more wip

Cargo.lock

@@ -105,9 +105,9 @@ checksum = "9d151e35f61089500b617991b791fc8bfd237ae50cd5950803758a179b41e67a"
 
 [[package]]
 name = "arrayvec"
-version = "0.7.4"
+version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "96d30a06541fbafbc7f82ed10c06164cfbd2c401138f6addd8404629c4b16711"
+checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
 
 [[package]]
 name = "as-raw-xcb-connection"
@@ -1882,6 +1882,7 @@ checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
 name = "strafe-client"
 version = "0.10.3"
 dependencies = [
+ "arrayvec",
  "bytemuck",
  "configparser",
  "ddsfile",
@@ -1912,9 +1913,9 @@ dependencies = [
 
 [[package]]
 name = "strafesnet_common"
-version = "0.4.0"
+version = "0.4.1"
 source = "sparse+https://git.itzana.me/api/packages/strafesnet/cargo/"
-checksum = "ea4126f6fbf9aecf89c9e319290f0221d177dcaa8659b4b9e3d82acc37829f12"
+checksum = "9a2621612e675a8f804abbbbe3b60caeafe58a2422cccbe453268d6f457df4f3"
 dependencies = [
  "arrayvec",
  "bitflags 2.6.0",

Cargo.toml

@@ -15,6 +15,7 @@ source = ["dep:strafesnet_deferred_loader", "dep:strafesnet_bsp_loader"]
 roblox = ["dep:strafesnet_deferred_loader", "dep:strafesnet_rbx_loader"]
 
 [dependencies]
+arrayvec = "0.7.6"
 bytemuck = { version = "1.13.1", features = ["derive"] }
 configparser = "3.0.2"
 ddsfile = "0.5.1"

src/graphics.rs

@@ -6,12 +6,6 @@ use strafesnet_common::model::{self, ColorId, NormalId, PolygonIter, PositionId,
 use wgpu::{util::DeviceExt,AstcBlock,AstcChannel};
 use crate::model_graphics::{self,IndexedGraphicsMeshOwnedRenderConfig,IndexedGraphicsMeshOwnedRenderConfigId,GraphicsMeshOwnedRenderConfig,GraphicsModelColor4,GraphicsModelOwned,GraphicsVertex};
 
-#[derive(Clone)]
-pub struct GraphicsModelUpdate{
-	transform:Option<glam::Mat4>,
-	color:Option<glam::Vec4>,
-}
-
 struct Indices{
 	count:u32,
 	buf:wgpu::Buffer,
@@ -32,7 +26,6 @@ impl Indices{
 }
 struct GraphicsModel{
 	indices:Indices,
-	model_buf:wgpu::Buffer,
 	vertex_buf:wgpu::Buffer,
 	bind_group:wgpu::BindGroup,
 	instance_count:u32,
@@ -65,12 +58,12 @@ struct GraphicsCamera{
 #[inline]
 fn perspective_rh(fov_x_slope:f32,fov_y_slope:f32,z_near:f32,z_far:f32)->glam::Mat4{
 	//glam_assert!(z_near > 0.0 && z_far > 0.0);
-	let r=z_far / (z_near-z_far);
+	let r=z_far/(z_near-z_far);
 	glam::Mat4::from_cols(
 		glam::Vec4::new(1.0/fov_x_slope,0.0,0.0,0.0),
 		glam::Vec4::new(0.0,1.0/fov_y_slope,0.0,0.0),
 		glam::Vec4::new(0.0,0.0,r,-1.0),
-		glam::Vec4::new(0.0,0.0,r * z_near,0.0),
+		glam::Vec4::new(0.0,0.0,r*z_near,0.0),
 	)
 }
 impl GraphicsCamera{
@@ -79,10 +72,10 @@ impl GraphicsCamera{
 	}
 	pub fn world(&self,pos:glam::Vec3,angles:glam::Vec2)->glam::Mat4{
 		//f32 good enough for view matrix
-		glam::Mat4::from_translation(pos) * glam::Mat4::from_euler(glam::EulerRot::YXZ,angles.x,angles.y,0f32)
+		glam::Mat4::from_translation(pos)*glam::Mat4::from_euler(glam::EulerRot::YXZ,angles.x,angles.y,0f32)
 	}
 
