;
+								best_edge=Some(directed_edge_id1);
+							}
+						}
+					}
+					best_edge.map_or(
+						MinkowskiFace::FaceVert(edge_face_id0,v1),
+						|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_undirected(),directed_edge_id1.parity()^face_parity)
+					)
+				}))
+			},
+		}
+	}
+	fn edge_verts(&self,edge_id:Self::Edge)->impl AsRef<[Self::Vert;2]>{
+		AsRefHelper(match edge_id{
+			MinkowskiEdge::VertEdge(v0,e1)=>self.mesh1.edge_verts(e1).as_ref().map(|vert_id1|
+				MinkowskiVert::VertVert(v0,vert_id1)
+			),
+			MinkowskiEdge::EdgeVert(e0,v1)=>self.mesh0.edge_verts(e0).as_ref().map(|vert_id0|
+				MinkowskiVert::VertVert(vert_id0,v1)
+			),
+		})
+	}
+	fn for_each_face_vert(&self,_face_id:Self::Face,_f:impl FnMut(Self::Vert)){
+		unimplemented!()
+	}
+	fn for_each_face_edge(&self,face_id:Self::Face,mut f:impl FnMut(Self::DirectedEdge)){
+		match face_id{
+			MinkowskiFace::VertFace(v0,f1)=>{
+				self.mesh1.for_each_face_edge(f1,|edge_id1|
+					f(MinkowskiDirectedEdge::VertEdge(v0,edge_id1.reverse()))
+				)
+			},
+			MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
+				let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).as_ref();
+				let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).as_ref();
+				//could sort this if ordered edges are needed
+				//probably just need to reverse this list according to parity
+				f(MinkowskiDirectedEdge::VertEdge(e0v0,e1.as_directed(parity)));
+				f(MinkowskiDirectedEdge::EdgeVert(e0.as_directed(!parity),e1v0));
+				f(MinkowskiDirectedEdge::VertEdge(e0v1,e1.as_directed(!parity)));
+				f(MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),e1v1));
+			},
+			MinkowskiFace::FaceVert(f0,v1)=>{
+				self.mesh0.for_each_face_edge(f0,|edge_id0|
+					f(MinkowskiDirectedEdge::EdgeVert(edge_id0,v1))
+				)
+			},
+		}
+	}
+}
+
+fn is_empty_volume(normals:&[Vector3<Fixed<3,96>>])->bool{
+	let len=normals.len();
+	for i in 0..len-1{
+		for j in i+1..len{
+			let n=normals[i].cross(normals[j]);
+			let mut d_comp=None;
+			for k in 0..len{
+				if k!=i&&k!=j{
+					let d=n.dot(normals[k]).is_negative();
+					if let &Some(comp)=&d_comp{
+						// This is testing if d_comp*d < 0
+						if comp^d{
+							return true;
+						}
+					}else{
+						d_comp=Some(d);
+					}
+				}
+			}
+		}
+	}
+	return false;
+}
+
+#[test]
+fn test_is_empty_volume(){
+	use strafesnet_common::integer::vec3;
+	assert!(!is_empty_volume(&[vec3::X.widen_3(),vec3::Y.widen_3(),vec3::Z.widen_3()]));
+	assert!(is_empty_volume(&[vec3::X.widen_3(),vec3::Y.widen_3(),vec3::Z.widen_3(),vec3::NEG_X.widen_3()]));
+}

engine/physics/src/model.rs

@@ -1,11 +1,9 @@
 use std::collections::{HashSet,HashMap};
-use core::ops::{Bound,RangeBounds};
 use strafesnet_common::integer::vec3::Vector3;
 use strafesnet_common::model::{self,MeshId,PolygonIter};
 use strafesnet_common::integer::{self,vec3,Fixed,Planar64,Planar64Vec3,Ratio};
 use strafesnet_common::physics::Time;
-
-type Trajectory=crate::body::Trajectory<strafesnet_common::physics::TimeInner>;
+use crate::mesh_query::{MeshQuery,MeshTopology,DirectedEdge,UndirectedEdge};
 
 struct AsRefHelper<T>(T);
 impl<T> AsRef<T> for AsRefHelper<T>{
@@ -14,20 +12,6 @@ impl<T> AsRef<T> for AsRefHelper<T>{
 	}
 }
 
-pub trait UndirectedEdge{
-	type DirectedEdge:Copy+DirectedEdge;
-	fn as_directed(self,parity:bool)->Self::DirectedEdge;
-}
-pub trait DirectedEdge:Copy{
-	type UndirectedEdge:Copy+std::fmt::Debug+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{
-		self.as_undirected().as_directed(!self.parity())
-	}
-}
-
 #[derive(Debug,Clone,Copy,Hash,id::Id,Eq,PartialEq)]
 pub struct MeshVertId(u32);
 #[derive(Debug,Clone,Copy,Hash,id::Id,Eq,PartialEq)]
@@ -59,14 +43,6 @@ impl DirectedEdge for SubmeshDirectedEdgeId{
 	}
 }
 
