print advance_time

.gitignore

@@ -1,2 +1 @@
 /target
-.zed

Cargo.lock

@@ -1677,10 +1677,8 @@ dependencies = [
 name = "integration-testing"
 version = "0.1.0"
 dependencies = [
- "glam",
  "strafesnet_common",
  "strafesnet_physics",
- "strafesnet_rbx_loader",
  "strafesnet_snf",
 ]
 

engine/physics/src/body.rs

@@ -61,6 +61,7 @@ impl<T> Body<T>
 		self.velocity+(self.acceleration*dt).map(|elem|elem.divide().clamp_1())
 	}
 	pub fn advance_time(&mut self,time:Time<T>){
+		println!("advance_time");
 		self.position=self.extrapolated_position(time);
 		self.velocity=self.extrapolated_velocity(time);
 		self.time=time;
@@ -102,6 +103,7 @@ impl<T> Body<T>
 		self.acceleration.map(|elem|(dt*elem).divide().clamp())+self.velocity
 	}
 	pub fn advance_time_ratio_dt(&mut self,dt:crate::model::GigaTime){
+		println!("advance_time_ratio_dt");
 		self.position=self.extrapolated_position_ratio_dt(dt);
 		self.velocity=self.extrapolated_velocity_ratio_dt(dt);
 		self.time+=dt.into();

engine/physics/src/face_crawler.rs

@@ -4,6 +4,7 @@ use crate::physics::{Time,Body};
 
 use core::ops::Bound;
 
+#[derive(Debug)]
 enum Transition<M:MeshQuery>{
 	Miss,
 	Next(FEV<M>,GigaTime),
@@ -76,6 +77,8 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 		M::Face:Copy,
 		M::Edge:Copy,
 		M::Vert:Copy,
+		M:std::fmt::Debug,
+		F:std::fmt::Display,
 		F:core::ops::Mul<Fixed<1,32>,Output=Fixed<4,128>>,
 		<F as core::ops::Mul<Fixed<1,32>>>::Output:core::iter::Sum,
 		M::Offset:core::ops::Sub<<F as std::ops::Mul<Fixed<1,32>>>::Output>,
@@ -90,10 +93,15 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 				//n=face.normal d=face.dot
 				//n.a t^2+n.v t+n.p-d==0
 				let (n,d)=mesh.face_nd(face_id);
+				println!("Face n={} d={}",n,d);
 				//TODO: use higher precision d value?
 				//use the mesh transform translation instead of baking it into the d value.
 				for dt in Fixed::<4,128>::zeroes2((n.dot(body.position)-d)*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
-					if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					let low=low(&lower_bound,&dt);
+					let upp=upp(&dt,&upper_bound);
+					let into=n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative();
+					println!("dt={} low={low} upp={upp} into={into}",dt.divide());
+					if low&&upp&&into{
 						upper_bound=Bound::Included(dt);
 						best_transition=Transition::Hit(face_id,dt);
 						break;
@@ -128,10 +136,16 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 					let face_n=mesh.face_nd(edge_face_id).0;
 					//edge_n gets parity from the order of edge_faces
 					let n=face_n.cross(edge_n)*((i as i64)*2-1);
+					let d=n.dot(delta_pos).wrap_4();
+					println!("Edge Face={:?} boundary_n={} boundary_d={}",edge_face_id,n,d>>1);
 					//WARNING yada yada d *2
 					//wrap for speed
-					for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).wrap_4(),n.dot(body.velocity).wrap_4()*2,n.dot(body.acceleration).wrap_4()){
-						if low(&lower_bound,&dt)&&upp(&dt,&upper_bound)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+					for dt in Fixed::<4,128>::zeroes2(d,n.dot(body.velocity).wrap_4()*2,n.dot(body.acceleration).wrap_4()){
+						let low=low(&lower_bound,&dt);
+						let upp=upp(&dt,&upper_bound);
+						let into=n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative();
+						println!("dt={} low={low} upp={upp} into={into}",dt.divide());
+						if low&&upp&&into{
 							upper_bound=Bound::Included(dt);
 							best_transition=Transition::Next(FEV::Face(edge_face_id),dt);
 							break;
@@ -175,8 +189,11 @@ impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 	pub fn crawl(mut self,mesh:&M,relative_body:&Body,lower_bound:Bound<&Time>,upper_bound:Bound<&Time>)->CrawlResult<M>{
 		let mut lower_bound=lower_bound.map(|&t|into_giga_time(t,relative_body.time));
 		let upper_bound=upper_bound.map(|&t|into_giga_time(t,relative_body.time));
+		println!("crawl begin={self:?}");
 		for _ in 0..20{
-			match self.next_transition(mesh,relative_body,lower_bound,upper_bound){
+			let transition=self.next_transition(mesh,relative_body,lower_bound,upper_bound);
+			println!("transition={transition:?}");
+			match transition{
 				Transition::Miss=>return CrawlResult::Miss(self),
 				Transition::Next(next_fev,next_time)=>(self,lower_bound)=(next_fev,Bound::Included(next_time)),
 				Transition::Hit(face,time)=>return CrawlResult::Hit(face,time),