-	pub fn to_uniform_data(&self,(pos,angles):(glam::Vec3,glam::Vec2))->[f32; 16 * 4]{
+	pub fn to_uniform_data(&self,pos:glam::Vec3,angles:glam::Vec2)->[f32;16*4]{
 		let proj=self.proj();
 		let proj_inv=proj.inverse();
 		let view_inv=self.world(pos,angles);
@@ -105,6 +98,12 @@ impl std::default::Default for GraphicsCamera{
 	}
 }
 
+pub struct FrameState{
+	pub body:crate::physics::Body,
+	pub camera:crate::physics::PhysicsCamera,
+	pub time:integer::Time,
+}
+
 pub struct GraphicsState{
 	pipelines:GraphicsPipelines,
 	bind_groups:GraphicsBindGroups,
@@ -507,7 +506,6 @@ impl GraphicsState{
 						model_graphics::Indices::U16(indices)=>Indices::new(device,indices,wgpu::IndexFormat::Uint16),
 					},
 					bind_group,
-					model_buf,
 				});
 			}
 		}
@@ -816,7 +814,7 @@ impl GraphicsState{
 		});
 
 		let camera=GraphicsCamera::default();
-		let camera_uniforms=camera.to_uniform_data(crate::physics::PhysicsOutputState::default().extrapolate(strafesnet_common::mouse::MouseState::default()));
+		let camera_uniforms=camera.to_uniform_data(glam::Vec3::ZERO,glam::Vec2::ZERO);
 		let camera_buf=device.create_buffer_init(&wgpu::util::BufferInitDescriptor{
 			label:Some("Camera"),
 			contents:bytemuck::cast_slice(&camera_uniforms),
@@ -884,16 +882,17 @@ impl GraphicsState{
 		view:&wgpu::TextureView,
 		device:&wgpu::Device,
 		queue:&wgpu::Queue,
-		physics_output:crate::physics::PhysicsOutputState,
-		predicted_time:integer::Time,
-		mouse_pos:glam::IVec2,
+		frame_state:FrameState,
 	){
 		//TODO:use scheduled frame times to create beautiful smoothing simulation physics extrapolation assuming no input
 
 		let mut encoder=device.create_command_encoder(&wgpu::CommandEncoderDescriptor{label:None});
 
 		// update rotation
-		let camera_uniforms=self.camera.to_uniform_data(physics_output.extrapolate(strafesnet_common::mouse::MouseState{pos:mouse_pos,time:predicted_time}));
+		let camera_uniforms=self.camera.to_uniform_data(
+			frame_state.body.extrapolated_position(frame_state.time).into(),
+			frame_state.camera.simulate_move_angles(glam::IVec2::ZERO)
+		);
 		self.staging_belt
 			.write_buffer(
 				&mut encoder,

src/graphics_worker.rs

@@ -1,7 +1,5 @@
-use strafesnet_common::integer;
-
 pub enum Instruction{
-	Render(crate::physics::PhysicsOutputState,integer::Time,glam::IVec2),
+	Render(crate::graphics::FrameState),
 	//UpdateModel(crate::graphics::GraphicsModelUpdate),
 	Resize(winit::dpi::PhysicalSize<u32>,crate::settings::UserSettings),
 	ChangeMap(strafesnet_common::map::CompleteMap),
@@ -17,12 +15,12 @@ WorkerDescription{
 //up to three frames in flight, dropping new frame requests when all three are busy, and dropping output frames when one renders out of order
 
