comment about processed_time

src/body.rs

@@ -0,0 +1,693 @@
+use crate::{instruction::{InstructionEmitter, InstructionConsumer, TimedInstruction}, zeroes::zeroes2};
+
+pub enum PhysicsInstruction {
+	CollisionStart(RelativeCollision),
+	CollisionEnd(RelativeCollision),
+	StrafeTick,
+	Jump,
+	SetWalkTargetVelocity(glam::Vec3),
+	ReachWalkTargetVelocity,
+	// Water,
+	// Spawn(
+	// 	Option<SpawnId>,
+	// 	bool,//true = Trigger; false = teleport
+	// 	bool,//true = Force
+	// )
+}
+
+pub struct Body {
+	position: glam::Vec3,//I64 where 2^32 = 1 u
+	velocity: glam::Vec3,//I64 where 2^32 = 1 u/s
+	acceleration: glam::Vec3,//I64 where 2^32 = 1 u/s/s
+	time: TIME,//nanoseconds x xxxxD!
+	//origin_time = timestamp of position and velocity
+	//processed_time = starting time for new events. prevents colliding with the analytic euqation in the past
+}
+
+pub enum MoveRestriction {
+	Air,
+	Water,
+	Ground,
+	Ladder,//multiple ladders how
+}
+
+enum MouseInterpolation {
+	First,//just checks the last value
+	Lerp,//lerps between
+}
+
+enum InputInstruction {
+	MoveMouse(glam::IVec2),
+	Jump(bool),
+}
+
+struct InputState {
+	controls: u32,
+	mouse_interpolation: MouseInterpolation,
+	time: TIME,
+}
+
+impl InputState {
+	pub fn get_control(&self,control:u32) -> bool {
+		self.controls&control!=0
+	}
+	pub fn process_instruction(&mut self,ins:InputInstruction){
+		match ins {
+			InputInstruction::MoveMouse(m) => todo!("set mouse_interpolation"),
+			InputInstruction::Jump(b) => todo!("how does info about style modifiers get here"),
+		}
+	}
+}
+
+pub struct MouseInterpolationState {
+	interpolation: MouseInterpolation,
+	time0: TIME,
+	time1: TIME,
+	mouse0: glam::IVec2,
+	mouse1: glam::IVec2,
+}
+
+impl MouseInterpolationState {
+	pub fn move_mouse(&mut self,time:TIME,pos:glam::IVec2){
+		self.time0=self.time1;
+		self.mouse0=self.mouse1;
+		self.time1=time;
+		self.mouse1=pos;
+	}
+	pub fn interpolated_position(&self,time:TIME) -> glam::IVec2 {
+		match self.interpolation {
+			MouseInterpolation::First => self.mouse0,
+			MouseInterpolation::Lerp => {
+				let m0=self.mouse0.as_i64vec2();
+				let m1=self.mouse1.as_i64vec2();
+				//these are deltas
+				let t1t=(self.time1-time) as i64;
+				let tt0=(time-self.time0) as i64;
+				let dt=(self.time1-self.time0) as i64;
+				((m0*t1t+m1*tt0)/dt).as_ivec2()
+			}
+		}
+	}
+}
+
+pub struct PhysicsState {
+	pub body: Body,
+	pub hitbox_halfsize: glam::Vec3,
+	pub contacts: std::collections::HashSet::<RelativeCollision>,
+	//pub intersections: Vec<ModelId>,
+	//temp
+	pub models_cringe_clone: Vec<Model>,
+	pub temp_control_dir: glam::Vec3,
+	//camera must exist in state because wormholes modify the camera, also camera punch
+	//pub camera: Camera,
+	//pub mouse_interpolation: MouseInterpolationState,
+	pub time: TIME,
+	pub strafe_tick_num: TIME,
+	pub strafe_tick_den: TIME,
+	pub tick: u32,
+	pub mv: f32,
+	pub walkspeed: f32,
+	pub friction: f32,
+	pub walk_target_velocity: glam::Vec3,
+	pub gravity: glam::Vec3,
+	pub grounded: bool,
+	pub jump_trying: bool,
+}
+
+#[derive(Clone,Copy,Hash,Eq,PartialEq)]
+pub enum AabbFace{
+	Right,//+X
+	Top,
+	Back,
+	Left,
+	Bottom,
+	Front,
+}
+
+pub struct Aabb {
+	min: glam::Vec3,
+	max: glam::Vec3,
+}
+
+impl Aabb {
+	// const FACE_DATA: [[f32; 3]; 6] = [
+	// 	[0.0f32, 0., 1.],
+	// 	[0.0f32, 0., -1.],
+	// 	[1.0f32, 0., 0.],
+	// 	[-1.0f32, 0., 0.],
+	// 	[0.0f32, 1., 0.],
+	// 	[0.0f32, -1., 0.],
+	// ];
+	const VERTEX_DATA: [glam::Vec3; 8] = [
+		glam::vec3(1., -1., -1.),
+		glam::vec3(1., 1., -1.),
+		glam::vec3(1., 1., 1.),
