Split systemsim into a module

content/system.toml

@@ -13,6 +13,9 @@ object.earth.position.angle = 0
 object.earth.position.z = 10.0
 object.earth.size = 1000
 
+# TODO: satisfy conditions to land
+object.earth.landable = true
+
 object.luna.sprite = "planet::luna"
 object.luna.position.center = "earth"
 object.luna.position.radius = 1600

crates/content/src/part/system.rs

@@ -28,6 +28,7 @@ pub(crate) mod syntax {
 
 		pub radius: Option<f32>,
 		pub angle: Option<f32>,
+		pub landable: Option<bool>,
 	}
 
 	#[derive(Debug, Deserialize)]
@@ -118,6 +119,9 @@ pub struct SystemObject {
 
 	/// This object's sprite's angle, in radians
 	pub angle: f32,
+
+	/// If true, ships may land on this object
+	pub landable: bool,
 }
 
 /// Helper function for resolve_position, never called on its own.
@@ -218,6 +222,7 @@ impl crate::Build for System {
 						system_handle,
 						body_index: 0,
 					},
+					landable: obj.landable.unwrap_or(false),
 				});
 			}
 

crates/galactica/src/main.rs

@@ -85,7 +85,9 @@ fn main() -> Result<()> {
 							.get_ship(&PhysSimShipHandle(player.ship.unwrap()));
 						if let Some(o) = o {
 							match o.data.get_state() {
-								ShipState::Collapsing { .. } | ShipState::Flying => {
+								ShipState::Landing { .. }
+								| ShipState::Collapsing { .. }
+								| ShipState::Flying { .. } => {
 									let r =
 										&game.get_state().systemsim.get_rigid_body(o.rigid_body);
 									if let Some(r) = r {
@@ -99,11 +101,7 @@ fn main() -> Result<()> {
 										o.data.get_state().unlanding_position(&content).unwrap();
 									Some(Vector2::new(pos.x, pos.y))
 								}
-								ShipState::Landing { .. } => {
+
-									let pos =
-										o.data.get_state().landing_position(&content).unwrap();
-									Some(Vector2::new(pos.x, pos.y))
-								}
 								ShipState::Landed { target } => {
 									let b = content.get_system_object(*target);
 									Some(Vector2::new(b.pos.x, b.pos.y))

crates/render/shaders/object.wgsl

@@ -30,7 +30,10 @@ var sampler_array: binding_array<sampler>;
 
 fn transform_vertex(obj: ObjectData, vertex_position: vec2<f32>, sprite_index: u32) -> vec4<f32> {
 	// Object scale
-	let scale = obj.size / (global_data.camera_zoom.x * obj.zpos);
+	var scale: f32 = obj.size / (global_data.camera_zoom.x * obj.zpos);
+	if obj.is_child == 1u {
+		scale /= objects[obj.parent].zpos;
+	}
 
 	// Apply scale and sprite aspect
 	// Note that our mesh starts centered at (0, 0). This is important!
@@ -70,14 +73,15 @@ fn transform_vertex(obj: ObjectData, vertex_position: vec2<f32>, sprite_index: u
 	}
 
 	if obj.is_child == u32(1) {
+
+		let parent = objects[obj.parent];
+
 		// Apply translation relative to parent
 		// Note that obj.zpos is ignored
 		pos = pos + vec2(
 			obj.xpos / (global_data.camera_zoom.x / 2.0) / global_data.window_aspect.x,
 			obj.ypos / (global_data.camera_zoom.x / 2.0)
-		);
+		) / parent.zpos;
-
-		let parent = objects[obj.parent];
 
 		// Apply parent's rotation
 		pos = mat2x2(

crates/render/shaders/particle.wgsl

@@ -66,9 +66,11 @@ fn vertex_main(
 		vertex.position.x * scale * global_sprites[instance.sprite_index].aspect,
 		vertex.position.y * scale
 	);
+
+	// Correct angle, since sprites point north and zero degrees is east
 	pos = mat2x2(
-		vec2(cos(angle), sin(angle)),
+		vec2(cos(angle - 1.5708), sin(angle - 1.5708)),
-		vec2(-sin(angle), cos(angle))
+		vec2(-sin(angle - 1.5708), cos(angle - 1.5708))
 	) * pos;
 
 	var trans: vec2<f32> = (instance.position + (instance.velocity * age) - global_data.camera_position);

crates/render/src/gpustate/phys.rs

@@ -3,7 +3,7 @@
 use bytemuck;
 use galactica_system::data::ShipState;
 use galactica_util::{constants::OBJECT_SPRITE_INSTANCE_LIMIT, to_radians};
-use nalgebra::{Point2, Point3, Vector2};
+use nalgebra::{Point2, Point3};
 
 use crate::{
 	globaluniform::ObjectData,
@@ -27,7 +27,7 @@ impl GPUState {
 			match ship.data.get_state() {
 				ShipState::Dead | ShipState::Landed { .. } => continue,
 
