Merge branch 'lang/foundations' into lang/uifree

packages/ludic.character/tests/character_test.ludic

@@ -7,6 +7,11 @@ import "ludic.base"
 import "ludic.physics"
 program CharacterTest {
   numbers float
+  function wpose(physics_st: mut PhysicsState, id: int) -> PhysWalk {
+    let p = new PhysWalk
+    if not phys_walker_pose(physics_st, id, p) { return null }
+    return p
+  }
 
   # the world: x in 4..8 is a deck 45 cm up; z < -10 a cliff; z > 10 a gentle rise; x > 20 the lake
   function fk_height(x: float, z: float) -> float {
@@ -87,7 +92,7 @@ program CharacterTest {
   function fk_walk(physics_st: mut PhysicsState, character_test_st: mut CharacterTestState, x: float, y: float, z: float, vx: float, vz: float, jump: float, step: float, slope: float, dt: float) -> int {
     if character_test_st.walker < 0 { character_test_st.walker = fk_jolt(physics_st) }
     let g = phys_walker_move(physics_st, character_test_st.walker, x, y, z, vx, vz, jump, step, slope, dt)
-    let p = phys_walker_pose(physics_st, character_test_st.walker)
+    let p = wpose(physics_st, character_test_st.walker)
     character_test_st.wx = p.x
     character_test_st.wy = p.y
     character_test_st.wz = p.z

packages/ludic.nav/README.md

@@ -51,7 +51,7 @@ import "ludic.nav"
 | `nav_next_corner(kind, filter, sx, sy, sz, ex, ey, ez) -> bool` | the next corner of that way, read back as the nearest point is (a walker's one question a frame) |
 | `nav_straight(kind, filter, sx, sy, sz, ex, ez) -> bool` | does the straight line stay walkable |
 | `nav_random_near(kind, filter, x, y, z, r, seed) -> bool`, `nav_near_x/y/z()` | a reachable point about r away, from the caller's seed |
-| `nav_asked()`, `nav_found()`, `nav_short()` | paths asked for, found and cut short since the meshes loaded (a game's measure of how often its walkers had a way) |
+| `nav_asked()`, `nav_found()`, `nav_short()`, `nav_us()` | paths asked for, found and cut short since the meshes loaded, and the microseconds they took (timed in the shim by the OS clock: a game's measure of how often its walkers had a way, and what it cost) |
 | `nav_area_cost(kind, filter, area, cost)` | how dear a kind of ground is to cross by that filter |
 
 ## Tests

packages/ludic.nav/native.ludic

@@ -11,6 +11,7 @@ extern function nvc_nearest(h: pointer, x: float, y: float, z: float, out: point
 extern function nvc_area_cost(h: pointer, f: int, area: int, cost: float) -> void = "nav_area_cost"
 extern function nvc_path(h: pointer, f: int, sx: float, sy: float, sz: float, ex: float, ey: float, ez: float, out: pointer, max: int) -> int = "nav_path"
 extern function nvc_partial(h: pointer) -> int = "nav_partial"
+extern function nvc_us(h: pointer) -> int = "nav_us"
 extern function nvc_raycast(h: pointer, f: int, sx: float, sy: float, sz: float, ex: float, ez: float) -> int = "nav_raycast"
 extern function nvc_random_near(h: pointer, f: int, x: float, y: float, z: float, r: float, seed: int, out: pointer) -> int = "nav_random_near"
 extern function nvc_stage(size: int) -> pointer = "nav_stage"

packages/ludic.nav/native/shim/nav_query.inl

@@ -22,8 +22,7 @@ NAV_SHIM void nav_area_cost(void *h, int f, int area, float cost) {
 // the corners of a path from one point to another, at most max of them, into out: the count, or
 // -1 when either end is off the mesh. One that cannot reach the end stops as near it as the mesh
 // allows, and nav_partial says so
-NAV_SHIM int nav_path(void *h, int f, float sx, float sy, float sz, float ex, float ey, float ez, float *out, int max) {
-  Nav *n = static_cast<Nav *>(h);
+static int nav_path_in(Nav *n, int f, float sx, float sy, float sz, float ex, float ey, float ez, float *out, int max) {
   float s[3] = {sx, sy, sz}, e[3] = {ex, ey, ez}, so[3], eo[3];
   dtPolyRef a = nav_poly_at(n, s, so), b = nav_poly_at(n, e, eo);
   n->partial = 0;
@@ -39,6 +38,15 @@ NAV_SHIM int nav_path(void *h, int f, float sx, float sy, float sz, float ex, fl
   if (dtStatusFailed(n->query->findStraightPath(so, end, n->polys, np, out, nullptr, nullptr, &count, max, 0))) return -1;
   return count;
 }
+NAV_SHIM int nav_path(void *h, int f, float sx, float sy, float sz, float ex, float ey, float ez, float *out, int max) {
+  Nav *n = static_cast<Nav *>(h);
+  long long t0 = nav_now_ns();
+  int r = nav_path_in(n, f, sx, sy, sz, ex, ey, ez, out, max);
+  n->ns += nav_now_ns() - t0;
+  return r;
+}
+// microseconds this mesh has spent finding paths
+NAV_SHIM int nav_us(void *h) { return static_cast<int>(static_cast<Nav *>(h)->ns / 1000); }
 NAV_SHIM int nav_partial(void *h) { return static_cast<Nav *>(h)->partial; }
 
 // does the straight line from one point to another stay on the mesh? 1 yes, 0 no, -1 off it

packages/ludic.nav/native/shim/nav_shim.cpp

@@ -17,7 +17,27 @@
 #define NAV_SHIM extern "C" __attribute__((visibility("default")))
 #endif
 
+#ifdef _WIN32
+extern "C" __declspec(dllimport) int __stdcall QueryPerformanceCounter(long long *);
+extern "C" __declspec(dllimport) int __stdcall QueryPerformanceFrequency(long long *);
+#else
+#include <time.h>
+#endif
+
 namespace {
+// a monotonic clock in nanoseconds, from the OS alone (KERNEL32 on Windows: no C++ runtime to ship)
+long long nav_now_ns() {
+#ifdef _WIN32
+  long long c = 0, f = 1;
+  QueryPerformanceCounter(&c);
+  QueryPerformanceFrequency(&f);
+  return (long long)((double)c * 1e9 / (double)f);
+#else
+  struct timespec t;
+  clock_gettime(CLOCK_MONOTONIC, &t);
+  return (long long)t.tv_sec * 1000000000LL + t.tv_nsec;
+#endif
+}
 const int NAV_MAX_POLYS = 512;     // polygons a path may cross; a longer one is cut there
 const int NAV_MAX_NODES = 4096;    // the search's open list
 const int NAV_FILTERS = 8;         // costs per kind of ground: one set per kind of walker's taste
@@ -30,6 +50,7 @@ struct Nav {
   float ext[3] = {2.0f, 4.0f, 2.0f};   // how far to look for the mesh around a point
   dtPolyRef polys[NAV_MAX_POLYS];
   int partial = 0;                     // the last path stopped short of its end
+  long long ns = 0;                    // time spent finding paths, for the measure (17.10)
 };
 
 // a navmesh with its query, from params (a set of tiles) or from one tile's data

packages/ludic.nav/query.ludic

@@ -47,6 +47,15 @@ export function nav_path(nav_st: mut NavState, kind: int, filter: int, sx: float
 export function nav_asked(nav_st: NavState) -> int { return nav_st.nv_asked }
 export function nav_found(nav_st: NavState) -> int { return nav_st.nv_found }
 export function nav_short(nav_st: NavState) -> int { return nav_st.nv_short }
+# microseconds spent finding those paths, over every loaded mesh
+export function nav_us(nav_st: NavState) -> int {
+  var us = 0
+  for k in 0 .. NAV_KINDS {
+    let h = nv_mesh(nav_st, k)
+    if h != null { us += nvc_us(h) }
+  }
+  return us
+}
 export function nav_partial(nav_st: NavState, kind: int) -> bool {
   let h = nv_mesh(nav_st, kind)
   return h != null and nvc_partial(h) == 1

packages/ludic.nav/tests/nav_test.ludic

@@ -124,4 +124,14 @@ program NavTest {
     nav_reset(nav_st)
     expect_eq(nav_polygons(nav_st, NAV_SMALL), 0)
   }
+
+  test "the time paths take is counted, and only while a mesh is loaded" (nav_st: mut NavState) {
+    expect_eq(nav_us(nav_st), 0)
+    expect(meadow(nav_st, NAV_PERSON, 0, true))
+    for i in 0 .. 2000 { nav_path(nav_st, NAV_PERSON, 0, 5.0, 0.0, 20.0, 35.0, 0.0, 20.0) }
+    expect(nav_us(nav_st) > 0)
+    expect(nav_us(nav_st) < 2000000)
+    nav_reset(nav_st)
+    expect_eq(nav_us(nav_st), 0)
+  }
 }