+		glam::vec3(1., -1., 1.),
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(-1., 1., 1.),
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(-1., -1., -1.),
+	];
+	const VERTEX_DATA_RIGHT: [glam::Vec3; 4] = [
+		glam::vec3(1., -1., -1.),
+		glam::vec3(1., 1., -1.),
+		glam::vec3(1., 1., 1.),
+		glam::vec3(1., -1., 1.),
+	];
+	const VERTEX_DATA_TOP: [glam::Vec3; 4] = [
+		glam::vec3(1., 1., -1.),
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(-1., 1., 1.),
+		glam::vec3(1., 1., 1.),
+	];
+	const VERTEX_DATA_BACK: [glam::Vec3; 4] = [
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(1., -1., 1.),
+		glam::vec3(1., 1., 1.),
+		glam::vec3(-1., 1., 1.),
+	];
+	const VERTEX_DATA_LEFT: [glam::Vec3; 4] = [
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(-1., 1., 1.),
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(-1., -1., -1.),
+	];
+	const VERTEX_DATA_BOTTOM: [glam::Vec3; 4] = [
+		glam::vec3(1., -1., 1.),
+		glam::vec3(-1., -1., 1.),
+		glam::vec3(-1., -1., -1.),
+		glam::vec3(1., -1., -1.),
+	];
+	const VERTEX_DATA_FRONT: [glam::Vec3; 4] = [
+		glam::vec3(-1., 1., -1.),
+		glam::vec3(1., 1., -1.),
+		glam::vec3(1., -1., -1.),
+		glam::vec3(-1., -1., -1.),
+	];
+
+	pub fn new() -> Self {
+		Self {min: glam::Vec3::INFINITY,max: glam::Vec3::NEG_INFINITY}
+	}
+
+	pub fn grow(&mut self, point:glam::Vec3){
+		self.min=self.min.min(point);
+		self.max=self.max.max(point);
+	}
+
+	pub fn normal(face:AabbFace) -> glam::Vec3 {
+		match face {
+			AabbFace::Right => glam::vec3(1.,0.,0.),
+			AabbFace::Top => glam::vec3(0.,1.,0.),
+			AabbFace::Back => glam::vec3(0.,0.,1.),
+			AabbFace::Left => glam::vec3(-1.,0.,0.),
+			AabbFace::Bottom => glam::vec3(0.,-1.,0.),
+			AabbFace::Front => glam::vec3(0.,0.,-1.),
+		}
+	}
+	pub fn unit_vertices() -> [glam::Vec3;8] {
+		return Self::VERTEX_DATA;
+	}
+	pub fn unit_face_vertices(face:AabbFace) -> [glam::Vec3;4] {
+		match face {
+			AabbFace::Right => Self::VERTEX_DATA_RIGHT,
+			AabbFace::Top => Self::VERTEX_DATA_TOP,
+			AabbFace::Back => Self::VERTEX_DATA_BACK,
+			AabbFace::Left => Self::VERTEX_DATA_LEFT,
+			AabbFace::Bottom => Self::VERTEX_DATA_BOTTOM,
+			AabbFace::Front => Self::VERTEX_DATA_FRONT,
+		}
+	}
+}
+
+//pretend to be using what we want to eventually do
+type TreyMeshFace = AabbFace;
+type TreyMesh = Aabb;
+
+pub struct Model {
+	//A model is a thing that has a hitbox. can be represented by a list of TreyMesh-es
+	//in this iteration, all it needs is extents.
+	transform: glam::Mat4,
+}
+
+impl Model {
+	pub fn new(transform:glam::Mat4) -> Self {
+		Self{transform}
+	}
+	pub fn unit_vertices(&self) -> [glam::Vec3;8] {
+		Aabb::unit_vertices()
+	}
+	pub fn mesh(&self) -> TreyMesh {
+		let mut aabb=Aabb::new();
+		for &vertex in self.unit_vertices().iter() {
+			aabb.grow(glam::Vec4Swizzles::xyz(self.transform*vertex.extend(1.0)));
+		}
+		return aabb;
+	}
+	pub fn unit_face_vertices(&self,face:TreyMeshFace) -> [glam::Vec3;4] {
+		Aabb::unit_face_vertices(face)
+	}
+	pub fn face_mesh(&self,face:TreyMeshFace) -> TreyMesh {
+		let mut aabb=Aabb::new();
+		for &vertex in self.unit_face_vertices(face).iter() {
+			aabb.grow(glam::Vec4Swizzles::xyz(self.transform*vertex.extend(1.0)));
+		}
+		return aabb;
+	}
+	pub fn face_normal(&self,face:TreyMeshFace) -> glam::Vec3 {
+		glam::Vec4Swizzles::xyz(self.transform*Aabb::normal(face).extend(0.0))//this is wrong for scale
+	}
+}
+
+//need non-face (full model) variant for CanCollide false objects
+//OR have a separate list from contacts for model intersection