 pub fn new<'a>(
-		mut graphics:crate::graphics::GraphicsState,
-		mut config:wgpu::SurfaceConfiguration,
-		surface:wgpu::Surface<'a>,
-		device:wgpu::Device,
-		queue:wgpu::Queue,
-	)->crate::compat_worker::INWorker<'a,Instruction>{
+	mut graphics:crate::graphics::GraphicsState,
+	mut config:wgpu::SurfaceConfiguration,
+	surface:wgpu::Surface<'a>,
+	device:wgpu::Device,
+	queue:wgpu::Queue,
+)->crate::compat_worker::INWorker<'a,Instruction>{
 	let mut resize=None;
 	crate::compat_worker::INWorker::new(move |ins:Instruction|{
 		match ins{
@@ -33,18 +31,16 @@ pub fn new<'a>(
 			Instruction::Resize(size,user_settings)=>{
 				resize=Some((size,user_settings));
 			}
-			Instruction::Render(physics_output,predicted_time,mouse_pos)=>{
-				if let Some((size,user_settings))=&resize{
+			Instruction::Render(frame_state)=>{
+				if let Some((size,user_settings))=resize.take(){
 					println!("Resizing to {:?}",size);
 					let t0=std::time::Instant::now();
 					config.width=size.width.max(1);
 					config.height=size.height.max(1);
 					surface.configure(&device,&config);
-					graphics.resize(&device,&config,user_settings);
+					graphics.resize(&device,&config,&user_settings);
 					println!("Resize took {:?}",t0.elapsed());
 				}
-				//clear every time w/e
-				resize=None;
 				//this has to go deeper somehow
 				let frame=match surface.get_current_texture(){
 					Ok(frame)=>frame,
@@ -60,7 +56,7 @@ pub fn new<'a>(
 					..wgpu::TextureViewDescriptor::default()
 				});
 
-				graphics.render(&view,&device,&queue,physics_output,predicted_time,mouse_pos);
+				graphics.render(&view,&device,&queue,frame_state);
 
 				frame.present();
 			}

src/main.rs

@@ -5,6 +5,7 @@ mod worker;
 mod physics;
 mod graphics;
 mod settings;
+mod push_solve;
 mod face_crawler;
 mod compat_worker;
 mod model_physics;

src/model_physics.rs

@@ -342,9 +342,9 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
 						let v0=mesh.unique_pos[vert0_id.get() as usize];
 						let v1=mesh.unique_pos[vert1_id.get() as usize];
 						normal+=Planar64Vec3::new(
-							(v0.y()-v1.y())*(v0.z()+v1.z()),
-							(v0.z()-v1.z())*(v0.x()+v1.x()),
-							(v0.x()-v1.x())*(v0.y()+v1.y()),
+							(v0.y-v1.y)*(v0.z+v1.z),
+							(v0.z-v1.z)*(v0.x+v1.x),
+							(v0.x-v1.x)*(v0.y+v1.y),
 						);
 						//get/create edge and push face into it
 						let (edge_ref_verts,is_sorted)=EdgeRefVerts::new(submesh_vert0_id,submesh_vert1_id);
@@ -462,7 +462,7 @@ pub struct TransformedMesh<'a>{
 	transform:&'a PhysicsMeshTransform,
 }
 impl TransformedMesh<'_>{
-	pub fn new<'a>(
+	pub const fn new<'a>(
 		view:PhysicsMeshView<'a>,
 		transform:&'a PhysicsMeshTransform,
 	)->TransformedMesh<'a>{
@@ -751,6 +751,23 @@ impl MinkowskiMesh<'_>{
 		}
 		best_edge.map(|e|(e.as_undirected(),best_time))
 	}
+	fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,integer::Time)>{
+		let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
+		match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
+			crate::face_crawler::CrawlResult::Miss(_)=>None,
+			crate::face_crawler::CrawlResult::Hit(face,time)=>Some((face,time)),
+		}
+	}
+	pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
+		let infinity_body=crate::physics::Body::new(point,Planar64Vec3::Y,Planar64Vec3::ZERO,integer::Time::ZERO);
+		//movement must escape the mesh forwards and backwards in time,
+		//otherwise the point is not inside the mesh
+		self.infinity_in(infinity_body)
+    	.is_some_and(|_|
+			self.infinity_in(-infinity_body)
+    		.is_some()
+     	)
+	}
 }
 impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiMesh<'_>{
 	fn face_nd(&self,face_id:MinkowskiFace)->(Planar64Vec3,Planar64){
@@ -938,7 +955,7 @@ fn is_empty_volume(normals:Vec<Planar64Vec3>)->bool{
 				if k!=i&&k!=j{
 					let d=n.dot(normals[k]);
 					if let Some(comp)=&d_comp{
-						if *comp*d<Planar64::ZERO{
+						if comp.is_negative()&&d.is_negative()||comp.is_positive()&&d.is_positive(){
 							return true;
 						}
 					}else{

