comment about processed_time

src/body.rs

@@ -1,10 +1,12 @@
-use crate::instruction::TimedInstruction;
+use crate::{instruction::{InstructionEmitter, InstructionConsumer, TimedInstruction}, zeroes::zeroes2};
 
 pub enum PhysicsInstruction {
 	CollisionStart(RelativeCollision),
 	CollisionEnd(RelativeCollision),
 	StrafeTick,
 	Jump,
+	SetWalkTargetVelocity(glam::Vec3),
+	ReachWalkTargetVelocity,
 	// Water,
 	// Spawn(
 	// 	Option<SpawnId>,
@@ -14,15 +16,91 @@ pub enum PhysicsInstruction {
 }
 
 pub struct Body {
-	pub position: glam::Vec3,//I64 where 2^32 = 1 u
+	position: glam::Vec3,//I64 where 2^32 = 1 u
-	pub velocity: glam::Vec3,//I64 where 2^32 = 1 u/s
+	velocity: glam::Vec3,//I64 where 2^32 = 1 u/s
-	pub time: TIME,//nanoseconds x xxxxD!
+	acceleration: glam::Vec3,//I64 where 2^32 = 1 u/s/s
+	time: TIME,//nanoseconds x xxxxD!
+	//origin_time = timestamp of position and velocity
+	//processed_time = starting time for new events. prevents colliding with the analytic euqation in the past
+}
+
+pub enum MoveRestriction {
+	Air,
+	Water,
+	Ground,
+	Ladder,//multiple ladders how
+}
+
+enum MouseInterpolation {
+	First,//just checks the last value
+	Lerp,//lerps between
+}
+
+enum InputInstruction {
+	MoveMouse(glam::IVec2),
+	Jump(bool),
+}
+
+struct InputState {
+	controls: u32,
+	mouse_interpolation: MouseInterpolation,
+	time: TIME,
+}
+
+impl InputState {
+	pub fn get_control(&self,control:u32) -> bool {
+		self.controls&control!=0
+	}
+	pub fn process_instruction(&mut self,ins:InputInstruction){
+		match ins {
+			InputInstruction::MoveMouse(m) => todo!("set mouse_interpolation"),
+			InputInstruction::Jump(b) => todo!("how does info about style modifiers get here"),
+		}
+	}
+}
+
+pub struct MouseInterpolationState {
+	interpolation: MouseInterpolation,
+	time0: TIME,
+	time1: TIME,
+	mouse0: glam::IVec2,
+	mouse1: glam::IVec2,
+}
+
+impl MouseInterpolationState {
+	pub fn move_mouse(&mut self,time:TIME,pos:glam::IVec2){
+		self.time0=self.time1;
+		self.mouse0=self.mouse1;
+		self.time1=time;
+		self.mouse1=pos;
+	}
+	pub fn interpolated_position(&self,time:TIME) -> glam::IVec2 {
+		match self.interpolation {
+			MouseInterpolation::First => self.mouse0,
+			MouseInterpolation::Lerp => {
+				let m0=self.mouse0.as_i64vec2();
+				let m1=self.mouse1.as_i64vec2();
+				//these are deltas
+				let t1t=(self.time1-time) as i64;
+				let tt0=(time-self.time0) as i64;
+				let dt=(self.time1-self.time0) as i64;
+				((m0*t1t+m1*tt0)/dt).as_ivec2()
+			}
+		}
+	}
 }
 
 pub struct PhysicsState {
 	pub body: Body,
-	pub contacts: Vec<RelativeCollision>,
+	pub hitbox_halfsize: glam::Vec3,
+	pub contacts: std::collections::HashSet::<RelativeCollision>,
+	//pub intersections: Vec<ModelId>,
+	//temp
 	pub models_cringe_clone: Vec<Model>,
+	pub temp_control_dir: glam::Vec3,
+	//camera must exist in state because wormholes modify the camera, also camera punch
+	//pub camera: Camera,
+	//pub mouse_interpolation: MouseInterpolationState,
 	pub time: TIME,
 	pub strafe_tick_num: TIME,
 	pub strafe_tick_den: TIME,
@@ -30,12 +108,13 @@ pub struct PhysicsState {
 	pub mv: f32,
 	pub walkspeed: f32,
 	pub friction: f32,
+	pub walk_target_velocity: glam::Vec3,
 	pub gravity: glam::Vec3,
 	pub grounded: bool,
 	pub jump_trying: bool,
 }
 