engine/physics/src/model.rs

@@ -76,9 +76,9 @@ struct Face{
 #[derive(Debug)]
 struct Vert(Planar64Vec3);
 pub trait MeshQuery{
-	type Face:Copy;
-	type Edge:Copy+DirectedEdge;
-	type Vert:Copy;
+	type Face:Copy+std::fmt::Debug;
+	type Edge:Copy+DirectedEdge+std::fmt::Debug;
+	type Vert:Copy+std::fmt::Debug;
 	// Vertex must be Planar64Vec3 because it represents an actual position
 	type Normal;
 	type Offset;
@@ -756,7 +756,9 @@ impl MinkowskiMesh<'_>{
 		})
 	}
 	pub fn predict_collision_in(&self,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
+		println!("@@@BEGIN SETUP@@@");
 		self.closest_fev_not_inside(*relative_body,range.start_bound()).and_then(|fev|{
+			println!("@@@BEGIN REAL CRAWL@@@");
 			//continue forwards along the body parabola
 			fev.crawl(self,relative_body,range.start_bound(),range.end_bound()).hit()
 		})

engine/physics/src/physics.rs

@@ -25,14 +25,10 @@ use strafesnet_common::physics::{Instruction,MouseInstruction,ModeInstruction,Mi
 //when the physics asks itself what happens next, this is how it's represented
 #[derive(Debug)]
 pub enum InternalInstruction{
-	// begin accepting touch updates
-	OpenMultiCollision(model_physics::GigaTime),
-	// mutliple touch updates
-	CollisionStart(Collision),
-	CollisionEnd(Collision),
-	// confirm there will be no more touch updates and apply the transaction
-	CloseMultiCollision,
+	CollisionStart(Collision,model_physics::GigaTime),
+	CollisionEnd(Collision,model_physics::GigaTime),
 	StrafeTick,
+	// TODO: add GigaTime to ReachWalkTargetVelocity
 	ReachWalkTargetVelocity,
 	// Water,
 }
@@ -879,9 +875,6 @@ impl PhysicsState{
 			..Self::default()
 		}
 	}
-	pub const fn body(&self)->&Body{
-		&self.body
-	}
 	pub fn camera_body(&self)->Body{
 		Body{
 			position:self.body.position+self.style.camera_offset,
@@ -957,8 +950,8 @@ pub struct PhysicsData{
 	//cached calculations
 	hitbox_mesh:HitboxMesh,
 }
-impl PhysicsData{
-	pub fn empty()->Self{
+impl Default for PhysicsData{
+	fn default()->Self{
  		Self{
 			bvh:bvh::BvhNode::empty(),
 			models:Default::default(),
@@ -966,7 +959,47 @@ impl PhysicsData{
 			hitbox_mesh:StyleModifiers::default().calculate_mesh(),
 		}
 	}
-	pub fn new(map:&map::CompleteMap)->Self{
+}
+// the collection of information required to run physics
+pub struct PhysicsContext<'a>{
+	state:&'a mut PhysicsState,//this captures the entire state of the physics.
+	data:&'a PhysicsData,//data currently loaded into memory which is needded for physics to run, but is not part of the state.
+}
+// the physics consumes both Instruction and PhysicsInternalInstruction,
+// but can only emit PhysicsInternalInstruction
+impl InstructionConsumer<InternalInstruction> for PhysicsContext<'_>{
+	type Time=Time;
+	fn process_instruction(&mut self,ins:TimedInstruction<InternalInstruction,Time>){
+		atomic_internal_instruction(&mut self.state,&self.data,ins)
+	}
+}
+impl InstructionConsumer<Instruction> for PhysicsContext<'_>{
+	type Time=Time;
+	fn process_instruction(&mut self,ins:TimedInstruction<Instruction,Time>){
+		atomic_input_instruction(&mut self.state,&self.data,ins)
+	}
+}
+impl InstructionEmitter<InternalInstruction> for PhysicsContext<'_>{
+	type Time=Time;
