wrong boost height math

src/integer.rs

@@ -404,11 +404,12 @@ impl TryFrom<[f32;3]> for Unit32Vec3{
 */
 
 ///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy,Hash,Eq,Ord,PartialEq,PartialOrd)]
+#[derive(Clone,Copy,Debug,Hash,Eq,Ord,PartialEq,PartialOrd)]
 pub struct Planar64(i64);
 impl Planar64{
 	pub const ZERO:Self=Self(0);
 	pub const ONE:Self=Self(1<<32);
+	pub const FRAC_1_SQRT2:Self=Self(3_037_000_500);
 	#[inline]
 	pub const fn int(num:i32)->Self{
 		Self(Self::ONE.0*num as i64)
@@ -531,7 +532,14 @@ impl std::ops::Mul<Planar64> for Planar64{
 	type Output=Planar64;
 	#[inline]
 	fn mul(self, rhs: Self) -> Self::Output {
-		Planar64((((self.0 as i128)*(rhs.0 as i128))>>32) as i64)
+		Planar64(((self.0 as i128*rhs.0 as i128)>>32) as i64)
+	}
+}
+impl std::ops::Mul<Time> for Planar64{
+	type Output=Planar64;
+	#[inline]
+	fn mul(self,rhs:Time)->Self::Output{
+		Planar64(((self.0 as i128*rhs.0 as i128)/1_000_000_000) as i64)
 	}
 }
 impl std::ops::Div<i64> for Planar64{
@@ -556,7 +564,7 @@ impl std::ops::Div<Planar64> for Planar64{
 
 
 ///[-1.0,1.0] = [-2^32,2^32]
-#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
+#[derive(Clone,Copy,Debug,Default,Hash,Eq,PartialEq)]
 pub struct Planar64Vec3(glam::I64Vec3);
 impl Planar64Vec3{
 	pub const ZERO:Self=Planar64Vec3(glam::I64Vec3::ZERO);
@@ -574,6 +582,10 @@ impl Planar64Vec3{
 		Self(glam::i64vec3((x as i64)<<32,(y as i64)<<32,(z as i64)<<32))
 	}
 	#[inline]
+	pub const fn raw(x:i64,y:i64,z:i64)->Self{
+		Self(glam::i64vec3(x,y,z))
+	}
+	#[inline]
 	pub fn x(&self)->Planar64{
 		Planar64(self.0.x)
 	}
@@ -618,6 +630,14 @@ impl Planar64Vec3{
 		)>>32) as i64)
 	}
 	#[inline]
+/*	pub fn cross(&self,rhs:Self)->Planar64Vec3{
+		Planar64Vec3(((
+			(self.0.x as i128)*(rhs.0.x as i128)+
+			(self.0.y as i128)*(rhs.0.y as i128)+
+			(self.0.z as i128)*(rhs.0.z as i128)
+		)>>32) as i64)
+	}*/
+	#[inline]
 	pub fn length(&self)->Planar64{
 		let radicand=(self.0.x as i128)*(self.0.x as i128)+(self.0.y as i128)*(self.0.y as i128)+(self.0.z as i128)*(self.0.z as i128);
 		Planar64(unsafe{(radicand as f64).sqrt().to_int_unchecked()})
@@ -808,6 +828,23 @@ impl Planar64Mat3{
 		}
 	}
 	#[inline]
+	pub fn from_rotation_yx(yaw:Angle32,pitch:Angle32)->Self{
+		let xtheta=yaw.0 as f64*ANGLE32_TO_FLOAT64_RADIANS;
+		let (xs,xc)=xtheta.sin_cos();
+		let (xc,xs)=(xc*PLANAR64_ONE_FLOAT64,xs*PLANAR64_ONE_FLOAT64);
+		let ytheta=pitch.0 as f64*ANGLE32_TO_FLOAT64_RADIANS;
+		let (ys,yc)=ytheta.sin_cos();
+		let (yc,ys)=(yc*PLANAR64_ONE_FLOAT64,ys*PLANAR64_ONE_FLOAT64);
+		//TODO: fix this rounding towards 0
+		let (xc,xs):(i64,i64)=(unsafe{xc.to_int_unchecked()},unsafe{xs.to_int_unchecked()});
+		let (yc,ys):(i64,i64)=(unsafe{yc.to_int_unchecked()},unsafe{ys.to_int_unchecked()});
+		Self::from_cols(
+			Planar64Vec3(glam::i64vec3(xc,0,-xs)),
+			Planar64Vec3(glam::i64vec3(((xs as i128*ys as i128)>>32) as i64,yc,((xc as i128*ys as i128)>>32) as i64)),
+			Planar64Vec3(glam::i64vec3(((xs as i128*yc as i128)>>32) as i64,-ys,((xc as i128*yc as i128)>>32) as i64)),
+		)
+	}
+	#[inline]
 	pub fn from_rotation_y(angle:Angle32)->Self{
 		let theta=angle.0 as f64*ANGLE32_TO_FLOAT64_RADIANS;
 		let (s,c)=theta.sin_cos();