packages/ludic.npc/README.md

@@ -114,7 +114,7 @@ by a person's taste.
 | `npc_pick_name(body)`, `npc_name_used(n)`, `npc_name_clashes()` | names |
 | `npc_talk(p, player)`, `npc_line_for(p)`, `npc_words(p, line)`, `npc_said()`, `npc_choose(p, line, c, player)`, `npc_talked_today(p)`, `npc_greeting(p)` | talk |
 | `npc_mirror(on)`, `npc_mirroring()`, `npc_put(slot, id, kind, look, seed, name, hx, hz)`, `npc_heard(slot, x, y, z, yaw, speed, act, stalk)`, `npc_heard_lately(p)`, `npc_mirror_tick(dt)` | a guest's copy of the host's people |
-| `npc_facts() -> Queue<NpcFact>` | `NPC_F_GREETED` (`player`), `NPC_F_TALKED` (`player`, `line`, `choice`), `NPC_F_ARRIVED` (`act`) |
+| `npc_facts() -> Queue<NpcFact>` | `NPC_F_GREETED` (`player`), `NPC_F_TALKED` (`player`, `line`, `choice`), `NPC_F_ARRIVED` (`act`), `NPC_F_STUCK` (`how` - `NPC_STUCK_DETOUR`, `_RETRY`, `_GAVE_UP` - at `x`, `z`: the way failed it and it fell back) |
 | `npc_system() -> System` | `"npc"`, `PH_SIMULATE`, a reset and no tick; nothing saved |
 
 ## Tests

packages/ludic.npc/defs.ludic

@@ -131,6 +131,7 @@ export open registry NpcNames of NpcName as NPCN
 export const NPC_F_GREETED: int = 0    # a player came within notice
 export const NPC_F_TALKED: int = 1     # a player talked (line, choice -1 or the choice taken)
 export const NPC_F_ARRIVED: int = 2    # got where it was walking, and began the act
+export const NPC_F_STUCK: int = 3      # the way failed it and it fell back (`how`, at `x`, `z`)
 
 export property NpcFact {
   what: int = 0
@@ -141,4 +142,7 @@ export property NpcFact {
   line: int = -1
   choice: int = -1
   act: int = -1
+  how: int = 0                 # NPC_STUCK_*
+  x: float = 0.0
+  z: float = 0.0
 }

packages/ludic.npc/tests/npc_test.ludic

@@ -114,7 +114,7 @@ program NpcTest {
     expect_eq(p.act, NPCA_SIT)
   }
 
-  test "nobody walks into the lake" (npc_st: mut NpcState, npc_tests_fake_st: mut NpcTestsFakeState) {
+  test "nobody walks into the lake, and turning back from it is told as a fallback" (npc_st: mut NpcState, npc_tests_fake_st: mut NpcTestsFakeState) {
     let p = one(npc_st, npc_tests_fake_st, NPCK_HIKER)
     npc_go(npc_st, p, -80.0, 0.0, NPCA_SIT, 30.0)
     var west = 0.0
@@ -123,6 +123,12 @@ program NpcTest {
       west = Math.min(west, p.x)
     }
     expect(west > -50.5)
+    var fell = 0
+    let fs = q_drain(npc_facts(npc_st))
+    for i in 0 .. len(fs) {
+      if fs[i].what == NPC_F_STUCK and fs[i].x > -52.0 { fell += 1 }
+    }
+    expect(fell >= 1)
   }
 
   test "a step's spot is where its hours say: the shore by day, home by night" (npc_st: mut NpcState, npc_tests_fake_st: mut NpcTestsFakeState) {

packages/ludic.npc/tests/way_test.ludic

@@ -78,5 +78,7 @@ program NpcWayTest {
     expect_eq(p.act, NPCA_SIT)
     expect(npc_d(p.x, p.z, 38.0, -25.0) < 1.3)
     expect(way_test_st.asked > 5)
+    let fs = q_drain(npc_facts(npc_st))
+    for i in 0 .. len(fs) { expect(fs[i].what != NPC_F_STUCK) }
   }
 }

packages/ludic.npc/walk.ludic

@@ -46,6 +46,7 @@ export function npc_walk(npc_st: mut NpcState, p: NpcPerson, dt: float) -> void
     p.stall = p.stall + dt
     if p.stall > p.stall_max { p.stall_max = p.stall }
     if p.detours < 10 and np_detour(p, want) {
+      np_stuck_fact(npc_st, p, NPC_STUCK_DETOUR)
       p.detours += 1
       return
     }

packages/ludic.npc/way.ludic

@@ -1,6 +1,15 @@
 # way.ludic - where a person walks when the straight line will not do: the world's way (NpcWorld.way,
 # a navmesh by a person's taste in Maroon Lake), and without one a step round what is in the way,
-# and giving the target up after three tries
+# and giving the target up after three tries - each of those a NPC_F_STUCK fact, so the fallback is seen
+export const NPC_STUCK_DETOUR: int = 0     # a step round what was in front of it
+export const NPC_STUCK_RETRY: int = 1      # no closer for twenty seconds, or no step round: planned again
+export const NPC_STUCK_GAVE_UP: int = 2    # the third of those: the target given up
+function np_stuck_fact(npc_st: NpcState, p: NpcPerson, how: int) -> void {
+  let f = np_fact(npc_st, NPC_F_STUCK, p, -1)
+  f.how = how
+  f.x = p.x
+  f.z = p.z
+}
 
 # the next corner toward the target, asked again every half second, on reaching it, or for a new target
 const NP_WAY_EVERY: float = 0.5
@@ -39,7 +48,11 @@ function np_stuck(npc_st: mut NpcState, p: NpcPerson) -> void {
   p.fails += 1
   p.via_on = false
   if p.fails >= 3 {
+    np_stuck_fact(npc_st, p, NPC_STUCK_GAVE_UP)
     p.fails = 0
     npc_wander(npc_st, p)
-  } else { npc_plan(npc_st, p) }
+  } else {
+    np_stuck_fact(npc_st, p, NPC_STUCK_RETRY)
+    npc_plan(npc_st, p)
+  }
 }

packages/ludic.physics/README.md

@@ -26,6 +26,9 @@ import "ludic.physics"
 
 ## The API
 
+A query fills a record the caller keeps (`p`, `h`) and allocates nothing: it is asked every frame, and
+Ludic gives no allocation back.
+
 | | |
 | --- | --- |
 | `phys_open(st, max_bodies, threads) -> bool`, `phys_close(st)`, `phys_is_open(st)` | a world, and everything in it let go |
@@ -34,15 +37,15 @@ import "ludic.physics"
 | `phys_ground_add`, `phys_static_add`, `phys_kinematic_add`, `phys_body_add(..., mass)` | bodies: the ground, still things, what the game moves (the player), what falls and floats |
 | `phys_settle(st)` | after adding many still things, before the first query |
 | `phys_remove(st, id)`, `phys_count(st)` | gone for good |
-| `phys_pose(st, id) -> PhysPose`, `phys_yaw_of(p)` | position, rotation, velocity |
+| `phys_pose(st, id, p) -> bool`, `phys_yaw_of(p)` | position, rotation, velocity |
 | `phys_place`, `phys_impulse`, `phys_set_velocity`, `phys_set_kinematic_target`, `phys_awake` | moving a body |
-| `phys_ray(st, o, d, mask) -> PhysHit` | the first thing along a ray |
+| `phys_ray(st, o, d, mask, h) -> bool` | the first thing along a ray |
 | `phys_top_at(st, x, z, r, from_y, depth, mask) -> float` | what a foot would land on (`CharacterGround.top_at`), `PHYS_NONE` if nothing |
-| `phys_push(st, x, z, r, y0, y1, mask) -> PhysPush` | the move that stands an upright body clear (`CharacterGround.push`) |
+| `phys_push(st, x, z, r, y0, y1, mask, p) -> int` | the move that stands an upright body clear (`CharacterGround.push`) |
 | `phys_resolve(st, x, z, r, y0, y1, mask) -> bool`, `phys_resolved_x` / `_z` | pushed clear in two passes, the place kept (`CharacterGround.push`, `pushed_x` / `_z`); a thing wholly under the feet or over the head is not in the way |
 | `phys_step_top(st, x, z, r, feet, reach, mask) -> float` | the highest top a foot could step up to, anything taller than `feet + reach` left out as a wall |
-| `phys_overlap(st, x, y, z, r, mask) -> []int` | the bodies a ball touches |
-| `phys_walker_add(st, r, h, x, y, z, max_slope, mass)`, `phys_walker_step(st, id, dt, vx, vz, jump) -> ground`, `phys_walker_pose -> PhysWalk`, `phys_walker_place`, `phys_walker_limits(step_up, stick)`, `phys_walker_remove` | a walking body (Jolt's CharacterVirtual): gravity, landing, steps, slopes, following the ground down; it shoves dynamic things and rays find its `body` |
+| `phys_overlap(st, x, y, z, r, mask) -> int`, `phys_overlap_id(st, i)` | how many bodies a ball touches, and each one |
+| `phys_walker_add(st, r, h, x, y, z, max_slope, mass)`, `phys_walker_step(st, id, dt, vx, vz, jump) -> ground`, `phys_walker_pose(st, id, p) -> bool`, `phys_walker_place`, `phys_walker_limits(step_up, stick)`, `phys_walker_remove` | a walking body (Jolt's CharacterVirtual): gravity, landing, steps, slopes, following the ground down; it shoves dynamic things and rays find its `body` |
 | `phys_force`, `phys_torque`, `phys_angular_impulse`, `phys_spin_y`, `phys_set_pose(st, id, pose)` | an oar's stroke and a turn; a guest's copy put where the host said |
 | `phys_float(st, id, buoyancy, linear_drag, angular_drag)`, `phys_sink`, `phys_floating` | a body buoyed each step against `PhysWater` and carried by its current |
 | `phys_facts(st)` | `PhysFact`: `PHYS_HIT` (two bodies met at `ph_hard` m/s or more), `PHYS_SPLASH` (a floating body reached water) |