-				ShipState::Collapsing { .. } | ShipState::Flying => {
+				ShipState::Collapsing { .. } | ShipState::Flying { .. } => {
 					let r = state.systemsim.get_rigid_body(ship.rigid_body).unwrap();
 					let pos = *r.translation();
 					ship_pos = Point3::new(pos.x, pos.y, 1.0);
@@ -35,30 +35,20 @@ impl GPUState {
 					ship_ang = ship_rot.angle();
 					ship_cnt = state.ct.get_ship(ship.data.get_content());
 				}
-				ShipState::Landing {
-					from_position,
-					from_angle,
-					target,
-					total: _total,
-					elapsed,
-				} => {
-					let target = state.ct.get_system_object(*target);
 
-					let diff = Point2::new(target.pos.x, target.pos.y) - from_position;
+				ShipState::Landing { current_z, .. } => {
-
+					let r = state.systemsim.get_rigid_body(ship.rigid_body).unwrap();
-					ship_pos = ship.data.get_state().landing_position(state.ct).unwrap();
+					let pos = *r.translation();
-
+					ship_pos = Point3::new(pos.x, pos.y, *current_z);
-					let target_angle = diff.angle(&Vector2::new(1.0, 0.0));
+					let ship_rot = r.rotation();
-
+					ship_ang = ship_rot.angle();
-					ship_ang = from_angle + ((target_angle - from_angle) * 1f32.min(elapsed / 1.0));
 					ship_cnt = state.ct.get_ship(ship.data.get_content());
 				}
 
-				ShipState::UnLanding {
+				ShipState::UnLanding { .. } => {
-					to_angle, elapsed, ..
-				} => {
 					ship_pos = ship.data.get_state().unlanding_position(state.ct).unwrap();
-					ship_ang = 0.0 + ((to_angle - 0.0) * 1f32.min(elapsed / 1.0));
+					//ship_ang = 0.0 + ((to_angle - 0.0) * 1f32.min(elapsed / 1.0));
+					ship_ang = 0.0;
 					ship_cnt = state.ct.get_ship(ship.data.get_content());
 				}
 			}
@@ -122,7 +112,8 @@ impl GPUState {
 			let flare = ship.data.get_outfits().get_flare_sprite(state.ct);
 			if {
 				let is_flying = match ship.data.get_state() {
-					ShipState::Flying => true,
+					ShipState::Flying { .. } => true,
+					ShipState::Landing { .. } => true,
 					_ => false,
 				};
 				ship.get_controls().thrust && flare.is_some() && is_flying

crates/render/src/ui/radar.rs

@@ -41,15 +41,6 @@ impl Radar {
 		match player_ship.data.get_state() {
 			ShipState::Dead => {}
 
-			ShipState::Landing { .. } => {
-				let pos = player_ship
-					.data
-					.get_state()
-					.landing_position(&input.ct)
-					.unwrap();
-				self.last_player_position = Point2::new(pos.x, pos.y)
-			}
-
 			ShipState::UnLanding { .. } => {
 				let pos = player_ship
 					.data
@@ -63,7 +54,8 @@ impl Radar {
 				let landed_body = input.ct.get_system_object(*target);
 				self.last_player_position = Point2::new(landed_body.pos.x, landed_body.pos.y);
 			}
-			ShipState::Flying | ShipState::Collapsing { .. } => {
+
+			ShipState::Landing { .. } | ShipState::Flying { .. } | ShipState::Collapsing { .. } => {
 				let player_body = input
 					.systemsim
 					.get_rigid_body(player_ship.rigid_body)
@@ -142,28 +134,35 @@ impl Radar {
 
 		// Draw ships
 		for (s, r) in input.systemsim.iter_ship_body() {
-			// This will be None if this ship is dead.
+			let ship = input.ct.get_ship(s.data.get_content());
-			// Stays around while the physics system runs a collapse sequence
+			let (color, z_scale) = match s.data.get_state() {
-			let color = match s.data.get_state() {
 				ShipState::Dead | ShipState::Landed { .. } => {
 					continue;
 				}
 
 				// TODO: different color for landing?
-				ShipState::UnLanding { .. }
+				// TODO: scale blip for ship z-position
-				| ShipState::Landing { .. }
+				ShipState::Landing { .. } => ([0.2, 0.2, 0.2, 1.0], 1.0),
-				| ShipState::Collapsing { .. } => {
+
+				ShipState::UnLanding { .. } => ([0.2, 0.2, 0.2, 1.0], 1.0),
+
+				ShipState::Collapsing { .. } => {
 					// TODO: configurable
-					[0.2, 0.2, 0.2, 1.0]
+					([0.2, 0.2, 0.2, 1.0], 1.0)
 				}
-				ShipState::Flying => {
+				ShipState::Flying { .. } => {
 					let c = input.ct.get_faction(s.data.get_faction()).color;
-					[c[0], c[1], c[2], 1.0]
+					([c[0], c[1], c[2], 1.0], 1.0)
+				}
+			};
+			let size = (ship.size * ship.sprite.aspect) * ship_scale * z_scale;
+			let p: Point2<f32> = {
+				if s.collider == input.player.ship.unwrap() {
+					self.last_player_position
+				} else {
+					(*r.translation()).into()
 				}
 			};
-			let ship = input.ct.get_ship(s.data.get_content());
-			let size = (ship.size * ship.sprite.aspect) * ship_scale;
-			let p: Point2<f32> = (*r.translation()).into();
 			let d = (p - self.last_player_position) / radar_range;
 			let m = d.magnitude() + (size / (2.0 * radar_size));
 			if m < hide_range {