src/load_roblox.rs

@@ -49,9 +49,19 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
 	let mut intersecting=crate::model::IntersectingAttributes::default();
 	let mut contacting=crate::model::ContactingAttributes::default();
 	let mut force_can_collide=can_collide;
+	const GRAVITY:Planar64Vec3=Planar64Vec3::int(0,-100,0);
 	match name{
-		"Water"=>intersecting.water=Some(crate::model::IntersectingWater{density:Planar64::ONE,viscosity:Planar64::ONE/10,current:velocity}),
+		"Water"=>{
-		"Accelerator"=>{force_can_collide=false;intersecting.accelerator=Some(crate::model::IntersectingAccelerator{acceleration:velocity})},
+			force_can_collide=false;
+			//TODO: read stupid CustomPhysicalProperties
+			intersecting.water=Some(crate::model::IntersectingWater{density:Planar64::ONE,viscosity:Planar64::ONE/10,current:velocity});
+		},
+		"Accelerator"=>{
+			//although the new game supports collidable accelerators, this is a roblox compatability map loader
+			force_can_collide=false;
+			general.accelerator=Some(crate::model::GameMechanicAccelerator{acceleration:velocity});
+		},
+		"SetVelocity"=>general.trajectory=Some(crate::model::GameMechanicSetTrajectory::Velocity(velocity)),
 		"MapFinish"=>{force_can_collide=false;general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Finish})},
 		"MapAnticheat"=>{force_can_collide=false;general.zone=Some(crate::model::GameMechanicZone{mode_id:0,behaviour:crate::model::ZoneBehaviour::Anitcheat})},
 		"Platform"=>general.teleport_behaviour=Some(crate::model::TeleportBehaviour::StageElement(crate::model::GameMechanicStageElement{
@@ -72,12 +82,28 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
 					},
 					behaviour:match &captures[2]{
 						"Spawn"|"SpawnAt"=>crate::model::StageElementBehaviour::SpawnAt,
+						//cancollide false so you don't hit the side
+						//NOT a decoration
 						"Trigger"=>{force_can_collide=false;crate::model::StageElementBehaviour::Trigger},
 						"Teleport"=>{force_can_collide=false;crate::model::StageElementBehaviour::Teleport},
 						"Platform"=>crate::model::StageElementBehaviour::Platform,
 						_=>panic!("regex1[2] messed up bad"),
 					}
 				}));
+			}else if let Some(captures)=lazy_regex::regex!(r"^(Force)?(Jump)(\d+)$")
+			.captures(other){
+				general.teleport_behaviour=Some(crate::model::TeleportBehaviour::StageElement(crate::model::GameMechanicStageElement{
+					mode_id:0,
+					stage_id:0,
+					force:match captures.get(1){
+						Some(m)=>m.as_str()=="Force",
+						None=>false,
+					},
+					behaviour:match &captures[2]{
+						"Jump"=>crate::model::StageElementBehaviour::JumpLimit(captures[3].parse::<u32>().unwrap()),
+						_=>panic!("regex4[1] messed up bad"),
+					}
+				}));
 			}else if let Some(captures)=lazy_regex::regex!(r"^Bonus(Finish|Anticheat)(\d+)$")
 			.captures(other){
 				force_can_collide=false;
@@ -86,39 +112,46 @@ fn get_attributes(name:&str,can_collide:bool,velocity:Planar64Vec3,force_interse
 					"Anticheat"=>general.zone=Some(crate::model::GameMechanicZone{mode_id:captures[2].parse::<u32>().unwrap(),behaviour:crate::model::ZoneBehaviour::Anitcheat}),
 					_=>panic!("regex2[1] messed up bad"),
 				}
-			}
+			}else if let Some(captures)=lazy_regex::regex!(r"^(WormholeIn)(\d+)$")
-		}
-	}
-	//need some way to skip this
-	if velocity!=Planar64Vec3::ZERO{
-		general.booster=Some(crate::model::GameMechanicBooster{velocity});
-	}
-	match force_can_collide{
-		true=>{
-			match name{
-				"Bounce"=>contacting.elasticity=Some(u32::MAX),
-				"Surf"=>contacting.surf=Some(crate::model::ContactingSurf{}),
-				"Ladder"=>contacting.ladder=Some(crate::model::ContactingLadder{sticky:true}),
-				other=>{
-					if let Some(captures)=lazy_regex::regex!(r"^(Jump|WormholeIn)(\d+)$")
 			.captures(other){
+				force_can_collide=false;
 				match &captures[1]{
-							"Jump"=>general.jump_limit=Some(crate::model::GameMechanicJumpLimit{count:captures[2].parse::<u32>().unwrap()}),
 					"WormholeIn"=>general.teleport_behaviour=Some(crate::model::TeleportBehaviour::Wormhole(crate::model::GameMechanicWormhole{destination_model_id:captures[2].parse::<u32>().unwrap()})),
 					_=>panic!("regex3[1] messed up bad"),
 				}
 			}
 		}
 	}
+	//need some way to skip this
+	if velocity!=Planar64Vec3::ZERO{
+		//assume all vertical boosters are targetting a height
+		let vg=velocity.dot(GRAVITY);
+		if Planar64::ZERO<=vg{
+			//weird down booster
+			general.booster=Some(crate::model::GameMechanicBooster::Velocity(velocity));
+		}else{
+			println!("set attr");
+			let gg=GRAVITY.dot(GRAVITY);
+			let height=-vg*gg.sqrt().sqrt()*Planar64::FRAC_1_SQRT2/gg;//vi/sqrt(-2*a)=d
+			let v=velocity-GRAVITY*(vg/gg);
+			//if we are adding zero SO BE IT, the check to see if the vectors are parallel is too sensitive
+			general.booster=Some(crate::model::GameMechanicBooster::Velocity(v));
+			general.trajectory=Some(crate::model::GameMechanicSetTrajectory::Height(height));
+		}
+	}
+	match force_can_collide{
+		true=>{
+			match name{
+				"Bounce"=>contacting.contact_behaviour=Some(crate::model::ContactingBehaviour::Elastic(u32::MAX)),
+				"Surf"=>contacting.contact_behaviour=Some(crate::model::ContactingBehaviour::Surf),
+				"Ladder"=>contacting.contact_behaviour=Some(crate::model::ContactingBehaviour::Ladder(crate::model::ContactingLadder{sticky:true})),
+				_=>(),
+			}
 			crate::model::CollisionAttributes::Contact{contacting,general}
 		},
 		false=>if force_intersecting
-		||general.jump_limit.is_some()
+		||general.any()
-		||general.booster.is_some()
+		||intersecting.any()
-		||general.zone.is_some()
-		||general.teleport_behaviour.is_some()
-		||intersecting.water.is_some()
-		||intersecting.accelerator.is_some()
 		{
 			crate::model::CollisionAttributes::Intersect{intersecting,general}
 		}else{

src/main.rs

@@ -931,7 +931,7 @@ impl framework::Example for GlobalState {
 		let screen_size=glam::uvec2(config.width,config.height);
 
 		let camera=GraphicsCamera::new(screen_size,user_settings.calculate_fov(1.0,&screen_size).as_vec2());
-		let camera_uniforms = camera.to_uniform_data(physics.output().adjust_mouse(&physics.next_mouse));
+		let camera_uniforms = camera.to_uniform_data(physics.output().adjust_mouse(&physics::MouseState::default()));
 		let camera_buf = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
 			label: Some("Camera"),
 			contents: bytemuck::cast_slice(&camera_uniforms),
@@ -1063,6 +1063,7 @@ impl framework::Example for GlobalState {
 					self.graphics.clear();
 
 					let mut physics=physics::PhysicsState::default();
+					//physics.spawn()
 					physics.game.stage_id=0;
 					physics.spawn_point=spawn_point;
 					physics.process_instruction(instruction::TimedInstruction{

src/model.rs

@@ -1,4 +1,4 @@
-use crate::integer::{Planar64,Planar64Vec3,Planar64Affine3};
+use crate::integer::{Time,Planar64,Planar64Vec3,Planar64Affine3};
 pub type TextureCoordinate=glam::Vec2;
 pub type Color4=glam::Vec4;
 #[derive(Clone,Hash,PartialEq,Eq)]
@@ -92,11 +92,15 @@ pub enum TempIndexedAttributes{
 