packages/ludic.physics/bodies.ludic

@@ -43,17 +43,16 @@ export function phys_remove(physics_st: mut PhysicsState, id: int) -> void {
   jph_body_remove(physics_st.ph_world, id)
 }
 
-# where a body is, how it is turned and how fast it goes; null when there is no such body
-export function phys_pose(physics_st: mut PhysicsState, id: int) -> PhysPose {
-  if physics_st.ph_world == null { return null }
-  ph_buffers()
-  if jph_body_read(physics_st.ph_world, id, physics_st.ph_vals) != 0 { return null }
+# where a body is, how it is turned and how fast it goes, into the caller's own record (a query asked
+# every frame allocates nothing: there is no GC); false, and p untouched, when there is no such body
+export function phys_pose(physics_st: mut PhysicsState, id: int, p: PhysPose) -> bool {
+  if physics_st.ph_world == null { return false }
+  if jph_body_read(physics_st.ph_world, id, physics_st.ph_vals) != 0 { return false }
   let v = physics_st.ph_vals
-  let p = new PhysPose
   p.x = v[0];  p.y = v[1];  p.z = v[2]
   p.qx = v[3];  p.qy = v[4];  p.qz = v[5];  p.qw = v[6]
   p.vx = v[7];  p.vy = v[8];  p.vz = v[9]
-  return p
+  return true
 }
 
 # the heading a pose's rotation gives, in radians about y

packages/ludic.physics/hull.ludic

@@ -12,9 +12,9 @@ export function phys_hull_add(physics_st: mut PhysicsState, x: float, y: float,
 # a stroke of `forward` newtons along the bow and a turn of `turn` newton-metres about y, over the
 # next step
 export function phys_row(physics_st: mut PhysicsState, id: int, forward: float, turn: float) -> void {
-  let p = phys_pose(physics_st, id)
-  if p == null { return }
-  let yaw = phys_yaw_of(p)
+  if physics_st.ph_world == null or jph_body_read(physics_st.ph_world, id, physics_st.ph_vals) != 0 { return }
+  let v = physics_st.ph_vals
+  let yaw = Math.atan2(2.0 * (v[6] * v[4] + v[3] * v[5]), 1.0 - 2.0 * (v[4] * v[4] + v[3] * v[3]))
   phys_force(physics_st, id, -Math.sin(yaw) * forward, 0.0, -Math.cos(yaw) * forward)
   phys_torque(physics_st, id, 0.0, turn, 0.0)
 }

packages/ludic.physics/queries.ludic

@@ -12,18 +12,19 @@ export property PhysHit {
   nz: float = 0.0
 }
 
-# a ray from (ox, oy, oz) along (dx, dy, dz), whose length is the reach
-export function phys_ray(physics_st: mut PhysicsState, ox: float, oy: float, oz: float, dx: float, dy: float, dz: float, mask: int) -> PhysHit {
-  let h = new PhysHit
-  if physics_st.ph_world == null { return h }
-  ph_buffers()
+# a ray from (ox, oy, oz) along (dx, dy, dz), whose length is the reach, into the caller's record;
+# true when it hit something (h.body -1 and h.fraction 1 when not)
+export function phys_ray(physics_st: mut PhysicsState, ox: float, oy: float, oz: float, dx: float, dy: float, dz: float, mask: int, h: PhysHit) -> bool {
+  h.body = -1
+  h.fraction = 1.0
+  if physics_st.ph_world == null { return false }
   h.body = jph_ray(physics_st.ph_world, ox, oy, oz, dx, dy, dz, mask, physics_st.ph_vals)
-  if h.body == -1 { return h }
+  if h.body == -1 { return false }
   let v = physics_st.ph_vals
   h.fraction = v[0]
   h.x = v[1];  h.y = v[2];  h.z = v[3]
   h.nx = v[4];  h.ny = v[5];  h.nz = v[6]
-  return h
+  return true
 }
 
 # a ball r across let down from from_y at most depth metres: the height of what it lands on, or
@@ -45,15 +46,13 @@ export function phys_step_top(physics_st: PhysicsState, x: float, z: float, r: f
   return y
 }
 
-# the bodies a ball at (x, y, z) touches, in the order Jolt sorts them
-export function phys_overlap(physics_st: mut PhysicsState, x: float, y: float, z: float, r: float, mask: int) -> []int {
-  let out = new []int
-  if physics_st.ph_world == null { return out }
-  ph_buffers()
-  let n = jph_overlap(physics_st.ph_world, x, y, z, r, mask, physics_st.ph_ids, PH_CAP)
-  for i in 0 .. n { push(out, physics_st.ph_ids[i]) }
-  return out
+# how many bodies a ball at (x, y, z) touches, in the order Jolt sorts them; phys_overlap_id(i)
+# reads them back until the next query
+export function phys_overlap(physics_st: mut PhysicsState, x: float, y: float, z: float, r: float, mask: int) -> int {
+  if physics_st.ph_world == null { return 0 }
+  return jph_overlap(physics_st.ph_world, x, y, z, r, mask, physics_st.ph_ids, PH_CAP)
 }
+export function phys_overlap_id(physics_st: PhysicsState, i: int) -> int { return physics_st.ph_ids[i] }
 
 export property PhysPush {
   x: float = 0.0     # how far to move in x and z to stand clear
@@ -63,14 +62,18 @@ export property PhysPush {
 
 # an upright body r wide from y0 to y1 at (x, z): the move that stands it clear - what
 # CharacterGround.push asks
-export function phys_push(physics_st: mut PhysicsState, x: float, z: float, r: float, y0: float, y1: float, mask: int) -> PhysPush {
-  let p = new PhysPush
-  if physics_st.ph_world == null { return p }
-  ph_buffers()
-  p.n = jph_push(physics_st.ph_world, x, z, r, y0, y1, mask, physics_st.ph_vals)
+export function phys_push(physics_st: mut PhysicsState, x: float, z: float, r: float, y0: float, y1: float, mask: int, p: PhysPush) -> int {
+  p.n = ph_push(physics_st, x, z, r, y0, y1, mask)
   p.x = physics_st.ph_vals[0]
   p.z = physics_st.ph_vals[1]
-  return p
+  return p.n
+}
+# how many things are in the way, the move clear in ph_vals[0], [1]
+function ph_push(physics_st: mut PhysicsState, x: float, z: float, r: float, y0: float, y1: float, mask: int) -> int {
+  physics_st.ph_vals[0] = 0.0
+  physics_st.ph_vals[1] = 0.0
+  if physics_st.ph_world == null { return 0 }
+  return jph_push(physics_st.ph_world, x, z, r, y0, y1, mask, physics_st.ph_vals)
 }
 
 # a body r wide from y0 to y1 at (x, z) moved clear of what it stands in, two passes over (a push out
@@ -82,10 +85,9 @@ export function phys_resolve(physics_st: mut PhysicsState, x: float, z: float, r
   var pz = z
   var moved = false
   for pass in 0 .. 2 {
-    let p = phys_push(physics_st, px, pz, r, y0, y1, mask)
-    if p.n > 0 {
-      px += p.x
-      pz += p.z
+    if ph_push(physics_st, px, pz, r, y0, y1, mask) > 0 {
+      px += physics_st.ph_vals[0]
+      pz += physics_st.ph_vals[1]
       moved = true
     }
   }

packages/ludic.physics/tests/hull_shape_test.ludic

@@ -4,6 +4,11 @@ import "ludic.physics"
 import "ludic.base"
 program HullShapeTest {
   numbers float
+  function ray(physics_st: mut PhysicsState, ox: float, oy: float, oz: float, dx: float, dy: float, dz: float, mask: int) -> PhysHit {
+    let h = new PhysHit
+    phys_ray(physics_st, ox, oy, oz, dx, dy, dz, mask, h)
+    return h
+  }
 