crates/render/src/ui/status.rs

@@ -47,7 +47,7 @@ impl Status {
 			| ShipState::Landing { .. }
 			| ShipState::Landed { .. }
 			| ShipState::Collapsing { .. }
-			| ShipState::Flying => {
+			| ShipState::Flying { .. } => {
 				current_shields = player_ship.data.get_shields();
 				current_hull = player_ship.data.get_hull();
 				max_shields = player_ship.data.get_outfits().get_shield_strength();

crates/system/src/data/ship/ship.rs

@@ -1,10 +1,26 @@
 use galactica_content::{Content, FactionHandle, GunPoint, Outfit, ShipHandle, SystemObjectHandle};
 use nalgebra::{Point2, Point3};
 use rand::{rngs::ThreadRng, Rng};
+use rapier2d::math::Isometry;
 use std::{collections::HashMap, time::Instant};
 
 use super::{OutfitSet, ShipPersonality};
 
+/// A ship autopilot.
+/// An autopilot is a lightweight ShipController that
+/// temporarily has control over a ship.
+#[derive(Debug, Clone)]
+pub enum ShipAutoPilot {
+	/// No autopilot, use usual behavior.
+	None,
+
+	/// Automatically arrange for landing on the given object
+	Landing {
+		/// The body we want to land on
+		target: SystemObjectHandle,
+	},
+}
+
 /// Ship state machine.
 /// Any ship we keep track of is in one of these states.
 /// Dead ships don't exist---they removed once their collapse
@@ -15,7 +31,11 @@ pub enum ShipState {
 	Dead,
 
 	/// This ship is alive and well in open space
-	Flying, // TODO: system, position (also in collapse)?
+	Flying {
+		/// The autopilot we're using.
+		/// Overrides ship controller.
+		autopilot: ShipAutoPilot,
+	},
 
 	/// This ship has been destroyed, and is playing its collapse sequence.
 	Collapsing {
@@ -35,30 +55,18 @@ pub enum ShipState {
 	/// This ship is landing on a planet
 	/// (playing the animation)
 	Landing {
-		/// The point, in world coordinates, where we started
-		from_position: Point2<f32>,
-
-		/// The ship's angle when we started landing, in radians
-		from_angle: f32,
-
 		/// The planet we're landing on
 		target: SystemObjectHandle,
 
-		/// The total amount of time, in seconds, we will spend landing
+		/// Our current z-coordinate
-		total: f32,
+		current_z: f32,
-
-		/// The amount of time we've already spent playing this landing sequence
-		elapsed: f32,
 	},
 
 	/// This ship is taking off from a planet
 	/// (playing the animation)
 	UnLanding {
 		/// The point, in world coordinates, to which we're going
-		to_position: Point2<f32>,
+		to_position: Isometry<f32>,
-
-		/// The angle we'll be at when we arrive, in radians
-		to_angle: f32,
 
 		/// The planet we're taking off from
 		from: SystemObjectHandle,
@@ -92,41 +100,6 @@ impl ShipState {
 		}
 	}
 
-	/// Compute position of this ship's sprite during its landing sequence
-	pub fn landing_position(&self, ct: &Content) -> Option<Point3<f32>> {
-		match self {
-			Self::Landing {
-				from_position,
-				target,
-				total,
-				elapsed,
-				..
-			} => Some({
-				let target = ct.get_system_object(*target);
-
-				let diff = Point2::new(target.pos.x, target.pos.y) - from_position;
-				let diff = diff - diff.normalize() * (target.size / 2.0) * 0.8;
-
-				// TODO: improve animation
-				// TODO: fade
-				// TODO: atmosphere burn
-				// TODO: land at random point
-				// TODO: don't jump camera
-				// TODO: time by distance
-				// TODO: keep momentum
-
-				let pos = from_position + (diff * (elapsed / total));
-
-				Point3::new(
-					pos.x,
-					pos.y,
-					1.0 + ((target.pos.z - 1.0) * (elapsed / total)),
-				)
-			}),
-			_ => None,
-		}
-	}
-
 	/// Compute position of this ship's sprite during its unlanding sequence
 	pub fn unlanding_position(&self, ct: &Content) -> Option<Point3<f32>> {
 		match self {
@@ -139,7 +112,8 @@ impl ShipState {
 			} => Some({
 				let from = ct.get_system_object(*from);
 
-				let diff = to_position - Point2::new(from.pos.x, from.pos.y);
+				let t = Point2::new(to_position.translation.x, to_position.translation.y);
+				let diff = t - Point2::new(from.pos.x, from.pos.y);
 				//let diff = diff - diff.normalize() * (target.size / 2.0) * 0.8;
 