-//Vertex <-> Edge <-> Face -> Collide
-#[derive(Debug)]
-pub enum FEV<M:MeshQuery>{
-	Face(M::Face),
-	Edge(<M::Edge as DirectedEdge>::UndirectedEdge),
-	Vert(M::Vert),
-}
-
 //use Unit32 #[repr(C)] for map files
 #[derive(Clone,Copy,Debug,Hash,Eq,PartialEq)]
 struct Face{
@@ -75,32 +51,6 @@ struct Face{
 }
 #[derive(Debug)]
 struct Vert(Planar64Vec3);
-pub trait MeshQuery{
-	type Face:Copy;
-	type Edge:Copy+DirectedEdge;
-	type Vert:Copy;
-	// Vertex must be Planar64Vec3 because it represents an actual position
-	type Normal;
-	type Offset;
-	fn edge_n(&self,edge_id:<Self::Edge as DirectedEdge>::UndirectedEdge)->Planar64Vec3{
-		let &[v0,v1]=self.edge_verts(edge_id).as_ref();
-		self.vert(v1)-self.vert(v0)
-	}
-	fn directed_edge_n(&self,directed_edge_id:Self::Edge)->Planar64Vec3{
-		let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
-		(self.vert(v1)-self.vert(v0))*((directed_edge_id.parity() as i64)*2-1)
-	}
-	/// This must return a point inside the mesh.
-	fn hint_point(&self)->Planar64Vec3;
-	fn farthest_vert(&self,dir:Planar64Vec3)->Self::Vert;
-	fn vert(&self,vert_id:Self::Vert)->Planar64Vec3;
-	fn face_nd(&self,face_id:Self::Face)->(Self::Normal,Self::Offset);
-	fn face_edges(&self,face_id:Self::Face)->impl AsRef<[Self::Edge]>;
-	fn edge_faces(&self,edge_id:<Self::Edge as DirectedEdge>::UndirectedEdge)->impl AsRef<[Self::Face;2]>;
-	fn edge_verts(&self,edge_id:<Self::Edge as DirectedEdge>::UndirectedEdge)->impl AsRef<[Self::Vert;2]>;
-	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{
 	// I didn't write it down, but I assume the edges are directed
@@ -445,9 +395,8 @@ pub struct PhysicsMeshView<'a>{
 	topology:&'a PhysicsMeshTopology,
 }
 impl MeshQuery for PhysicsMeshView<'_>{
-	type Face=SubmeshFaceId;
-	type Edge=SubmeshDirectedEdgeId;
-	type Vert=SubmeshVertId;
+	type Position=Planar64Vec3;
+	type Direction=Planar64Vec3;
 	type Normal=Planar64Vec3;
 	type Offset=Planar64;
 	fn face_nd(&self,face_id:SubmeshFaceId)->(Planar64Vec3,Planar64){
@@ -475,20 +424,37 @@ impl MeshQuery for PhysicsMeshView<'_>{
 		let vert_idx=self.topology.verts[vert_id.get() as usize].get() as usize;
 		self.data.verts[vert_idx].0
 	}
-	fn face_edges(&self,face_id:SubmeshFaceId)->impl AsRef<[SubmeshDirectedEdgeId]>{
-		self.topology.face_topology[face_id.get() as usize].edges.as_slice()
+	fn edge_n(&self,edge_id:Self::Edge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(edge_id).as_ref();
+		self.vert(v1)-self.vert(v0)
 	}
-	fn edge_faces(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshFaceId;2]>{
+	fn directed_edge_n(&self,directed_edge_id:Self::DirectedEdge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
+		(self.vert(v1)-self.vert(v0))*((directed_edge_id.parity() as i64)*2-1)
+	}
+}
+impl MeshTopology for PhysicsMeshView<'_>{
+	type Face=SubmeshFaceId;
+	type Edge=SubmeshEdgeId;
+	type DirectedEdge=SubmeshDirectedEdgeId;
+	type Vert=SubmeshVertId;
+	fn for_each_vert_edge(&self,vert_id:Self::Vert,f:impl FnMut(Self::DirectedEdge)){
+		self.topology.vert_topology[vert_id.get() as usize].edges.iter().copied().for_each(f);
+	}
+	fn for_each_vert_face(&self,vert_id:Self::Vert,f:impl FnMut(Self::Face)){
+		self.topology.vert_topology[vert_id.get() as usize].faces.iter().copied().for_each(f);
+	}
+	fn edge_faces(&self,edge_id:Self::Edge)->impl AsRef<[Self::Face;2]>{
 		AsRefHelper(self.topology.edge_topology[edge_id.get() as usize].faces)
 	}
-	fn edge_verts(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshVertId;2]>{
+	fn edge_verts(&self,edge_id:Self::Edge)->impl AsRef<[Self::Vert;2]>{
 		AsRefHelper(self.topology.edge_topology[edge_id.get() as usize].verts)
 	}
-	fn vert_edges(&self,vert_id:SubmeshVertId)->impl AsRef<[SubmeshDirectedEdgeId]>{
-		self.topology.vert_topology[vert_id.get() as usize].edges.as_slice()
+	fn for_each_face_vert(&self,_face_id:Self::Face,_f:impl FnMut(Self::Vert)){
+		unimplemented!()
 	}
-	fn vert_faces(&self,vert_id:SubmeshVertId)->impl AsRef<[SubmeshFaceId]>{
-		self.topology.vert_topology[vert_id.get() as usize].faces.as_slice()
+	fn for_each_face_edge(&self,face_id:Self::Face,f:impl FnMut(Self::DirectedEdge)){
+		self.topology.face_topology[face_id.get() as usize].edges.iter().copied().for_each(f);
 	}
 }
 
@@ -528,9 +494,8 @@ impl TransformedMesh<'_>{
 	}
 }
 impl MeshQuery for TransformedMesh<'_>{
-	type Face=SubmeshFaceId;
-	type Edge=SubmeshDirectedEdgeId;
-	type Vert=SubmeshVertId;
+	type Direction=Planar64Vec3;
+	type Position=Planar64Vec3;
 	type Normal=Vector3<Fixed<3,96>>;
 	type Offset=Fixed<4,128>;
 	fn face_nd(&self,face_id:SubmeshFaceId)->(Self::Normal,Self::Offset){
@@ -558,398 +523,47 @@ impl MeshQuery for TransformedMesh<'_>{
 			.unwrap().0 as u32
 		)
 	}
+	fn edge_n(&self,edge_id:Self::Edge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(edge_id).as_ref();
+		self.vert(v1)-self.vert(v0)
+	}
+	fn directed_edge_n(&self,directed_edge_id:Self::DirectedEdge)->Self::Direction{
+		let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
+		(self.vert(v1)-self.vert(v0))*((directed_edge_id.parity() as i64)*2-1)
+	}
+}
+impl MeshTopology for TransformedMesh<'_>{
+	type Face=SubmeshFaceId;
+	type Edge=SubmeshEdgeId;
+	type DirectedEdge=SubmeshDirectedEdgeId;
+	type Vert=SubmeshVertId;
 	#[inline]
-	fn face_edges(&self,face_id:SubmeshFaceId)->impl AsRef<[SubmeshDirectedEdgeId]>{
-		self.view.face_edges(face_id)
+	fn for_each_vert_edge(&self,vert_id:Self::Vert,f:impl FnMut(Self::DirectedEdge)){
+		self.view.for_each_vert_edge(vert_id,f)
 	}
 	#[inline]
-	fn edge_faces(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshFaceId;2]>{
+	fn for_each_vert_face(&self,vert_id:Self::Vert,f:impl FnMut(Self::Face)){
+		self.view.for_each_vert_face(vert_id,f)
+	}
+	#[inline]
+	fn edge_faces(&self,edge_id:Self::Edge)->impl AsRef<[Self::Face;2]>{
 		self.view.edge_faces(edge_id)
 	}
 	#[inline]
-	fn edge_verts(&self,edge_id:SubmeshEdgeId)->impl AsRef<[SubmeshVertId;2]>{
+	fn edge_verts(&self,edge_id:Self::Edge)->impl AsRef<[Self::Vert;2]>{
 		self.view.edge_verts(edge_id)
 	}
-	#[inline]
-	fn vert_edges(&self,vert_id:SubmeshVertId)->impl AsRef<[SubmeshDirectedEdgeId]>{
-		self.view.vert_edges(vert_id)
+	fn for_each_face_vert(&self,face_id:Self::Face,f:impl FnMut(Self::Vert)){
+		self.view.for_each_face_vert(face_id,f)
 	}
 	#[inline]
-	fn vert_faces(&self,vert_id:SubmeshVertId)->impl AsRef<[SubmeshFaceId]>{
-		self.view.vert_faces(vert_id)
+	fn for_each_face_edge(&self,face_id:Self::Face,f:impl FnMut(Self::DirectedEdge)){
+		self.view.for_each_face_edge(face_id,f)
 	}
 }
 