   # a cube two metres across, its centre two metres along x from its origin
   function cube(physics_st: mut PhysicsState) -> int {
@@ -15,7 +20,7 @@ program HullShapeTest {
     }
     return phys_convex(physics_st, v, 8)
   }
-  function down(physics_st: mut PhysicsState, x: float, z: float) -> PhysHit { return phys_ray(physics_st, x, 10.0, z, 0.0, -20.0, 0.0, PHYS_M_ALL) }
+  function down(physics_st: mut PhysicsState, x: float, z: float) -> PhysHit { return ray(physics_st, x, 10.0, z, 0.0, -20.0, 0.0, PHYS_M_ALL) }
 
   test "a hull stands where its points are, and too few points are no shape" (physics_st: mut PhysicsState) {
     expect(phys_open(physics_st, 16, 1))

packages/ludic.physics/tests/motion_test.ludic

@@ -5,6 +5,11 @@ import "ludic.physics"
 import "ludic.base"
 program MotionTest {
   numbers float
+  function pose(physics_st: mut PhysicsState, id: int) -> PhysPose {
+    let p = new PhysPose
+    if not phys_pose(physics_st, id, p) { return null }
+    return p
+  }
 
   function lake_h(x: float, z: float) -> float {
     if x > 20.0 { return 0.0 }
@@ -45,7 +50,7 @@ program MotionTest {
     let crate = phys_body_add(physics_st, phys_box(physics_st, 0.5, 0.25, 0.5), 30.0, 2.0, 0.0, 0.0, 60.0)
     phys_float(physics_st, crate, 1.2, 2.0, 2.0)
     sim(physics_st, 8.0)
-    let p = phys_pose(physics_st, crate)
+    let p = pose(physics_st, crate)
     expect(p.y > -0.4)
     expect(p.y < 0.4)
     expect(Math.abs(p.vy) < 0.2)
@@ -55,7 +60,7 @@ program MotionTest {
     phys_sink(physics_st, crate)
     expect(not phys_floating(physics_st, crate))
     sim(physics_st, 4.0)
-    expect(phys_pose(physics_st, crate).y < -2.5)
+    expect(pose(physics_st, crate).y < -2.5)
     phys_close(physics_st)
   }
 
@@ -87,7 +92,7 @@ program MotionTest {
       phys_set_kinematic_target(physics_st, me, 2.0 + float(i + 1) * 0.03, 0.95, 0.0, 0.0)
       phys_step(physics_st)
     }
-    expect(phys_pose(physics_st, crate).x > 5.0)
+    expect(pose(physics_st, crate).x > 5.0)
     phys_close(physics_st)
   }
 
@@ -114,7 +119,7 @@ program MotionTest {
     for i in 0 .. 12 { last = phys_body_add(physics_st, b, 3.0 + float(i % 3) * 0.3, 2.0 + float(i) * 0.7, float(i % 2) * 0.2, float(i) * 0.4, 8.0) }
     phys_impulse(physics_st, last, 20.0, 0.0, 5.0)
     sim(physics_st, 4.0)
-    let p = phys_pose(physics_st, last)
+    let p = pose(physics_st, last)
     phys_close(physics_st)
     return p
   }
@@ -132,21 +137,21 @@ program MotionTest {
     world(physics_st)
     let b = phys_hull_add(physics_st, 40.0, 0.5, 0.0, 1.5707963, 0.6, 0.25, 1.9, 180.0, 4.0, 1.0)
     sim(physics_st, 4.0)
-    let p0 = phys_pose(physics_st, b)
+    let p0 = pose(physics_st, b)
     expect(p0.y > -0.2)
     expect(p0.y < 0.2)
     for i in 0 .. 240 {
       phys_row(physics_st, b, 420.0, 0.0)
       phys_step(physics_st)
     }
-    let p1 = phys_pose(physics_st, b)
+    let p1 = pose(physics_st, b)
     expect(p1.x < 34.0)
     expect(phys_bow_speed(p1) > 1.0)
     for i in 0 .. 120 {
       phys_row(physics_st, b, 0.0, 520.0)
       phys_step(physics_st)
     }
-    expect(Math.abs(phys_yaw_of(phys_pose(physics_st, b)) - phys_yaw_of(p1)) > 0.5)
+    expect(Math.abs(phys_yaw_of(pose(physics_st, b)) - phys_yaw_of(p1)) > 0.5)
     phys_close(physics_st)
     world(physics_st)
     let c = phys_hull_add(physics_st, 24.0, 0.5, 0.0, 1.5707963, 0.6, 0.25, 1.9, 180.0, 4.0, 1.0)
@@ -154,7 +159,7 @@ program MotionTest {
       phys_row(physics_st, c, 420.0, 0.0)
       phys_step(physics_st)
     }
-    expect(phys_pose(physics_st, c).x > 19.5)
+    expect(pose(physics_st, c).x > 19.5)
     phys_close(physics_st)
   }
 }

packages/ludic.physics/tests/physics_test.ludic

@@ -5,6 +5,21 @@ import "ludic.physics"
 import "ludic.base"
 program PhysicsTest {
   numbers float
+  function pose(physics_st: mut PhysicsState, id: int) -> PhysPose {
+    let p = new PhysPose
+    if not phys_pose(physics_st, id, p) { return null }
+    return p
+  }
+  function ray(physics_st: mut PhysicsState, ox: float, oy: float, oz: float, dx: float, dy: float, dz: float, mask: int) -> PhysHit {
+    let h = new PhysHit
+    phys_ray(physics_st, ox, oy, oz, dx, dy, dz, mask, h)
+    return h
+  }
+  function push_of(physics_st: mut PhysicsState, x: float, z: float, r: float, y0: float, y1: float, mask: int) -> PhysPush {
+    let p = new PhysPush
+    phys_push(physics_st, x, z, r, y0, y1, mask, p)
+    return p
+  }
 
   # the lake: everything east of x = 20, its surface at y = 0, drifting north at 0.5 m/s
   function lake_h(x: float, z: float) -> float {
@@ -38,15 +53,15 @@ program PhysicsTest {
     let id = phys_body_add(physics_st, b, 0.0, 4.0, 0.0, 0.0, 20.0)
     expect(id != -1)
     sim(physics_st, 3.0)
-    let p = phys_pose(physics_st, id)
+    let p = pose(physics_st, id)
     expect(p != null)
     expect(Math.abs(p.y - 0.5) < 0.05)
     expect(Math.abs(p.vy) < 0.05)
-    let h = phys_ray(physics_st, 0.0, 10.0, 0.0, 0.0, -20.0, 0.0, PHYS_M_ALL)
+    let h = ray(physics_st, 0.0, 10.0, 0.0, 0.0, -20.0, 0.0, PHYS_M_ALL)
     expect_eq(h.body, id)
     expect(Math.abs(h.y - 1.0) < 0.05)
     expect(h.ny > 0.9)
-    let g = phys_ray(physics_st, 5.0, 10.0, 5.0, 0.0, -20.0, 0.0, PHYS_M_ALL)
+    let g = ray(physics_st, 5.0, 10.0, 5.0, 0.0, -20.0, 0.0, PHYS_M_ALL)
     expect(g.body != -1)
     expect(g.body != id)
     expect(Math.abs(g.y) < 0.01)
@@ -59,14 +74,13 @@ program PhysicsTest {
     let id = phys_static_add(physics_st, post, 2.0, 0.0, 2.0, 0.0)
     phys_settle(physics_st)
     let n = phys_count(physics_st)
-    let near = phys_overlap(physics_st, 2.0, 1.0, 2.0, 0.5, PHYS_M_STATIC)
-    expect_eq(len(near), 1)
-    expect_eq(near[0], id)
-    expect_eq(len(phys_overlap(physics_st, 2.0, 1.0, 2.0, 0.5, PHYS_M_GROUND)), 0)
+    expect_eq(phys_overlap(physics_st, 2.0, 1.0, 2.0, 0.5, PHYS_M_STATIC), 1)
+    expect_eq(phys_overlap_id(physics_st, 0), id)
+    expect_eq(phys_overlap(physics_st, 2.0, 1.0, 2.0, 0.5, PHYS_M_GROUND), 0)
     phys_remove(physics_st, id)
     expect_eq(phys_count(physics_st), n - 1)
-    expect_eq(len(phys_overlap(physics_st, 2.0, 1.0, 2.0, 0.5, PHYS_M_STATIC)), 0)
-    expect(phys_pose(physics_st, id) == null)
+    expect_eq(phys_overlap(physics_st, 2.0, 1.0, 2.0, 0.5, PHYS_M_STATIC), 0)
+    expect(pose(physics_st, id) == null)
     phys_close(physics_st)
   }
 