-#[derive(Clone,Copy)]
+#[derive(Clone,Copy,Hash,Eq,PartialEq)]
 pub enum AabbFace{
 	Right,//+X
 	Top,
@@ -59,6 +138,16 @@ impl Aabb {
 	// 	[0.0f32, 1., 0.],
 	// 	[0.0f32, -1., 0.],
 	// ];
+	const VERTEX_DATA: [glam::Vec3; 8] = [
+		glam::vec3(1., -1., -1.),
+		glam::vec3(1., 1., -1.),
+		glam::vec3(1., 1., 1.),
+		glam::vec3(1., -1., 1.),
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(-1., 1., 1.),
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(-1., -1., -1.),
+	];
 	const VERTEX_DATA_RIGHT: [glam::Vec3; 4] = [
 		glam::vec3(1., -1., -1.),
 		glam::vec3(1., 1., -1.),
@@ -115,7 +204,10 @@ impl Aabb {
 			AabbFace::Front => glam::vec3(0.,0.,-1.),
 		}
 	}
-	pub fn face_vertices(face:AabbFace) -> [glam::Vec3;4] {
+	pub fn unit_vertices() -> [glam::Vec3;8] {
+		return Self::VERTEX_DATA;
+	}
+	pub fn unit_face_vertices(face:AabbFace) -> [glam::Vec3;4] {
 		match face {
 			AabbFace::Right => Self::VERTEX_DATA_RIGHT,
 			AabbFace::Top => Self::VERTEX_DATA_TOP,
@@ -127,7 +219,8 @@ impl Aabb {
 	}
 }
 
-type Face = AabbFace;
+//pretend to be using what we want to eventually do
+type TreyMeshFace = AabbFace;
 type TreyMesh = Aabb;
 
 pub struct Model {
@@ -140,25 +233,36 @@ impl Model {
 	pub fn new(transform:glam::Mat4) -> Self {
 		Self{transform}
 	}
-	pub fn face_vertices(&self,face:Face) -> [glam::Vec3;4] {
+	pub fn unit_vertices(&self) -> [glam::Vec3;8] {
-		Aabb::face_vertices(face)
+		Aabb::unit_vertices()
 	}
-	pub fn face_mesh(&self,face:Face) -> TreyMesh {
+	pub fn mesh(&self) -> TreyMesh {
 		let mut aabb=Aabb::new();
-		for &vertex in self.face_vertices(face).iter() {
+		for &vertex in self.unit_vertices().iter() {
-			aabb.grow(vertex);
+			aabb.grow(glam::Vec4Swizzles::xyz(self.transform*vertex.extend(1.0)));
 		}
 		return aabb;
 	}
-	pub fn face_normal(&self,face:Face) -> glam::Vec3 {
+	pub fn unit_face_vertices(&self,face:TreyMeshFace) -> [glam::Vec3;4] {
-		let mut n=glam::Vec3Swizzles::xyzz(Aabb::normal(face));
+		Aabb::unit_face_vertices(face)
-		n.w=0.0;//what a man will do to avoid writing out the components
+	}
-		glam::Vec4Swizzles::xyz(self.transform*n)//this is wrong for scale
+	pub fn face_mesh(&self,face:TreyMeshFace) -> TreyMesh {
+		let mut aabb=Aabb::new();
+		for &vertex in self.unit_face_vertices(face).iter() {
+			aabb.grow(glam::Vec4Swizzles::xyz(self.transform*vertex.extend(1.0)));
+		}
+		return aabb;
+	}
+	pub fn face_normal(&self,face:TreyMeshFace) -> glam::Vec3 {
+		glam::Vec4Swizzles::xyz(self.transform*Aabb::normal(face).extend(0.0))//this is wrong for scale
 	}
 }
 
+//need non-face (full model) variant for CanCollide false objects
+//OR have a separate list from contacts for model intersection
+#[derive(Eq, Hash, PartialEq)]
 pub struct RelativeCollision {
-	face: Face,//just an id
+	face: TreyMeshFace,//just an id
 	model: u32,//using id to avoid lifetimes
 }
 
@@ -173,50 +277,41 @@ impl RelativeCollision {
 
 pub type TIME = i64;
 