-//Note that a face on a minkowski mesh refers to a pair of fevs on the meshes it's summed from
-//(face,vertex)
-//(edge,edge)
-//(vertex,face)
-#[derive(Clone,Copy,Debug,Eq,PartialEq)]
-pub enum MinkowskiVert{
-	VertVert(SubmeshVertId,SubmeshVertId),
-}
-// TODO: remove this
-impl core::ops::Neg for MinkowskiVert{
-	type Output=Self;
-	fn neg(self)->Self::Output{
-		match self{
-			MinkowskiVert::VertVert(v0,v1)=>MinkowskiVert::VertVert(v1,v0),
-		}
-	}
-}
-#[derive(Clone,Copy,Debug)]
-pub enum MinkowskiEdge{
-	VertEdge(SubmeshVertId,SubmeshEdgeId),
-	EdgeVert(SubmeshEdgeId,SubmeshVertId),
-	//EdgeEdge when edges are parallel
-}
-impl UndirectedEdge for MinkowskiEdge{
-	type DirectedEdge=MinkowskiDirectedEdge;
-	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),
-		}
-	}
-}
-#[derive(Clone,Copy,Debug)]
-pub enum MinkowskiDirectedEdge{
-	VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
-	EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
-	//EdgeEdge when edges are parallel
-}
-impl DirectedEdge for MinkowskiDirectedEdge{
-	type UndirectedEdge=MinkowskiEdge;
-	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),
-		}
-	}
-	fn parity(&self)->bool{
-		match self{
-			MinkowskiDirectedEdge::VertEdge(_,e)
-			|MinkowskiDirectedEdge::EdgeVert(e,_)=>e.parity(),
-		}
-	}
-}
-#[derive(Clone,Copy,Debug,Hash)]
-pub enum MinkowskiFace{
-	VertFace(SubmeshVertId,SubmeshFaceId),
-	EdgeEdge(SubmeshEdgeId,SubmeshEdgeId,bool),
-	FaceVert(SubmeshFaceId,SubmeshVertId),
-	//EdgeFace
-	//FaceEdge
-	//FaceFace
-}
-
-#[derive(Debug)]
-pub struct MinkowskiMesh<'a>{
-	mesh0:TransformedMesh<'a>,
-	mesh1:TransformedMesh<'a>,
-}
-
 pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
 pub fn into_giga_time(time:Time,relative_to:Time)->GigaTime{
 	let r=(time-relative_to).to_ratio();
 	Ratio::new(r.num.widen_4(),r.den.widen_4())
 }
-
-// TODO: remove this
-impl<'a> core::ops::Neg for &MinkowskiMesh<'a>{
-	type Output=MinkowskiMesh<'a>;
-	fn neg(self)->Self::Output{
-		MinkowskiMesh::minkowski_sum(self.mesh1,self.mesh0)
-	}
-}
-
-impl MinkowskiMesh<'_>{
-	pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
-		MinkowskiMesh{
-			mesh0,
-			mesh1,
-		}
-	}
-	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)=>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,trajectory,range.start_bound(),range.end_bound()).hit()
-	}
-	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)=>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 time_reversed_trajectory=-trajectory;
-		//continue backwards along the body parabola
-		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,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-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(){
-			let edge_n=self.directed_edge_n(directed_edge_id);
-			//f x e points in
-			let n=face_n.cross(edge_n);
-			let &[v0,v1]=self.edge_verts(directed_edge_id.as_undirected()).as_ref();
-			let d=n.dot(self.vert(v0)+self.vert(v1));
-			//WARNING! d outside of *2
-			//WARNING: truncated precision
-			//wrap for speed
-			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;
-				}
-			}
-		}
-		best_edge
-	}
-	pub fn contains_point(&self,point:Planar64Vec3)->bool{
-		crate::minimum_difference::contains_point(self,point)
-	}
-}
-impl MeshQuery for MinkowskiMesh<'_>{
-	type Face=MinkowskiFace;
-	type Edge=MinkowskiDirectedEdge;
-	type Vert=MinkowskiVert;
-	type Normal=Vector3<Fixed<3,96>>;
-	type Offset=Fixed<4,128>;
-	// TODO: relative d
-	fn face_nd(&self,face_id:MinkowskiFace)->(Self::Normal,Self::Offset){
-		match face_id{
-			MinkowskiFace::VertFace(v0,f1)=>{
-				let (n,d)=self.mesh1.face_nd(f1);
-				(-n,d-n.dot(self.mesh0.vert(v0)))
-			},
-			MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
-				let edge0_n=self.mesh0.edge_n(e0);
-				let edge1_n=self.mesh1.edge_n(e1);
-				let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).as_ref();
-				let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).as_ref();
-				let n=edge0_n.cross(edge1_n);
-				let e0d=n.dot(self.mesh0.vert(e0v0)+self.mesh0.vert(e0v1));
-				let e1d=n.dot(self.mesh1.vert(e1v0)+self.mesh1.vert(e1v1));
-				((n*(parity as i64*4-2)).widen_3(),((e0d-e1d)*(parity as i64*2-1)).widen_4())
-			},
-			MinkowskiFace::FaceVert(f0,v1)=>{
-				let (n,d)=self.mesh0.face_nd(f0);
-				(n,d-n.dot(self.mesh1.vert(v1)))
-			},
-		}
-	}
-	fn vert(&self,vert_id:MinkowskiVert)->Planar64Vec3{
-		match vert_id{
-			MinkowskiVert::VertVert(v0,v1)=>{
-				self.mesh0.vert(v0)-self.mesh1.vert(v1)
-			},
-		}
-	}
-	fn hint_point(&self)->Planar64Vec3{
-		self.mesh0.transform.vertex.translation-self.mesh1.transform.vertex.translation
-	}
-	fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
-		MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
-	}
-	fn face_edges(&self,face_id:MinkowskiFace)->impl AsRef<[MinkowskiDirectedEdge]>{
-		match face_id{
-			MinkowskiFace::VertFace(v0,f1)=>{
-				self.mesh1.face_edges(f1).as_ref().iter().map(|&edge_id1|
-					MinkowskiDirectedEdge::VertEdge(v0,edge_id1.reverse())
-				).collect()
-			},
-			MinkowskiFace::EdgeEdge(e0,e1,parity)=>{
-				let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).as_ref();
-				let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).as_ref();
-				//could sort this if ordered edges are needed
-				//probably just need to reverse this list according to parity
-				vec![
-					MinkowskiDirectedEdge::VertEdge(e0v0,e1.as_directed(parity)),
-					MinkowskiDirectedEdge::EdgeVert(e0.as_directed(!parity),e1v0),
-					MinkowskiDirectedEdge::VertEdge(e0v1,e1.as_directed(!parity)),