src/physics_worker.rs

@@ -180,8 +180,12 @@ impl MouseInterpolator{
 			self.empty_queue();
 		}
 	}
-	pub fn get_render_stuff(&self,time:Time)->(crate::physics::PhysicsOutputState,Time,glam::IVec2){
-		(self.physics.output(),self.timer.time(time),self.physics.get_next_mouse().pos)
+	pub fn get_frame_state(&self,time:Time)->crate::graphics::FrameState{
+		crate::graphics::FrameState{
+			body:self.physics.camera_body(),
+			camera:self.physics.camera(),
+			time:self.timer.time(time),
+		}
 	}
 	pub fn change_map(&mut self,time:Time,map:&strafesnet_common::map::CompleteMap){
 		//dump any pending interpolation state
@@ -221,8 +225,8 @@ pub fn new<'a>(
 		interpolator.handle_instruction(&ins);
 		match ins.instruction{
 			Instruction::Render=>{
-				let (physics_output,time,mouse_pos)=interpolator.get_render_stuff(ins.time);
-				graphics_worker.send(crate::graphics_worker::Instruction::Render(physics_output,time,mouse_pos)).unwrap();
+				let frame_state=interpolator.get_frame_state(ins.time);
+				graphics_worker.send(crate::graphics_worker::Instruction::Render(frame_state)).unwrap();
 			},
 			Instruction::Resize(size)=>{
 				graphics_worker.send(crate::graphics_worker::Instruction::Resize(size,interpolator.user_settings().clone())).unwrap();

