mover: the character mover's plane solver, and the dynamics plan - #12
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aephysics.mover, Box3D's mover.c in Aether: the plane solver (twenty Gauss-Seidel sweeps, the pushes accumulated and clamped to each plane's limit, the linear slop keeping the mover just off the surface, done when a sweep's total push falls under the slop) and the velocity clip against the planes that pushed. test_mover.ae: the reference's solver cases (two parallel planes, a game's pair with a deep target) and every mover collision that needs no world -- the sphere, capsule and hull separated, touching and in deep overlap, the mesh's back side and mirrored scale, the height field's back side, report and clockwise winding -- plus a corner, a soft plane and the clip. 56 checks. bench/mover.ae against bench/mover_box3d.c: equal sums, one iteration's difference in 1.7 million, 0.9x the reference's time. design.md lays out the dynamics: the reference's world is one mutually recursive body of C, so it becomes mesh_contact, broad_phase (with the pair filter and emission as visitors), dynamics (the world's state and bookkeeping without a step), contact_solver, joint_solver, solver and physics_world, in that order, each with the tests it can carry.
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The twelfth layer, and the plan for the rest.
aephysics.mover:solve_planes(twenty Gauss-Seidel sweeps, pushes accumulated and clamped to each plane's limit, the slop keeping the mover just off the surface) andclip_vector.test_mover.ae: the reference's solver cases plus every mover collision that needs no world (sphere, capsule, hull, mesh, height field), a corner, a soft plane and the clip. 56 checks. The world-bound cases (materials through a world, filters, the time of impact) come with the world.bench/mover.aevsbench/mover_box3d.c: equal sums, one iteration's difference in 1.7 million, 0.9x.design.mditem 13: the dynamics cut. The reference's world files call into each other freely; in Aether that becomesmesh_contact,broad_phase(pair filter and emission as visitors),dynamics(the world's state and bookkeeping, no stepping, with its own tests plus the step-free parts of test_body/test_world),contact_solver,joint_solver,solver,physics_world(the step, queries, events; test_body/joint/world/body_query/determinism/large_world and bench pairs on the reference's benchmark scenes).