stop being so wide

This reverts commit 6b897620e9.

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "strafe-client"
-version = "0.10.5"
+version = "0.10.3"
 edition = "2021"
 repository = "https://git.itzana.me/StrafesNET/strafe-client"
 license = "Custom"
@@ -15,21 +15,20 @@ 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"
-glam = "0.29.0"
+glam = "0.28.0"
 id = { version = "0.1.0", registry = "strafesnet" }
 parking_lot = "0.12.1"
 pollster = "0.3.0"
-strafesnet_bsp_loader = { version = "0.2.1", registry = "strafesnet", optional = true }
-strafesnet_common = { version = "0.5.2", registry = "strafesnet" }
-strafesnet_deferred_loader = { version = "0.4.0", features = ["legacy"], registry = "strafesnet", optional = true }
-strafesnet_rbx_loader = { version = "0.4.1", registry = "strafesnet", optional = true }
-strafesnet_snf = { version = "0.2.0", registry = "strafesnet", optional = true }
-wgpu = "22.1.0"
-winit = "0.30.5"
+strafesnet_bsp_loader = { version = "0.1.3", registry = "strafesnet", optional = true }
+strafesnet_common = { git = "https://git.itzana.me/StrafesNET/common", rev = "c5f01d4c3ea3aa2ee3448ff42f020f5f5239dc95" }
+strafesnet_deferred_loader = { version = "0.3.1", features = ["legacy"], registry = "strafesnet", optional = true }
+strafesnet_rbx_loader = { version = "0.3.2", registry = "strafesnet", optional = true }
+strafesnet_snf = { git = "https://git.itzana.me/StrafesNET/snf", rev = "1e0095ed1583f0330d8dbdf1f56edd61bfb43eec", optional = true }
+wgpu = "22.0.0"
+winit = "0.30.4"
 