src/push_solve.rs

@@ -0,0 +1,339 @@
+use strafesnet_common::integer::{Planar64,Planar64Vec3};
+
+// This algorithm is based on Lua code
+// written by Trey Reynolds in 2021
+
+// 1/2^10
+const EPSILON:Planar64=Planar64::raw(1<<(32-10));
+
+// A stack-allocated variable-size list that holds up to 4 elements
+// Direct references are used instead of indices i0, i1, i2, i3
+type Conts<'a>=arrayvec::ArrayVec<&'a Contact,4>;
+
+struct Ray{
+	origin:Planar64Vec3,
+	direction:Planar64Vec3,
+}
+impl Ray{
+	fn extrapolate(&self,t:Planar64)->Planar64Vec3{
+		self.origin+self.direction*t
+	}
+}
+
+/// Information about a contact restriction
+pub struct Contact{
+	pub position:Planar64Vec3,
+	pub velocity:Planar64Vec3,
+	pub normal:Planar64Vec3,
+}
+impl Contact{
+	fn relative_to(&self,point:Planar64Vec3)->Self{
+		Self{
+			position:self.position-point,
+			velocity:self.velocity,
+			normal:self.normal,
+		}
+	}
+	fn relative_dot(&self,direction:Planar64Vec3)->Planar64{
+		(direction-self.velocity).dot(self.normal)
+	}
+	/// Calculate the time of intersection. (previously get_touch_time)
+	fn solve(&self,ray:&Ray)->Planar64{
+		(self.position-ray.origin).dot(self.normal)/(ray.direction-self.velocity).dot(self.normal)
+	}
+}
+
+//note that this is horrible with fixed point arithmetic
+fn solve1(c0:&Contact)->Option<Planar64Vec3>{
+	let det=c0.normal.dot(c0.velocity);
+	if det.get().abs()<EPSILON.get(){
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	Some(c0.normal*d0/det)
+}
+fn solve2(c0:&Contact,c1:&Contact)->Option<Planar64Vec3>{
+	let u0_u1=c0.velocity.cross(c1.velocity);
+	let n0_n1=c0.normal.cross(c1.normal);
+	let det=u0_u1.dot(n0_n1);
+	if det.get().abs()<EPSILON.get(){
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	let d1=c1.normal.dot(c1.position);
+	Some((c1.normal.cross(u0_u1)*d0+u0_u1.cross(c0.normal)*d1)/det)
+}
+fn solve3(c0:&Contact,c1:&Contact,c2:&Contact)->Option<Planar64Vec3>{
+	let n0_n1=c0.normal.cross(c1.normal);
+	let det=c2.normal.dot(n0_n1);
+	if det.get().abs()<EPSILON.get(){
+		return None;
+	}
+	let d0=c0.normal.dot(c0.position);
+	let d1=c1.normal.dot(c1.position);
+	let d2=c2.normal.dot(c2.position);
+	Some((c1.normal.cross(c2.normal)*d0+c2.normal.cross(c0.normal)*d1+c0.normal.cross(c1.normal)*d2)/det)
+}
+
+fn decompose1(point:Planar64Vec3,u0:Planar64Vec3)->Option<Planar64>{
+	let det=u0.dot(u0);
+	if det==Planar64::ZERO{
+		return None;
+	}
+	let s0=u0.dot(point)/det;
+	Some(s0)
+}
+fn decompose2(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3)->Option<(Planar64,Planar64)>{
+	let u0_u1=u0.cross(u1);
+	let det=u0_u1.dot(u0_u1);
+	if det==Planar64::ZERO{
+		return None;
+	}
+	let s0=u0_u1.dot(point.cross(u1))/det;
+	let s1=u0_u1.dot(u0.cross(point))/det;
+	Some((s0,s1))
+}
+fn decompose3(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3,u2:Planar64Vec3)->Option<(Planar64,Planar64,Planar64)>{
+	let det=u0.cross(u1).dot(u2);
+	if det==Planar64::ZERO{
+		return None;
+	}
+	let s0=point.cross(u1).dot(u2)/det;
+	let s1=u0.cross(point).dot(u2)/det;
+	let s2=u0.cross(u1).dot(point)/det;
+	Some((s0,s1,s2))
+}
+
+fn is_space_enclosed_2(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+)->bool{
+	a.cross(b)==Planar64Vec3::ZERO
+	&&a.dot(b)<Planar64::ZERO
+}