@@ -86,11 +100,11 @@ program PhysicsTest {
     let post = phys_offset(physics_st, phys_cylinder(physics_st, 1.0, 0.3), 0.0, 1.0, 0.0, 0.0)
     phys_static_add(physics_st, post, 0.0, 0.0, 0.0, 0.0)
     phys_settle(physics_st)
-    let p = phys_push(physics_st, 0.5, 0.0, 0.4, 0.1, 1.8, PHYS_M_STATIC)
+    let p = push_of(physics_st, 0.5, 0.0, 0.4, 0.1, 1.8, PHYS_M_STATIC)
     expect_eq(p.n, 1)
     expect(p.x > 0.1)
     expect(Math.abs(p.z) < 0.05)
-    let clear = phys_push(physics_st, 3.0, 0.0, 0.4, 0.1, 1.8, PHYS_M_STATIC)
+    let clear = push_of(physics_st, 3.0, 0.0, 0.4, 0.1, 1.8, PHYS_M_STATIC)
     expect_eq(clear.n, 0)
     phys_close(physics_st)
   }
@@ -141,8 +155,8 @@ program PhysicsTest {
     expect(g >= 0)
     phys_ground_add(physics_st, g)
     phys_settle(physics_st)
-    let odd = phys_ray(physics_st, 5.5, 50.0, 10.5, 0.0, -100.0, 0.0, PHYS_M_GROUND)
-    let even = phys_ray(physics_st, 6.5, 50.0, 10.5, 0.0, -100.0, 0.0, PHYS_M_GROUND)
+    let odd = ray(physics_st, 5.5, 50.0, 10.5, 0.0, -100.0, 0.0, PHYS_M_GROUND)
+    let even = ray(physics_st, 6.5, 50.0, 10.5, 0.0, -100.0, 0.0, PHYS_M_GROUND)
     expect(Math.abs(odd.y - 2.0) < 0.01)
     expect(Math.abs(even.y - 1.0) < 0.01)
     phys_close(physics_st)

packages/ludic.physics/tests/walker_test.ludic

@@ -4,6 +4,16 @@ import "ludic.physics"
 import "ludic.base"
 program WalkerTest {
   numbers float
+  function pose(physics_st: mut PhysicsState, id: int) -> PhysPose {
+    let p = new PhysPose
+    if not phys_pose(physics_st, id, p) { return null }
+    return p
+  }
+  function wpose(physics_st: mut PhysicsState, id: int) -> PhysWalk {
+    let p = new PhysWalk
+    if not phys_walker_pose(physics_st, id, p) { return null }
+    return p
+  }
 
   function flat(physics_st: mut PhysicsState) -> void {
     expect(phys_open(physics_st, 1024, 1))
@@ -20,11 +30,11 @@ program WalkerTest {
     flat(physics_st)
     let me = phys_walker_add(physics_st, 0.35, 1.8, 0.0, 1.0, 0.0, 50.0, 70.0)
     walk(physics_st, me, 1.0, 0.0, 0.0)
-    let p = phys_walker_pose(physics_st, me)
+    let p = wpose(physics_st, me)
     expect_eq(p.ground, PHYS_ON_GROUND)
     expect(Math.abs(p.y) < 0.05)
     walk(physics_st, me, 2.0, 3.0, 0.0)
-    let q = phys_walker_pose(physics_st, me)
+    let q = wpose(physics_st, me)
     expect(Math.abs(q.x - 6.0) < 0.2)
     expect(q.body >= 0)
     phys_close(physics_st)
@@ -40,12 +50,12 @@ program WalkerTest {
     let a = phys_walker_add(physics_st, 0.35, 1.8, 0.0, 0.0, 0.0, 50.0, 70.0)
     phys_walker_limits(physics_st, a, 0.55, 0.5, 50.0)
     walk(physics_st, a, 1.5, 2.0, 0.0)
-    let pa = phys_walker_pose(physics_st, a)
+    let pa = wpose(physics_st, a)
     expect(pa.x > 2.5)
     expect(Math.abs(pa.y - 0.3) < 0.05)
     let b = phys_walker_add(physics_st, 0.35, 1.8, 0.0, 0.0, 10.0, 50.0, 70.0)
     walk(physics_st, b, 2.0, 2.0, 0.0)
-    let pb = phys_walker_pose(physics_st, b)
+    let pb = wpose(physics_st, b)
     expect(pb.x < 1.7)
     expect(Math.abs(pb.y) < 0.05)
     phys_close(physics_st)
@@ -57,11 +67,11 @@ program WalkerTest {
     walk(physics_st, me, 0.5, 0.0, 0.0)
     phys_walker_step(physics_st, me, 1.0 / 60.0, 0.0, 0.0, 5.0)
     walk(physics_st, me, 0.25, 0.0, 0.0)
-    let up = phys_walker_pose(physics_st, me)
+    let up = wpose(physics_st, me)
     expect_eq(up.ground, PHYS_IN_AIR)
     expect(up.y > 0.5)
     walk(physics_st, me, 1.5, 0.0, 0.0)
-    let down = phys_walker_pose(physics_st, me)
+    let down = wpose(physics_st, me)
     expect_eq(down.ground, PHYS_ON_GROUND)
     expect(Math.abs(down.y) < 0.05)
     phys_close(physics_st)
@@ -75,12 +85,12 @@ program WalkerTest {
       phys_walker_step(physics_st, me, 1.0 / 60.0, 2.0, 0.0, 0.0)
       phys_step(physics_st)
     }
-    expect(phys_pose(physics_st, crate).x > 2.5)
+    expect(pose(physics_st, crate).x > 2.5)
     phys_walker_place(physics_st, me, -10.0, 0.0, -10.0)
-    let p = phys_walker_pose(physics_st, me)
+    let p = wpose(physics_st, me)
     expect(Math.abs(p.x + 10.0) < 0.01)
     phys_walker_remove(physics_st, me)
-    expect(phys_walker_pose(physics_st, me) == null)
+    expect(wpose(physics_st, me) == null)
     phys_close(physics_st)
   }
 
@@ -94,11 +104,11 @@ program WalkerTest {
       phys_step(physics_st)
     }
     expect(phys_spin_y(physics_st, hull) > 0.1)
-    expect(phys_pose(physics_st, hull).z > 0.5)
-    let p = phys_pose(physics_st, hull)
+    expect(pose(physics_st, hull).z > 0.5)
+    let p = pose(physics_st, hull)
     p.x = 5.0
     phys_set_pose(physics_st, hull, p)
-    expect(Math.abs(phys_pose(physics_st, hull).x - 5.0) < 0.01)
+    expect(Math.abs(pose(physics_st, hull).x - 5.0) < 0.01)
     phys_close(physics_st)
   }
 }

packages/ludic.physics/walker.ludic

@@ -53,19 +53,18 @@ export function phys_walker_step(physics_st: mut PhysicsState, id: int, dt: floa
   return jph_char_step(physics_st.ph_world, k, dt, vx, vz, jump)
 }
 
-export function phys_walker_pose(physics_st: mut PhysicsState, id: int) -> PhysWalk {
+# where a walker is, into the caller's record; false when there is no such walker
+export function phys_walker_pose(physics_st: mut PhysicsState, id: int, p: PhysWalk) -> bool {
   let k = ph_walker(physics_st, id)
-  if k == null { return null }
-  ph_buffers()
+  if k == null { return false }
   jph_char_read(k, physics_st.ph_vals)
   let v = physics_st.ph_vals
-  let p = new PhysWalk
   p.x = v[0];  p.y = v[1];  p.z = v[2]
   p.vx = v[3];  p.vy = v[4];  p.vz = v[5]
   p.ground = int(v[6])
   p.ny = v[7]
   p.body = int(v[8])
-  return p
+  return true
 }
 