-const CONTROL_JUMP:u32 = 0b01000000;//temp DATA NORMALIZATION!@#$
+impl Body {
+	pub fn with_position(position:glam::Vec3) -> Self {
+		Self{
+			position: position,
+			velocity: glam::Vec3::ZERO,
+			acceleration: glam::Vec3::ZERO,
+			time: 0,
+		}
+	}
+	pub fn extrapolated_position(&self,time: TIME)->glam::Vec3{
+		let dt=(time-self.time) as f64/1_000_000_000f64;
+		self.position+self.velocity*(dt as f32)+self.acceleration*((0.5*dt*dt) as f32)
+	}
+	pub fn advance_time(&mut self, time: TIME){
+		self.position=self.extrapolated_position(time);
+		self.time=time;
+	}
+}
+
 impl PhysicsState {
-	//delete this, we are tickless gamers
+	//tickless gaming
-	pub fn run(&mut self, time: TIME, control_dir: glam::Vec3, controls: u32){
+	pub fn run(&mut self, time: TIME){
-		let target_tick = (time*self.strafe_tick_num/self.strafe_tick_den) as u32;
+		//prepare is ommitted - everything is done via instructions.
-		//the game code can run for 1 month before running out of ticks
+		while let Some(instruction) = self.next_instruction(time) {//collect
-		while self.tick<target_tick {
+			//advance
-			self.tick += 1;
+			//self.advance_time(instruction.time);
-			let dt=0.01;
+			//process
-			let d=self.body.velocity.dot(control_dir);
+			self.process_instruction(instruction);
-			if d<self.mv {
+			//write hash lol
-				self.body.velocity+=(self.mv-d)*control_dir;
-			}
-			self.body.velocity+=self.gravity*dt;
-			self.body.position+=self.body.velocity*dt;
-			if self.body.position.y<0.0{
-				self.body.position.y=0.0;
-				self.body.velocity.y=0.0;
-				self.grounded=true;
-			}
-			if self.grounded&&(controls&CONTROL_JUMP)!=0 {
-				self.grounded=false;
-				self.body.velocity+=glam::Vec3::new(0.0,0.715588/2.0*100.0,0.0);
-			}
-			if self.grounded {
-				let applied_friction=self.friction*dt;
-				let targetv=control_dir*self.walkspeed;
-				let diffv=targetv-self.body.velocity;
-				if applied_friction*applied_friction<diffv.length_squared() {
-					self.body.velocity+=applied_friction*diffv.normalize();
-				} else {
-					//PhysicsInstruction::WalkTargetReached
-					self.body.velocity=targetv;
-				}
 		}
 	}
 
-		self.body.time=target_tick as TIME*self.strafe_tick_den/self.strafe_tick_num;
+	pub fn advance_time(&mut self, time: TIME){
-	}
+		self.body.advance_time(time);
-
+		self.time=time;
-	//delete this
-	pub fn extrapolate_position(&self, time: TIME) -> glam::Vec3 {
-		let dt=(time-self.body.time) as f64/1_000_000_000f64;
-		self.body.position+self.body.velocity*(dt as f32)+self.gravity*((0.5*dt*dt) as f32)
 	}
 