 //you have this effect while in contact
 #[derive(Clone)]
-pub struct ContactingSurf{}
-#[derive(Clone)]
 pub struct ContactingLadder{
 	pub sticky:bool
 }
+#[derive(Clone)]
+pub enum ContactingBehaviour{
+    Surf,
+    Ladder(ContactingLadder),
+    Elastic(u32),//[1/2^32,1] 0=None (elasticity+1)/2^32
+}
 //you have this effect while intersecting
 #[derive(Clone)]
 pub struct IntersectingWater{
@@ -104,18 +108,37 @@ pub struct IntersectingWater{
 	pub density:Planar64,
 	pub current:Planar64Vec3,
 }
-#[derive(Clone)]
-pub struct IntersectingAccelerator{
-	pub acceleration:Planar64Vec3
-}
 //All models can be given these attributes
 #[derive(Clone)]
-pub struct GameMechanicJumpLimit{
+pub struct GameMechanicAccelerator{
-	pub count:u32,
+	pub acceleration:Planar64Vec3
 }
 #[derive(Clone)]
-pub struct GameMechanicBooster{
+pub enum GameMechanicBooster{
-	pub velocity:Planar64Vec3,
+	Affine(Planar64Affine3),//capable of SetVelocity,DotVelocity,normal booster,bouncy part,redirect velocity, and much more
+	Velocity(Planar64Vec3),//straight up boost velocity adds to your current velocity
+	Energy{direction:Planar64Vec3,energy:Planar64},//increase energy in direction
+}
+#[derive(Clone,Debug)]
+pub enum TrajectoryChoice{
+	HighArcLongDuration,//underhand lob at target: less horizontal speed and more air time
+	LowArcShortDuration,//overhand throw at target: more horizontal speed and less air time
+}
+#[derive(Clone,Debug)]
+pub enum GameMechanicSetTrajectory{
+	AirTime(Time),//air time (relative to gravity direction) is invariant across mass and gravity changes
+	Height(Planar64),//boost height (relative to gravity direction) is invariant across mass and gravity changes
+	TargetPointTime{//launch on a trajectory that will land at a target point in a set amount of time
+		target_point:Planar64Vec3,
+		time:Time,//short time = fast and direct, long time = launch high in the air, negative time = wrong way
+	},
+	TrajectoryTargetPoint{//launch at a fixed speed and land at a target point
+		target_point:Planar64Vec3,
+		speed:Planar64,//if speed is too low this will fail to reach the target.  The closest-passing trajectory will be chosen instead
+		trajectory_choice:TrajectoryChoice,
+	},
+	Velocity(Planar64Vec3),//SetVelocity
+	DotVelocity{direction:Planar64Vec3,dot:Planar64},//set your velocity in a specific direction without touching other directions
 }
 #[derive(Clone)]
 pub enum ZoneBehaviour{
@@ -130,10 +153,10 @@ pub struct GameMechanicZone{
 	pub behaviour:ZoneBehaviour,
 }
 // enum TrapCondition{
-// 	FasterThan(i64),
+// 	FasterThan(Planar64),
-// 	SlowerThan(i64),
+// 	SlowerThan(Planar64),
-// 	InRange(i64,i64),
+// 	InRange(Planar64,Planar64),
-// 	OutsideRange(i64,i64),
+// 	OutsideRange(Planar64,Planar64),
 // }
 #[derive(Clone)]
 pub enum StageElementBehaviour{
@@ -142,6 +165,7 @@ pub enum StageElementBehaviour{
  	Trigger,
  	Teleport,
  	Platform,
+ 	JumpLimit(u32),
  	//Speedtrap(TrapCondition),//Acts as a trigger with a speed condition
 }
 #[derive(Clone)]
@@ -164,24 +188,42 @@ pub enum TeleportBehaviour{
 	StageElement(GameMechanicStageElement),
 	Wormhole(GameMechanicWormhole),
 }
+//attributes listed in order of handling
 #[derive(Default,Clone)]
 pub struct GameMechanicAttributes{
-	pub jump_limit:Option<GameMechanicJumpLimit>,
-	pub booster:Option<GameMechanicBooster>,
 	pub zone:Option<GameMechanicZone>,
+	pub booster:Option<GameMechanicBooster>,
+	pub trajectory:Option<GameMechanicSetTrajectory>,
 	pub teleport_behaviour:Option<TeleportBehaviour>,
+	pub accelerator:Option<GameMechanicAccelerator>,
+}
+impl GameMechanicAttributes{
+	pub fn any(&self)->bool{
+		self.booster.is_some()
+		||self.trajectory.is_some()
+		||self.zone.is_some()
+		||self.teleport_behaviour.is_some()
+		||self.accelerator.is_some()
+	}
 }
 #[derive(Default,Clone)]
 pub struct ContactingAttributes{
-	pub elasticity:Option<u32>,//[1/2^32,1] 0=None (elasticity+1)/2^32
 	//friction?
-	pub surf:Option<ContactingSurf>,
+	pub contact_behaviour:Option<ContactingBehaviour>,
-	pub ladder:Option<ContactingLadder>,
+}
+impl ContactingAttributes{
+	pub fn any(&self)->bool{
+		self.contact_behaviour.is_some()
+	}
 }
 #[derive(Default,Clone)]
 pub struct IntersectingAttributes{
 	pub water:Option<IntersectingWater>,
-	pub accelerator:Option<IntersectingAccelerator>,
+}
+impl IntersectingAttributes{
+	pub fn any(&self)->bool{
+		self.water.is_some()
+	}
 }
 //Spawn(u32) NO! spawns are indexed in the map header instead of marked with attibutes
 pub enum CollisionAttributes{

src/physics.rs

@@ -115,22 +115,60 @@ impl MouseState {
 	}
 }
 
-pub enum WalkEnum{
+enum WalkEnum{
 	Reached,
-	Transient,
+	Transient(WalkTarget),
+}
+struct WalkTarget{
+	velocity:Planar64Vec3,
+	time:Time,
+}
+struct WalkState{
+	normal:Planar64Vec3,
+	state:WalkEnum,
+}
+impl WalkEnum{
+	//args going crazy
+	//(walk_enum,body.acceleration)=with_target_velocity();
+	fn with_target_velocity(touching:&TouchingState,body:&Body,style:&StyleModifiers,models:&Vec<ModelPhysics>,mut velocity:Planar64Vec3,normal:&Planar64Vec3)->(WalkEnum,Planar64Vec3){
+		touching.constrain_velocity(models,&mut velocity);
+		let mut target_diff=velocity-body.velocity;
+		//remove normal component
+		target_diff-=normal.clone()*(normal.dot(target_diff)/normal.dot(normal.clone()));
+		if target_diff==Planar64Vec3::ZERO{
+			let mut a=Planar64Vec3::ZERO;
+			touching.constrain_acceleration(models,&mut a);
+			(WalkEnum::Reached,a)
+		}else{
+			//normal friction acceleration is clippedAcceleration.dot(normal)*friction
+			let diff_len=target_diff.length();
+			let friction=if diff_len<style.walk_speed{
+				style.static_friction
+			}else{
+				style.kinetic_friction
+			};
+			let accel=style.walk_accel.min(style.gravity.dot(Planar64Vec3::NEG_Y)*friction);
+			let time_delta=diff_len/accel;
+			let mut a=target_diff.with_length(accel);
+			touching.constrain_acceleration(models,&mut a);
+			(WalkEnum::Transient(WalkTarget{velocity,time:body.time+Time::from(time_delta)}),a)
+		}
 	}
-pub struct WalkState {
-	pub target_velocity: Planar64Vec3,
-	pub target_time: Time,
-	pub state: WalkEnum,
 }
 impl WalkState{
-	pub fn new() -> Self {
+	fn ground(touching:&TouchingState,body:&Body,style:&StyleModifiers,models:&Vec<ModelPhysics>,mut velocity:Planar64Vec3)->(Self,Planar64Vec3){
-		Self{
+		let (walk_enum,a)=WalkEnum::with_target_velocity(touching,body,style,models,velocity,&Planar64Vec3::Y);
-			target_velocity:Planar64Vec3::ZERO,
+		(Self{
-			target_time:Time::ZERO,
+			state:walk_enum,
-			state:WalkEnum::Reached,
+			normal:Planar64Vec3::Y,
+		},a)
 	}
+	fn ladder(touching:&TouchingState,body:&Body,style:&StyleModifiers,models:&Vec<ModelPhysics>,mut velocity:Planar64Vec3,normal:&Planar64Vec3)->(Self,Planar64Vec3){
+		let (walk_enum,a)=WalkEnum::with_target_velocity(touching,body,style,models,velocity,normal);
+		(Self{
+			state:walk_enum,
+			normal:normal.clone(),
+		},a)
 	}
 }
 