 [profile.release]
 #lto = true

src/face_crawler.rs

@@ -15,7 +15,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
 	fn next_transition(fev:&MinkowskiFEV,body_time:GigaTime,mesh:&MinkowskiMesh,body:&Body,mut best_time:GigaTime)->MinkowskiTransition{
 		//conflicting derivative means it crosses in the wrong direction.
 		//if the transition time is equal to an already tested transition, do not replace the current best.
-		let mut best_transition=MinkowskiTransition::Miss;
+		let mut best_transtition=MinkowskiTransition::Miss;
 		match fev{
 			&MinkowskiFEV::Face(face_id)=>{
 				//test own face collision time, ignoring roots with zero or conflicting derivative
@@ -24,10 +24,10 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
 				let (n,d)=mesh.face_nd(face_id);
 				//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)){
+				for dt in Fixed::<2,64>::zeroes2((n.dot(body.position)-d).fix_2()*2,n.dot(body.velocity).fix_2()*2,n.dot(body.acceleration).fix_2()){
 					if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 						best_time=dt;
-						best_transition=MinkowskiTransition::Hit(face_id,dt);
+						best_transtition=MinkowskiTransition::Hit(face_id,dt);
 						break;
 					}
 				}
@@ -38,10 +38,10 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
 					let verts=mesh.edge_verts(directed_edge_id.as_undirected());
 					//WARNING: d is moved out of the *2 block because of adding two vertices!
 					//WARNING: precision is swept under the rug!
-					for dt in Fixed::<4,128>::zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
+					for dt in Fixed::<2,64>::zeroes2(n.dot(body.position*2-(mesh.vert(verts[0])+mesh.vert(verts[1]))).fix_2(),n.dot(body.velocity).fix_2()*2,n.dot(body.acceleration).fix_2()){
 						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 							best_time=dt;
-							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
+							best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
 							break;
 						}
 					}
@@ -58,10 +58,10 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
 					//edge_n gets parity from the order of edge_faces
 					let n=face_n.cross(edge_n)*((i as i64)*2-1);
 					//WARNING yada yada d *2
-					for dt in Fixed::<4,128>::zeroes2(n.dot(delta_pos).fix_4(),n.dot(body.velocity).fix_4()*2,n.dot(body.acceleration).fix_4()){
+					for dt in Fixed::<2,64>::zeroes2(n.dot(delta_pos).fix_2(),n.dot(body.velocity).fix_2()*2,n.dot(body.acceleration).fix_2()){
 						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 							best_time=dt;
-							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Face(edge_face_id),dt);
+							best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Face(edge_face_id),dt);
 							break;
 						}
 					}
@@ -72,9 +72,9 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
 					let n=edge_n*(1-2*(i as i64));
 					for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
 						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
+							let dt=Ratio::new(dt.num.fix_2(),dt.den.fix_2());
 							best_time=dt;
-							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Vert(vert_id),dt);
+							best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Vert(vert_id),dt);
 							break;
 						}
 					}
@@ -88,9 +88,9 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
 					let n=-mesh.directed_edge_n(directed_edge_id);
 					for dt in Fixed::<2,64>::zeroes2((n.dot(body.position-mesh.vert(vert_id)))*2,n.dot(body.velocity)*2,n.dot(body.acceleration)){
 						if body_time.le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
-							let dt=Ratio::new(dt.num.fix_4(),dt.den.fix_4());
+							let dt=Ratio::new(dt.num.fix_2(),dt.den.fix_2());
 							best_time=dt;
-							best_transition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
+							best_transtition=MinkowskiTransition::Next(MinkowskiFEV::Edge(directed_edge_id.as_undirected()),dt);
 							break;
 						}
 					}
@@ -98,7 +98,7 @@ type MinkowskiTransition=Transition<MinkowskiFace,MinkowskiDirectedEdge,Minkowsk
 				//if none:
 			},
 		}
-		best_transition
+		best_transtition
 	}
 pub enum CrawlResult<F,E:DirectedEdge,V>{
 	Miss(FEV<F,E,V>),
@@ -108,11 +108,11 @@ type MinkowskiCrawlResult=CrawlResult<MinkowskiFace,MinkowskiDirectedEdge,Minkow
 pub fn crawl_fev(mut fev:MinkowskiFEV,mesh:&MinkowskiMesh,relative_body:&Body,start_time:Time,time_limit:Time)->MinkowskiCrawlResult{
 	let mut body_time={
 		let r=(start_time-relative_body.time).to_ratio();
-		Ratio::new(r.num.fix_4(),r.den.fix_4())
+		Ratio::new(r.num.fix_2(),r.den.fix_2())
 	};
 	let time_limit={
 		let r=(time_limit-relative_body.time).to_ratio();
-		Ratio::new(r.num.fix_4(),r.den.fix_4())
+		Ratio::new(r.num.fix_2(),r.den.fix_2())
 	};
 	for _ in 0..20{
 		match next_transition(&fev,body_time,mesh,relative_body,time_limit){

src/file.rs

@@ -66,9 +66,7 @@ pub fn load<P:AsRef<std::path::Path>>(path:P)->Result<strafesnet_common::map::Co
 		#[cfg(feature="snf")]
 		DataStructure::StrafesNET(map)=>Ok(map),
 		#[cfg(feature="roblox")]
-		DataStructure::Roblox(mut dom)=>{
-			dom.run_scripts();
-
+		DataStructure::Roblox(dom)=>{
 			let mut loader=strafesnet_deferred_loader::roblox_legacy();
 
 			let (texture_loader,mesh_loader)=loader.get_inner_mut();
@@ -112,7 +110,7 @@ pub fn load<P:AsRef<std::path::Path>>(path:P)->Result<strafesnet_common::map::Co
 				|name|mesh_loader.acquire_mesh_id(name),
 			);
 