+	//this little next instruction function could cache its return value and invalidate the cached value by watching the State.
+	fn next_instruction(&self,time_limit:Time)->Option<TimedInstruction<InternalInstruction,Time>>{
+		next_instruction_internal(&self.state,&self.data,time_limit)
+	}
+}
+impl PhysicsContext<'_>{
+	pub fn run_input_instruction(
+		state:&mut PhysicsState,
+		data:&PhysicsData,
+		instruction:TimedInstruction<Instruction,Time>
+	){
+		let mut context=PhysicsContext{state,data};
+		context.process_exhaustive(instruction.time);
+		context.process_instruction(instruction);
+	}
+}
+impl PhysicsData{
+	/// use with caution, this is the only non-instruction way to mess with physics
+	pub fn generate_models(&mut self,map:&map::CompleteMap){
 		let modes=map.modes.clone().denormalize();
 		let mut used_contact_attributes=Vec::new();
 		let mut used_intersect_attributes=Vec::new();
@@ -1093,59 +1126,21 @@ impl PhysicsData{
 					(IntersectAttributesId::new(attr_id as u32),attr)
 				).collect(),
 		};
+		self.bvh=bvh;
+		self.models=models;
+		self.modes=modes;
+		//hitbox_mesh is unchanged
 		println!("Physics Objects: {}",model_count);
-		Self{
-			hitbox_mesh:StyleModifiers::default().calculate_mesh(),
-			bvh,
-			models,
-			modes,
-		}
-	}
-}
-// the collection of information required to run physics
-pub struct PhysicsContext<'a>{
-	state:&'a mut PhysicsState,//this captures the entire state of the physics.
-	data:&'a PhysicsData,//data currently loaded into memory which is needded for physics to run, but is not part of the state.
-}
-// the physics consumes both Instruction and PhysicsInternalInstruction,
-// but can only emit PhysicsInternalInstruction
-impl InstructionConsumer<InternalInstruction> for PhysicsContext<'_>{
-	type Time=Time;
-	fn process_instruction(&mut self,ins:TimedInstruction<InternalInstruction,Time>){
-		atomic_internal_instruction(&mut self.state,&self.data,ins)
-	}
-}
-impl InstructionConsumer<Instruction> for PhysicsContext<'_>{
-	type Time=Time;
-	fn process_instruction(&mut self,ins:TimedInstruction<Instruction,Time>){
-		atomic_input_instruction(&mut self.state,&self.data,ins)
-	}
-}
-impl InstructionEmitter<InternalInstruction> for PhysicsContext<'_>{
-	type Time=Time;
-	//this little next instruction function could cache its return value and invalidate the cached value by watching the State.
-	fn next_instruction(&self,time_limit:Time)->Option<TimedInstruction<InternalInstruction,Time>>{
-		next_instruction_internal(&self.state,&self.data,time_limit)
-	}
-}
-impl PhysicsContext<'_>{
-	pub fn run_input_instruction(
-		state:&mut PhysicsState,
-		data:&PhysicsData,
-		instruction:TimedInstruction<Instruction,Time>
-	){
-		let mut context=PhysicsContext{state,data};
-		context.process_exhaustive(instruction.time);
-		context.process_instruction(instruction);
 	}
 }
 
 	//this is the one who asks
 	fn next_instruction_internal(state:&PhysicsState,data:&PhysicsData,time_limit:Time)->Option<TimedInstruction<InternalInstruction,Time>>{
+		println!("==== next_instruction_internal ====");
 		//JUST POLLING!!! NO MUTATION
 		let mut collector=instruction::InstructionCollector::new(time_limit);
 
-		collector.collect(state.next_move_instruction());
+		// collector.collect(state.next_move_instruction());
 