@@ -182,6 +220,14 @@ impl PhysicsCamera {
 		.clamp(self.angle_pitch_lower_limit,self.angle_pitch_upper_limit);
 		return glam::vec2(ax.into(),ay.into());
 	}
+	fn simulate_move_rotation(&self,mouse_pos:glam::IVec2)->Planar64Mat3{
+		let a=-self.sensitivity.mul_int((mouse_pos-self.mouse.pos+self.clamped_mouse_pos).as_i64vec2());
+		let ax=Angle32::wrap_from_i64(a.x);
+		let ay=Angle32::clamp_from_i64(a.y)
+		//clamp to actual vertical cam limit
+		.clamp(self.angle_pitch_lower_limit,self.angle_pitch_upper_limit);
+		Planar64Mat3::from_rotation_yx(ax,ay)
+	}
 	fn simulate_move_rotation_y(&self,mouse_pos_x:i32)->Planar64Mat3{
 		let ax=-self.sensitivity.x.mul_int((mouse_pos_x-self.mouse.pos.x+self.clamped_mouse_pos.x) as i64);
 		Planar64Mat3::from_rotation_y(Angle32::wrap_from_i64(ax))
@@ -200,34 +246,48 @@ impl std::default::Default for GameMechanicsState{
 	}
 }
 
-pub struct WorldState{}
+struct WorldState{}
 
-pub struct StyleModifiers{
+enum JumpCalculation{
-	pub controls_mask:u32,//controls which are unable to be activated
+	Capped,//roblox
-	pub controls_held:u32,//controls which must be active to be able to strafe
+	Energy,//new
-	pub strafe_tick_rate:Ratio64,
+	Linear,//source
-	pub jump_time:Time,
+}
-	pub mv:Planar64,
+
-	pub walkspeed:Planar64,
+enum JumpImpulse{
-	pub friction:Planar64,
+	FromTime(Time),//jump time is invariant across mass and gravity changes
-	pub walk_accel:Planar64,
+	FromHeight(Planar64),//jump height is invariant across mass and gravity changes
-	pub gravity:Planar64Vec3,
+	FromDeltaV(Planar64),//jump velocity is invariant across mass and gravity changes
-	pub hitbox_halfsize:Planar64Vec3,
+	FromEnergy(Planar64),// :)
+}
+//Jumping acts on dot(walks_state.normal,body.velocity)
+//Capped means it increases the dot to the cap
+//Energy means it adds energy
+//Linear means it linearly adds on
+
+struct StyleModifiers{
+	controls_mask:u32,//controls which are unable to be activated
+	controls_held:u32,//controls which must be active to be able to strafe
+	strafe_tick_rate:Ratio64,
+	jump_impulse:JumpImpulse,
+	jump_calculation:JumpCalculation,
+	static_friction:Planar64,
+	kinetic_friction:Planar64,
+	walk_speed:Planar64,
+	walk_accel:Planar64,
+	ladder_speed:Planar64,
+	ladder_accel:Planar64,
+	ladder_dot:Planar64,
+	swim_speed:Planar64,
+	mass:Planar64,
+	mv:Planar64,
+	air_accel_limit:Option<Planar64>,
+	gravity:Planar64Vec3,
+	hitbox_halfsize:Planar64Vec3,
 }
 impl std::default::Default for StyleModifiers{
 	fn default() -> Self {
-		Self{
+		Self::roblox_bhop()
-			controls_mask: !0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
-			controls_held: 0,
-			strafe_tick_rate:Ratio64::new(100,Time::ONE_SECOND.nanos() as u64).unwrap(),
-			jump_time: Time::from_nanos(715_588_000/2*100),//0.715588/2.0*100.0
-			gravity: Planar64Vec3::int(0,-100,0),
-			friction: Planar64::int(12)/10,
-			walk_accel: Planar64::int(90),
-			mv: Planar64::int(27)/10,
-			walkspeed: Planar64::int(18),
-			hitbox_halfsize: Planar64Vec3::int(2,5,2)/2,
-		}
 	}
 }
 impl StyleModifiers{
@@ -244,6 +304,121 @@ impl StyleModifiers{
 	const UP_DIR:Planar64Vec3=Planar64Vec3::Y;
 	const FORWARD_DIR:Planar64Vec3=Planar64Vec3::NEG_Z;
 