 	fn next_strafe_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
@@ -262,20 +357,259 @@ impl PhysicsState {
 		//check if you are accelerating towards a walk target velocity and create an instruction
 		return None;
 	}
-	fn predict_collision_end(&self,model:&Model) -> Option<TimedInstruction<PhysicsInstruction>> {
+	fn mesh(&self) -> TreyMesh {
+		let mut aabb=Aabb::new();
+		for vertex in Aabb::unit_vertices(){
+			aabb.grow(self.body.position+self.hitbox_halfsize*vertex);
+		}
+		aabb
+	}
+	fn predict_collision_end(&self,model:&Model,time_limit:TIME,model_id:u32) -> Option<TimedInstruction<PhysicsInstruction>> {
 		//must treat cancollide false objects differently: you may not exit through the same face you entered.
+		//RelativeCollsion must reference the full model instead of a particular face
+		//this is Ctrl+C Ctrl+V of predict_collision_start but with v=-v before the calc and t=-t after the calc
+		//find best t
+		let mut best_delta_time=time_limit-self.body.time;
+		let mut best_face:Option<TreyMeshFace>=None;
+		let mesh0=self.mesh();
+		let mesh1=model.mesh();
+		let (p,v,a)=(self.body.position,-self.body.velocity,self.body.acceleration);
+		//collect x
+		for t in zeroes2(mesh0.max.x-mesh1.min.x, v.x, a.x) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.x+a.x*-t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Left);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.x-mesh1.max.x, v.x, a.x) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.x+a.x*-t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Right);
+				}
+			}
+		}
+		//collect y
+		for t in zeroes2(mesh0.max.y-mesh1.min.y, v.y, a.y) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.y+a.y*-t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Top);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.y-mesh1.max.y, v.y, a.y) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.y+a.y*-t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Bottom);
+				}
+			}
+		}
+		//collect z
+		for t in zeroes2(mesh0.max.z-mesh1.min.z, v.z, a.z) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.z+a.z*-t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Back);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.z-mesh1.max.z, v.z, a.z) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.z+a.z*-t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Front);
+				}
+			}
+		}
+		//generate instruction
+		if let Some(face) = best_face{
+			return Some(TimedInstruction {
+				time: self.body.time+best_delta_time,
+				instruction: PhysicsInstruction::CollisionStart(RelativeCollision {
+					face,
+					model: model_id
+				})
+			})
+		}
 		None
 	}
-	fn predict_collision_start(&self,model:&Model) -> Option<TimedInstruction<PhysicsInstruction>> {
+	fn predict_collision_start(&self,model:&Model,time_limit:TIME,model_id:u32) -> Option<TimedInstruction<PhysicsInstruction>> {
+		//find best t
+		let mut best_delta_time=time_limit-self.body.time;
+		let mut best_face:Option<TreyMeshFace>=None;
+		let mesh0=self.mesh();
+		let mesh1=model.mesh();
+		let (p,v,a)=(self.body.position,self.body.velocity,self.body.acceleration);
+		//collect x
+		for t in zeroes2(mesh0.max.x-mesh1.min.x, v.x, a.x) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.x+a.x*t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Left);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.x-mesh1.max.x, v.x, a.x) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.x+a.x*t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Right);
+				}
+			}
+		}
+		//collect y
+		for t in zeroes2(mesh0.max.y-mesh1.min.y, v.y, a.y) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.y+a.y*t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Top);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.y-mesh1.max.y, v.y, a.y) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.y+a.y*t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Bottom);
+				}
+			}
+		}
+		//collect z
+		for t in zeroes2(mesh0.max.z-mesh1.min.z, v.z, a.z) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.z+a.z*t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Back);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.z-mesh1.max.z, v.z, a.z) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.z+a.z*t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Front);
+				}
+			}
+		}
+		//generate instruction
+		if let Some(face) = best_face{
+			return Some(TimedInstruction {
+				time: self.body.time+best_delta_time,
+				instruction: PhysicsInstruction::CollisionStart(RelativeCollision {
+					face,
+					model: model_id
+				})
+			})
+		}
 		None
 	}
 }
 
 impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState {
 	//this little next instruction function can cache its return value and invalidate the cached value by watching the State.
-	fn next_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
+	fn next_instruction(&self,time_limit:TIME) -> Option<TimedInstruction<PhysicsInstruction>> {
 		//JUST POLLING!!! NO MUTATION
-		let mut collector = crate::instruction::InstructionCollector::new();
+		let mut collector = crate::instruction::InstructionCollector::new(time_limit);
 		//autohop (already pressing spacebar; the signal to begin trying to jump is different)
 		if self.grounded&&self.jump_trying {
 			//scroll will be implemented with InputInstruction::Jump(true) but it blocks setting self.jump_trying=true
@@ -286,11 +620,11 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 		}
 		//check for collision stop instructions with curent contacts
 		for collision_data in self.contacts.iter() {
-			collector.collect(self.predict_collision_end(self.models_cringe_clone.get(collision_data.model as usize).unwrap()));
+			collector.collect(self.predict_collision_end(self.models_cringe_clone.get(collision_data.model as usize).unwrap(),time_limit,collision_data.model));
 		}
 		//check for collision start instructions (against every part in the game with no optimization!!)
-		for model in &self.models_cringe_clone {
+		for (i,model) in self.models_cringe_clone.iter().enumerate() {
-			collector.collect(self.predict_collision_start(model));
+			collector.collect(self.predict_collision_start(model,time_limit,i as u32));
 		}
 		if self.grounded {
 			//walk maintenance
@@ -304,7 +638,56 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 }
 
 impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsState {
-	fn process_instruction(&mut self, instruction:TimedInstruction<PhysicsInstruction>) {
+	fn process_instruction(&mut self, ins:TimedInstruction<PhysicsInstruction>) {
-		//
+		//mutate position and velocity and time
+		self.advance_time(ins.time);//should this be in run?
+		match ins.instruction {
+			PhysicsInstruction::CollisionStart(c) => {
+				//flatten v
+				let n=c.normal(&self.models_cringe_clone);
+				let d=self.body.velocity.dot(n)/n.length_squared();
+				self.body.velocity-=d*n;
+				//check ground
+				match c.face {
+			        AabbFace::Top => {
+			        	//ground
+			        	self.grounded=true;
+						self.body.acceleration=glam::Vec3::ZERO;
+			        },
+			        _ => (),
+			    }
+			    self.contacts.insert(c);
+			},
+			PhysicsInstruction::CollisionEnd(c) => {
+				//check ground
+				match c.face {
+			        AabbFace::Top => {
+			        	//ground
+						self.body.acceleration=self.gravity;
+			        },
+			        _ => (),
+			    }
+			    self.contacts.remove(&c);
+			},
+			PhysicsInstruction::StrafeTick => {
+				//let control_dir=self.get_control_dir();//this should respect your mouse interpolation settings
+				let d=self.body.velocity.dot(self.temp_control_dir);
+				if d<self.mv {
+					self.body.velocity+=(self.mv-d)*self.temp_control_dir;
+				}
+			}
+			PhysicsInstruction::Jump => {
+				self.grounded=false;//do I need this?
+				self.body.velocity+=glam::Vec3::new(0.0,0.715588/2.0*100.0,0.0);
+			}
+			PhysicsInstruction::ReachWalkTargetVelocity => {
+				//precisely set velocity
+				self.body.velocity=self.walk_target_velocity;
+			}
+			PhysicsInstruction::SetWalkTargetVelocity(v) => {
+				self.walk_target_velocity=v;
+				//calculate acceleration yada yada
+			},
+		}
 	}
 }

src/framework.rs

@@ -279,11 +279,6 @@ fn start<E: Example>(
 	log::info!("Initializing the example...");
 	let mut example = E::init(&config, &adapter, &device, &queue);
 
-	#[cfg(not(target_arch = "wasm32"))]
-	let mut last_frame_inst = Instant::now();
-	#[cfg(not(target_arch = "wasm32"))]
-	let (mut frame_count, mut accum_time) = (0, 0.0);
-
 	log::info!("Entering render loop...");
 	event_loop.run(move |event, _, control_flow| {
 		let _ = (&instance, &adapter); // force ownership by the closure
@@ -364,20 +359,6 @@ fn start<E: Example>(
 				example.move_mouse(delta);
 			},
 			event::Event::RedrawRequested(_) => {
-				#[cfg(not(target_arch = "wasm32"))]
-				{
-					accum_time += last_frame_inst.elapsed().as_secs_f32();
-					last_frame_inst = Instant::now();
-					frame_count += 1;
-					if frame_count == 100 {
-						println!(
-							"Avg frame time {}ms",
-							accum_time * 1000.0 / frame_count as f32
-						);
-						accum_time = 0.0;
-						frame_count = 0;
-					}
-				}
 
 				let frame = match surface.get_current_texture() {
 					Ok(frame) => frame,

src/instruction.rs

@@ -4,7 +4,7 @@ pub struct TimedInstruction<I> {
 }
 
 pub trait InstructionEmitter<I> {
-	fn next_instruction(&self) -> Option<TimedInstruction<I>>;
+	fn next_instruction(&self, time:crate::body::TIME) -> Option<TimedInstruction<I>>;
 }
 pub trait InstructionConsumer<I> {
 	fn process_instruction(&mut self, instruction:TimedInstruction<I>);
@@ -12,26 +12,36 @@ pub trait InstructionConsumer<I> {
 
 //PROPER PRIVATE FIELDS!!!
 pub struct InstructionCollector<I> {
-	instruction: Option<TimedInstruction<I>>,
+	time: crate::body::TIME,
+	instruction: Option<I>,
 }
 impl<I> InstructionCollector<I> {
-	pub fn new() -> Self {
+	pub fn new(time:crate::body::TIME) -> Self {
-		Self{instruction:None}
+		Self{
+			time,
+			instruction:None
+		}
 	}
 