 		//check for collision ends
 		state.touching.predict_collision_end(&mut collector,&data.models,&data.hitbox_mesh,&state.body,state.time);
@@ -1157,6 +1152,7 @@ impl PhysicsContext<'_>{
 		//let relative_body=state.body.relative_to(&Body::ZERO);
 		let relative_body=&state.body;
 		data.bvh.sample_aabb(&aabb,&mut |&convex_mesh_id|{
+			println!("Sampling object id={:?}",convex_mesh_id.model_id);
 			//no checks are needed because of the time limits.
 			let model_mesh=data.models.mesh(convex_mesh_id);
 			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,data.hitbox_mesh.transformed_mesh());
@@ -1272,6 +1268,7 @@ fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsM
 		let n=contact_normal(models,hitbox_mesh,contact);
 		let r=n.dot(v).is_positive();
 		if r{
+			println!("culled {:?}",contact.model_id);
 			culled=true;
 		}
 		!r
@@ -1640,6 +1637,7 @@ fn collision_end_contact(
 	_attr:&gameplay_attributes::ContactAttributes,
 	contact:ContactCollision,
 ){
+	println!("collision_end {:?}",contact.model_id);
 	touching.remove(&Collision::Contact(contact));//remove contact before calling contact_constrain_acceleration
 	//check ground
 	//TODO do better
@@ -1687,18 +1685,16 @@ fn collision_end_intersect(
 	}
 }
 fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedInstruction<InternalInstruction,Time>){
+	println!("\n==== atomic_internal_instruction ====");
 	state.time=ins.time;
-	let (should_advance_body,goober_time)=match ins.instruction{
+	match ins.instruction{
+		// collisions advance the body precisely
 		InternalInstruction::CollisionStart(_,dt)
-		|InternalInstruction::CollisionEnd(_,dt)=>(true,Some(dt)),
-		InternalInstruction::StrafeTick
-		|InternalInstruction::ReachWalkTargetVelocity=>(true,None),
-	};
-	if should_advance_body{
-		match goober_time{
-			Some(dt)=>state.body.advance_time_ratio_dt(dt),
-			None=>state.body.advance_time(state.time),
-		}
+		|InternalInstruction::CollisionEnd(_,dt)=>state.body.advance_time_ratio_dt(dt),
+		// this advances imprecisely
+		InternalInstruction::ReachWalkTargetVelocity=>state.body.advance_time(state.time),
+		// strafe tick decides for itself whether to advance the body.
+		InternalInstruction::StrafeTick=>(),
 	}
 		match ins.instruction{
 			InternalInstruction::CollisionStart(collision,_)=>{
@@ -1745,6 +1741,8 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 						let masked_controls=strafe_settings.mask(controls);
 						let control_dir=state.style.get_control_dir(masked_controls);
 						if control_dir!=vec3::ZERO{
+							// manually advance time
+							state.body.advance_time(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()){
 								//this is wrong but will work ig
@@ -2131,115 +2129,4 @@ mod test{
 			Time::ZERO
 		),None);
 	}
-	// overlap edges by 1 epsilon
-	#[test]
-	fn almost_miss_north(){
-		test_collision_axis_aligned(Body::new(
-			(int3(0,10,-7)>>1)+vec3::raw_xyz(0,0,1),
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),Some(Time::from_secs(2)))
-	}
-	#[test]
-	fn almost_miss_east(){
-		test_collision_axis_aligned(Body::new(
-			(int3(7,10,0)>>1)+vec3::raw_xyz(-1,0,0),
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),Some(Time::from_secs(2)))
-	}
-	#[test]
-	fn almost_miss_south(){
-		test_collision_axis_aligned(Body::new(
-			(int3(0,10,7)>>1)+vec3::raw_xyz(0,0,-1),
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),Some(Time::from_secs(2)))
-	}
-	#[test]
-	fn almost_miss_west(){
-		test_collision_axis_aligned(Body::new(
-			(int3(-7,10,0)>>1)+vec3::raw_xyz(1,0,0),
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),Some(Time::from_secs(2)))
-	}
-	// exactly miss edges
-	#[test]
-	fn exact_miss_north(){
-		test_collision_axis_aligned(Body::new(
-			int3(0,10,-7)>>1,
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),None)
-	}
-	#[test]
-	fn exact_miss_east(){
-		test_collision_axis_aligned(Body::new(
-			int3(7,10,0)>>1,
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),None)
-	}
-	#[test]
-	fn exact_miss_south(){
-		test_collision_axis_aligned(Body::new(
-			int3(0,10,7)>>1,
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),None)
-	}
-	#[test]
-	fn exact_miss_west(){
-		test_collision_axis_aligned(Body::new(
-			int3(-7,10,0)>>1,
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),None)
-	}
-	// miss edges by 1 epsilon
-	#[test]
-	fn narrow_miss_north(){
-		test_collision_axis_aligned(Body::new(
-			(int3(0,10,-7)>>1)-vec3::raw_xyz(0,0,1),
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),None)
-	}
-	#[test]
-	fn narrow_miss_east(){
-		test_collision_axis_aligned(Body::new(
-			(int3(7,10,0)>>1)-vec3::raw_xyz(-1,0,0),
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),None)
-	}
-	#[test]
-	fn narrow_miss_south(){
-		test_collision_axis_aligned(Body::new(
-			(int3(0,10,7)>>1)-vec3::raw_xyz(0,0,-1),
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),None)
-	}
-	#[test]
-	fn narrow_miss_west(){
-		test_collision_axis_aligned(Body::new(
-			(int3(-7,10,0)>>1)-vec3::raw_xyz(1,0,0),
-			int3(0,-1,0),
-			vec3::ZERO,
-			Time::ZERO
-		),None)
-	}
 }