+	fn new()->Self{
+		Self{
+			controls_mask:!0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
+			controls_held:0,
+			strafe_tick_rate:Ratio64::new(128,Time::ONE_SECOND.nanos() as u64).unwrap(),
+			jump_impulse:JumpImpulse::FromEnergy(Planar64::int(512)),
+			jump_calculation:JumpCalculation::Energy,
+			gravity:Planar64Vec3::int(0,-80,0),
+			static_friction:Planar64::int(2),
+			kinetic_friction:Planar64::int(3),//unrealistic: kinetic friction is typically lower than static
+			mass:Planar64::int(1),
+			mv:Planar64::int(2),
+			air_accel_limit:None,
+			walk_speed:Planar64::int(16),
+			walk_accel:Planar64::int(80),
+			ladder_speed:Planar64::int(16),
+			ladder_accel:Planar64::int(160),
+			ladder_dot:(Planar64::int(1)/2).sqrt(),
+			swim_speed:Planar64::int(12),
+			hitbox_halfsize:Planar64Vec3::int(2,5,2)/2,
+		}
+	}
+
+	fn roblox_bhop()->Self{
+		Self{
+			controls_mask:!0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
+			controls_held:0,
+			strafe_tick_rate:Ratio64::new(100,Time::ONE_SECOND.nanos() as u64).unwrap(),
+			jump_impulse:JumpImpulse::FromTime(Time::from_micros(715_588)),
+			jump_calculation:JumpCalculation::Capped,
+			gravity:Planar64Vec3::int(0,-100,0),
+			static_friction:Planar64::int(2),
+			kinetic_friction:Planar64::int(3),//unrealistic: kinetic friction is typically lower than static
+			mass:Planar64::int(1),
+			mv:Planar64::int(27)/10,
+			air_accel_limit:None,
+			walk_speed:Planar64::int(18),
+			walk_accel:Planar64::int(90),
+			ladder_speed:Planar64::int(18),
+			ladder_accel:Planar64::int(180),
+			ladder_dot:(Planar64::int(1)/2).sqrt(),
+			swim_speed:Planar64::int(12),
+			hitbox_halfsize:Planar64Vec3::int(2,5,2)/2,
+		}
+	}
+	fn roblox_surf()->Self{
+		Self{
+			controls_mask:!0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
+			controls_held:0,
+			strafe_tick_rate:Ratio64::new(100,Time::ONE_SECOND.nanos() as u64).unwrap(),
+			jump_impulse:JumpImpulse::FromTime(Time::from_micros(715_588)),
+			jump_calculation:JumpCalculation::Capped,
+			gravity:Planar64Vec3::int(0,-50,0),
+			static_friction:Planar64::int(2),
+			kinetic_friction:Planar64::int(3),//unrealistic: kinetic friction is typically lower than static
+			mass:Planar64::int(1),
+			mv:Planar64::int(27)/10,
+			air_accel_limit:None,
+			walk_speed:Planar64::int(18),
+			walk_accel:Planar64::int(90),
+			ladder_speed:Planar64::int(18),
+			ladder_accel:Planar64::int(180),
+			ladder_dot:(Planar64::int(1)/2).sqrt(),
+			swim_speed:Planar64::int(12),
+			hitbox_halfsize:Planar64Vec3::int(2,5,2)/2,
+		}
+	}
+
+	fn source_bhop()->Self{
+		//camera_offset=vec3(0,64/16-73/16/2,0),
+		Self{
+			controls_mask:!0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
+			controls_held:0,
+			strafe_tick_rate:Ratio64::new(100,Time::ONE_SECOND.nanos() as u64).unwrap(),
+			jump_impulse:JumpImpulse::FromHeight(Planar64::raw(52<<28)),
+			jump_calculation:JumpCalculation::Linear,
+			gravity:Planar64Vec3::raw(0,-800<<28,0),
+			static_friction:Planar64::int(2),//?
+			kinetic_friction:Planar64::int(3),//?
+			mass:Planar64::int(1),
+			mv:Planar64::raw(30<<28),
+			air_accel_limit:Some(Planar64::raw(150<<28)*66),
+			walk_speed:Planar64::int(18),//?
+			walk_accel:Planar64::int(90),//?
+			ladder_speed:Planar64::int(18),//?
+			ladder_accel:Planar64::int(180),//?
+			ladder_dot:(Planar64::int(1)/2).sqrt(),//?
+			swim_speed:Planar64::int(12),//?
+			hitbox_halfsize:Planar64Vec3::raw(33<<28,73<<28,33<<28)/2,
+		}
+	}
+	fn source_surf()->Self{
+		//camera_offset=vec3(0,64/16-73/16/2,0),
+		Self{
+			controls_mask:!0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
+			controls_held:0,
+			strafe_tick_rate:Ratio64::new(66,Time::ONE_SECOND.nanos() as u64).unwrap(),
+			jump_impulse:JumpImpulse::FromHeight(Planar64::raw(52<<28)),
+			jump_calculation:JumpCalculation::Linear,
+			gravity:Planar64Vec3::raw(0,-800<<28,0),
+			static_friction:Planar64::int(2),//?
+			kinetic_friction:Planar64::int(3),//?
+			mass:Planar64::int(1),
+			mv:Planar64::raw(30<<28),
+			air_accel_limit:Some(Planar64::raw(150<<28)*66),
+			walk_speed:Planar64::int(18),//?
+			walk_accel:Planar64::int(90),//?
+			ladder_speed:Planar64::int(18),//?
+			ladder_accel:Planar64::int(180),//?
+			ladder_dot:(Planar64::int(1)/2).sqrt(),//?
+			swim_speed:Planar64::int(12),//?
+			hitbox_halfsize:Planar64Vec3::raw(33<<28,73<<28,33<<28)/2,
+		}
+	}
+
 	fn get_control(&self,control:u32,controls:u32)->bool{
 		controls&self.controls_mask&control==control
 	}
@@ -278,32 +453,70 @@ impl StyleModifiers{
 		return control_dir
 	}
 
-	fn get_jump_power(&self)->Planar64Vec3{
+	//fn get_jump_time(&self)->Planar64
-		Planar64Vec3::int(0,715588,0)/(2*1000000/100)
+	//fn get_jump_height(&self)->Planar64
+	//fn get_jump_energy(&self)->Planar64
+	fn get_jump_deltav(&self)->Planar64{
+		match &self.jump_impulse{
+			&JumpImpulse::FromTime(time)=>self.gravity.length()*(time/2),
+			&JumpImpulse::FromHeight(height)=>(self.gravity.length()*height*2).sqrt(),
+			&JumpImpulse::FromDeltaV(deltav)=>deltav,
+			&JumpImpulse::FromEnergy(energy)=>(energy*2/self.mass).sqrt(),
 		}
 	}
 
+	fn get_walk_target_velocity(&self,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time)->Planar64Vec3{
+		let camera_mat=camera.simulate_move_rotation_y(camera.mouse.lerp(&next_mouse,time).x);
+		let control_dir=camera_mat*self.get_control_dir(controls);
+		control_dir*self.walk_speed
+	}
+	fn get_ladder_target_velocity(&self,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time)->Planar64Vec3{
+		let camera_mat=camera.simulate_move_rotation(camera.mouse.lerp(&next_mouse,time));
+		let control_dir=camera_mat*self.get_control_dir(controls);
+		// local m=sqrt(ControlDir.length_squared())
+		// local d=dot(Normal,ControlDir)/m
+		// if d<-LadderDot then
+		// 	ControlDir=Up*m
+		// 	d=dot(Normal,Up)
+		// elseif LadderDot<d then
+		// 	ControlDir=Up*-m
+		// 	d=-dot(Normal,Up)
+		// end
+		// return cross(cross(Normal,ControlDir),Normal)/sqrt(1-d*d)
+		control_dir*self.walk_speed
+	}
+	fn get_propulsion_target_velocity(&self,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time)->Planar64Vec3{
+		let camera_mat=camera.simulate_move_rotation(camera.mouse.lerp(&next_mouse,time));
+		let control_dir=camera_mat*self.get_control_dir(controls);
+		control_dir*self.walk_speed
+	}
+}
+
+enum MoveState{
+	Air,
+	Walk(WalkState),
+	Water,
+	Ladder(WalkState),
+}
+
 pub struct PhysicsState{
 	pub time:Time,
-	pub body:Body,
+	body:Body,
-	pub world:WorldState,//currently there is only one state the world can be in
+	world:WorldState,//currently there is only one state the world can be in
 	pub game:GameMechanicsState,
-	pub style:StyleModifiers,
+	style:StyleModifiers,
-	pub contacts:std::collections::HashMap::<u32,RelativeCollision>,
+	touching:TouchingState,
-	pub intersects:std::collections::HashMap::<u32,RelativeCollision>,
-	//pub intersections: Vec<ModelId>,
 	//camera must exist in state because wormholes modify the camera, also camera punch
-	pub camera:PhysicsCamera,
+	camera:PhysicsCamera,
-	pub next_mouse:MouseState,//Where is the mouse headed next
+	next_mouse:MouseState,//Where is the mouse headed next
-	pub controls:u32,
+	controls:u32,
-	pub walk:WalkState,
+	move_state:MoveState,
-	pub grounded:bool,
 	//all models
-	pub models:Vec<ModelPhysics>,
+	models:Vec<ModelPhysics>,
-	pub bvh:crate::bvh::BvhNode,
+	bvh:crate::bvh::BvhNode,
 	