-					MinkowskiDirectedEdge::EdgeVert(e0.as_directed(parity),e1v1),
-				]
-			},
-			MinkowskiFace::FaceVert(f0,v1)=>{
-				self.mesh0.face_edges(f0).as_ref().iter().map(|&edge_id0|
-					MinkowskiDirectedEdge::EdgeVert(edge_id0,v1)
-				).collect()
-			},
-		}
-	}
-	fn edge_faces(&self,edge_id:MinkowskiEdge)->impl AsRef<[MinkowskiFace;2]>{
-		match edge_id{
-			MinkowskiEdge::VertEdge(v0,e1)=>{
-				//faces are listed backwards from the minkowski mesh
-				let v0e=self.mesh0.vert_edges(v0);
-				let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).as_ref();
-				AsRefHelper([(e1f1,false),(e1f0,true)].map(|(edge_face_id1,face_parity)|{
-					let mut best_edge=None;
-					let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
-					let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
-					let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
-					for &directed_edge_id0 in v0e.as_ref(){
-						let edge0_n=self.mesh0.directed_edge_n(directed_edge_id0);
-						//must be behind other face.
-						let d=edge_face1_n.dot(edge0_n);
-						if d.is_negative(){
-							let edge0_nn=edge0_n.dot(edge0_n);
-							// Assume not every number is huge
-							// TODO: revisit this
-							let dd=(d*d)/(edge_face1_nn*edge0_nn);
-							if best_d<dd{
-								best_d=dd;
-								best_edge=Some(directed_edge_id0);
-							}
-						}
-					}
-					best_edge.map_or(
-						MinkowskiFace::VertFace(v0,edge_face_id1),
-						|directed_edge_id0|MinkowskiFace::EdgeEdge(directed_edge_id0.as_undirected(),e1,directed_edge_id0.parity()^face_parity)
-					)
-				}))
-			},
-			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();
-				AsRefHelper([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
-					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;
-					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);
-						let d=edge_face0_n.dot(edge1_n);
-						if d.is_negative(){
-							let edge1_nn=edge1_n.dot(edge1_n);
-							let dd=(d*d)/(edge_face0_nn*edge1_nn);
-							if best_d<dd{
-								best_d=dd;
-								best_edge=Some(directed_edge_id1);
-							}
-						}
-					}
-					best_edge.map_or(
-						MinkowskiFace::FaceVert(edge_face_id0,v1),
-						|directed_edge_id1|MinkowskiFace::EdgeEdge(e0,directed_edge_id1.as_undirected(),directed_edge_id1.parity()^face_parity)
-					)
-				}))
-			},
-		}
-	}
-	fn edge_verts(&self,edge_id:MinkowskiEdge)->impl AsRef<[MinkowskiVert;2]>{
-		AsRefHelper(match edge_id{
-			MinkowskiEdge::VertEdge(v0,e1)=>self.mesh1.edge_verts(e1).as_ref().map(|vert_id1|
-				MinkowskiVert::VertVert(v0,vert_id1)
-			),
-			MinkowskiEdge::EdgeVert(e0,v1)=>self.mesh0.edge_verts(e0).as_ref().map(|vert_id0|
-				MinkowskiVert::VertVert(vert_id0,v1)
-			),
-		})
-	}
-	fn vert_edges(&self,vert_id:MinkowskiVert)->impl AsRef<[MinkowskiDirectedEdge]>{
-		match vert_id{
-			MinkowskiVert::VertVert(v0,v1)=>{
-				let mut edges=Vec::new();
-				//detect shared volume when the other mesh is mirrored along a test edge dir
-				let v0f_thing=self.mesh0.vert_faces(v0);
-				let v1f_thing=self.mesh1.vert_faces(v1);
-				let v0f=v0f_thing.as_ref();
-				let v1f=v1f_thing.as_ref();
-				let v0f_n:Vec<_>=v0f.iter().map(|&face_id|self.mesh0.face_nd(face_id).0).collect();
-				let v1f_n:Vec<_>=v1f.iter().map(|&face_id|self.mesh1.face_nd(face_id).0).collect();
-				// scratch vector
-				let mut face_normals=Vec::with_capacity(v0f.len()+v1f.len());
-				face_normals.clone_from(&v0f_n);
-				for &directed_edge_id in self.mesh0.vert_edges(v0).as_ref(){
-					let n=self.mesh0.directed_edge_n(directed_edge_id);
-					let nn=n.dot(n);
-					// TODO: there's gotta be a better way to do this
-					// drop faces beyond v0f_n
-					face_normals.truncate(v0f.len());
-					// make a set of faces from mesh0's perspective
-					for face_n in &v1f_n{
-						//add reflected mesh1 faces
-						//wrap for speed
-						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().wrap_3());
-					}
-					if is_empty_volume(&face_normals){
-						edges.push(MinkowskiDirectedEdge::EdgeVert(directed_edge_id,v1));
-					}
-				}
-				face_normals.clone_from(&v1f_n);
-				for &directed_edge_id in self.mesh1.vert_edges(v1).as_ref(){
-					let n=self.mesh1.directed_edge_n(directed_edge_id);
-					let nn=n.dot(n);
-					// drop faces beyond v1f_n
-					face_normals.truncate(v1f.len());
-					// make a set of faces from mesh1's perspective
-					for face_n in &v0f_n{
-						//wrap for speed
-						face_normals.push(*face_n-(n*face_n.dot(n)*2/nn).divide().wrap_3());
-					}
-					if is_empty_volume(&face_normals){
-						edges.push(MinkowskiDirectedEdge::VertEdge(v0,directed_edge_id));
-					}
-				}
-				edges
-			},
-		}
-	}
-	fn vert_faces(&self,_vert_id:MinkowskiVert)->impl AsRef<[MinkowskiFace]>{
-		unimplemented!();
-		#[expect(unreachable_code)]
-		Vec::new()
-	}
-}
-
-fn is_empty_volume(normals:&[Vector3<Fixed<3,96>>])->bool{
-	let len=normals.len();
-	for i in 0..len-1{
-		for j in i+1..len{
-			let n=normals[i].cross(normals[j]);
-			let mut d_comp=None;
-			for k in 0..len{
-				if k!=i&&k!=j{
-					let d=n.dot(normals[k]).is_negative();
-					if let &Some(comp)=&d_comp{
-						// This is testing if d_comp*d < 0
-						if comp^d{
-							return true;
-						}
-					}else{
-						d_comp=Some(d);
-					}
-				}
-			}
-		}
-	}
-	return false;
-}
-
-#[test]
-fn test_is_empty_volume(){
-	assert!(!is_empty_volume(&[vec3::X.widen_3(),vec3::Y.widen_3(),vec3::Z.widen_3()]));
-	assert!(is_empty_volume(&[vec3::X.widen_3(),vec3::Y.widen_3(),vec3::Z.widen_3(),vec3::NEG_X.widen_3()]));
-}