engine/session/src/session.rs

@@ -172,7 +172,7 @@ impl Session{
 			user_settings,
 			directories,
 			mouse_interpolator:MouseInterpolator::new(),
-			geometry_shared:PhysicsData::empty(),
+			geometry_shared:Default::default(),
 			simulation,
 			view_state:ViewState::Play,
 			recording:Default::default(),
@@ -184,7 +184,7 @@ impl Session{
 	}
 	fn change_map(&mut self,map:&strafesnet_common::map::CompleteMap){
 		self.simulation.physics.clear();
-		self.geometry_shared=PhysicsData::new(map);
+		self.geometry_shared.generate_models(map);
 	}
 	pub fn get_frame_state(&self,time:SessionTime)->Option<FrameState>{
 		match &self.view_state{

integration-testing/Cargo.toml

@@ -4,9 +4,6 @@ version = "0.1.0"
 edition = "2024"
 
 [dependencies]
-glam = "0.30.0"
 strafesnet_common = { path = "../lib/common", registry = "strafesnet" }
 strafesnet_physics = { path = "../engine/physics", registry = "strafesnet" }
 strafesnet_snf = { path = "../lib/snf", registry = "strafesnet" }
-# this is just for the primitive constructor
-strafesnet_rbx_loader = { path = "../lib/rbx_loader", registry = "strafesnet" }

integration-testing/src/main.rs

@@ -3,8 +3,6 @@ mod util;
 
 #[cfg(test)]
 mod tests;
-#[cfg(test)]
-mod test_scenes;
 
 use std::time::Instant;
 
@@ -31,8 +29,9 @@ fn run_replay()->Result<(),ReplayError>{
 	let bot=strafesnet_snf::read_bot(data)?.read_all()?;
 
 	// create recording
+	let mut physics_data=PhysicsData::default();
 	println!("generating models..");
-	let physics_data=PhysicsData::new(&map);
+	physics_data.generate_models(&map);
 	println!("simulating...");
 	let mut physics=PhysicsState::default();
 	for ins in bot.instructions{
@@ -140,8 +139,9 @@ fn test_determinism()->Result<(),ReplayError>{
 	let data=read_entire_file("../tools/bhop_maps/5692113331.snfm")?;
 	let map=strafesnet_snf::read_map(data)?.into_complete_map()?;
 
+	let mut physics_data=PhysicsData::default();
 	println!("generating models..");
-	let physics_data=PhysicsData::new(&map);
+	physics_data.generate_models(&map);
 
 	let (send,recv)=std::sync::mpsc::channel();
 