-	pub modes:Vec<crate::model::ModeDescription>,
+	modes:Vec<crate::model::ModeDescription>,
-	pub mode_from_mode_id:std::collections::HashMap::<u32,usize>,
+	mode_from_mode_id:std::collections::HashMap::<u32,usize>,
 	//the spawn point is where you spawn when you load into the map.
 	//This is not the same as Reset which teleports you to Spawn0
 	pub spawn_point:Planar64Vec3,
@@ -395,6 +608,55 @@ impl RelativeCollision {
 	}
 }
 
+struct TouchingState{
+	contacts:std::collections::HashMap::<u32,RelativeCollision>,
+	intersects:std::collections::HashMap::<u32,RelativeCollision>,
+}
+impl TouchingState{
+	fn clear(&mut self){
+		self.contacts.clear();
+		self.intersects.clear();
+	}
+	fn insert_contact(&mut self,model_id:u32,collision:RelativeCollision)->Option<RelativeCollision>{
+		self.contacts.insert(model_id,collision)
+	}
+	fn remove_contact(&mut self,model_id:u32)->Option<RelativeCollision>{
+		self.contacts.remove(&model_id)
+	}
+	fn insert_intersect(&mut self,model_id:u32,collision:RelativeCollision)->Option<RelativeCollision>{
+		self.intersects.insert(model_id,collision)
+	}
+	fn remove_intersect(&mut self,model_id:u32)->Option<RelativeCollision>{
+		self.intersects.remove(&model_id)
+	}
+	fn constrain_velocity(&self,models:&Vec<ModelPhysics>,velocity:&mut Planar64Vec3){
+		for (_,contact) in &self.contacts {
+			let n=contact.normal(models);
+			let d=velocity.dot(n);
+			if d<Planar64::ZERO{
+				(*velocity)-=n*(d/n.dot(n));
+			}
+		}
+	}
+	fn constrain_acceleration(&self,models:&Vec<ModelPhysics>,acceleration:&mut Planar64Vec3){
+		for (_,contact) in &self.contacts {
+			let n=contact.normal(models);
+			let d=acceleration.dot(n);
+			if d<Planar64::ZERO{
+				(*acceleration)-=n*(d/n.dot(n));
+			}
+		}
+	}
+}
+impl Default for TouchingState{
+	fn default() -> Self {
+		Self{
+			contacts: std::collections::HashMap::new(),
+			intersects: std::collections::HashMap::new(),
+		}
+	}
+}
+
 impl Body {
 	pub fn with_pva(position:Planar64Vec3,velocity:Planar64Vec3,acceleration:Planar64Vec3) -> Self {
 		Self{
@@ -431,12 +693,10 @@ impl Default for PhysicsState{
 			body: Body::with_pva(Planar64Vec3::int(0,50,0),Planar64Vec3::int(0,0,0),Planar64Vec3::int(0,-100,0)),
 			time: Time::ZERO,
 			style:StyleModifiers::default(),
-			grounded: false,
+			touching:TouchingState::default(),
-			contacts: std::collections::HashMap::new(),
-			intersects: std::collections::HashMap::new(),
 			models: Vec::new(),
 			bvh:crate::bvh::BvhNode::default(),
-			walk: WalkState::new(),
+			move_state: MoveState::Air,
 			camera: PhysicsCamera::from_offset(Planar64Vec3::int(0,2,0)),//4.5-2.5=2
 			next_mouse: MouseState::default(),
 			controls: 0,
@@ -452,8 +712,7 @@ impl PhysicsState {
 	pub fn clear(&mut self){
 		self.models.clear();
 		self.modes.clear();
-		self.contacts.clear();
+		self.touching.clear();
-		self.intersects.clear();
 	}
 
 	pub fn into_worker(mut self)->crate::worker::CompatWorker<TimedInstruction<InputInstruction>,PhysicsOutputState,Box<dyn FnMut(TimedInstruction<InputInstruction>)->PhysicsOutputState>>{
@@ -653,33 +912,19 @@ impl PhysicsState {
 		self.controls=if state{self.controls|control}else{self.controls&!control};
 	}
 	fn jump(&mut self){
-		self.grounded=false;//do I need this?
+		match &self.move_state{
-		let mut v=self.body.velocity+self.style.get_jump_power();
+			MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>{
-		self.contact_constrain_velocity(&mut v);
+				let mut v=self.body.velocity+walk_state.normal*self.style.get_jump_deltav();
+				self.touching.constrain_velocity(&self.models,&mut v);
 				self.body.velocity=v;
+			},
+			MoveState::Air|MoveState::Water=>(),
+		}
 	}
 
-	fn contact_constrain_velocity(&self,velocity:&mut Planar64Vec3){
-		for (_,contact) in &self.contacts {
-			let n=contact.normal(&self.models);
-			let d=velocity.dot(n);
-			if d<Planar64::ZERO{
-				(*velocity)-=n*(d/n.dot(n));
-			}
-		}
-	}
-	fn contact_constrain_acceleration(&self,acceleration:&mut Planar64Vec3){
-		for (_,contact) in &self.contacts {
-			let n=contact.normal(&self.models);
-			let d=acceleration.dot(n);
-			if d<Planar64::ZERO{
-				(*acceleration)-=n*(d/n.dot(n));
-			}
-		}
-	}
 	fn next_strafe_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
 		return Some(TimedInstruction{
-			time:Time::from_nanos(self.style.strafe_tick_rate.rhs_div_int(self.style.strafe_tick_rate.mul_int(self.time.nanos())+1)),
+			time:Time::from_nanos(self.style.strafe_tick_rate.rhs_div_int(self.style.strafe_tick_rate.mul_int(self.time.nanos()+1)+1)),
 			//only poll the physics if there is a before and after mouse event
 			instruction:PhysicsInstruction::StrafeTick
 		});
@@ -717,44 +962,30 @@ impl PhysicsState {
 	// }
 