 				// TODO: improve animation
@@ -207,7 +181,9 @@ impl ShipData {
 			rng: rand::thread_rng(),
 
 			// TODO: ships must always start landed on planets
-			state: ShipState::Flying,
+			state: ShipState::Flying {
+				autopilot: ShipAutoPilot::None,
+			},
 
 			// Initial stats
 			hull: s.hull,
@@ -216,40 +192,72 @@ impl ShipData {
 		}
 	}
 
-	// TODO: position in data?
+	/// Set this ship's autopilot.
-	/// Land this ship on `target`
+	/// Panics if we're not flying.
-	pub fn land_on(
+	pub fn set_autopilot(&mut self, autopilot: ShipAutoPilot) {
-		&mut self,
-		target: SystemObjectHandle,
-		from_position: Point2<f32>,
-		from_angle: f32,
-	) -> bool {
 		match self.state {
-			ShipState::Flying => {
+			ShipState::Flying {
-				self.state = ShipState::Landing {
+				autopilot: ref mut pilot,
-					elapsed: 0.0,
+			} => {
-					total: 5.0,
+				*pilot = autopilot;
-					target,
-					from_position,
-					from_angle,
-				};
-				return true;
 			}
 			_ => {
-				unreachable!("Called `land_on` on a ship that isn't flying!")
+				unreachable!("Called `set_autopilot` on a ship that isn't flying!")
+			}
+		};
+	}
+
+	/// Land this ship on `target`
+	/// This does NO checks (speed, range, etc).
+	/// That is the simulation's responsiblity.
+	///
+	/// Will panic if we're not flying.
+	pub fn start_land_on(&mut self, target_handle: SystemObjectHandle) {
+		match self.state {
+			ShipState::Flying { .. } => {
+				self.state = ShipState::Landing {
+					target: target_handle,
+					current_z: 1.0,
+				};
+			}
+			_ => {
+				unreachable!("Called `start_land_on` on a ship that isn't flying!")
+			}
+		};
+	}
+
+	/// When landing, update z position.
+	/// Will panic if we're not landing
+	pub fn set_landing_z(&mut self, z: f32) {
+		match &mut self.state {
+			ShipState::Landing {
+				ref mut current_z, ..
+			} => *current_z = z,
+			_ => unreachable!("Called `set_landing_z` on a ship that isn't landing!"),
+		}
+	}
+
+	/// Finish landing sequence
+	/// Will panic if we're not landing
+	pub fn finish_land_on(&mut self) {
+		match self.state {
+			ShipState::Landing { target, .. } => {
+				self.state = ShipState::Landed { target };
+			}
+			_ => {
+				unreachable!("Called `finish_land_on` on a ship that isn't flying!")
 			}
 		};
 	}
 
 	/// Take off from `target`
-	pub fn unland(&mut self, to_position: Point2<f32>) {
+	pub fn unland(&mut self, to_position: Isometry<f32>) {
 		match self.state {
 			ShipState::Landed { target } => {
 				self.state = ShipState::UnLanding {
 					to_position,
-					to_angle: 1.0,
 					from: target,
-					total: 5.0,
+					total: 2.0,
 					elapsed: 0.0,
 				};
 			}
@@ -296,7 +304,7 @@ impl ShipData {
 	/// Hit this ship with the given amount of damage
 	pub(crate) fn apply_damage(&mut self, ct: &Content, mut d: f32) {
 		match self.state {
-			ShipState::Flying => {}
+			ShipState::Flying { .. } => {}
 			_ => {
 				unreachable!("Cannot apply damage to a ship that is not flying!")
 			}
@@ -323,17 +331,7 @@ impl ShipData {
 	/// Update this ship's state by `t` seconds
 	pub(crate) fn step(&mut self, t: f32) {
 		match self.state {
-			ShipState::Landing {
+			ShipState::Landing { .. } => {}
-				ref mut elapsed,
-				total,
-				target,
-				..
-			} => {
-				*elapsed += t;
-				if *elapsed >= total {
-					self.state = ShipState::Landed { target };
-				}
-			}
 
 			ShipState::UnLanding {
 				ref mut elapsed,
@@ -342,7 +340,9 @@ impl ShipData {
 			} => {
 				*elapsed += t;
 				if *elapsed >= total {
-					self.state = ShipState::Flying;
+					self.state = ShipState::Flying {
+						autopilot: ShipAutoPilot::None,
+					};
 				}
 			}
 
