physics version

strafe-client/src/face_crawler.rs

@@ -12,6 +12,20 @@ pub enum CrawlResult<M:MeshQuery>{
 	Miss(FEV<M>),
 	Hit(M::Face,GigaTime),
 }
+impl<M:MeshQuery> CrawlResult<M>{
+	pub fn hit(self)->Option<(M::Face,GigaTime)>{
+		match self{
+			CrawlResult::Miss(_)=>None,
+			CrawlResult::Hit(face,time)=>Some((face,time)),
+		}
+	}
+	pub fn miss(self)->Option<FEV<M>>{
+		match self{
+			CrawlResult::Miss(fev)=>Some(fev),
+			CrawlResult::Hit(_,_)=>None,
+		}
+	}
+}
 
 impl<F:Copy,M:MeshQuery<Normal=Vector3<F>,Offset=Fixed<4,128>>> FEV<M>
 	where

strafe-client/src/model_physics.rs

@@ -726,19 +726,13 @@ impl MinkowskiMesh<'_>{
 			infinity_body.acceleration=vec3::ZERO;
 			//crawl in from negative infinity along a tangent line to get the closest fev
 			// TODO: change crawl_fev args to delta time? Optional values?
-			match infinity_fev.crawl(self,&infinity_body,Time::MIN/4,start_time){
-				crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
-				crate::face_crawler::CrawlResult::Hit(_,_)=>None,
-			}
+			infinity_fev.crawl(self,&infinity_body,Time::MIN/4,start_time).miss()
 		})
 	}
 	pub fn predict_collision_in(&self,relative_body:&Body,start_time:Time,time_limit:Time)->Option<(MinkowskiFace,GigaTime)>{
 		self.closest_fev_not_inside(relative_body.clone(),start_time).map_or(None,|fev|{
 			//continue forwards along the body parabola
-			match fev.crawl(self,relative_body,start_time,time_limit){
-				crate::face_crawler::CrawlResult::Miss(_)=>None,
-				crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
-			}
+			fev.crawl(self,relative_body,start_time,time_limit).hit()
 		})
 	}
 	pub fn predict_collision_out(&self,relative_body:&Body,start_time:Time,time_limit:Time)->Option<(MinkowskiFace,GigaTime)>{
@@ -746,10 +740,9 @@ impl MinkowskiMesh<'_>{
 		let infinity_body=-relative_body.clone();
 		self.closest_fev_not_inside(infinity_body,-time_limit).map_or(None,|fev|{
 			//continue backwards along the body parabola
-			match fev.crawl(self,&infinity_body,-time_limit,-start_time){
-				crate::face_crawler::CrawlResult::Miss(_)=>None,
-				crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,-time)),//no need to test -time<time_limit because of the first step
-			}
+			fev.crawl(self,&infinity_body,-time_limit,-start_time).hit()
+				//no need to test -time<time_limit because of the first step
+				.map(|(face,time)|(face,-time))
 		})
 	}
 	pub fn predict_collision_face_out(&self,relative_body:&Body,start_time:Time,time_limit:Time,contact_face_id:MinkowskiFace)->Option<(MinkowskiEdge,GigaTime)>{
@@ -785,10 +778,7 @@ impl MinkowskiMesh<'_>{
 	}
 	fn infinity_in(&self,infinity_body:Body)->Option<(MinkowskiFace,GigaTime)>{
 		let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
-		match infinity_fev.crawl(self,&infinity_body,Time::MIN/4,infinity_body.time){
-			crate::face_crawler::CrawlResult::Miss(_)=>None,
-			crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
-		}
+		infinity_fev.crawl(self,&infinity_body,Time::MIN/4,infinity_body.time).hit()
 	}
 	pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
 		let infinity_body=Body::new(point,vec3::Y,vec3::ZERO,Time::ZERO);
@@ -994,7 +984,7 @@ fn is_empty_volume(normals:Vec<Vector3<Fixed<3,96>>>)->bool{
 			for k in 0..len{
 				if k!=i&&k!=j{
 					let d=n.dot(normals[k]).is_negative();
-					if let Some(comp)=&d_comp{
+					if let &Some(comp)=&d_comp{
 						// This is testing if d_comp*d < 0
 						if comp^d{
 							return true;

strafe-client/src/physics.rs

@@ -28,9 +28,9 @@ use gameplay::ModeState;
 // or the only bots which fail are ones exploiting a surgically patched bug.
 #[derive(Clone,Copy,Hash,Debug,id::Id,Eq,PartialEq,Ord,PartialOrd)]
 pub struct PhysicsVersion(u32);
-pub const VERSION:PhysicsVersion=PhysicsVersion(0);
+pub const VERSION:PhysicsVersion=PhysicsVersion(1);
 const LATEST_COMPATIBLE_VERSION:[u32;1+VERSION.0 as usize]=const{
-	let compat=[0];
+	let compat=[0,1];
 