 	fn refresh_walk_target(&mut self){
-		//calculate acceleration yada yada
+		match &mut self.move_state{
-		if self.grounded{
+			MoveState::Air|MoveState::Water=>(),
-			let mut v=self.walk.target_velocity;
+			MoveState::Walk(WalkState{normal,state})=>{
-			self.contact_constrain_velocity(&mut v);
+				let n=normal;
-			let mut target_diff=v-self.body.velocity;
+				(*state,self.body.acceleration)=WalkEnum::with_target_velocity(&self.touching,&self.body,&self.style,&self.models,self.style.get_walk_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time),&n);
-			//remove normal component
+			},
-			target_diff-=Planar64Vec3::Y*target_diff.y();
+			MoveState::Ladder(WalkState{normal,state})=>{
-			if target_diff==Planar64Vec3::ZERO{
+				let n=normal;
-				let mut a=Planar64Vec3::ZERO;
+				(*state,self.body.acceleration)=WalkEnum::with_target_velocity(&self.touching,&self.body,&self.style,&self.models,self.style.get_ladder_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time),&n);
-				self.contact_constrain_acceleration(&mut a);
+			},
-				self.body.acceleration=a;
-				self.walk.state=WalkEnum::Reached;
-			}else{
-				//normal friction acceleration is clippedAcceleration.dot(normal)*friction
-				let accel=self.style.walk_accel.min(self.style.gravity.dot(Planar64Vec3::NEG_Y)*self.style.friction);
-				let time_delta=target_diff.length()/accel;
-				let mut a=target_diff.with_length(accel);
-				self.contact_constrain_acceleration(&mut a);
-				self.body.acceleration=a;
-				self.walk.target_time=self.body.time+Time::from(time_delta);
-				self.walk.state=WalkEnum::Transient;
-			}
-		}else{
-			self.walk.state=WalkEnum::Reached;//there is no walk target while not grounded
 		}
 	}
-	fn next_walk_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
+	fn next_move_instruction(&self)->Option<TimedInstruction<PhysicsInstruction>>{
 		//check if you have a valid walk state and create an instruction
-		if self.grounded{
+		match &self.move_state{
-			match self.walk.state{
+			MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>match &walk_state.state{
-				WalkEnum::Transient=>Some(TimedInstruction{
+				WalkEnum::Transient(walk_target)=>Some(TimedInstruction{
-					time:self.walk.target_time,
+					time:walk_target.time,
 					instruction:PhysicsInstruction::ReachWalkTargetVelocity
 				}),
 				WalkEnum::Reached=>None,
 			}
-		}else{
+			MoveState::Air=>self.next_strafe_instruction(),
-			return None;
+			MoveState::Water=>None,//TODO
 		}
 	}
 	fn mesh(&self) -> TreyMesh {
@@ -1044,7 +1275,7 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 		//JUST POLLING!!! NO MUTATION
 		let mut collector = crate::instruction::InstructionCollector::new(time_limit);
 		//check for collision stop instructions with curent contacts
-		for (_,collision_data) in &self.contacts {
+		for (_,collision_data) in &self.touching.contacts {
 			collector.collect(self.predict_collision_end(self.time,time_limit,collision_data));
 		}
 		// for collision_data in &self.intersects{
@@ -1056,17 +1287,11 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
 		aabb.grow(self.body.extrapolated_position(time_limit));
 		aabb.inflate(self.style.hitbox_halfsize);
 		self.bvh.the_tester(&aabb,&mut |id|{
-			if !(self.contacts.contains_key(&id)||self.intersects.contains_key(&id)){
+			if !(self.touching.contacts.contains_key(&id)||self.touching.intersects.contains_key(&id)){
 				collector.collect(self.predict_collision_start(self.time,time_limit,id));
 			}
 		});
-		if self.grounded {
+		collector.collect(self.next_move_instruction());
-			//walk maintenance
-			collector.collect(self.next_walk_instruction());
-		}else{
-			//check to see when the next strafe tick is
-			collector.collect(self.next_strafe_instruction());
-		}
 		collector.instruction()
 	}
 }
@@ -1094,24 +1319,42 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 				let model=c.model(&self.models).unwrap();
 				match &model.attributes{
 					PhysicsCollisionAttributes::Contact{contacting,general}=>{
-						match &contacting.surf{
+						let mut v=self.body.velocity;
-							Some(surf)=>println!("I'm surfing!"),
+						match &contacting.contact_behaviour{
+							Some(crate::model::ContactingBehaviour::Surf)=>println!("I'm surfing!"),
+							&Some(crate::model::ContactingBehaviour::Elastic(elasticity))=>{
+								let n=c.normal(&self.models);
+								let d=n.dot(v)*Planar64::raw(-1-elasticity as i64);
+								v-=n*(d/n.dot(n));
+							},
+							Some(crate::model::ContactingBehaviour::Ladder(contacting_ladder))=>{
+								if contacting_ladder.sticky{
+									//kill v
+									v=Planar64Vec3::ZERO;//model.velocity
+								}
+								//ladder walkstate
+								let (walk_state,a)=WalkState::ladder(&self.touching,&self.body,&self.style,&self.models,self.style.get_ladder_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time),&c.normal(&self.models));
+								self.move_state=MoveState::Ladder(walk_state);
+								self.body.acceleration=a;
+							}
 							None=>match &c.face {
 								TreyMeshFace::Top => {
 									//ground
-									self.grounded=true;
+									let (walk_state,a)=WalkState::ground(&self.touching,&self.body,&self.style,&self.models,self.style.get_walk_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time));
+									self.move_state=MoveState::Walk(walk_state);
+									self.body.acceleration=a;
 								},
 								_ => (),
 							},
 						}
 						//check ground
-						self.contacts.insert(c.model,c);
+						self.touching.insert_contact(c.model,c);
 		match &general.teleport_behaviour{
 			Some(crate::model::TeleportBehaviour::StageElement(stage_element))=>{
 				if stage_element.force||self.game.stage_id<stage_element.stage_id{
 					self.game.stage_id=stage_element.stage_id;
 				}
-				match stage_element.behaviour{
+				match &stage_element.behaviour{
 					crate::model::StageElementBehaviour::SpawnAt=>(),
 					crate::model::StageElementBehaviour::Trigger
 					|crate::model::StageElementBehaviour::Teleport=>{
@@ -1121,16 +1364,15 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 								if let Some(model)=self.models.get(spawn as usize){
 									self.body.position=model.transform.transform_point3(Planar64Vec3::Y)+Planar64Vec3::Y*(self.style.hitbox_halfsize.y()+Planar64::ONE/16);
 									//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
-									self.contacts.clear();
+									self.touching.clear();
-									self.intersects.clear();
 									self.body.acceleration=self.style.gravity;
-									self.walk.state=WalkEnum::Reached;
+									self.move_state=MoveState::Air;//TODO: calculate contacts and determine the actual state
-									self.grounded=false;
 								}else{println!("bad1");}
 							}else{println!("bad2");}
 						}else{println!("bad3");}
 					},
 					crate::model::StageElementBehaviour::Platform=>(),
+					crate::model::StageElementBehaviour::JumpLimit(_)=>(),//TODO
 				}
 			},
 			Some(crate::model::TeleportBehaviour::Wormhole(wormhole))=>{
@@ -1139,30 +1381,59 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 			None=>(),
 		}
 						//flatten v
-						let mut v=self.body.velocity;
+						self.touching.constrain_velocity(&self.models,&mut v);
-						self.contact_constrain_velocity(&mut v);
 						match &general.booster{
 							Some(booster)=>{
-								v+=booster.velocity;
+								match booster{
-								self.contact_constrain_velocity(&mut v);
+									&crate::model::GameMechanicBooster::Affine(transform)=>v=transform.transform_point3(v),
+									&crate::model::GameMechanicBooster::Velocity(velocity)=>v+=velocity,