+#[derive(Eq, Hash, PartialEq)]
+pub struct RelativeCollision {
+	face: TreyMeshFace,//just an id
+	model: u32,//using id to avoid lifetimes
+}
+
+impl RelativeCollision {
+	pub fn mesh(&self,models:&Vec<Model>) -> TreyMesh {
+		return models.get(self.model as usize).unwrap().face_mesh(self.face)
+	}
+	pub fn normal(&self,models:&Vec<Model>) -> glam::Vec3 {
+		return models.get(self.model as usize).unwrap().face_normal(self.face)
+	}
+}
+
+pub type TIME = i64;
+
+impl Body {
+	pub fn with_position(position:glam::Vec3) -> Self {
+		Self{
+			position: position,
+			velocity: glam::Vec3::ZERO,
+			acceleration: glam::Vec3::ZERO,
+			time: 0,
+		}
+	}
+	pub fn extrapolated_position(&self,time: TIME)->glam::Vec3{
+		let dt=(time-self.time) as f64/1_000_000_000f64;
+		self.position+self.velocity*(dt as f32)+self.acceleration*((0.5*dt*dt) as f32)
+	}
+	pub fn advance_time(&mut self, time: TIME){
+		self.position=self.extrapolated_position(time);
+		self.time=time;
+	}
+}
+
+impl PhysicsState {
+	//tickless gaming
+	pub fn run(&mut self, time: TIME){
+		//prepare is ommitted - everything is done via instructions.
+		while let Some(instruction) = self.next_instruction(time) {//collect
+			//advance
+			//self.advance_time(instruction.time);
+			//process
+			self.process_instruction(instruction);
+			//write hash lol
+		}
+	}
+
+	pub fn advance_time(&mut self, time: TIME){
+		self.body.advance_time(time);
+		self.time=time;
+	}
+
+	fn next_strafe_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
+		return Some(TimedInstruction{
+			time:(self.time*self.strafe_tick_num/self.strafe_tick_den+1)*self.strafe_tick_den/self.strafe_tick_num,
+			//only poll the physics if there is a before and after mouse event
+			instruction:PhysicsInstruction::StrafeTick
+		});
+	}
+
+	//state mutated on collision:
+	//Accelerator
+	//stair step-up
+
+	//state mutated on instruction
+	//change fly acceleration (fly_sustain)
+	//change fly velocity
+
+	//generic event emmiters
+	//PlatformStandTime
+	//walk/swim/air/ladder sounds
+	//VState?
+
+	//falling under the map
+	// fn next_respawn_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
+	// 	if self.body.position<self.world.min_y {
+	// 		return Some(TimedInstruction{
+	// 			time:self.time,
+	// 			instruction:PhysicsInstruction::Trigger(None)
+	// 		});
+	// 	}
+	// }
+
+	// fn next_water_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
+	// 	return Some(TimedInstruction{
+	// 		time:(self.time*self.strafe_tick_num/self.strafe_tick_den+1)*self.strafe_tick_den/self.strafe_tick_num,
+	// 		//only poll the physics if there is a before and after mouse event
+	// 		instruction:PhysicsInstruction::Water
+	// 	});
+	// }
+
+	fn next_walk_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
+		//check if you are accelerating towards a walk target velocity and create an instruction
+		return None;
+	}
+	fn mesh(&self) -> TreyMesh {
+		let mut aabb=Aabb::new();
+		for vertex in Aabb::unit_vertices(){
+			aabb.grow(self.body.position+self.hitbox_halfsize*vertex);
+		}
+		aabb
+	}
+	fn predict_collision_end(&self,model:&Model,time_limit:TIME,model_id:u32) -> Option<TimedInstruction<PhysicsInstruction>> {
+		//must treat cancollide false objects differently: you may not exit through the same face you entered.
+		//RelativeCollsion must reference the full model instead of a particular face
+		//this is Ctrl+C Ctrl+V of predict_collision_start but with v=-v before the calc and t=-t after the calc
+		//find best t
+		let mut best_delta_time=time_limit-self.body.time;