engine/physics/src/physics.rs

@@ -1,5 +1,7 @@
 use std::collections::{HashMap,HashSet};
-use crate::model::{self as model_physics,PhysicsMesh,PhysicsMeshTransform,TransformedMesh,MeshQuery,PhysicsMeshId,PhysicsSubmeshId};
+use crate::mesh_query::MeshQuery;
+use crate::minkowski::{MinkowskiMesh,MinkowskiFace};
+use crate::model::{self as model_physics,PhysicsMesh,PhysicsMeshTransform,TransformedMesh,PhysicsMeshId,PhysicsSubmeshId};
 use strafesnet_common::bvh;
 use strafesnet_common::map;
 use strafesnet_common::run;
@@ -55,6 +57,9 @@ impl InputState{
 	fn replace_mouse(&mut self,mouse:MouseState,next_mouse:MouseState){
 		(self.next_mouse,self.mouse)=(next_mouse,mouse);
 	}
+	fn get_control(&self,control:Controls)->bool{
+		self.controls.contains(control)
+	}
 	fn set_control(&mut self,control:Controls,state:bool){
 		self.controls.set(control,state)
 	}
@@ -517,7 +522,7 @@ impl MoveState{
 		}
 	}
 	//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=>(),
@@ -533,7 +538,7 @@ impl MoveState{
 		}
 	}
 	/// 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
@@ -590,22 +595,11 @@ 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_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_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
@@ -618,10 +612,11 @@ 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),
 			}
 		}
 	}
@@ -732,7 +727,7 @@ struct IntersectModel{
 #[derive(Debug,Clone,Copy,Hash)]
 pub struct ContactCollision{
 	convex_mesh_id:ConvexMeshId<ContactModelId>,
-	face_id:model_physics::MinkowskiFace,
+	face_id:MinkowskiFace,
 }
 #[derive(Debug,Clone,Copy,Eq,Hash,PartialEq)]
 pub struct IntersectCollision{
@@ -744,7 +739,7 @@ pub enum Collision{
 	Intersect(IntersectCollision),
 }
 impl Collision{
-	fn new(convex_mesh_id:ConvexMeshId<PhysicsModelId>,face_id:model_physics::MinkowskiFace)->Self{
+	fn new(convex_mesh_id:ConvexMeshId<PhysicsModelId>,face_id:MinkowskiFace)->Self{
 		match convex_mesh_id.model_id{
 			PhysicsModelId::Contact(model_id)=>Collision::Contact(ContactCollision{convex_mesh_id:convex_mesh_id.map(model_id),face_id}),
 			PhysicsModelId::Intersect(model_id)=>Collision::Intersect(IntersectCollision{convex_mesh_id:convex_mesh_id.map(model_id)}),
@@ -755,7 +750,7 @@ impl Collision{
 struct TouchingState{
 	// This is kind of jank, it's a ContactCollision
 	// but split over the Key and Value of the HashMap.
-	contacts:HashMap<ConvexMeshId<ContactModelId>,model_physics::MinkowskiFace>,
+	contacts:HashMap<ConvexMeshId<ContactModelId>,MinkowskiFace>,
 	intersects:HashSet<ConvexMeshId<IntersectModelId>>,
 }
 impl TouchingState{
@@ -763,13 +758,13 @@ impl TouchingState{
 		self.contacts.clear();
 		self.intersects.clear();
 	}
-	fn insert_contact(&mut self,contact:ContactCollision)->Option<model_physics::MinkowskiFace>{
+	fn insert_contact(&mut self,contact:ContactCollision)->Option<MinkowskiFace>{
 		self.contacts.insert(contact.convex_mesh_id,contact.face_id)
 	}
 	fn insert_intersect(&mut self,intersect:IntersectCollision)->bool{
 		self.intersects.insert(intersect.convex_mesh_id)
 	}
-	fn remove_contact(&mut self,convex_mesh_id:&ConvexMeshId<ContactModelId>)->Option<model_physics::MinkowskiFace>{
+	fn remove_contact(&mut self,convex_mesh_id:&ConvexMeshId<ContactModelId>)->Option<MinkowskiFace>{
 		self.contacts.remove(convex_mesh_id)
 	}
 	fn remove_intersect(&mut self,convex_mesh_id:&ConvexMeshId<IntersectModelId>)->bool{
@@ -833,7 +828,7 @@ impl TouchingState{
 		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());
+			let minkowski=MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
 			collector.collect(minkowski.predict_collision_face_out(&trajectory,start_time..collector.time(),*face_id).map(|(_face,time)|{
 				TimedInstruction{
 					time:trajectory.time+time.into(),
@@ -847,7 +842,7 @@ impl TouchingState{
 		for convex_mesh_id in &self.intersects{
 			//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());
+			let minkowski=MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
 			collector.collect(minkowski.predict_collision_out(&trajectory,start_time..collector.time()).map(|(_face,time)|{
 				TimedInstruction{
 					time:trajectory.time+time.into(),
@@ -930,6 +925,9 @@ impl PhysicsState{
 	pub fn get_finish_time(&self)->Option<run::Time>{
 		self.run.get_finish_time()
 	}
+	fn is_no_clip_enabled(&self)->bool{
+		self.input_state.get_control(Controls::Sprint)
+	}
 	pub fn clear(&mut self){
 		self.touching.clear();
 	}
@@ -945,9 +943,6 @@ 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)
 	}
@@ -1196,53 +1191,58 @@ 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());
 
-		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()
+	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);
+
+	if state.is_no_clip_enabled(){
+		return collector.take();
 	}
 
+	//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=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(
 	models:&PhysicsModels,
 	hitbox_mesh:&HitboxMesh,
 	convex_mesh_id:&ConvexMeshId<ContactModelId>,
-    face_id:model_physics::MinkowskiFace,
+    face_id:MinkowskiFace,
 )->Planar64Vec3{
 	let model_mesh=models.contact_mesh(convex_mesh_id);
-	let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
+	let minkowski=MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
 	// TODO: normalize to i64::MAX>>1
 	// wrap for speed
 	minkowski.face_nd(face_id).0.wrap_1()
@@ -1281,7 +1281,7 @@ fn recalculate_touching(
 	bvh.sample_aabb(&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());
+		let minkowski=MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
 		if minkowski.contains_point(body.position){
 			match convex_mesh_id.model_id{
 				//being inside of contact objects is an invalid physics state
@@ -1620,7 +1620,8 @@ 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(
@@ -1676,7 +1677,7 @@ 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);
 }
 
@@ -1704,10 +1705,11 @@ 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(
@@ -1726,7 +1728,7 @@ 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{
@@ -1799,9 +1801,10 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 					let control_dir=state.style.get_control_dir(masked_controls);
 					if control_dir!=vec3::zero(){
 						// manually advance time
-						state.body=state.body.with_acceleration(state.acceleration(data)).extrapolated_body(state.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(state.body.velocity,(camera_mat*control_dir).with_length(Planar64::ONE).divide().wrap_1()){
+						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);
@@ -1958,7 +1961,8 @@ 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
 	}
@@ -1973,7 +1977,7 @@ mod test{
 		let h1=StyleModifiers::roblox_bhop().calculate_mesh();
 		let hitbox_mesh=h1.transformed_mesh();
 		let platform_mesh=h0.transformed_mesh();
-		let minkowski=model_physics::MinkowskiMesh::minkowski_sum(platform_mesh,hitbox_mesh);
+		let minkowski=MinkowskiMesh::minkowski_sum(platform_mesh,hitbox_mesh);
 		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");
 	}
@@ -1991,7 +1995,7 @@ mod test{
 		let h1=StyleModifiers::roblox_bhop().calculate_mesh();
 		let hitbox_mesh=h1.transformed_mesh();
 		let platform_mesh=h0.transformed_mesh();
-		let minkowski=model_physics::MinkowskiMesh::minkowski_sum(platform_mesh,hitbox_mesh);
+		let minkowski=MinkowskiMesh::minkowski_sum(platform_mesh,hitbox_mesh);
 		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");
 	}

lib/fixed_wide/src/fixed.rs

@@ -7,7 +7,7 @@ const BNUM_DIGIT_WIDTH:usize=64;
 /// N is the number of u64s to use
 /// F is the number of fractional bits (always N*32 lol)
 pub struct Fixed<const N:usize,const F:usize>{
-	pub(crate)bits:BInt<{N}>,
+	bits:BInt<{N}>,
 }
 