+fn is_space_enclosed_3(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+	c:Planar64Vec3
+)->bool{
+	a.cross(b).dot(c)==Planar64::ZERO
+	&&{
+		let det_abac=a.cross(b).dot(a.cross(c));
+		let det_abbc=a.cross(b).dot(b.cross(c));
+		let det_acbc=a.cross(c).dot(b.cross(c));
+		return det_abac*det_abbc<=Planar64::ZERO
+			&& det_abbc*det_acbc<=Planar64::ZERO
+			&&-det_acbc*det_abac<=Planar64::ZERO
+			||is_space_enclosed_2(a,b)
+			||is_space_enclosed_2(a,c)
+			||is_space_enclosed_2(b,c)
+	}
+}
+fn is_space_enclosed_4(
+	a:Planar64Vec3,
+	b:Planar64Vec3,
+	c:Planar64Vec3,
+	d:Planar64Vec3,
+)->bool{
+	let det_abc=a.cross(b).dot(c);
+	let det_abd=a.cross(b).dot(d);
+	let det_acd=a.cross(c).dot(d);
+	let det_bcd=b.cross(c).dot(d);
+	return det_abc*det_abd<Planar64::ZERO
+		&&-det_abc*det_acd<Planar64::ZERO
+		&& det_abd*det_acd<Planar64::ZERO
+		&& det_abc*det_bcd<Planar64::ZERO
+		&&-det_abd*det_bcd<Planar64::ZERO
+		&& det_acd*det_bcd<Planar64::ZERO
+		||is_space_enclosed_3(a,b,c)
+		||is_space_enclosed_3(a,b,d)
+		||is_space_enclosed_3(a,c,d)
+		||is_space_enclosed_3(b,c,d)
+}
+
+const fn get_push_ray_0(point:Planar64Vec3)->Option<Ray>{
+	Some(Ray{origin:point,direction:Planar64Vec3::ZERO})
+}
+fn get_push_ray_1(point:Planar64Vec3,c0:&Contact)->Option<Ray>{
+	let direction=solve1(c0)?;
+	let s0=decompose1(direction,c0.velocity)?;
+	if s0<Planar64::ZERO{
+		return None;
+	}
+	let origin=point+solve1(
+		&c0.relative_to(point),
+	)?;
+	Some(Ray{origin,direction})
+}
+fn get_push_ray_2(point:Planar64Vec3,c0:&Contact,c1:&Contact)->Option<Ray>{
+	let direction=solve2(c0,c1)?;
+	let (s0,s1)=decompose2(direction,c0.velocity,c1.velocity)?;
+	if s0<Planar64::ZERO||s1<Planar64::ZERO{
+		return None;
+	}
+	let origin=point+solve2(
+		&c0.relative_to(point),
+		&c1.relative_to(point),
+	)?;
+	Some(Ray{origin,direction})
+}
+fn get_push_ray_3(point:Planar64Vec3,c0:&Contact,c1:&Contact,c2:&Contact)->Option<Ray>{
+	let direction=solve3(c0,c1,c2)?;
+	let (s0,s1,s2)=decompose3(direction,c0.velocity,c1.velocity,c2.velocity)?;
+	if s0<Planar64::ZERO||s1<Planar64::ZERO||s2<Planar64::ZERO{
+		return None;
+	}
+	let origin=point+solve3(
+		&c0.relative_to(point),
+		&c1.relative_to(point),
+		&c2.relative_to(point),
+	)?;
+	Some(Ray{origin,direction})
+}
+
+const fn get_best_push_ray_and_conts_0<'a>(point:Planar64Vec3)->Option<(Ray,Conts<'a>)>{
+	match get_push_ray_0(point){
+		Some(ray)=>Some((ray,Conts::new_const())),
+		None=>None,
+	}
+}
+fn get_best_push_ray_and_conts_1(point:Planar64Vec3,c0:&Contact)->Option<(Ray,Conts)>{
+	get_push_ray_1(point,c0)
+		.map(|ray|(ray,Conts::from_iter([c0])))
+}
+fn get_best_push_ray_and_conts_2<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_2(c0.normal,c1.normal){
+		return None;
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c1){
+		return Some((ray,Conts::from_iter([c0,c1])));
+	}
+	if let Some(ray)=get_push_ray_1(point,c0){
+		if Planar64::ZERO<=c1.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0])));
+		}
+	}
+	return None;
+}
+fn get_best_push_ray_and_conts_3<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact,c2:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_3(c0.normal,c1.normal,c2.normal){
+		return None;
+	}
+	if let Some(ray)=get_push_ray_3(point,c0,c1,c2){