integration-testing/src/test_scenes.rs

@@ -1,91 +0,0 @@
-use strafesnet_physics::physics::{PhysicsData,PhysicsState,PhysicsContext};
-use strafesnet_common::gameplay_modes::NormalizedModes;
-use strafesnet_common::gameplay_attributes::{CollisionAttributes,CollisionAttributesId};
-use strafesnet_common::integer::{vec3,mat3,Planar64Affine3,Time};
-use strafesnet_common::model::{Mesh,Model,MeshId,ModelId,RenderConfigId};
-use strafesnet_common::map::CompleteMap;
-use strafesnet_common::physics::Instruction;
-use strafesnet_common::instruction::TimedInstruction;
-use strafesnet_rbx_loader::primitives::{unit_cube,CubeFaceDescription};
-
-struct TestSceneBuilder{
-	meshes:Vec<Mesh>,
-	models:Vec<Model>,
-}
-impl TestSceneBuilder{
-	fn new()->Self{
-		Self{
-			meshes:Vec::new(),
-			models:Vec::new(),
-		}
-	}
-	fn push_mesh(&mut self,mesh:Mesh)->MeshId{
-		let mesh_id=self.meshes.len();
-		self.meshes.push(mesh);
-		MeshId::new(mesh_id as u32)
-	}
-	fn push_mesh_instance(&mut self,mesh:MeshId,transform:Planar64Affine3)->ModelId{
-		let model=Model{
-			mesh,
-			attributes:CollisionAttributesId::new(0),
-			color:glam::Vec4::ONE,
-			transform,
-		};
-		let model_id=self.models.len();
-		self.models.push(model);
-		ModelId::new(model_id as u32)
-	}
-	fn build(self)->PhysicsData{
-		let modes=NormalizedModes::new(Vec::new());
-		let attributes=vec![CollisionAttributes::contact_default()];
-		let meshes=self.meshes;
-		let models=self.models;
-		let textures=Vec::new();
-		let render_configs=Vec::new();
-		PhysicsData::new(&CompleteMap{
-			modes,
-			attributes,
-			meshes,
-			models,
-			textures,
-			render_configs,
-		})
-	}
-}
-
-fn test_scene()->PhysicsData{
-	let mut builder=TestSceneBuilder::new();
-	let cube_face_description=CubeFaceDescription::new(Default::default(),RenderConfigId::new(0));
-	let mesh=builder.push_mesh(unit_cube(cube_face_description));
-	// place two 5x5x5 cubes.
-	builder.push_mesh_instance(mesh,Planar64Affine3::new(
-		mat3::from_diagonal(vec3::int(5,5,5)>>1),
-		vec3::int(0,0,0)
-	));
-	builder.push_mesh_instance(mesh,Planar64Affine3::new(
-		mat3::from_diagonal(vec3::int(5,5,5)>>1),
-		vec3::int(5,-5,0)
-	));
-	builder.build()
-}
-
-#[test]
-fn simultaneous_collision(){
-	let physics_data=test_scene();
-	let body=strafesnet_physics::physics::Body::new(
-		vec3::int(5+1,1,0),
-		vec3::int(-1,-1,0),
-		vec3::int(0,0,0),
-		Time::ZERO,
-	);
-	let mut physics=PhysicsState::new_with_body(body);
-	PhysicsContext::run_input_instruction(&mut physics,&physics_data,TimedInstruction{
-		time:Time::from_secs(2),
-		instruction:Instruction::Idle,
-	});
-	let body=physics.body();
-	assert_eq!(body.position,vec3::int(5,0,0));
-	assert_eq!(body.velocity,vec3::int(0,0,0));
-	assert_eq!(body.acceleration,vec3::int(0,0,0));
-	assert_eq!(body.time,Time::ONE_SECOND);
-}

integration-testing/src/tests.rs

@@ -10,8 +10,9 @@ fn physics_bug_2()->Result<(),ReplayError>{
 	let map=strafesnet_snf::read_map(data)?.into_complete_map()?;
 
 	// create recording
+	let mut physics_data=PhysicsData::default();
 	println!("generating models..");
-	let physics_data=PhysicsData::new(&map);
+	physics_data.generate_models(&map);
 	println!("simulating...");
 
 	//teleport to bug
@@ -44,8 +45,9 @@ fn physics_bug_3()->Result<(),ReplayError>{
 	let map=strafesnet_snf::read_map(data)?.into_complete_map()?;
 
 	// create recording
+	let mut physics_data=PhysicsData::default();
 	println!("generating models..");
-	let physics_data=PhysicsData::new(&map);
+	physics_data.generate_models(&map);
 	println!("simulating...");
 
 	//teleport to bug

lib/common/src/aabb.rs

@@ -2,9 +2,7 @@ use crate::integer::{vec3,Planar64Vec3};
 
 #[derive(Clone)]
 pub struct Aabb{
-	// min is inclusive
 	min:Planar64Vec3,
-	// max is not inclusive
 	max:Planar64Vec3,
 }
 
@@ -45,7 +43,7 @@ impl Aabb{
 	}
 	#[inline]
 	pub fn contains(&self,point:Planar64Vec3)->bool{
-		let bvec=self.min.le(point)&point.lt(self.max);
+		let bvec=self.min.lt(point)&point.lt(self.max);
 		bvec.all()
 	}
 	#[inline]

lib/rbx_loader/src/lib.rs

@@ -12,7 +12,7 @@ mod mesh;
 mod error;
 mod union;
 pub mod loader;
-pub mod primitives;
+mod primitives;
 
 pub mod data{
 	pub struct RobloxMeshBytes(Vec<u8>);