 impl<const N:usize,const F:usize> Fixed<N,F>{
@@ -505,16 +505,10 @@ impl_multiplicative_assign_operator!( Fixed, DivAssign, div_assign, div_euclid )
 impl_multiplicative_operator!( Fixed, Div, div, div_euclid, Self );
 #[cfg(feature="deferred-division")]
 impl<const LHS_N:usize,const LHS_F:usize,const RHS_N:usize,const RHS_F:usize> core::ops::Div<Fixed<RHS_N,RHS_F>> for Fixed<LHS_N,LHS_F>{
-	type Output=ratio_ops::ratio::Ratio<Fixed<LHS_N,LHS_F>,Fixed<RHS_N,RHS_F>>;
+	type Output=crate::ratio::Ratio<LHS_N,RHS_N,LHS_F,RHS_F>;
 	#[inline]
 	fn div(self, other: Fixed<RHS_N,RHS_F>)->Self::Output{
-		ratio_ops::ratio::Ratio::new(self,other)
-	}
-}
-#[cfg(feature="deferred-division")]
-impl<const N:usize,const F:usize> ratio_ops::ratio::Parity for Fixed<N,F>{
-	fn parity(&self)->bool{
-		self.is_negative()
+		crate::ratio::Ratio::new(self,other)
 	}
 }
 macro_rules! impl_shift_operator {
@@ -545,7 +539,7 @@ impl_shift_operator!( Fixed, Shr, shr, Self );
 
 // wide operators.  The result width is the sum of the input widths, i.e. none of the multiplication
 
-#[expect(unused_macros)]
+#[allow(unused_macros)]
 macro_rules! impl_wide_operators{
 	($lhs:expr,$rhs:expr)=>{
 		impl core::ops::Mul<Fixed<$rhs,{$rhs*32}>> for Fixed<$lhs,{$lhs*32}>{

lib/fixed_wide/src/lib.rs

@@ -1,4 +1,5 @@
 pub mod fixed;
+pub mod ratio;
 pub mod types;
 
 #[cfg(feature="zeroes")]

lib/fixed_wide/src/ratio.rs

@@ -0,0 +1,22 @@
+use bnum::{BInt,BUInt,cast::As};
+use crate::fixed::Fixed;
+
+pub struct Ratio<const N:usize,const D:usize,const NF:usize,const DF:usize>{
+	num:BInt<{N}>,
+	den:BUInt<{D}>,
+}
+
+// Fixed<N = 8 bits,NF = 4 frac> / Fixed<D = 8 bits,DF = 3 frac>
+// 0100.0000/00100.000
+// 01000000<<DF/00100000 = 10>>NF
+
+impl Ratio{
+	/// Evaluate a ratio to a specific precision
+	pub fn evaluate<const OUT_N:usize,const OUT_F:usize>(&self)->Fixed<OUT_N,OUT_F>{
+		// TODO: Think (this is completely wrong)
+		// (lhs/2^LHS_FRAC)/(rhs/2^RHS_FRAC)
+		let lhs=num.bits.as_::<BInt<OUT_N>>().shl(OUT_N*64);
+		let rhs=rhs.bits.as_::<BInt<OUT_N>>();
+		Fixed::from_bits(lhs/rhs)
+	}
+}

lib/ratio_ops/.gitignore

@@ -1 +0,0 @@
-/target

lib/ratio_ops/Cargo.toml

@@ -1,13 +0,0 @@
-[package]
-name = "ratio_ops"
-version = "0.1.1"
-edition = "2024"
-repository = "https://git.itzana.me/StrafesNET/strafe-project"
-license = "MIT OR Apache-2.0"
-description = "Ratio operations using trait bounds for avoiding division like the plague."
-authors = ["Rhys Lloyd <krakow20@gmail.com>"]
-
-[dependencies]
-
-[lints]
-workspace = true

lib/ratio_ops/LICENSE-APACHE

@@ -1,176 +0,0 @@
-                              Apache License
-                        Version 2.0, January 2004
-                     http://www.apache.org/licenses/
-
-TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
-
-1. Definitions.
-
-   "License" shall mean the terms and conditions for use, reproduction,
-   and distribution as defined by Sections 1 through 9 of this document.
-
-   "Licensor" shall mean the copyright owner or entity authorized by
-   the copyright owner that is granting the License.
-
-   "Legal Entity" shall mean the union of the acting entity and all
-   other entities that control, are controlled by, or are under common
-   control with that entity. For the purposes of this definition,
-   "control" means (i) the power, direct or indirect, to cause the
-   direction or management of such entity, whether by contract or
-   otherwise, or (ii) ownership of fifty percent (50%) or more of the
-   outstanding shares, or (iii) beneficial ownership of such entity.
-
-   "You" (or "Your") shall mean an individual or Legal Entity
-   exercising permissions granted by this License.
-
-   "Source" form shall mean the preferred form for making modifications,
-   including but not limited to software source code, documentation
-   source, and configuration files.
-
-   "Object" form shall mean any form resulting from mechanical
-   transformation or translation of a Source form, including but
-   not limited to compiled object code, generated documentation,
-   and conversions to other media types.
-
-   "Work" shall mean the work of authorship, whether in Source or
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-   Notwithstanding the above, nothing herein shall supersede or modify
-   the terms of any separate license agreement you may have executed
-   with Licensor regarding such Contributions.
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-6. Trademarks. This License does not grant permission to use the trade
-   names, trademarks, service marks, or product names of the Licensor,
-   except as required for reasonable and customary use in describing the
-   origin of the Work and reproducing the content of the NOTICE file.
-
-7. Disclaimer of Warranty. Unless required by applicable law or
-   agreed to in writing, Licensor provides the Work (and each
-   Contributor provides its Contributions) on an "AS IS" BASIS,
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-   PARTICULAR PURPOSE. You are solely responsible for determining the
-   appropriateness of using or redistributing the Work and assume any
-   risks associated with Your exercise of permissions under this License.
-
-8. Limitation of Liability. In no event and under no legal theory,
-   whether in tort (including negligence), contract, or otherwise,
-   unless required by applicable law (such as deliberate and grossly
-   negligent acts) or agreed to in writing, shall any Contributor be
-   liable to You for damages, including any direct, indirect, special,
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-   has been advised of the possibility of such damages.
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-9. Accepting Warranty or Additional Liability. While redistributing
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-   defend, and hold each Contributor harmless for any liability
-   incurred by, or claims asserted against, such Contributor by reason
-   of your accepting any such warranty or additional liability.
-
-END OF TERMS AND CONDITIONS

lib/ratio_ops/LICENSE-MIT

@@ -1,23 +0,0 @@
-Permission is hereby granted, free of charge, to any
-person obtaining a copy of this software and associated
-documentation files (the "Software"), to deal in the
-Software without restriction, including without
-limitation the rights to use, copy, modify, merge,
-publish, distribute, sublicense, and/or sell copies of
-the Software, and to permit persons to whom the Software
-is furnished to do so, subject to the following
-conditions:
-
-The above copyright notice and this permission notice
-shall be included in all copies or substantial portions
-of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF
-ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
-TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
-PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
-SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
-CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
-IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.