-			let prop_meshes=mesh_loader.load_meshes(bsp.as_ref());
+			let prop_meshes=mesh_loader.load_meshes(&bsp.as_ref());
 
 			let map_step2=map_step1.add_prop_meshes(
 				//the type conflagulator 9000

src/main.rs

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

src/model_physics.rs

@@ -599,7 +599,7 @@ enum EV{
 	Edge(MinkowskiEdge),
 }
 
-pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
+pub type GigaTime=Ratio<Fixed<2,64>,Fixed<2,64>>;
 
 impl MinkowskiMesh<'_>{
 	pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
@@ -707,8 +707,7 @@ impl MinkowskiMesh<'_>{
 			infinity_body.velocity=dir;
 			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 crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN/4,infinity_body.time){
+			match crate::face_crawler::crawl_fev(infinity_fev,self,&infinity_body,integer::Time::MIN,infinity_body.time){
 				crate::face_crawler::CrawlResult::Miss(fev)=>Some(fev),
 				crate::face_crawler::CrawlResult::Hit(_,_)=>None,
 			}
@@ -744,7 +743,7 @@ impl MinkowskiMesh<'_>{
 		//determine when it passes an edge ("sliding off" case)
 		let mut best_time={
 			let r=(time_limit-relative_body.time).to_ratio();
-			Ratio::new(r.num.fix_4(),r.den.fix_4())
+			Ratio::new(r.num.fix_2(),r.den.fix_2())
 		};
 		let mut best_edge=None;
 		let face_n=self.face_nd(contact_face_id).0;
@@ -756,8 +755,8 @@ impl MinkowskiMesh<'_>{
 			let d=n.dot(self.vert(verts[0])+self.vert(verts[1]));
 			//WARNING! d outside of *2
 			//WARNING: truncated precision
-			for dt in Fixed::<4,128>::zeroes2(((n.dot(relative_body.position))*2-d).fix_4(),n.dot(relative_body.velocity).fix_4()*2,n.dot(relative_body.acceleration).fix_4()){
-				if Ratio::new(Planar64::ZERO,Planar64::EPSILON).le_ratio(dt)&&dt.lt_ratio(best_time)&&n.dot(relative_body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
+			for dt in Fixed::<2,64>::zeroes2(((n.dot(relative_body.position))*2-d).fix_2(),n.dot(relative_body.velocity).fix_2()*2,n.dot(relative_body.acceleration).fix_2()){
+				if dt.num.is_positive()&&dt.lt_ratio(best_time)&&n.dot(relative_body.extrapolated_velocity_ratio_dt(dt)).is_negative(){
 					best_time=dt;
 					best_edge=Some(directed_edge_id);
 					break;
@@ -768,7 +767,7 @@ impl MinkowskiMesh<'_>{
 	}
 	fn infinity_in(&self,infinity_body:crate::physics::Body)->Option<(MinkowskiFace,GigaTime)>{
 		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/4,infinity_body.time){
+		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)),
 		}
@@ -850,7 +849,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 				let &[e1f0,e1f1]=self.mesh1.edge_faces(e1).borrow();
 				Cow::Owned([(e1f1,false),(e1f0,true)].map(|(edge_face_id1,face_parity)|{
 					let mut best_edge=None;
-					let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
+					let mut best_d:Ratio<Fixed<2,64>,Fixed<2,64>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
 					let edge_face1_n=self.mesh1.face_nd(edge_face_id1).0;
 					let edge_face1_nn=edge_face1_n.dot(edge_face1_n);
 					for &directed_edge_id0 in v0e.iter(){
@@ -861,7 +860,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 							let edge0_nn=edge0_n.dot(edge0_n);
 							// Assume not every number is huge
 							// TODO: revisit this
-							let dd=(d*d)/(edge_face1_nn*edge0_nn);
+							let dd=(d*d).fix_2()/(edge_face1_nn*edge0_nn).fix_2();
 							if best_d<dd{
 								best_d=dd;
 								best_edge=Some(directed_edge_id0);
@@ -880,7 +879,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 				let &[e0f0,e0f1]=self.mesh0.edge_faces(e0).borrow();
 				Cow::Owned([(e0f0,true),(e0f1,false)].map(|(edge_face_id0,face_parity)|{
 					let mut best_edge=None;
-					let mut best_d:Ratio<Fixed<8,256>,Fixed<8,256>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
+					let mut best_d:Ratio<Fixed<2,64>,Fixed<2,64>>=Ratio::new(Fixed::ZERO,Fixed::ONE);
 					let edge_face0_n=self.mesh0.face_nd(edge_face_id0).0;
 					let edge_face0_nn=edge_face0_n.dot(edge_face0_n);
 					for &directed_edge_id1 in v1e.iter(){
@@ -888,7 +887,7 @@ impl MeshQuery<MinkowskiFace,MinkowskiDirectedEdge,MinkowskiVert> for MinkowskiM
 						let d=edge_face0_n.dot(edge1_n);
 						if d.is_negative(){
 							let edge1_nn=edge1_n.dot(edge1_n);
-							let dd=(d*d)/(edge_face0_nn*edge1_nn);
+							let dd=(d*d).fix_2()/(edge_face0_nn*edge1_nn).fix_2();
 							if best_d<dd{
 								best_d=dd;
 								best_edge=Some(directed_edge_id1);