@@ -360,7 +360,7 @@ impl ShipData {
 				}
 			}
 
-			ShipState::Flying => {
+			ShipState::Flying { .. } => {
 				// Cooldown guns
 				for (_, c) in &mut self.gun_cooldowns {
 					if *c > 0.0 {

crates/system/src/phys/controller/autopilot/landing.rs

@@ -0,0 +1,49 @@
+use std::collections::HashMap;
+
+use galactica_content::SystemObjectHandle;
+use galactica_util::to_radians;
+use nalgebra::Vector2;
+use rapier2d::{dynamics::RigidBodySet, geometry::ColliderHandle};
+
+use crate::phys::{
+	objects::{PhysSimShip, ShipControls},
+	PhysStepResources,
+};
+
+// TODO: no wobble
+// TODO: slow down when near planet
+// TODO: avoid obstacles
+
+/// Land this ship on the given object
+pub fn auto_landing(
+	res: &PhysStepResources,
+	rigid_bodies: &RigidBodySet,
+	ships: &HashMap<ColliderHandle, PhysSimShip>,
+	this_ship: ColliderHandle,
+	target_handle: SystemObjectHandle,
+) -> Option<ShipControls> {
+	let rigid_body_handle = ships.get(&this_ship).unwrap().rigid_body;
+	let rigid_body = rigid_bodies.get(rigid_body_handle).unwrap();
+	let target_obj = res.ct.get_system_object(target_handle);
+	let target_pos = Vector2::new(target_obj.pos.x, target_obj.pos.y);
+	let my_pos = *rigid_body.translation();
+	let my_rot = rigid_body.rotation() * Vector2::new(1.0, 0.0);
+	let my_vel = rigid_body.linvel();
+	let my_angvel = rigid_body.angvel();
+	let v_t = target_pos - my_pos; // Vector to target
+	let v_d = v_t - my_vel; // Desired thrust vector
+	let angle_delta = (my_rot.x * v_d.y - v_d.x * my_rot.y).atan2(my_rot.dot(&v_d));
+	let mut controls = ShipControls::new();
+
+	if angle_delta < 0.0 && my_angvel > -0.3 {
+		controls.right = true;
+	} else if angle_delta > 0.0 && my_angvel < 0.3 {
+		controls.left = true;
+	}
+
+	if my_rot.angle(&v_d) <= to_radians(15.0) {
+		controls.thrust = true;
+	}
+
+	return Some(controls);
+}

crates/system/src/phys/controller/autopilot/mod.rs

@@ -0,0 +1,3 @@
+mod landing;
+
+pub use landing::*;

crates/system/src/phys/controller/mod.rs

@@ -1,5 +1,6 @@
 //! Various implementations of [`crate::ShipBehavior`]
 
+pub(crate) mod autopilot;
 mod null;
 mod point;
 
@@ -50,9 +51,7 @@ impl ShipController {
 	}
 }
 
-/// Ship controller trait. Any struct that implements this
+trait ShipControllerStruct
-/// may be used to control a ship.
-pub trait ShipControllerStruct
 where
 	Self: Debug + Clone,
 {

crates/system/src/phys/controller/point.rs

@@ -49,7 +49,7 @@ impl ShipControllerStruct for PointShipController {
 				// Target only flying ships we're hostile towards
 				|s| match my_faction.relationships.get(&s.data.get_faction()).unwrap() {
 					Relationship::Hostile => match s.data.get_state() {
-						ShipState::Flying => true,
+						ShipState::Flying { .. } => true,
 						_ => false,
 					},
 					_ => false,

crates/system/src/phys/objects/ship.rs

@@ -95,18 +95,54 @@ impl PhysSimShip {
 				seq.step(res, &self.data, rigid_body, collider);
 				self.collapse_sequence = Some(seq);
 			}
-			ShipState::Flying => {
+			ShipState::Flying { .. } => {
-				return self.step_live(res, rigid_body, collider);
+				self.step_physics(res, rigid_body, collider);
+				self.step_effects(res, rigid_body, collider);
 			}
-			ShipState::UnLanding { .. }
+
-			| ShipState::Dead
+			ShipState::Landing { .. } => {
-			| ShipState::Landing { .. }
+				self.step_physics(res, rigid_body, collider);
-			| ShipState::Landed { .. } => {}
+			}
+
+			ShipState::UnLanding { .. } | ShipState::Dead | ShipState::Landed { .. } => {}
 		}
 	}
 
-	/// Step this ship's state by t seconds (called when alive)
+	/// Update this frame's physics
-	fn step_live(
+	fn step_physics(
+		&mut self,
+		res: &mut PhysStepResources,
+		rigid_body: &mut RigidBody,
+		_collider: &mut Collider,
+	) {
+		let ship_rot = rigid_body.rotation();
+		let engine_force = ship_rot * (Vector2::new(1.0, 0.0) * res.t);
+
+		if self.controls.thrust {
+			rigid_body.apply_impulse(
+				vector![engine_force.x, engine_force.y]
+					* self.data.get_outfits().get_engine_thrust(),
+				true,
+			);
+		}
+
+		if self.controls.right {
+			rigid_body.apply_torque_impulse(
+				self.data.get_outfits().get_steer_power() * -100.0 * res.t,
+				true,
+			);
+		}
+
+		if self.controls.left {
+			rigid_body.apply_torque_impulse(
+				self.data.get_outfits().get_steer_power() * 100.0 * res.t,
+				true,
+			);
+		}
+	}
+
+	/// Spawn this frame's particles
+	fn step_effects(
 		&mut self,
 		res: &mut PhysStepResources,
 		rigid_body: &mut RigidBody,
@@ -153,30 +189,6 @@ impl PhysSimShip {
 				}
 			}
 		}
-
-		let engine_force = ship_rot * (Vector2::new(1.0, 0.0) * res.t);
-
-		if self.controls.thrust {
-			rigid_body.apply_impulse(
-				vector![engine_force.x, engine_force.y]
-					* self.data.get_outfits().get_engine_thrust(),
-				true,
-			);
-		}
-
-		if self.controls.right {
-			rigid_body.apply_torque_impulse(
-				self.data.get_outfits().get_steer_power() * -100.0 * res.t,
-				true,
-			);
-		}
-
-		if self.controls.left {
-			rigid_body.apply_torque_impulse(
-				self.data.get_outfits().get_steer_power() * 100.0 * res.t,
-				true,
-			);
-		}
 	}
 }
 