+									&crate::model::GameMechanicBooster::Energy{direction,energy}=>todo!(),
+								}
+								self.touching.constrain_velocity(&self.models,&mut v);
+							},
+							None=>(),
+						}
+						match &general.trajectory{
+							Some(trajectory)=>{
+								println!("??? {:?}",trajectory);
+								match trajectory{
+									&crate::model::GameMechanicSetTrajectory::Height(height)=>{
+										//vg=sqrt(-2*gg*height)
+										println!("height booster h={}",height);
+										let vg=v.dot(self.style.gravity);
+										let gg=self.style.gravity.dot(self.style.gravity);
+										let hb=(gg.sqrt()*height*2).sqrt()*gg.sqrt();
+										println!("hb={} vg={}",hb,vg);
+										let b=self.style.gravity*((-hb-vg)/gg);
+										println!("bopo {}",b);
+										v+=b;
+									},
+									&crate::model::GameMechanicSetTrajectory::Velocity(velocity)=>v=velocity,
+									crate::model::GameMechanicSetTrajectory::AirTime(_)
+									|crate::model::GameMechanicSetTrajectory::TargetPointTime{target_point:_,time:_}
+									|crate::model::GameMechanicSetTrajectory::TrajectoryTargetPoint{target_point:_,speed:_,trajectory_choice:_}
+									|crate::model::GameMechanicSetTrajectory::DotVelocity{direction:_,dot:_}
+									=>(),
+								}
+								self.touching.constrain_velocity(&self.models,&mut v);
 							},
 							None=>(),
 						}
 						self.body.velocity=v;
-						if self.grounded&&self.style.get_control(StyleModifiers::CONTROL_JUMP,self.controls){
+						if self.style.get_control(StyleModifiers::CONTROL_JUMP,self.controls){
 							self.jump();
 						}
 						self.refresh_walk_target();
 					},
 					PhysicsCollisionAttributes::Intersect{intersecting,general}=>{
 						//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
-						self.intersects.insert(c.model,c);
+						self.touching.insert_intersect(c.model,c);
 		match &general.teleport_behaviour{
 			Some(crate::model::TeleportBehaviour::StageElement(stage_element))=>{
 				if stage_element.force||self.game.stage_id<stage_element.stage_id{
 					self.game.stage_id=stage_element.stage_id;
 				}
-				match stage_element.behaviour{
+				match &stage_element.behaviour{
 					crate::model::StageElementBehaviour::SpawnAt=>(),
 					crate::model::StageElementBehaviour::Trigger
 					|crate::model::StageElementBehaviour::Teleport=>{
@@ -1172,16 +1443,15 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 								if let Some(model)=self.models.get(spawn as usize){
 									self.body.position=model.transform.transform_point3(Planar64Vec3::Y)+Planar64Vec3::Y*(self.style.hitbox_halfsize.y()+Planar64::ONE/16);
 									//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
-									self.contacts.clear();
+									self.touching.clear();
-									self.intersects.clear();
 									self.body.acceleration=self.style.gravity;
-									self.walk.state=WalkEnum::Reached;
+									self.move_state=MoveState::Air;//TODO: calculate contacts and determine the actual state
-									self.grounded=false;
 								}else{println!("bad1");}
 							}else{println!("bad2");}
 						}else{println!("bad3");}
 					},
 					crate::model::StageElementBehaviour::Platform=>(),
+					crate::model::StageElementBehaviour::JumpLimit(_)=>(),//TODO
 				}
 			},
 			Some(crate::model::TeleportBehaviour::Wormhole(wormhole))=>{
@@ -1196,21 +1466,22 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 				let model=c.model(&self.models).unwrap();
 				match &model.attributes{
 					PhysicsCollisionAttributes::Contact{contacting,general}=>{
-						self.contacts.remove(&c.model);//remove contact before calling contact_constrain_acceleration
+						self.touching.remove_contact(c.model);//remove contact before calling contact_constrain_acceleration
 						let mut a=self.style.gravity;
-						self.contact_constrain_acceleration(&mut a);
+						self.touching.constrain_acceleration(&self.models,&mut a);
 						self.body.acceleration=a;
 						//check ground
+						//self.touching.get_move_state();
 						match &c.face {
 							TreyMeshFace::Top => {
-								self.grounded=false;
+								//TODO: make this more advanced checking contacts
+								self.move_state=MoveState::Air;
 							},
-							_ => (),
+							_=>self.refresh_walk_target(),
 						}
-						self.refresh_walk_target();
 					},
 					PhysicsCollisionAttributes::Intersect{intersecting,general}=>{
-						self.intersects.remove(&c.model);
+						self.touching.remove_intersect(c.model);
 					},
 				}
 			},
@@ -1220,23 +1491,32 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 				let d=self.body.velocity.dot(control_dir);
 				if d<self.style.mv {
 					let mut v=self.body.velocity+control_dir*(self.style.mv-d);
-					self.contact_constrain_velocity(&mut v);
+					self.touching.constrain_velocity(&self.models,&mut v);
 					self.body.velocity=v;
 				}
 			}
 			PhysicsInstruction::ReachWalkTargetVelocity => {
+				match &mut self.move_state{
+					MoveState::Air|MoveState::Water=>(),
+					MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>{
+						match &mut walk_state.state{
+							WalkEnum::Reached=>(),
+							WalkEnum::Transient(walk_target)=>{
 								//precisely set velocity
-				let mut a=Planar64Vec3::ZERO;
+								let mut a=self.style.gravity;
-				self.contact_constrain_acceleration(&mut a);
+								self.touching.constrain_acceleration(&self.models,&mut a);
 								self.body.acceleration=a;
-				let mut v=self.walk.target_velocity;
+								let mut v=walk_target.velocity;
-				self.contact_constrain_velocity(&mut v);
+								self.touching.constrain_velocity(&self.models,&mut v);
 								self.body.velocity=v;
-				self.walk.state=WalkEnum::Reached;
+								walk_state.state=WalkEnum::Reached;
+							},
+						}
+					}
+				}
 			},
 			PhysicsInstruction::Input(input_instruction) => {
 				let mut refresh_walk_target=true;
-				let mut refresh_walk_target_velocity=true;
 				match input_instruction{
 					PhysicsInputInstruction::SetNextMouse(m) => {
 						self.camera.move_mouse(self.next_mouse.pos);
@@ -1254,10 +1534,8 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 					PhysicsInputInstruction::SetMoveDown(s) => self.set_control(StyleModifiers::CONTROL_MOVEDOWN,s),
 					PhysicsInputInstruction::SetJump(s) => {
 						self.set_control(StyleModifiers::CONTROL_JUMP,s);
-						if self.grounded{
 						self.jump();
-						}
+						refresh_walk_target=false;
-						refresh_walk_target_velocity=false;
 					},
 					PhysicsInputInstruction::SetZoom(s) => {
 						self.set_control(StyleModifiers::CONTROL_ZOOM,s);
@@ -1268,21 +1546,14 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
 						self.body.position=self.spawn_point;
 						self.body.velocity=Planar64Vec3::ZERO;
 						//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
-						self.contacts.clear();
+						self.touching.clear();
 						self.body.acceleration=self.style.gravity;
-						self.walk.state=WalkEnum::Reached;
+						self.move_state=MoveState::Air;
-						self.grounded=false;
 						refresh_walk_target=false;
 					},
 					PhysicsInputInstruction::Idle => {refresh_walk_target=false;},//literally idle!
 				}
 				if refresh_walk_target{
-					//calculate walk target velocity
-					if refresh_walk_target_velocity{
-						let camera_mat=self.camera.simulate_move_rotation_y(self.camera.mouse.lerp(&self.next_mouse,self.time).x);
-						let control_dir=camera_mat*self.style.get_control_dir(self.controls);
-						self.walk.target_velocity=control_dir*self.style.walkspeed;
-					}
 					self.refresh_walk_target();
 				}
 			},