src/physics.rs

@@ -766,31 +766,23 @@ impl TouchingState{
 		a
 	}
 	fn constrain_velocity(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,velocity:&mut Planar64Vec3){
-		let contacts=self.contacts.iter().map(|contact|{
+		//TODO: trey push solve
+		for contact in &self.contacts{
 			let n=contact_normal(models,hitbox_mesh,contact);
-			crate::push_solve::Contact{
-				position:Planar64Vec3::ZERO,
-				velocity:n,
-				normal:n,
+			let d=n.dot(*velocity);
+			if d.is_negative(){
+				*velocity-=(n*d/n.length_squared()).divide().fix_1();
 			}
-		}).collect();
-		match crate::push_solve::push_solve(&contacts,*velocity){
-			Some(new_velocity)=>*velocity=new_velocity,
-			None=>println!("Algorithm silently failing :)"),
 		}
 	}
 	fn constrain_acceleration(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,acceleration:&mut Planar64Vec3){
-		let contacts=self.contacts.iter().map(|contact|{
+		//TODO: trey push solve
+		for contact in &self.contacts{
 			let n=contact_normal(models,hitbox_mesh,contact);
-			crate::push_solve::Contact{
-				position:Planar64Vec3::ZERO,
-				velocity:n,
-				normal:n,
+			let d=n.dot(*acceleration);
+			if d.is_negative(){
+				*acceleration-=(n*d/n.length_squared()).divide().fix_1();
 			}
-		}).collect();
-		match crate::push_solve::push_solve(&contacts,*acceleration){
-			Some(new_acceleration)=>*acceleration=new_acceleration,
-			None=>println!("Algorithm silently failing :)"),
 		}
 	}
 	fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<PhysicsInternalInstruction>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&Body,time:Time){
@@ -1965,7 +1957,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
 			_=>println!("{}|{:?}",ins.time,ins.instruction),
 		}
 		if ins.time<state.time{
-			println!("@@@@ Time travel warning! state.time={} ins.time={}\nInstruction={:?}",state.time,ins.time,ins.instruction);
+			println!("@@@@ Time travel warning! {:?}",ins);
 		}
 		//idle is special, it is specifically a no-op to get Internal events to catch up to real time
 		match ins.instruction{