+		let mut best_face:Option<TreyMeshFace>=None;
+		let mesh0=self.mesh();
+		let mesh1=model.mesh();
+		let (p,v,a)=(self.body.position,-self.body.velocity,self.body.acceleration);
+		//collect x
+		for t in zeroes2(mesh0.max.x-mesh1.min.x, v.x, a.x) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.x+a.x*-t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Left);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.x-mesh1.max.x, v.x, a.x) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.x+a.x*-t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Right);
+				}
+			}
+		}
+		//collect y
+		for t in zeroes2(mesh0.max.y-mesh1.min.y, v.y, a.y) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.y+a.y*-t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Top);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.y-mesh1.max.y, v.y, a.y) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.y+a.y*-t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Bottom);
+				}
+			}
+		}
+		//collect z
+		for t in zeroes2(mesh0.max.z-mesh1.min.z, v.z, a.z) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.z+a.z*-t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Back);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.z-mesh1.max.z, v.z, a.z) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((-t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.z+a.z*-t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Front);
+				}
+			}
+		}
+		//generate instruction
+		if let Some(face) = best_face{
+			return Some(TimedInstruction {
+				time: self.body.time+best_delta_time,
+				instruction: PhysicsInstruction::CollisionStart(RelativeCollision {
+					face,
+					model: model_id
+				})
+			})
+		}
+		None
+	}
+	fn predict_collision_start(&self,model:&Model,time_limit:TIME,model_id:u32) -> Option<TimedInstruction<PhysicsInstruction>> {
+		//find best t
+		let mut best_delta_time=time_limit-self.body.time;
+		let mut best_face:Option<TreyMeshFace>=None;
+		let mesh0=self.mesh();
+		let mesh1=model.mesh();
+		let (p,v,a)=(self.body.position,self.body.velocity,self.body.acceleration);
+		//collect x
+		for t in zeroes2(mesh0.max.x-mesh1.min.x, v.x, a.x) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.x+a.x*t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Left);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.x-mesh1.max.x, v.x, a.x) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.x+a.x*t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Right);
+				}
+			}
+		}
+		//collect y
+		for t in zeroes2(mesh0.max.y-mesh1.min.y, v.y, a.y) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.y+a.y*t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Top);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.y-mesh1.max.y, v.y, a.y) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.y+a.y*t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Bottom);
+				}
+			}
+		}
+		//collect z
+		for t in zeroes2(mesh0.max.z-mesh1.min.z, v.z, a.z) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&0f32<v.z+a.z*t{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Back);
+				}
+			}
+		}
+		for t in zeroes2(mesh0.min.z-mesh1.max.z, v.z, a.z) {
+			//negative t = back in time
+			//must be moving towards surface to collide
+			//must beat the current soonest collision time
+			//must be moving towards surface
+			let t_time=((t as f64)*1_000_000_000f64) as TIME;
+			if 0<=t_time&&t_time<best_delta_time&&v.z+a.z*t<0f32{
+				let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
+				//faces must be overlapping