 # put it somewhere, standing still: a teleport, a swap, getting off a boat
@@ -77,11 +76,12 @@ export function phys_walker_place(physics_st: mut PhysicsState, id: int, x: floa
 # a body the game keeps elsewhere, moved by its walker: put where the body is if something else
 # moved it (a teleport, a ride, a swim), then one step under the given limits; the ground after it
 export function phys_walker_move(physics_st: mut PhysicsState, id: int, x: float, y: float, z: float, vx: float, vz: float, jump: float, step: float, max_slope: float, dt: float) -> int {
-  let p = phys_walker_pose(physics_st, id)
-  if p == null { return PHYS_IN_AIR }
-  let dx = p.x - x
-  let dy = p.y - y
-  let dz = p.z - z
+  let k = ph_walker(physics_st, id)
+  if k == null { return PHYS_IN_AIR }
+  jph_char_read(k, physics_st.ph_vals)
+  let dx = physics_st.ph_vals[0] - x
+  let dy = physics_st.ph_vals[1] - y
+  let dz = physics_st.ph_vals[2] - z
   if dx * dx + dy * dy + dz * dz > 0.0025 { phys_walker_place(physics_st, id, x, y, z) }
   phys_walker_limits(physics_st, id, step, 0.5, max_slope)
   return phys_walker_step(physics_st, id, dt, vx, vz, jump)

packages/ludic.render3d/env.ludic

@@ -99,6 +99,7 @@ export state Render3dState {
   gltf_comps: int = 0
   gltf_tex_paths: []pointer = null
   gltf_tex_ids: words = null
+  gltf_tex_refs: words = null        # how many primitives use each cached texture (model_release)
   gltf_tex_n: int = 0
   gltf_white: int = 0
   gltf_flat: int = 0

packages/ludic.render3d/gltf.ludic

@@ -50,17 +50,17 @@ function gltf_mat_remember(render3d_st: mut Render3dState, name: string, diff: i
 }
 
 function gltf_texture(render3d_st: mut Render3dState, uri: string, srgb: bool) -> int {
-  if render3d_st.gltf_tex_paths == null { render3d_st.gltf_tex_paths = new []pointer;  render3d_st.gltf_tex_ids = words(256) }
+  if render3d_st.gltf_tex_paths == null { render3d_st.gltf_tex_paths = new []pointer;  render3d_st.gltf_tex_ids = words(256);  render3d_st.gltf_tex_refs = words(256) }
   var png: string = uri
   let n = len(uri)
   if n > 4 and uri[n - 4] == '.' and uri[n - 3] == 'j' { png = uri[0 .. n - 4] + ".png" }
   let path = render3d_st.gltf_dir + "/" + png
   var i = 0
-  while i < render3d_st.gltf_tex_n { if render3d_st.gltf_tex_paths[i] == path { return render3d_st.gltf_tex_ids[i] };  i += 1 }
+  while i < render3d_st.gltf_tex_n { if render3d_st.gltf_tex_paths[i] == path { render3d_st.gltf_tex_refs[i] += 1;  return render3d_st.gltf_tex_ids[i] };  i += 1 }
   var dil = 0
   if render3d_st.gltf_cutout { dil = 24 }
   let id = tex_load_ex(render3d_st, path, srgb, dil)
-  if render3d_st.gltf_tex_n < 256 { push(render3d_st.gltf_tex_paths, path);  render3d_st.gltf_tex_ids[render3d_st.gltf_tex_n] = id;  render3d_st.gltf_tex_n += 1 }
+  if render3d_st.gltf_tex_n < 256 { push(render3d_st.gltf_tex_paths, path);  render3d_st.gltf_tex_ids[render3d_st.gltf_tex_n] = id;  render3d_st.gltf_tex_refs[render3d_st.gltf_tex_n] = 1;  render3d_st.gltf_tex_n += 1 }
   return id
 }
 
@@ -150,7 +150,10 @@ function gltf_prim(render3d_st: mut Render3dState, p: Val) -> Prim {
       if ud != null { gltf_mat_remember(render3d_st, mname, pr.diff, pr.nrm, pr.arm) }
       else {
         let k = gltf_mat_find(render3d_st, mname)
-        if k >= 0 { pr.diff = render3d_st.gltf_mat_diff[k];  pr.nrm = render3d_st.gltf_mat_nrm[k];  pr.arm = render3d_st.gltf_mat_arm[k] }
+        if k >= 0 {
+          pr.diff = render3d_st.gltf_mat_diff[k];  pr.nrm = render3d_st.gltf_mat_nrm[k];  pr.arm = render3d_st.gltf_mat_arm[k]
+          gltf_tex_ref(render3d_st, pr.diff);  gltf_tex_ref(render3d_st, pr.nrm);  gltf_tex_ref(render3d_st, pr.arm)
+        }
         else { print(`gltf: material {mname} has no textures and none were loaded before it`) }
       }
     }

packages/ludic.render3d/gltf_release.ludic

@@ -0,0 +1,70 @@
+# gltf_release.ludic - a loaded model let go of: its meshes, and each texture once nothing else uses
+# it. The glTF loader shares textures between models (a path loaded once, a LOD chain borrowing its
+# LOD0's material), so each cached texture carries a count of the primitives using it.
+
+# one more primitive uses the cached texture `id` (0, or a texture the cache did not load: nothing)
+function gltf_tex_ref(render3d_st: mut Render3dState, id: int) -> void {
+  if id == 0 or render3d_st.gltf_tex_refs == null { return }
+  for i in 0 .. render3d_st.gltf_tex_n { if render3d_st.gltf_tex_ids[i] == id { render3d_st.gltf_tex_refs[i] += 1;  return } }
+}
+
+# one primitive fewer: the last one frees the texture and forgets it, with every material naming it
+function gltf_tex_unref(render3d_st: mut Render3dState, id: int) -> void {
+  if id == 0 or render3d_st.gltf_tex_refs == null { return }
+  for i in 0 .. render3d_st.gltf_tex_n {
+    if render3d_st.gltf_tex_ids[i] == id {
+      render3d_st.gltf_tex_refs[i] -= 1
+      if render3d_st.gltf_tex_refs[i] > 0 { return }
+      gpu_tex_free(render3d_st, id)
+      gltf_tex_forget(render3d_st, i)
+      gltf_mats_forget(render3d_st, id)
+      return
+    }
+  }
+}
+
+# the cache entry i goes; the last entry takes its place
+function gltf_tex_forget(render3d_st: mut Render3dState, i: int) -> void {
+  let last = render3d_st.gltf_tex_n - 1
+  let paths = render3d_st.gltf_tex_paths
+  paths[i] = paths[last]
+  render3d_st.gltf_tex_ids[i] = render3d_st.gltf_tex_ids[last]
+  render3d_st.gltf_tex_refs[i] = render3d_st.gltf_tex_refs[last]
+  List.pop(paths)
+  render3d_st.gltf_tex_n = last
+}
+
+# a remembered material whose texture was freed is forgotten, so no later load borrows it
+function gltf_mats_forget(render3d_st: mut Render3dState, id: int) -> void {
+  if render3d_st.gltf_mat_names == null { return }
+  var k = 0
+  while k < render3d_st.gltf_mat_n {
+    if render3d_st.gltf_mat_diff[k] == id or render3d_st.gltf_mat_nrm[k] == id or render3d_st.gltf_mat_arm[k] == id {
+      let last = render3d_st.gltf_mat_n - 1
+      let names = render3d_st.gltf_mat_names
+      names[k] = names[last]
+      render3d_st.gltf_mat_diff[k] = render3d_st.gltf_mat_diff[last]
+      render3d_st.gltf_mat_nrm[k] = render3d_st.gltf_mat_nrm[last]
+      render3d_st.gltf_mat_arm[k] = render3d_st.gltf_mat_arm[last]
+      List.pop(names)
+      render3d_st.gltf_mat_n = last
+    } else {
+      k += 1
+    }
+  }
+}
+
+# Let a model go: every primitive's mesh, and its textures once no other model uses them. The
+# caller says when - no actor may draw the model afterwards (a released model's prims are emptied,
+# so a stale draw of it draws nothing).
+function model_release(render3d_st: mut Render3dState, m: Model) -> void {
+  if m == null or m.prims == null { return }
+  for i in 0 .. len(m.prims) {
+    let pr = m.prims[i]
+    if pr.mesh != null { gpu_mesh_free(render3d_st, pr.mesh);  pr.mesh = null }
+    gltf_tex_unref(render3d_st, pr.diff);  gltf_tex_unref(render3d_st, pr.nrm);  gltf_tex_unref(render3d_st, pr.arm)
+    pr.diff = 0;  pr.nrm = 0;  pr.arm = 0
+  }
+  let prims = m.prims
+  while len(prims) > 0 { List.pop(prims) }
+}

packages/ludic.render3d/gpu_vk_draw.ludic

@@ -1903,8 +1903,9 @@ function gvk_pipeline_fast(render3d_st: mut Render3dState, p: int, m: Mesh, st:
       return render3d_st.gvk_pc_pipe[k]
     }
   }
+  # a pipeline the driver refused is remembered as 0 too: retried on every draw, each try built its
+  # key and its create structs again and gave none of them back
   let pipe = gvk_pipeline(render3d_st, p, m, st, n_color, color_fmt, depth_fmt, samples)
-  if pipe == 0 { return pipe }
   push(render3d_st.gvk_pc_prog, p);  push(render3d_st.gvk_pc_layout, layout);  push(render3d_st.gvk_pc_state, state)
   push(render3d_st.gvk_pc_bias, bias);  push(render3d_st.gvk_pc_pass, pass);  push(render3d_st.gvk_pc_pipe, pipe)
   if p < 4096 { render3d_st.gvk_pc_last[p] = len(render3d_st.gvk_pc_prog) - 1 }