 	pub fn collect(&mut self,instruction:Option<TimedInstruction<I>>){
-		match &instruction {
+		match instruction {
-			Some(unwrap_instruction) => match &self.instruction {
+			Some(unwrap_instruction) => {
-				Some(unwrap_best_instruction) => if unwrap_instruction.time<unwrap_best_instruction.time {
+				if unwrap_instruction.time<self.time {
-					self.instruction=instruction;
+					self.time=unwrap_instruction.time;
-				},
+					self.instruction=Some(unwrap_instruction.instruction);
-				None => self.instruction=instruction,
+				}
 			},
 			None => (),
 		}
 	}
 	pub fn instruction(self) -> Option<TimedInstruction<I>> {
 		//STEAL INSTRUCTION AND DESTROY INSTRUCTIONCOLLECTOR
-		return self.instruction
+		match self.instruction {
+			Some(instruction)=>Some(TimedInstruction{
+				time:self.time,
+				instruction
+			}),
+			None => None,
+		}
 	}
 }

src/lib.rs

@@ -1,3 +1,4 @@
 pub mod framework;
 pub mod body;
+pub mod zeroes;
 pub mod instruction;

src/main.rs

@@ -292,11 +292,7 @@ impl strafe_client::framework::Example for Skybox {
 			controls:0,
 		};
 		let physics = strafe_client::body::PhysicsState {
-			body: strafe_client::body::Body {
+			body: strafe_client::body::Body::with_position(glam::Vec3::new(5.0,2.0,5.0)),
-				position: glam::Vec3::new(5.0,0.0,5.0),
-				velocity: glam::Vec3::new(0.0,0.0,0.0),
-				time: 0,
-			},
 			time: 0,
 			tick: 0,
 			strafe_tick_num: 100,//100t
@@ -304,14 +300,17 @@ impl strafe_client::framework::Example for Skybox {
 			gravity: glam::Vec3::new(0.0,-100.0,0.0),
 			friction: 90.0,
 			mv: 2.7,
-			grounded: true,
+			grounded: false,
 			jump_trying: false,
+			temp_control_dir: glam::Vec3::ZERO,
 			walkspeed: 18.0,
-			contacts: Vec::<strafe_client::body::RelativeCollision>::new(),
+			contacts: std::collections::HashSet::new(),
     		models_cringe_clone: modeldatas.iter().map(|m|strafe_client::body::Model::new(m.transform)).collect(),
+    		walk_target_velocity: glam::Vec3::ZERO,
+    		hitbox_halfsize: glam::vec3(1.0,2.5,1.0),
 		};
 
-		let camera_uniforms = camera.to_uniform_data(physics.extrapolate_position(0));
+		let camera_uniforms = camera.to_uniform_data(physics.body.extrapolated_position(0));
 		let camera_buf = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
 			label: Some("Camera"),
 			contents: bytemuck::cast_slice(&camera_uniforms),
@@ -638,13 +637,15 @@ impl strafe_client::framework::Example for Skybox {
 
 		let time=self.start_time.elapsed().as_nanos() as i64;
 
-		self.physics.run(time,control_dir,self.camera.controls);
+		self.physics.temp_control_dir=control_dir;
+		self.physics.jump_trying=self.camera.controls&CONTROL_JUMP!=0;
+		self.physics.run(time);
 
 		let mut encoder =
 			device.create_command_encoder(&wgpu::CommandEncoderDescriptor { label: None });
 
 		// update rotation
-		let camera_uniforms = self.camera.to_uniform_data(self.physics.extrapolate_position(time));
+		let camera_uniforms = self.camera.to_uniform_data(self.physics.body.extrapolated_position(time));
 		self.staging_belt
 			.write_buffer(
 				&mut encoder,

src/zeroes.rs

@@ -0,0 +1,27 @@
+//find roots of polynomials
+pub fn zeroes2(a0:f32,a1:f32,a2:f32) -> Vec<f32>{
+	if a2==0f32{
+		return zeroes1(a0, a1);
+	}
+	let mut radicand=a1*a1-4f32*a2*a0;
+	if 0f32<radicand {
+		radicand=radicand.sqrt();
+		if 0f32<a2 {
+			return vec![(-a1-radicand)/(2f32*a2),(-a1+radicand)/(2f32*a2)];
+		} else {
+			return vec![(-a1+radicand)/(2f32*a2),(-a1-radicand)/(2f32*a2)];
+		}
+	} else if radicand==0f32 {
+		return vec![-a1/(2f32*a2)];
+	} else {
+		return vec![];
+	}
+}
+#[inline]
+pub fn zeroes1(a0:f32,a1:f32) -> Vec<f32> {
+	if a1==0f32{
+		return vec![];
+	} else {
+		return vec![-a0/a1];
+	}
+}