+		return Some((ray,Conts::from_iter([c0,c1,c2])));
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c1){
+		if Planar64::ZERO<=c2.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0,c1])));
+		}
+	}
+	if let Some(ray)=get_push_ray_2(point,c0,c2){
+		if Planar64::ZERO<=c1.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0,c2])));
+		}
+	}
+	if let Some(ray)=get_push_ray_1(point,c0){
+		if Planar64::ZERO<=c1.relative_dot(ray.direction)
+		 &&Planar64::ZERO<=c2.relative_dot(ray.direction){
+			return Some((ray,Conts::from_iter([c0])));
+		}
+	}
+	return None;
+}
+fn get_best_push_ray_and_conts_4<'a>(point:Planar64Vec3,c0:&'a Contact,c1:&'a Contact,c2:&'a Contact,c3:&'a Contact)->Option<(Ray,Conts<'a>)>{
+	if is_space_enclosed_4(c0.normal,c1.normal,c2.normal,c3.normal){
+		return None;
+	}
+
+	let (ray012,conts012)=get_best_push_ray_and_conts_3(point,c0,c1,c2)?;
+	let (ray013,conts013)=get_best_push_ray_and_conts_3(point,c0,c1,c3)?;
+	let (ray023,conts023)=get_best_push_ray_and_conts_3(point,c0,c2,c3)?;
+
+	let err012=c3.relative_dot(ray012.direction);
+	let err013=c2.relative_dot(ray013.direction);
+	let err023=c1.relative_dot(ray023.direction);
+
+	let best_err=err012.max(err013).max(err023);
+
+	if best_err==err012{
+		return Some((ray012,conts012))
+	}else if best_err==err013{
+		return Some((ray013,conts013))
+	}else if best_err==err023{
+		return Some((ray023,conts023))
+	}
+	unreachable!()
+}
+
+fn get_best_push_ray_and_conts<'a>(
+	point:Planar64Vec3,
+	conts:Conts<'a>,
+)->Option<(Ray,Conts<'a>)>{
+	match conts.as_slice(){
+		&[c0,c1,c2,c3]=>get_best_push_ray_and_conts_4(point,c0,c1,c2,c3),
+		&[c0,c1,c2]=>get_best_push_ray_and_conts_3(point,c0,c1,c2),
+		&[c0,c1]=>get_best_push_ray_and_conts_2(point,c0,c1),
+		&[c0]=>get_best_push_ray_and_conts_1(point,c0),
+		&[]=>get_best_push_ray_and_conts_0(point),
+		_=>unreachable!(),
+	}
+}
+
+fn get_first_touch<'a>(contacts:&'a Vec<Contact>,ray:&Ray,conts:&Conts)->Option<(Planar64,&'a Contact)>{
+	contacts.iter()
+		.filter(|&contact|
+			!conts.iter().any(|&c|std::ptr::eq(c,contact))
+			&&contact.relative_dot(ray.direction)< -EPSILON
+		)
+		.map(|contact|(contact.solve(ray),contact))
+		.min_by_key(|&(t,_)|t)
+}
+
+pub fn push_solve(contacts:&Vec<Contact>,point:Planar64Vec3)->Option<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){
+			Some((t,conts))=>(t,conts),
+			None=>return Some(ray.origin),
+		};
+
+		if Planar64::ZERO<=next_t{
+			return Some(ray.origin);
+		}
+
+		//push_front
+		if conts.len()==conts.capacity(){
+			//this is a dead case, new_conts never has more than 3 elements
+			conts.rotate_right(1);
+			conts[0]=next_cont;
+		}else{
+			conts.push(next_cont);
+			conts.rotate_right(1);
+		}
+
+		let meet_point=ray.extrapolate(next_t);
+		match get_best_push_ray_and_conts(meet_point,conts){
+			Some((new_ray,new_conts))=>(ray,conts)=(new_ray,new_conts),
+			None=>return Some(meet_point),
+		}
+	}
+}
+
+#[cfg(test)]
+mod tests{
+	use super::*;
+	#[test]
+	fn test_push_solve(){
+		let contacts=vec![
+			Contact{
+				position:Planar64Vec3::ZERO,
+				velocity:Planar64Vec3::Y,
+				normal:Planar64Vec3::Y,
+			}
+		];
+		assert_eq!(
+			Some(Planar64Vec3::ZERO),
+			push_solve(&contacts,Planar64Vec3::NEG_Y)
+		);
+	}
+}