packages/ludic.render3d/gpu_vk_res.ludic

@@ -409,7 +409,7 @@ function gvk_tex_read(render3d_st: mut Render3dState, tex: int, ifmt: int, w: in
   let depth = gvk_is_depth(ifmt)
   let cb = gvk_once_begin(render3d_st)
   gvk_barrier(render3d_st, cb, image, depth, 0, 1, 1, VK_IMAGE_LAYOUT_SHADER_READ_ONLY_OPTIMAL, VK_IMAGE_LAYOUT_TRANSFER_SRC_OPTIMAL)
-  let bic = bytes(VkBufferImageCopy_sizeof)
+  let bic = gvk_tmp(render3d_st, VkBufferImageCopy_sizeof)
   Vk.zero(bic, VkBufferImageCopy_sizeof)
   if depth { Vk.put_i32(bic, VkBufferImageCopy_imageSubresource + VkImageSubresourceLayers_aspectMask, VK_IMAGE_ASPECT_DEPTH_BIT) }
   else { Vk.put_i32(bic, VkBufferImageCopy_imageSubresource + VkImageSubresourceLayers_aspectMask, VK_IMAGE_ASPECT_COLOR_BIT) }

packages/ludic.render3d/r3d.ludic

@@ -26,6 +26,7 @@ import "shadow.ludic"
 import "post.ludic"
 import "quat.ludic"
 import "gltf.ludic"
+import "gltf_release.ludic"
 import "skin.ludic"
 import "scatter.ludic"
 import "actor.ludic"

packages/ludic.render3d/scatter.ludic

@@ -24,6 +24,7 @@ property Layer {
   inst:     floats,          # INST_FLOATS per instance
   count:    int = 0,
   cap:      int = 0,
+  have:     int = 0,            # instances inst and scratch have room for now: grown toward cap as filled
   near:     float = 0.0,        # float bits; instances beyond it draw as impostors (or not at all)
   cull:     float = 0.0,        # float bits; instances beyond it are skipped (0 = never)
   buf:      int = 0,
@@ -386,8 +387,11 @@ function layer_new(render3d_st: mut Render3dState, model: Model, cap: int, folia
   l.near = near
   l.cull = cull
   l.tint = v3_new(1.0, 1.0, 1.0)
-  l.inst = floats(cap * INST_FLOATS)
-  l.scratch = floats(cap * INST_FLOATS)
+  # room for what the layer holds, not for what it might: 45 layers at full capacity up front were
+  # 0.4 GB, most of it never filled (plan 23 of maroon-lake)
+  l.have = min(cap, 256)
+  l.inst = floats(l.have * INST_FLOATS)
+  l.scratch = floats(l.have * INST_FLOATS)
   l.last_cam = v3_new(100000.0, 0.0, 0.0)
   l.buf = gpu_buffer_new(render3d_st)
   l.imp_buf = gpu_buffer_new(render3d_st)
@@ -398,8 +402,23 @@ function layer_new(render3d_st: mut Render3dState, model: Model, cap: int, folia
   return l
 }
 
+# room for n instances (at most the layer's cap), doubling what there is so a fill costs a few copies
+function layer_room(l: Layer, n: int) -> void {
+  if n <= l.have { return }
+  var want = max(l.have * 2, n)
+  if want > l.cap { want = l.cap }
+  let inst = floats(want * INST_FLOATS)
+  if l.count > 0 { mem_copy(data_of(inst), data_of(l.inst), l.count * INST_FLOATS * 4) }
+  free(l.inst)
+  free(l.scratch)
+  l.inst = inst
+  l.scratch = floats(want * INST_FLOATS)
+  l.have = want
+}
+
 function layer_add(l: Layer, x: float, y: float, z: float, scale: float, yaw: float, seed: float, wind: float) -> void {
   if l.count >= l.cap { return }
+  layer_room(l, l.count + 1)
   let o = l.count * INST_FLOATS
   l.inst[o] = x;  l.inst[o + 1] = y;  l.inst[o + 2] = z;  l.inst[o + 3] = scale
   l.inst[o + 4] = Math.sin(yaw);  l.inst[o + 5] = Math.cos(yaw);  l.inst[o + 6] = seed;  l.inst[o + 7] = wind

packages/ludic.render3d/stream.ludic

@@ -162,16 +162,24 @@ function stream_evict(render3d_st: mut Render3dState, s: Stream) -> void {
   }
   t = lo
   # everything wanted by the walk in progress stays whatever the threshold says
-  let kept = new []Chunk
+  # compacted in place, and an evicted chunk goes whole: a new list per eviction and the chunks'
+  # own records were never given back
+  var w = 0
   var i = 0
   while i < s.n {
     let c = s.chunks[i]
-    if c.used >= t or c.used == render3d_st.stream_walk_no { push(kept, c) }
-    else { if c.data != null { free(c.data) } }
+    if c.used >= t or c.used == render3d_st.stream_walk_no {
+      s.chunks[w] = c
+      w += 1
+    } else {
+      if c.data != null { free(c.data) }
+      free(c)
+    }
     i += 1
   }
-  s.chunks = kept
-  s.n = len(kept)
+  let ch = s.chunks
+  while len(ch) > w { List.pop(ch) }
+  s.n = w
   for h in 0 .. STREAM_HASH { s.htab[h] = 0 }
   i = 0
   while i < s.n { s.keys[i] = s.chunks[i].key;  stream_remember(s, s.chunks[i].key, i);  i += 1 }
@@ -246,6 +254,7 @@ function stream_update(render3d_st: mut Render3dState, s: Stream, cam_x: float,
             }
             if c != null and c.count > 0 and l.count + c.count <= l.cap and stream_chunk_visible(render3d_st, s, cx, cz, c) {
               let tg = gl_now_us()
+              layer_room(l, l.count + c.count)
               mem_copy(mem_off(l.inst, l.count * INST_FLOATS * 4), data_of(c.data), c.count * INST_FLOATS * 4)
               l.count += c.count
               render3d_st.stream_us_gather = render3d_st.stream_us_gather + (gl_now_us() - tg)

packages/ludic.render3d/terrain.ludic

@@ -145,6 +145,9 @@ function terrain_ortho_forest(render3d_st: mut Render3dState, x: float, z: float
 function terrain_use_ortho(render3d_st: mut Render3dState, path: string) -> void {
   let px = png_decode(render3d_st, path)
   if px == null { return }
+  # a map set up over another lets go of the last one's photograph first
+  if render3d_st.ter_ortho_px != null { free(render3d_st.ter_ortho_px) }
+  if render3d_st.ter_ortho_tex != 0 { gpu_tex_free(render3d_st, render3d_st.ter_ortho_tex) }
   render3d_st.ter_ortho_px = px
   render3d_st.ter_ortho_w = render3d_st.tex_w
   render3d_st.ter_ortho_c = render3d_st.tex_channels
@@ -154,6 +157,7 @@ function terrain_use_ortho(render3d_st: mut Render3dState, path: string) -> void
   gpu_tex_param(render3d_st, GPU_TEX2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE)
 }
 function terrain_use_dem(render3d_st: mut Render3dState, path: string, emin: float, emax: float, base: float, ox: float, oz: float) -> void {
+  if render3d_st.ter_dem_tex != 0 { gpu_tex_free(render3d_st, render3d_st.ter_dem_tex) }
   render3d_st.ter_dem_tex = tex_load(render3d_st, path, false)
   render3d_st.ter_dem_min = emin;  render3d_st.ter_dem_max = emax;  render3d_st.ter_dem_base = base
   render3d_st.ter_ox = ox;  render3d_st.ter_oz = oz
@@ -167,6 +171,8 @@ function terrain_generate(render3d_st: mut Render3dState) -> void {
   if render3d_st.ter_dem_tex != 0 { defs = "#define DEM\n" }
   if render3d_st.ter_smooth { defs = "#define SMOOTH\n" }
   let p = r3d_program(render3d_st, "fullscreen.vert", "heightgen.frag", defs)
+  # a map generated over another: its 256 MB height texture goes first
+  if render3d_st.ter_height_tex != 0 { gpu_tex_free(render3d_st, render3d_st.ter_height_tex);  render3d_st.ter_height_tex = 0 }
   render3d_st.ter_height_tex = tex_target(render3d_st, TERRAIN_RES, TERRAIN_RES, GL_R32F, GL_RED, GL_FLOAT, GL_LINEAR)
   let fbo = gpu_fb_new(render3d_st)
   gpu_fb_bind(render3d_st, fbo)
@@ -203,8 +209,9 @@ function terrain_generate(render3d_st: mut Render3dState) -> void {
   mesh_draw(render3d_st, render3d_st.sky_fullscreen)
   gpu_program_free(render3d_st, pn)
   gpu_tex_free(render3d_st, raw)
-  # read the heights back for placement
-  render3d_st.ter_heights = floats(TERRAIN_RES * TERRAIN_RES)
+  # read the heights back for placement, into the array a previous map had: always the same size,
+  # and made anew on every build it was 64 MB lost per world swap
+  if render3d_st.ter_heights == null { render3d_st.ter_heights = floats(TERRAIN_RES * TERRAIN_RES) }
   gpu_tex_bind(render3d_st, GPU_TEX2D, render3d_st.ter_height_tex)
   gpu_pixel_store(render3d_st, GL_PACK_ALIGNMENT, 4)
   gpu_tex_read(render3d_st, GPU_TEX2D, GL_RED, GL_FLOAT, data_of(render3d_st.ter_heights))