crates/system/src/phys/systemsim.rs

@@ -1,537 +0,0 @@
-use galactica_content::{
-	Content, FactionHandle, GunPoint, OutfitHandle, ProjectileCollider, Relationship, ShipHandle,
-	SystemHandle, SystemObjectHandle,
-};
-use galactica_playeragent::PlayerAgent;
-use nalgebra::{point, vector, Point2, Rotation2, Vector2};
-use rand::Rng;
-use rapier2d::{
-	dynamics::{RigidBody, RigidBodyBuilder, RigidBodyHandle, RigidBodySet},
-	geometry::{ColliderBuilder, ColliderHandle, ColliderSet},
-	pipeline::ActiveEvents,
-};
-use std::collections::HashMap;
-
-use crate::data::{ShipPersonality, ShipState};
-
-use super::{
-	controller::ShipController,
-	objects::{PhysProjectile, PhysSimShip},
-	ParticleBuilder, PhysStepResources,
-};
-
-// TODO: replace with a more generic handle
-/// A handle for a ship in this simulation
-/// This lets other crates reference ships
-/// without including `rapier2d`.
-pub struct PhysSimShipHandle(pub ColliderHandle);
-
-/// Manages the physics state of one system
-#[derive(Clone)]
-pub struct PhysSim {
-	/// The system this sim is attached to
-	_system: SystemHandle,
-
-	rigid_body_set: RigidBodySet,
-	collider_set: ColliderSet,
-
-	projectiles: HashMap<ColliderHandle, PhysProjectile>,
-	ships: HashMap<ColliderHandle, PhysSimShip>,
-	ship_behaviors: HashMap<ColliderHandle, ShipController>,
-}
-
-// Private methods
-impl<'a> PhysSim {
-	fn remove_projectile(
-		&mut self,
-		res: &mut PhysStepResources,
-		c: ColliderHandle,
-	) -> Option<(RigidBody, PhysProjectile)> {
-		let p = match self.projectiles.remove(&c) {
-			Some(p) => p,
-			None => return None,
-		};
-		let r = self
-			.rigid_body_set
-			.remove(
-				p.rigid_body,
-				&mut res.wrapper.im,
-				&mut self.collider_set,
-				&mut res.wrapper.ij,
-				&mut res.wrapper.mj,
-				true,
-			)
-			.unwrap();
-
-		return Some((r, p));
-	}
-
-	fn land_ship(&mut self, collider: ColliderHandle, target: SystemObjectHandle) {
-		let ship = self.ships.get_mut(&collider).unwrap();
-
-		let r = self.rigid_body_set.get(ship.rigid_body).unwrap();
-		ship.data
-			.land_on(target, (*r.translation()).into(), r.rotation().angle());
-
-		let r = self.rigid_body_set.get_mut(ship.rigid_body).unwrap();
-		r.set_enabled(false);
-		r.set_angvel(0.0, false);
-		r.set_linvel(nalgebra::Vector2::new(0.0, 0.0), false);
-
-		self.collider_set
-			.get_mut(ship.collider)
-			.unwrap()
-			.set_enabled(false);
-	}
-
-	fn unland_ship(&mut self, ct: &Content, collider: ColliderHandle) {
-		let ship = self.ships.get_mut(&collider).unwrap();
-		let obj = ship.data.get_state().landed_on().unwrap();
-		let obj = ct.get_system_object(obj);
-
-		let target_pos = Point2::new(obj.pos.x + 100.0, obj.pos.y + 100.0);
-
-		ship.data.unland(target_pos);
-
-		let r = self.rigid_body_set.get_mut(ship.rigid_body).unwrap();
-		r.set_enabled(true);
-
-		r.set_position(
-			nalgebra::Vector2::new(target_pos.x, target_pos.y).into(),
-			true,
-		);
-
-		r.set_rotation(nalgebra::Rotation2::new(1.0).into(), false);
-
-		self.collider_set
-			.get_mut(ship.collider)
-			.unwrap()
-			.set_enabled(true);
-	}
-
-	fn remove_ship(&mut self, res: &mut PhysStepResources, colliderhandle: ColliderHandle) {
-		let ship = match self.ships.get(&colliderhandle) {
-			None => return,
-			Some(s) => s,
-		};
-
-		self.rigid_body_set.remove(
-			ship.rigid_body,
-			&mut res.wrapper.im,
-			&mut self.collider_set,
-			&mut res.wrapper.ij,
-			&mut res.wrapper.mj,
-			true,
-		);
-		self.ships.remove(&colliderhandle).unwrap();
-		self.ship_behaviors.remove(&colliderhandle);
-	}
-
-	fn collide_projectile_ship(
-		&mut self,
-		res: &mut PhysStepResources,
-		projectile_h: ColliderHandle,
-		ship_h: ColliderHandle,
-	) {
-		let projectile = self.projectiles.get(&projectile_h);
-		let ship = self.ships.get_mut(&ship_h);
-		if projectile.is_none() || ship.is_none() {
-			return;
-		}
-		let projectile = projectile.unwrap();