+				if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
+					//collect valid t
+					best_delta_time=t_time;
+					best_face=Some(TreyMeshFace::Front);
+				}
+			}
+		}
+		//generate instruction
+		if let Some(face) = best_face{
+			return Some(TimedInstruction {
+				time: self.body.time+best_delta_time,
+				instruction: PhysicsInstruction::CollisionStart(RelativeCollision {
+					face,
+					model: model_id
+				})
+			})
+		}
+		None
+	}
+}
+
+impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState {
+	//this little next instruction function can cache its return value and invalidate the cached value by watching the State.
+	fn next_instruction(&self,time_limit:TIME) -> Option<TimedInstruction<PhysicsInstruction>> {
+		//JUST POLLING!!! NO MUTATION
+		let mut collector = crate::instruction::InstructionCollector::new(time_limit);
+		//autohop (already pressing spacebar; the signal to begin trying to jump is different)
+		if self.grounded&&self.jump_trying {
+			//scroll will be implemented with InputInstruction::Jump(true) but it blocks setting self.jump_trying=true
+			collector.collect(Some(TimedInstruction{
+				time:self.time,
+				instruction:PhysicsInstruction::Jump
+			}));
+		}
+		//check for collision stop instructions with curent contacts
+		for collision_data in self.contacts.iter() {
+			collector.collect(self.predict_collision_end(self.models_cringe_clone.get(collision_data.model as usize).unwrap(),time_limit,collision_data.model));
+		}
+		//check for collision start instructions (against every part in the game with no optimization!!)
+		for (i,model) in self.models_cringe_clone.iter().enumerate() {
+			collector.collect(self.predict_collision_start(model,time_limit,i as u32));
+		}
+		if self.grounded {
+			//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()
+	}
+}
+
+impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsState {
+	fn process_instruction(&mut self, ins:TimedInstruction<PhysicsInstruction>) {
+		//mutate position and velocity and time
+		self.advance_time(ins.time);//should this be in run?
+		match ins.instruction {
+			PhysicsInstruction::CollisionStart(c) => {
+				//flatten v
+				let n=c.normal(&self.models_cringe_clone);
+				let d=self.body.velocity.dot(n)/n.length_squared();
+				self.body.velocity-=d*n;
+				//check ground
+				match c.face {
+			        AabbFace::Top => {
+			        	//ground
+			        	self.grounded=true;
+						self.body.acceleration=glam::Vec3::ZERO;
+			        },
+			        _ => (),
+			    }
+			    self.contacts.insert(c);
+			},
+			PhysicsInstruction::CollisionEnd(c) => {
+				//check ground
+				match c.face {
+			        AabbFace::Top => {
+			        	//ground
+						self.body.acceleration=self.gravity;
+			        },
+			        _ => (),
+			    }
+			    self.contacts.remove(&c);
+			},
+			PhysicsInstruction::StrafeTick => {
+				//let control_dir=self.get_control_dir();//this should respect your mouse interpolation settings
+				let d=self.body.velocity.dot(self.temp_control_dir);
+				if d<self.mv {
+					self.body.velocity+=(self.mv-d)*self.temp_control_dir;
+				}
+			}
+			PhysicsInstruction::Jump => {
+				self.grounded=false;//do I need this?
+				self.body.velocity+=glam::Vec3::new(0.0,0.715588/2.0*100.0,0.0);
+			}
+			PhysicsInstruction::ReachWalkTargetVelocity => {
+				//precisely set velocity
+				self.body.velocity=self.walk_target_velocity;
+			}
+			PhysicsInstruction::SetWalkTargetVelocity(v) => {
+				self.walk_target_velocity=v;
+				//calculate acceleration yada yada
+			},
+		}
+	}
+}