lib/ratio_ops/src/lib.rs

@@ -1,4 +0,0 @@
-pub mod ratio;
-
-#[cfg(test)]
-mod tests;

lib/ratio_ops/src/ratio.rs

@@ -1,302 +0,0 @@
-#[derive(Clone,Copy,Debug,Hash)]
-pub struct Ratio<Num,Den>{
-	pub num:Num,
-	pub den:Den,
-}
-impl<Num,Den> Ratio<Num,Den>{
-	#[inline(always)]
-	pub const fn new(num:Num,den:Den)->Self{
-		Self{num,den}
-	}
-}
-
-/// The actual divide implementation, Div is replaced with a Ratio constructor
-pub trait Divide<Rhs=Self>{
-	type Output;
-	fn divide(self,rhs:Rhs)->Self::Output;
-}
-
-impl<Num,Den> Ratio<Num,Den>
-	where
-		Num:Divide<Den>,
-{
-	#[inline]
-	pub fn divide(self)-><Num as Divide<Den>>::Output{
-		self.num.divide(self.den)
-	}
-}
-
-//take care to use the ratio methods to avoid nested ratios
-
-impl<LhsNum,LhsDen> Ratio<LhsNum,LhsDen>{
-	#[inline]
-	pub fn mul_ratio<RhsNum,RhsDen>(self,rhs:Ratio<RhsNum,RhsDen>)->Ratio<<LhsNum as core::ops::Mul<RhsNum>>::Output,<LhsDen as core::ops::Mul<RhsDen>>::Output>
-		where
-			LhsNum:core::ops::Mul<RhsNum>,
-			LhsDen:core::ops::Mul<RhsDen>,
-	{
-		Ratio::new(self.num*rhs.num,self.den*rhs.den)
-	}
-	#[inline]
-	pub fn div_ratio<RhsNum,RhsDen>(self,rhs:Ratio<RhsNum,RhsDen>)->Ratio<<LhsNum as core::ops::Mul<RhsDen>>::Output,<LhsDen as core::ops::Mul<RhsNum>>::Output>
-		where
-			LhsNum:core::ops::Mul<RhsDen>,
-			LhsDen:core::ops::Mul<RhsNum>,
-	{
-		Ratio::new(self.num*rhs.den,self.den*rhs.num)
-	}
-}
-macro_rules! impl_ratio_method {
-	($trait:ident, $method:ident, $ratio_method:ident) => {
-		impl<LhsNum,LhsDen> Ratio<LhsNum,LhsDen>{
-			#[inline]
-			pub fn $ratio_method<RhsNum,RhsDen,LhsCrossMul,RhsCrossMul>(self,rhs:Ratio<RhsNum,RhsDen>)->Ratio<<LhsCrossMul as core::ops::$trait<RhsCrossMul>>::Output,<LhsDen as core::ops::Mul<RhsDen>>::Output>
-				where
-					LhsNum:core::ops::Mul<RhsDen,Output=LhsCrossMul>,
-					LhsDen:core::ops::Mul<RhsNum,Output=RhsCrossMul>,
-					LhsDen:core::ops::Mul<RhsDen>,
-					LhsDen:Copy,
-					RhsDen:Copy,
-					LhsCrossMul:core::ops::$trait<RhsCrossMul>,
-			{
-				Ratio::new((self.num*rhs.den).$method(self.den*rhs.num),self.den*rhs.den)
-			}
-		}
-	};
-}
-impl_ratio_method!(Add,add,add_ratio);
-impl_ratio_method!(Sub,sub,sub_ratio);
-impl_ratio_method!(Rem,rem,rem_ratio);
-
-/// Comparing two ratios needs to know the parity of the denominators
-/// For signed integers this can be implemented with is_negative()
-pub trait Parity{
-	fn parity(&self)->bool;
-}
-macro_rules! impl_parity_unsigned{
-	($($type:ty),*)=>{
-		$(
-		impl Parity for $type{
-			fn parity(&self)->bool{
-				false
-			}
-		}
-		)*
-	};
-}
-macro_rules! impl_parity_signed{
-	($($type:ty),*)=>{
-		$(
-		impl Parity for $type{
-			fn parity(&self)->bool{
-				self.is_negative()
-			}
-		}
-		)*
-	};
-}
-macro_rules! impl_parity_float{
-	($($type:ty),*)=>{
-		$(
-		impl Parity for $type{
-			fn parity(&self)->bool{
-				self.is_sign_negative()
-			}
-		}
-		)*
-	};
-}
-
-impl_parity_unsigned!(u8,u16,u32,u64,u128,usize);
-impl_parity_signed!(i8,i16,i32,i64,i128,isize);
-impl_parity_float!(f32,f64);
-
-macro_rules! impl_ratio_ord_method{
-	($method:ident, $ratio_method:ident, $output:ty)=>{
-		impl<LhsNum,LhsDen:Parity> Ratio<LhsNum,LhsDen>{
-			#[inline]
-			pub fn $ratio_method<RhsNum,RhsDen:Parity,T>(self,rhs:Ratio<RhsNum,RhsDen>)->$output
-				where
-					LhsNum:core::ops::Mul<RhsDen,Output=T>,
-					LhsDen:core::ops::Mul<RhsNum,Output=T>,
-					T:Ord,
-			{
-				match self.den.parity()^rhs.den.parity(){
-					true=>(self.den*rhs.num).$method(&(self.num*rhs.den)),
-					false=>(self.num*rhs.den).$method(&(self.den*rhs.num)),
-				}
-			}
-		}
-	}
-}
-//PartialEq
-impl_ratio_ord_method!(eq,eq_ratio,bool);
-//PartialOrd
-impl_ratio_ord_method!(lt,lt_ratio,bool);
-impl_ratio_ord_method!(gt,gt_ratio,bool);
-impl_ratio_ord_method!(le,le_ratio,bool);
-impl_ratio_ord_method!(ge,ge_ratio,bool);
-impl_ratio_ord_method!(partial_cmp,partial_cmp_ratio,Option<core::cmp::Ordering>);
-//Ord
-impl_ratio_ord_method!(cmp,cmp_ratio,core::cmp::Ordering);
-
-/* generic rhs mul is not possible!
-impl<Lhs,RhsNum,RhsDen> core::ops::Mul<Ratio<RhsNum,RhsDen>> for Lhs
-	where
-		Lhs:core::ops::Mul<RhsNum>,
-{
-	type Output=Ratio<<Lhs as core::ops::Mul<RhsNum>>::Output,RhsDen>;
-	#[inline]
-	fn mul(self,rhs:Ratio<RhsNum,RhsDen>)->Self::Output{
-		Ratio::new(self*rhs.num,rhs.den)
-	}
-}
-*/
-
-//operators
-
-impl<LhsNum,LhsDen> core::ops::Neg for Ratio<LhsNum,LhsDen>
-	where
-		LhsNum:core::ops::Neg,
-{
-	type Output=Ratio<<LhsNum as core::ops::Neg>::Output,LhsDen>;
-	#[inline]
-	fn neg(self)->Self::Output{
-		Ratio::new(-self.num,self.den)
-	}
-}
-impl<LhsNum,LhsDen,Rhs> core::ops::Mul<Rhs> for Ratio<LhsNum,LhsDen>
-	where
-		LhsNum:core::ops::Mul<Rhs>,
-{
-	type Output=Ratio<<LhsNum as core::ops::Mul<Rhs>>::Output,LhsDen>;
-	#[inline]
-	fn mul(self,rhs:Rhs)->Self::Output{
-		Ratio::new(self.num*rhs,self.den)
-	}
-}
-impl<LhsNum,LhsDen,Rhs> core::ops::Div<Rhs> for Ratio<LhsNum,LhsDen>
-	where
-		LhsDen:core::ops::Mul<Rhs>,
-{
-	type Output=Ratio<LhsNum,<LhsDen as core::ops::Mul<Rhs>>::Output>;
-	#[inline]
-	fn div(self,rhs:Rhs)->Self::Output{
-		Ratio::new(self.num,self.den*rhs)
-	}
-}
-
-macro_rules! impl_ratio_operator {
-	($trait:ident, $method:ident) => {
-		impl<LhsNum,LhsDen,Rhs,Intermediate> core::ops::$trait<Rhs> for Ratio<LhsNum,LhsDen>
-			where
-				LhsNum:core::ops::$trait<Intermediate>,
-				LhsDen:Copy,
-				Rhs:core::ops::Mul<LhsDen,Output=Intermediate>,
-		{
-			type Output=Ratio<<LhsNum as core::ops::$trait<Intermediate>>::Output,LhsDen>;
-			#[inline]
-			fn $method(self,rhs:Rhs)->Self::Output{
-				Ratio::new(self.num.$method(rhs*self.den),self.den)
-			}
-		}
-	};
-}
-
-impl_ratio_operator!(Add,add);
-impl_ratio_operator!(Sub,sub);
-impl_ratio_operator!(Rem,rem);
-
-//assign operators
-
-impl<LhsNum,LhsDen,Rhs> core::ops::MulAssign<Rhs> for Ratio<LhsNum,LhsDen>
-	where
-		LhsNum:core::ops::MulAssign<Rhs>,
-{
-	#[inline]
-	fn mul_assign(&mut self,rhs:Rhs){
-		self.num*=rhs;
-	}
-}
-impl<LhsNum,LhsDen,Rhs> core::ops::DivAssign<Rhs> for Ratio<LhsNum,LhsDen>
-	where
-		LhsDen:core::ops::MulAssign<Rhs>,
-{
-	#[inline]
-	fn div_assign(&mut self,rhs:Rhs){
-		self.den*=rhs;
-	}
-}
-
-macro_rules! impl_ratio_assign_operator {
-	($trait:ident, $method:ident) => {
-		impl<LhsNum,LhsDen,Rhs> core::ops::$trait<Rhs> for Ratio<LhsNum,LhsDen>
-			where
-				LhsNum:core::ops::$trait,
-				LhsDen:Copy,
-				Rhs:core::ops::Mul<LhsDen,Output=LhsNum>,
-		{
-			#[inline]
-			fn $method(&mut self,rhs:Rhs){
-				self.num.$method(rhs*self.den)
-			}
-		}
-	};
-}
-
-impl_ratio_assign_operator!(AddAssign,add_assign);
-impl_ratio_assign_operator!(SubAssign,sub_assign);
-impl_ratio_assign_operator!(RemAssign,rem_assign);
-
-// Only implement PartialEq<Self>
-// Rust's operators aren't actually that good
-
-impl<LhsNum,LhsDen,RhsNum,RhsDen,T,U> PartialEq<Ratio<RhsNum,RhsDen>> for Ratio<LhsNum,LhsDen>
-	where
-		LhsNum:Copy,
-		LhsDen:Copy,
-		RhsNum:Copy,
-		RhsDen:Copy,
-		LhsNum:core::ops::Mul<RhsDen,Output=T>,
-		RhsNum:core::ops::Mul<LhsDen,Output=U>,
-		T:PartialEq<U>,
-{
-	#[inline]
-	fn eq(&self,other:&Ratio<RhsNum,RhsDen>)->bool{
-		(self.num*other.den).eq(&(other.num*self.den))
-	}
-}
-impl<Num,Den> Eq for Ratio<Num,Den> where Self:PartialEq{}
-
-// Wow! These were both completely wrong!
-// Idea: use a 'signed' trait instead of parity and float the sign to the numerator.
-impl<LhsNum,LhsDen,RhsNum,RhsDen,T,U> PartialOrd<Ratio<RhsNum,RhsDen>> for Ratio<LhsNum,LhsDen>
-	where
-		LhsNum:Copy,
-		LhsDen:Copy+Parity,
-		RhsNum:Copy,
-		RhsDen:Copy+Parity,
-		LhsNum:core::ops::Mul<RhsDen,Output=T>,
-		LhsDen:core::ops::Mul<RhsNum,Output=T>,
-		RhsNum:core::ops::Mul<LhsDen,Output=U>,
-		RhsDen:core::ops::Mul<LhsNum,Output=U>,
-		T:PartialOrd<U>+Ord,
-{
-	#[inline]
-	fn partial_cmp(&self,&other:&Ratio<RhsNum,RhsDen>)->Option<core::cmp::Ordering>{
-		self.partial_cmp_ratio(other)
-	}
-}
-impl<Num,Den,T> Ord for Ratio<Num,Den>
-	where
-		Num:Copy,
-		Den:Copy+Parity,
-		Num:core::ops::Mul<Den,Output=T>,
-		Den:core::ops::Mul<Num,Output=T>,
-		T:Ord,
-{
-	#[inline]
-	fn cmp(&self,&other:&Self)->std::cmp::Ordering{
-		self.cmp_ratio(other)
-	}
-}