-		let ship = ship.unwrap();
-
-		let f = res.ct.get_faction(projectile.faction);
-		let r = f.relationships.get(&ship.data.get_faction()).unwrap();
-		let destory_projectile = match r {
-			Relationship::Hostile => match ship.data.get_state() {
-				ShipState::Flying => {
-					ship.data.apply_damage(res.ct, projectile.content.damage);
-					true
-				}
-				ShipState::Collapsing { .. } => true,
-				_ => false,
-			},
-			_ => false,
-		};
-
-		if destory_projectile {
-			let pr = self.rigid_body_set.get(projectile.rigid_body).unwrap();
-			let v =
-				pr.velocity_at_point(pr.center_of_mass()).normalize() * projectile.content.force;
-			let pos = *pr.translation();
-			let _ = pr;
-
-			let r = self.rigid_body_set.get_mut(ship.rigid_body).unwrap();
-			r.apply_impulse_at_point(vector![v.x, v.y], point![pos.x, pos.y], true);
-
-			// Borrow again, we can only have one at a time
-			let pr = self.rigid_body_set.get(projectile.rigid_body).unwrap();
-			let pos = *pr.translation();
-			let angle = pr.rotation().angle();
-
-			match &projectile.content.impact_effect {
-				None => {}
-				Some(x) => {
-					let effect = res.ct.get_effect(*x);
-					let r = ship.rigid_body;
-					let sr = self.get_rigid_body(r).unwrap();
-					let parent_velocity = pr.velocity_at_point(pr.center_of_mass());
-					let target_velocity =
-						sr.velocity_at_point(&nalgebra::Point2::new(pos.x, pos.y));
-
-					res.particles.push(ParticleBuilder::from_content(
-						effect,
-						pos.into(),
-						-angle,
-						parent_velocity,
-						target_velocity,
-					));
-				}
-			};
-
-			self.remove_projectile(res, projectile.collider);
-		}
-	}
-}
-
-// Public methods
-impl PhysSim {
-	/// Create a new physics system
-	pub fn new(_ct: &Content, system: SystemHandle) -> Self {
-		Self {
-			_system: system,
-			rigid_body_set: RigidBodySet::new(),
-			collider_set: ColliderSet::new(),
-			projectiles: HashMap::new(),
-			ships: HashMap::new(),
-			ship_behaviors: HashMap::new(),
-		}
-	}
-
-	/// Add a ship to this physics system
-	pub fn add_ship(
-		&mut self,
-		ct: &Content,
-		handle: ShipHandle,
-		faction: FactionHandle,
-		personality: ShipPersonality,
-		position: Point2<f32>,
-	) -> PhysSimShipHandle {
-		let ship_content = ct.get_ship(handle);
-		let cl = ship_content.collider.0.clone();
-		// TODO: additonal ship mass from outfits and cargo
-
-		let rb = RigidBodyBuilder::dynamic()
-			.angular_damping(ship_content.angular_drag)
-			.linear_damping(ship_content.linear_drag)
-			.translation(vector![position.x, position.y])
-			.can_sleep(false);
-
-		let ridid_body = self.rigid_body_set.insert(rb.build());
-		let collider =
-			self.collider_set
-				.insert_with_parent(cl, ridid_body, &mut self.rigid_body_set);
-
-		self.ship_behaviors.insert(
-			collider,
-			match personality {
-				ShipPersonality::Dummy | ShipPersonality::Player => ShipController::new_null(),
-				ShipPersonality::Point => ShipController::new_point(),
-			},
-		);
-
-		self.ships.insert(
-			collider,
-			PhysSimShip::new(ct, handle, personality, faction, ridid_body, collider),
-		);
-
-		return PhysSimShipHandle(collider);
-	}
-
-	/// Update a player ship's controls
-	pub fn update_player_controls(&mut self, ct: &Content, player: &PlayerAgent) {
-		if player.ship.is_none() {
-			return;
-		}
-		let ship_object = self.ships.get_mut(&player.ship.unwrap());
-		if let Some(ship_object) = ship_object {
-			ship_object.controls.guns = player.input.pressed_guns();
-			ship_object.controls.left = player.input.pressed_left();
-			ship_object.controls.right = player.input.pressed_right();
-			ship_object.controls.thrust = player.input.pressed_thrust();
-
-			if player.input.pressed_land() {
-				match ship_object.data.get_state() {
-					ShipState::Flying => {
-						self.land_ship(
-							player.ship.unwrap(),
-							player.selection.get_planet().unwrap(),
-						);
-					}