src/framework.rs

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

src/instruction.rs

@@ -0,0 +1,47 @@
+pub struct TimedInstruction<I> {
+	pub time: crate::body::TIME,
+	pub instruction: I,
+}
+
+pub trait InstructionEmitter<I> {
+	fn next_instruction(&self, time:crate::body::TIME) -> Option<TimedInstruction<I>>;
+}
+pub trait InstructionConsumer<I> {
+	fn process_instruction(&mut self, instruction:TimedInstruction<I>);
+}
+
+//PROPER PRIVATE FIELDS!!!
+pub struct InstructionCollector<I> {
+	time: crate::body::TIME,
+	instruction: Option<I>,
+}
+impl<I> InstructionCollector<I> {
+	pub fn new(time:crate::body::TIME) -> Self {
+		Self{
+			time,
+			instruction:None
+		}
+	}
+
+	pub fn collect(&mut self,instruction:Option<TimedInstruction<I>>){
+		match instruction {
+			Some(unwrap_instruction) => {
+				if unwrap_instruction.time<self.time {
+					self.time=unwrap_instruction.time;
+					self.instruction=Some(unwrap_instruction.instruction);
+				}
+			},
+			None => (),
+		}
+	}
+	pub fn instruction(self) -> Option<TimedInstruction<I>> {
+		//STEAL INSTRUCTION AND DESTROY INSTRUCTIONCOLLECTOR
+		match self.instruction {
+			Some(instruction)=>Some(TimedInstruction{
+				time:self.time,
+				instruction
+			}),
+			None => None,
+		}
+	}
+}

src/lib.rs

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

src/main.rs

@@ -24,7 +24,7 @@ struct ModelData {
 	entities: Vec<Entity>,
 }
 
-struct Model {
+struct ModelGraphics {
 	transform: glam::Mat4,
 	vertex_buf: wgpu::Buffer,
 	entities: Vec<Entity>,
@@ -34,20 +34,12 @@ struct Model {
 
 // Note: we use the Y=up coordinate space in this example.
 struct Camera {
-	time: Instant,
-	pos: glam::Vec3,
-	vel: glam::Vec3,
-	gravity: glam::Vec3,
-	friction: f32,
 	screen_size: (u32, u32),
 	offset: glam::Vec3,
 	fov: f32,
 	yaw: f32,
 	pitch: f32,
 	controls: u32,
-	mv: f32,
-	grounded: bool,
-	walkspeed: f32,
 }
 
 const CONTROL_MOVEFORWARD:u32 = 0b00000001;
@@ -100,7 +92,7 @@ fn get_control_dir(controls: u32) -> glam::Vec3{
 	}
 
 impl Camera {
-	fn to_uniform_data(&self) -> [f32; 16 * 3 + 4] {
+	fn to_uniform_data(&self, pos: glam::Vec3) -> [f32; 16 * 3 + 4] {
 		let aspect = self.screen_size.0 as f32 / self.screen_size.1 as f32;
 		let fov = if self.controls&CONTROL_ZOOM==0 {
 			self.fov
@@ -109,7 +101,7 @@ impl Camera {
 		};
 		let proj = perspective_rh(fov, aspect, 0.5, 1000.0);
 		let proj_inv = proj.inverse();
-		let view = glam::Mat4::from_translation(self.pos+self.offset) * glam::Mat4::from_euler(glam::EulerRot::YXZ, self.yaw, self.pitch, 0f32);
+		let view = glam::Mat4::from_translation(pos+self.offset) * glam::Mat4::from_euler(glam::EulerRot::YXZ, self.yaw, self.pitch, 0f32);
 		let view_inv = view.inverse();
 
 		let mut raw = [0f32; 16 * 3 + 4];
@@ -122,13 +114,15 @@ impl Camera {
 }
 
 pub struct Skybox {
+	start_time: std::time::Instant,
 	camera: Camera,
+	physics: strafe_client::body::PhysicsState,
 	sky_pipeline: wgpu::RenderPipeline,
 	entity_pipeline: wgpu::RenderPipeline,
 	ground_pipeline: wgpu::RenderPipeline,
 	main_bind_group: wgpu::BindGroup,
 	camera_buf: wgpu::Buffer,
-	models: Vec<Model>,
+	models: Vec<ModelGraphics>,
 	depth_view: wgpu::TextureView,
 	staging_belt: wgpu::util::StagingBelt,
 }
@@ -290,28 +284,68 @@ impl strafe_client::framework::Example for Skybox {
 		});
 