 	let mut input_version=0;
 	while input_version<compat.len(){
@@ -200,17 +200,17 @@ fn ground_things(walk_settings:&gameplay_style::WalkSettings,contact:&ContactCol
 	let normal=contact_normal(models,hitbox_mesh,contact);
 	let gravity=touching.base_acceleration(models,style,camera,input_state);
 	let control_dir=style.get_y_control_dir(camera,input_state.controls);
-	let mut target_velocity=walk_settings.get_walk_target_velocity(control_dir,normal);
-	touching.constrain_velocity(models,hitbox_mesh,&mut target_velocity);
-	(gravity,target_velocity)
+	let target_velocity=walk_settings.get_walk_target_velocity(control_dir,normal);
+	let target_velocity_clipped=touching.constrain_velocity(models,hitbox_mesh,target_velocity);
+	(gravity,target_velocity_clipped)
 }
 fn ladder_things(ladder_settings:&gameplay_style::LadderSettings,contact:&ContactCollision,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->(Planar64Vec3,Planar64Vec3){
 	let normal=contact_normal(models,hitbox_mesh,contact);
 	let gravity=touching.base_acceleration(models,style,camera,input_state);
 	let control_dir=style.get_y_control_dir(camera,input_state.controls);
-	let mut target_velocity=ladder_settings.get_ladder_target_velocity(control_dir,normal);
-	touching.constrain_velocity(models,hitbox_mesh,&mut target_velocity);
-	(gravity,target_velocity)
+	let target_velocity=ladder_settings.get_ladder_target_velocity(control_dir,normal);
+	let target_velocity_clipped=touching.constrain_velocity(models,hitbox_mesh,target_velocity);
+	(gravity,target_velocity_clipped)
 }
 
 #[derive(Default)]
@@ -807,8 +807,8 @@ impl TouchingState{
 		//TODO: add water
 		a
 	}
-	fn constrain_velocity(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,velocity:&mut Planar64Vec3){
-		let contacts=self.contacts.iter().map(|contact|{
+	fn constrain_velocity(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,velocity:Planar64Vec3)->Planar64Vec3{
+		let contacts:Vec<_>=self.contacts.iter().map(|contact|{
 			let n=contact_normal(models,hitbox_mesh,contact);
 			crate::push_solve::Contact{
 				position:vec3::ZERO,
@@ -816,10 +816,10 @@ impl TouchingState{
 				normal:n,
 			}
 		}).collect();
-		*velocity=crate::push_solve::push_solve(&contacts,*velocity);
+		crate::push_solve::push_solve(&contacts,velocity)
 	}
-	fn constrain_acceleration(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,acceleration:&mut Planar64Vec3){
-		let contacts=self.contacts.iter().map(|contact|{
+	fn constrain_acceleration(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,acceleration:Planar64Vec3)->Planar64Vec3{
+		let contacts:Vec<_>=self.contacts.iter().map(|contact|{
 			let n=contact_normal(models,hitbox_mesh,contact);
 			crate::push_solve::Contact{
 				position:vec3::ZERO,
@@ -827,7 +827,7 @@ impl TouchingState{
 				normal:n,
 			}
 		}).collect();
-		*acceleration=crate::push_solve::push_solve(&contacts,*acceleration);
+		crate::push_solve::push_solve(&contacts,acceleration)
 	}
 	fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<InternalInstruction,TimeInner>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&Body,start_time:Time){
 		// let relative_body=crate::body::VirtualBody::relative(&Body::ZERO,body).body(time);
@@ -1294,7 +1294,7 @@ fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsM
 	let mut culled=false;
 	touching.contacts.retain(|contact|{
 		let n=contact_normal(models,hitbox_mesh,contact);
-		let r=n.dot(v).is_positive();
+		let r=(n.dot(v)>>52).is_positive();
 		if r{
 			culled=true;
 		}
@@ -1303,9 +1303,8 @@ fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsM
 	set_velocity(body,touching,models,hitbox_mesh,v);
 	culled
 }
-fn set_velocity(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,mut v:Planar64Vec3){
-	touching.constrain_velocity(models,hitbox_mesh,&mut v);
-	body.velocity=v;
+fn set_velocity(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,v:Planar64Vec3){
+	body.velocity=touching.constrain_velocity(models,hitbox_mesh,v);;
 }
 fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,a:Planar64Vec3)->bool{
 	//This is not correct but is better than what I have
@@ -1321,9 +1320,8 @@ fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&Phys
 	set_acceleration(body,touching,models,hitbox_mesh,a);
 	culled
 }
-fn set_acceleration(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,mut a:Planar64Vec3){
-	touching.constrain_acceleration(models,hitbox_mesh,&mut a);
-	body.acceleration=a;
+fn set_acceleration(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,a:Planar64Vec3){
+	body.acceleration=touching.constrain_acceleration(models,hitbox_mesh,a);
 }
 