packages/ludic.vehicles/tests/vehicles_test.ludic

@@ -8,6 +8,16 @@ import "ludic.base"
 import "ludic.physics"
 program VehiclesTest {
   numbers float
+  function pose(physics_st: mut PhysicsState, id: int) -> PhysPose {
+    let p = new PhysPose
+    if not phys_pose(physics_st, id, p) { return null }
+    return p
+  }
+  function wpose(physics_st: mut PhysicsState, id: int) -> PhysWalk {
+    let p = new PhysWalk
+    if not phys_walker_pose(physics_st, id, p) { return null }
+    return p
+  }
 
   function fk_ground(x: float, z: float) -> float {
     if x > 10.0 { return -(x - 10.0) }
@@ -95,7 +105,7 @@ program VehiclesTest {
     fk_lake(physics_st)
     if vehicles_test_st.legs < 0 { vehicles_test_st.legs = phys_walker_add(physics_st, 0.8, 1.7, x, y, z, 40.0, 450.0) }
     phys_walker_move(physics_st, vehicles_test_st.legs, x, y, z, vx, vz, 0.0, 0.45, 40.0, dt)
-    let p = phys_walker_pose(physics_st, vehicles_test_st.legs)
+    let p = wpose(physics_st, vehicles_test_st.legs)
     vehicles_test_st.lx = p.x
     vehicles_test_st.ly = p.y
     vehicles_test_st.lz = p.z
@@ -120,7 +130,7 @@ program VehiclesTest {
   function fk_drift(physics_st: mut PhysicsState, vehicles_test_st: VehiclesTestState, nid: int, fx: float, fz: float) -> void { phys_force(physics_st, vehicles_test_st.hull, fx, 0.0, fz) }
   function fk_read(physics_st: mut PhysicsState, vehicles_test_st: mut VehiclesTestState, nid: int) -> bool {
     if vehicles_test_st.hull < 0 or vehicles_test_st.hull_nid != nid { return false }
-    let p = phys_pose(physics_st, vehicles_test_st.hull)
+    let p = pose(physics_st, vehicles_test_st.hull)
     if p == null { return false }
     vehicles_test_st.hx = p.x
     vehicles_test_st.hy = p.y

packages/ludic.wildlife/react.ludic

@@ -9,14 +9,16 @@ function wl_react(wildlife_st: mut WildlifeState, a: WildAnimal, np: int, dt: fl
     return true
   }
   if a.state == WILD_WARY {
-    wl_face(a, a.x + (a.x - a.sus_x), a.z + (a.z - a.sus_z), 2.6, dt)
+    wl_away(a, a.sus_x, a.sus_z, 20.0)
+    wl_head(a, a.tx, a.tz, 2.6, dt)
     a.speed = s.walk * 0.8
     wl_step(wildlife_st, a, dt)
     if a.timer < 0.0 { wl_wander(wildlife_st, a, 3.0 + wl_rnd(wildlife_st) * 4.0) }
     return true
   }
   if a.state == WILD_FLEE {
-    wl_face(a, a.x + (a.x - WildlifeWorld.player_x(np)), a.z + (a.z - WildlifeWorld.player_z(np)), 5.0, dt)
+    wl_away(a, WildlifeWorld.player_x(np), WildlifeWorld.player_z(np), 40.0)
+    wl_head(a, a.tx, a.tz, 5.0, dt)
     a.speed = s.run
     wl_step(wildlife_st, a, dt)
     if a.timer < 0.0 {

packages/ludic.wildlife/species.ludic

@@ -58,6 +58,9 @@ export state WildlifeState {
   wl_dice: Rng = rng_new(97)
   wl_hold: bool = false      # staged: nobody thinks, everybody keeps their speed
   wl_spot_ask: WildSpot = new WildSpot
+  wl_turned: int = 0          # steps refused and turned 75 degrees instead: the fallback, counted
+  wl_turned_wet: int = 0      # of those, for water ahead
+  wl_turned_steep: int = 0    # for a climb too steep
 }
 
 function wl_sp_all(wildlife_st: WildlifeState) -> []WildSpecies {

packages/ludic.wildlife/steer.ludic

@@ -14,6 +14,12 @@ function wl_face(a: WildAnimal, tx: float, tz: float, rate: float, dt: float) ->
 }
 
 # true when it moved; a walker is slid round a still thing (a trunk, a tent), a bird is not
+# how many steps were refused and turned from since the start: how often the way was not enough
+export function wildlife_turned(wildlife_st: WildlifeState) -> int { return wildlife_st.wl_turned }
+# of those, how many for water ahead and how many for a climb (the rest: pushed back by a still thing)
+export function wildlife_turned_wet(wildlife_st: WildlifeState) -> int { return wildlife_st.wl_turned_wet }
+export function wildlife_turned_steep(wildlife_st: WildlifeState) -> int { return wildlife_st.wl_turned_steep }
+
 function wl_step(wildlife_st: mut WildlifeState, a: WildAnimal, dt: float) -> bool {
   let d = a.speed * dt
   if d < 0.0001 { return false }
@@ -26,9 +32,13 @@ function wl_step(wildlife_st: mut WildlifeState, a: WildAnimal, dt: float) -> bo
   }
   let nh = WildlifeWorld.ground(nx, nz)
   let moved = Math.abs(nx - a.x) + Math.abs(nz - a.z)
-  if nh < WildlifeWorld.water(nx, nz) + 0.6 or nh - a.y > d * 1.2 or moved < d * 0.2 {
+  let wet = nh < WildlifeWorld.water(nx, nz) + 0.6
+  let steep = nh - a.y > d * 1.2
+  if wet or steep or moved < d * 0.2 {
+    if wet { wildlife_st.wl_turned_wet += 1 } else if steep { wildlife_st.wl_turned_steep += 1 }
     a.yaw = a.yaw + Math.deg_to_rad(75.0)
     a.timer = 0.0
+    wildlife_st.wl_turned += 1
     return false
   }
   a.x = nx

packages/ludic.wildlife/tests/way_test.ludic

@@ -103,4 +103,23 @@ program WayTest {
     expect_near(a.tx, a.home_x + 7.0, 0.001)
     expect_near(a.tz, a.home_z + 3.0, 0.001)
   }
+
+  test "it runs from the player by the way too: round the wall's end, not into it" (wildlife_st: mut WildlifeState, wildlife_tests_fake_st: mut WildlifeTestsFakeState, way_test_st: WayTestState) {
+    fk_setup(wildlife_st, wildlife_tests_fake_st)
+    let a = wildlife_make(wildlife_st, 0, 0.0, 0.0, false, 0.0, 0, 1.0, 1)
+    wildlife_tests_fake_st.fk_px[0] = 0.0
+    wildlife_tests_fake_st.fk_pz[0] = 20.0
+    wildlife_tests_fake_st.fk_hidden = true
+    a.state = WILD_FLEE
+    a.timer = 300.0
+    var east = -100.0
+    for k in 0 .. 1200 {
+      wildlife_tick(wildlife_st, 0.05, 0.0)
+      if a.z > -42.0 and a.z < -38.0 { east = Math.max(east, a.x) }
+    }
+    expect_eq(a.state, WILD_FLEE)
+    expect(east > 29.0)
+    expect(a.z < -45.0)
+    expect(way_test_st.asked > 10)
+  }
 }

packages/ludic.wildlife/way.ludic

@@ -34,3 +34,20 @@ function wl_pick_target(wildlife_st: WildlifeState, a: WildAnimal, radius: float
     a.tz = WildlifeWorld.way_z()
   }
 }
+
+# a target d metres straight away from (fx, fz): where it runs or backs off to, by the world's way -
+# round water and a cliff where there is one, and straight away as before where there is not
+function wl_away(a: WildAnimal, fx: float, fz: float, d: float) -> void {
+  var dx = a.x - fx
+  var dz = a.z - fz
+  let l = Math.sqrt(dx * dx + dz * dz)
+  if l < 0.01 {
+    dx = -Math.sin(a.yaw)
+    dz = -Math.cos(a.yaw)
+  } else {
+    dx = dx / l
+    dz = dz / l
+  }
+  a.tx = a.x + dx * d
+  a.tz = a.z + dz * d
+}