 		let camera = Camera {
-			time: Instant::now(),
-			pos: glam::Vec3::new(5.0,0.0,5.0),
-			vel: glam::Vec3::new(0.0,0.0,0.0),
-			gravity: glam::Vec3::new(0.0,-100.0,0.0),
-			friction: 90.0,
 			screen_size: (config.width, config.height),
 			offset: glam::Vec3::new(0.0,4.5,0.0),
 			fov: 1.0, //fov_slope = tan(fov_y/2)
 			pitch: 0.0,
 			yaw: 0.0,
-			mv: 2.7,
 			controls:0,
-			grounded: true,
-			walkspeed: 18.0,
 		};
-		let camera_uniforms = camera.to_uniform_data();
+		let physics = strafe_client::body::PhysicsState {
+			body: strafe_client::body::Body::with_position(glam::Vec3::new(5.0,2.0,5.0)),
+			time: 0,
+			tick: 0,
+			strafe_tick_num: 100,//100t
+			strafe_tick_den: 1_000_000_000,
+			gravity: glam::Vec3::new(0.0,-100.0,0.0),
+			friction: 90.0,
+			mv: 2.7,
+			grounded: false,
+			jump_trying: false,
+			temp_control_dir: glam::Vec3::ZERO,
+			walkspeed: 18.0,
+			contacts: std::collections::HashSet::new(),
+    		models_cringe_clone: modeldatas.iter().map(|m|strafe_client::body::Model::new(m.transform)).collect(),
+    		walk_target_velocity: glam::Vec3::ZERO,
+    		hitbox_halfsize: glam::vec3(1.0,2.5,1.0),
+		};
+
+		let camera_uniforms = camera.to_uniform_data(physics.body.extrapolated_position(0));
 		let camera_buf = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
 			label: Some("Camera"),
 			contents: bytemuck::cast_slice(&camera_uniforms),
 			usage: wgpu::BufferUsages::UNIFORM | wgpu::BufferUsages::COPY_DST,
 		});
 
+		//drain the modeldata vec so entities can be /moved/ to models.entities
+		let mut models = Vec::<ModelGraphics>::with_capacity(modeldatas.len());
+		for (i,modeldata) in modeldatas.drain(..).enumerate() {
+			let model_uniforms = get_transform_uniform_data(&modeldata.transform);
+			let model_buf = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
+				label: Some(format!("ModelGraphics{}",i).as_str()),
+				contents: bytemuck::cast_slice(&model_uniforms),
+				usage: wgpu::BufferUsages::UNIFORM | wgpu::BufferUsages::COPY_DST,
+			});
+			let model_bind_group = device.create_bind_group(&wgpu::BindGroupDescriptor {
+				layout: &model_bind_group_layout,
+				entries: &[
+					wgpu::BindGroupEntry {
+						binding: 0,
+						resource: model_buf.as_entire_binding(),
+					},
+				],
+				label: Some(format!("ModelGraphics{}",i).as_str()),
+			});
+			//all of these are being moved here
+			models.push(ModelGraphics{
+				transform: modeldata.transform,
+				vertex_buf:modeldata.vertex_buf,
+				entities: modeldata.entities,
+				bind_group: model_bind_group,
+				model_buf,
+			})
+		}
+
 		let pipeline_layout = device.create_pipeline_layout(&wgpu::PipelineLayoutDescriptor {
 			label: None,
 			bind_group_layouts: &[&main_bind_group_layout, &model_bind_group_layout],
@@ -507,39 +541,12 @@ impl strafe_client::framework::Example for Skybox {
 			label: Some("Camera"),
 		});
 