lib/ratio_ops/src/tests.rs

@@ -1,58 +0,0 @@
-use crate::ratio::Ratio;
-
-macro_rules! test_op{
-	($ratio_op:ident,$op:ident,$a:expr,$b:expr,$c:expr,$d:expr)=>{
-		assert_eq!(
-			Ratio::new($a,$b).$ratio_op(Ratio::new($c,$d)),
-			(($a as f32)/($b as f32)).$op(&(($c as f32)/($d as f32)))
-		);
-	};
-}
-
-macro_rules! test_many_ops{
-	($ratio_op:ident,$op:ident)=>{
-		test_op!($ratio_op,$op,1,2,3,4);
-		test_op!($ratio_op,$op,1,2,-3,4);
-		test_op!($ratio_op,$op,-1,2,-3,4);
-		test_op!($ratio_op,$op,-1,-2,-3,4);
-		test_op!($ratio_op,$op,2,1,6,3);
-		test_op!($ratio_op,$op,-2,1,6,3);
-		test_op!($ratio_op,$op,2,-1,-6,3);
-		test_op!($ratio_op,$op,2,1,6,-3);
-	};
-}
-
-#[test]
-fn test_lt(){
-	test_many_ops!(lt_ratio,lt);
-}
-
-#[test]
-fn test_gt(){
-	test_many_ops!(gt_ratio,gt);
-}
-
-#[test]
-fn test_le(){
-	test_many_ops!(le_ratio,le);
-}
-
-#[test]
-fn test_ge(){
-	test_many_ops!(ge_ratio,ge);
-}
-
-#[test]
-fn test_eq(){
-	test_many_ops!(eq_ratio,eq);
-}
-
-#[test]
-fn test_partial_cmp(){
-	test_many_ops!(partial_cmp_ratio,partial_cmp);
-}
-
-// #[test]
-// fn test_cmp(){
-// 	test_many_ops!(cmp_ratio,cmp);
-// }