src/push_solve.rs

@@ -1,321 +0,0 @@
-use strafesnet_common::integer::{vec3::{self, Vector3}, Fixed, Planar64, Planar64Vec3, Ratio};
-
-// 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)->Fixed<2,64>{
-		(direction-self.velocity).dot(self.normal)
-	}
-	/// Calculate the time of intersection. (previously get_touch_time)
-	fn solve(&self,ray:&Ray)->Ratio<Fixed<2,64>,Fixed<2,64>>{
-		(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)->Ratio<Vector3<Fixed<3,96>>,Fixed<2,64>>{
-	let det=c0.normal.dot(c0.velocity);
-	let d0=c0.normal.dot(c0.position);
-	c0.normal*d0/det
-}
-fn solve2(c0:&Contact,c1:&Contact)->Ratio<Vector3<Fixed<5,160>>,Fixed<4,128>>{
-	let u0_u1=c0.velocity.cross(c1.velocity);
-	let n0_n1=c0.normal.cross(c1.normal);
-	let det=u0_u1.dot(n0_n1);
-	let d0=c0.normal.dot(c0.position);
-	let d1=c1.normal.dot(c1.position);
-	(c1.normal.cross(u0_u1)*d0+u0_u1.cross(c0.normal)*d1)/det
-}
-fn solve3(c0:&Contact,c1:&Contact,c2:&Contact)->Ratio<Vector3<Fixed<4,128>>,Fixed<3,96>>{
-	let n0_n1=c0.normal.cross(c1.normal);
-	let det=c2.normal.dot(n0_n1);
-	let d0=c0.normal.dot(c0.position);
-	let d1=c1.normal.dot(c1.position);
-	let d2=c2.normal.dot(c2.position);
-	(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)->[Ratio<Fixed<2,64>,Fixed<2,64>>;1]{
-	let det=u0.dot(u0);
-	let s0=u0.dot(point)/det;
-	[s0]
-}
-fn decompose2(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3)->[Ratio<Fixed<4,128>,Fixed<4,128>>;2]{
-	let u0_u1=u0.cross(u1);
-	let det=u0_u1.dot(u0_u1);
-	let s0=u0_u1.dot(point.cross(u1))/det;
-	let s1=u0_u1.dot(u0.cross(point))/det;
-	[s0,s1]
-}
-fn decompose3(point:Planar64Vec3,u0:Planar64Vec3,u1:Planar64Vec3,u2:Planar64Vec3)->[Ratio<Fixed<3,96>,Fixed<3,96>>;3]{
-	let det=u0.cross(u1).dot(u2);
-	let s0=point.cross(u1).dot(u2)/det;
-	let s1=u0.cross(point).dot(u2)/det;
-	let s2=u0.cross(u1).dot(point)/det;
-	[s0,s1,s2]
-}
-
-fn is_space_enclosed_2(
-	a:Planar64Vec3,
-	b:Planar64Vec3,
-)->bool{
-	a.cross(b)==Vector3::new([Fixed::ZERO;3])
-	&&a.dot(b).is_negative()
-}
-fn is_space_enclosed_3(
-	a:Planar64Vec3,
-	b:Planar64Vec3,
-	c:Planar64Vec3
-)->bool{
-	a.cross(b).dot(c)==Fixed::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).is_positive()
-			&&!( det_abbc*det_acbc).is_positive()
-			&&!(-det_acbc*det_abac).is_positive()
-			||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).is_negative()
-		&&(-det_abc*det_acd).is_negative()
-		&&( det_abd*det_acd).is_negative()
-		&&( det_abc*det_bcd).is_negative()
-		&&(-det_abd*det_bcd).is_negative()
-		&&( det_acd*det_bcd).is_negative()
-		||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:vec3::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),
-	).divide().fix_1();
-	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 !c1.relative_dot(ray.direction).is_negative(){
-			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 !c2.relative_dot(ray.direction).is_negative(){
-			return Some((ray,Conts::from_iter([c0,c1])));
-		}
-	}
-	if let Some(ray)=get_push_ray_2(point,c0,c2){
-		if !c1.relative_dot(ray.direction).is_negative(){
-			return Some((ray,Conts::from_iter([c0,c2])));
-		}
-	}
-	if let Some(ray)=get_push_ray_1(point,c0){
-		if !c1.relative_dot(ray.direction).is_negative()
-		 &&!c2.relative_dot(ray.direction).is_negative(){
-			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<(Ratio<Fixed<2,64>,Fixed<2,64>>,&'a Contact)>{
-	contacts.iter()
-		.filter(|&contact|
-			!conts.iter().any(|&c|std::ptr::eq(c,contact))
-			&&contact.relative_dot(ray.direction).is_negative()
-		)
-		.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:vec3::ZERO,
-				velocity:vec3::Y,
-				normal:vec3::Y,
-			}
-		];
-		assert_eq!(
-			Some(vec3::ZERO),
-			push_solve(&contacts,vec3::NEG_Y)
-		);
-	}
-}