-		//drain the modeldata vec so entities can be /moved/ to models.entities
-		let mut models = Vec::<Model>::with_capacity(modeldatas.len());
-		for (i,modeldata) in modeldatas.drain(..).enumerate() {
-			let model_uniforms = get_transform_uniform_data(&modeldata.transform);
-			let model_buf = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
-				label: Some(format!("Model{}",i).as_str()),
-				contents: bytemuck::cast_slice(&model_uniforms),
-				usage: wgpu::BufferUsages::UNIFORM | wgpu::BufferUsages::COPY_DST,
-			});
-			let model_bind_group = device.create_bind_group(&wgpu::BindGroupDescriptor {
-				layout: &model_bind_group_layout,
-				entries: &[
-					wgpu::BindGroupEntry {
-						binding: 0,
-						resource: model_buf.as_entire_binding(),
-					},
-				],
-				label: Some(format!("Model{}",i).as_str()),
-			});
-			//all of these are being moved here
-			models.push(Model{
-				transform: modeldata.transform,
-				vertex_buf:modeldata.vertex_buf,
-				entities: modeldata.entities,
-				bind_group: model_bind_group,
-				model_buf,
-			})
-		}
-
 		let depth_view = Self::create_depth_texture(config, device);
 
 		Skybox {
+			start_time: Instant::now(),
 			camera,
+			physics,
 			sky_pipeline,
 			entity_pipeline,
 			ground_pipeline,
@@ -625,44 +632,20 @@ impl strafe_client::framework::Example for Skybox {
 		queue: &wgpu::Queue,
 		_spawner: &strafe_client::framework::Spawner,
 	) {
-		let time = Instant::now();
-
-		//physique
-		let dt=(time-self.camera.time).as_secs_f32();
-		self.camera.time=time;
 		let camera_mat=glam::Mat3::from_euler(glam::EulerRot::YXZ,self.camera.yaw,0f32,0f32);
 		let control_dir=camera_mat*get_control_dir(self.camera.controls&(CONTROL_MOVELEFT|CONTROL_MOVERIGHT|CONTROL_MOVEFORWARD|CONTROL_MOVEBACK)).normalize_or_zero();
-		let d=self.camera.vel.dot(control_dir);
-		if d<self.camera.mv {
-			self.camera.vel+=(self.camera.mv-d)*control_dir;
-		}
-		self.camera.vel+=self.camera.gravity*dt;
-		self.camera.pos+=self.camera.vel*dt;
-		if self.camera.pos.y<0.0{
-			self.camera.pos.y=0.0;
-			self.camera.vel.y=0.0;
-			self.camera.grounded=true;
-		}
-		if self.camera.grounded&&(self.camera.controls&CONTROL_JUMP)!=0 {
-			self.camera.grounded=false;
-			self.camera.vel+=glam::Vec3::new(0.0,0.715588/2.0*100.0,0.0);
-		}
-		if self.camera.grounded {
-			let applied_friction=self.camera.friction*dt;
-			let targetv=control_dir*self.camera.walkspeed;
-			let diffv=targetv-self.camera.vel;
-			if applied_friction*applied_friction<diffv.length_squared() {
-				self.camera.vel+=applied_friction*diffv.normalize();
-			} else {
-				self.camera.vel=targetv;
-			}
-		}
+
+		let time=self.start_time.elapsed().as_nanos() as i64;
+
+		self.physics.temp_control_dir=control_dir;
+		self.physics.jump_trying=self.camera.controls&CONTROL_JUMP!=0;
+		self.physics.run(time);
 
 		let mut encoder =
 			device.create_command_encoder(&wgpu::CommandEncoderDescriptor { label: None });
 
 		// update rotation
-		let camera_uniforms = self.camera.to_uniform_data();
+		let camera_uniforms = self.camera.to_uniform_data(self.physics.body.extrapolated_position(time));
 		self.staging_belt
 			.write_buffer(
 				&mut encoder,

src/sweep.rs

@@ -0,0 +1,8 @@
+
+//something that implements body + hitbox + transform can predict collision
+impl crate::sweep::PredictCollision for Model {
+	fn predict_collision(&self,other:&Model) -> Option<crate::event::EventStruct> {
+		//math!
+		None
+	}
+}

src/zeroes.rs

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