 fn teleport(
@@ -1562,6 +1560,21 @@ fn collision_start_contact(
 			}
 		},
 	}
+	match &attr.general.trajectory{
+		Some(trajectory)=>{
+			match trajectory{
+				gameplay_attributes::SetTrajectory::AirTime(_)=>todo!(),
+				gameplay_attributes::SetTrajectory::Height(_)=>todo!(),
+				gameplay_attributes::SetTrajectory::TargetPointTime{..}=>todo!(),
+				gameplay_attributes::SetTrajectory::TargetPointSpeed{..}=>todo!(),
+				&gameplay_attributes::SetTrajectory::Velocity(velocity)=>{
+					move_state.cull_velocity(velocity,body,touching,models,hitbox_mesh,style,camera,input_state);
+				},
+				gameplay_attributes::SetTrajectory::DotVelocity{..}=>todo!(),
+			}
+		},
+		None=>(),
+	}
 	//I love making functions with 10 arguments to dodge the borrow checker
 	if allow_run_teleport_behaviour{
 		run_teleport_behaviour(model_id,attr.general.wormhole.as_ref(),mode,move_state,body,touching,run,mode_state,models,hitbox_mesh,bvh,style,camera,input_state,time);
@@ -1589,21 +1602,6 @@ fn collision_start_contact(
 			}
 		}
 	}
-	match &attr.general.trajectory{
-		Some(trajectory)=>{
-			match trajectory{
-				gameplay_attributes::SetTrajectory::AirTime(_)=>todo!(),
-				gameplay_attributes::SetTrajectory::Height(_)=>todo!(),
-				gameplay_attributes::SetTrajectory::TargetPointTime { target_point: _, time: _ }=>todo!(),
-				gameplay_attributes::SetTrajectory::TargetPointSpeed { target_point: _, speed: _, trajectory_choice: _ }=>todo!(),
-				&gameplay_attributes::SetTrajectory::Velocity(velocity)=>{
-					move_state.cull_velocity(velocity,body,touching,models,hitbox_mesh,style,camera,input_state);
-				},
-				gameplay_attributes::SetTrajectory::DotVelocity { direction: _, dot: _ }=>todo!(),
-			}
-		},
-		None=>(),
-	}
 	//doing enum to set the acceleration when surfing
 	//doing input_and_body to refresh the walk state if you hit a wall while accelerating
 	move_state.apply_enum_and_input_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
@@ -1845,7 +1843,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 					let jump_dir=walk_state.jump_direction.direction(&data.models,&data.hitbox_mesh,&walk_state.contact);
 					let booster_option=data.models.contact_attr(walk_state.contact.model_id).general.booster.as_ref();
 					let jumped_velocity=jump_settings.jumped_velocity(&state.style,jump_dir,state.body.velocity,booster_option);
-					state.cull_velocity(&data,jumped_velocity);
+					state.cull_velocity(data,jumped_velocity);
 				}
 			}
 			b_refresh_walk_target=false;
@@ -2267,7 +2265,7 @@ mod test{
 			// spawn threads
 			println!("spawning up to {thread_limit} threads...");
 			let mut active_thread_count=0;
-			for _ in 0..thread_limit{
+			while active_thread_count<thread_limit{
 				if let Some(dir_entry_result)=read_dir.next(){
 					if let Some(file_path)=get_file_path(dir_entry_result?)?{
 						active_thread_count+=1;

strafe-client/src/push_solve.rs

@@ -289,7 +289,7 @@ fn get_best_push_ray_and_conts<'a>(
 	}
 }
 
-fn get_first_touch<'a>(contacts:&'a Vec<Contact>,ray:&Ray,conts:&Conts)->Option<(Ratio<Fixed<2,64>,Fixed<2,64>>,&'a Contact)>{
+fn get_first_touch<'a>(contacts:&'a [Contact],ray:&Ray,conts:&Conts)->Option<(Ratio<Fixed<2,64>,Fixed<2,64>>,&'a Contact)>{
 	contacts.iter()
 		.filter(|&contact|
 			!conts.iter().any(|&c|std::ptr::eq(c,contact))
@@ -299,7 +299,7 @@ fn get_first_touch<'a>(contacts:&'a Vec<Contact>,ray:&Ray,conts:&Conts)->Option<
 		.min_by_key(|&(t,_)|t)
 }
 
-pub fn push_solve(contacts:&Vec<Contact>,point:Planar64Vec3)->Planar64Vec3{
+pub fn push_solve(contacts:&[Contact],point:Planar64Vec3)->Planar64Vec3{
 	let (mut ray,mut conts)=get_best_push_ray_and_conts_0(point);
 	loop{
 		let (next_t,next_cont)=match get_first_touch(contacts,&ray,&conts){