-					ShipState::Landed { .. } => {
-						self.unland_ship(ct, player.ship.unwrap());
-					}
-					_ => {}
-				}
-			}
-		}
-	}
-
-	/// Run ship updates:
-	/// - updates ship controls (runs behaviors)
-	/// - applies ship controls
-	/// - creates projectiles
-	fn step_ships(&mut self, res: &mut PhysStepResources) {
-		// We can't apply these right away since self is borrowed
-		// by the iterator
-		// TODO: don't allocate!
-		let mut projectiles = Vec::new();
-		let mut to_remove = Vec::new();
-		// Again, borrow checker hack. TODO: fix
-		let keys: Vec<_> = self.ships.keys().map(|c| *c).collect();
-		for collider in keys {
-			// Borrow immutably for now...
-			// (required to compute controls)
-			let ship = self.ships.get(&collider).unwrap();
-			match ship.data.get_state() {
-				ShipState::Dead => {
-					to_remove.push(collider);
-				}
-
-				ShipState::UnLanding { .. }
-				| ShipState::Landing { .. }
-				| ShipState::Landed { .. }
-				| ShipState::Collapsing { .. } => {
-					let ship = self.ships.get_mut(&collider).unwrap();
-					ship.step(
-						res,
-						&mut self.rigid_body_set[ship.rigid_body],
-						&mut self.collider_set[ship.collider],
-					);
-				}
-
-				ShipState::Flying => {
-					// Compute new controls
-					// This is why we borrow immutably first
-					let controls;
-					let b = self.ship_behaviors.get_mut(&collider).unwrap();
-					controls =
-						b.update_controls(&res, &self.rigid_body_set, &self.ships, ship.collider);
-
-					// Re-borrow mutably to apply changes
-					let ship = self.ships.get_mut(&collider).unwrap();
-
-					if let Some(controls) = controls {
-						ship.controls = controls;
-					}
-					ship.step(
-						res,
-						&mut self.rigid_body_set[ship.rigid_body],
-						&mut self.collider_set[ship.collider],
-					);
-
-					// If we're firing, try to fire each gun
-					if ship.controls.guns {
-						// TODO: don't allocate here. This is a hack to satisfy the borrow checker,
-						// convert this to a refcell or do the replace dance.
-						let pairs: Vec<(GunPoint, Option<OutfitHandle>)> = ship
-							.data
-							.get_outfits()
-							.iter_gun_points()
-							.map(|(p, o)| (p.clone(), o.clone()))
-							.collect();
-
-						for (gun, outfit) in pairs {
-							if ship.data.fire_gun(res.ct, &gun) {
-								projectiles.push((ship.collider, gun.clone(), outfit.unwrap()));
-							}
-						}
-					}
-				}
-			}
-		}
-
-		// Remove ships that don't exist
-		for c in to_remove {
-			self.remove_ship(res, c);
-		}
-
-		// Create projectiles
-		for (collider, gun_point, outfit) in projectiles {
-			let mut rng = rand::thread_rng();
-
-			let ship = self.ships.get(&collider).unwrap();
-			let rigid_body = self.get_rigid_body(ship.rigid_body).unwrap();
-			let ship_pos = rigid_body.translation();
-			let ship_rot = rigid_body.rotation();
-			let ship_ang = ship_rot.angle();
-			let ship_vel = rigid_body.velocity_at_point(rigid_body.center_of_mass());
-
-			let pos = ship_pos + (ship_rot * gun_point.pos);
-
-			let outfit = res.ct.get_outfit(outfit);
-			let outfit = outfit.gun.as_ref().unwrap();
-
-			let spread = rng.gen_range(-outfit.projectile.angle_rng..=outfit.projectile.angle_rng);
-			let vel = ship_vel
-				+ (Rotation2::new(ship_ang + spread)
-					* Vector2::new(
-						outfit.projectile.speed
-							+ rng.gen_range(
-								-outfit.projectile.speed_rng..=outfit.projectile.speed_rng,
-							),
-						0.0,
-					));
-
-			let rigid_body = RigidBodyBuilder::kinematic_velocity_based()
-				.translation(vector![pos.x, pos.y])
-				.rotation(ship_ang)
-				.linvel(vel)
-				.build();
-
-			let collider = match &outfit.projectile.collider {
-				ProjectileCollider::Ball(b) => ColliderBuilder::ball(b.radius)
-					.sensor(true)
-					.active_events(ActiveEvents::COLLISION_EVENTS)
-					.build(),
-			};
-
-			let rigid_body = self.rigid_body_set.insert(rigid_body);
-			let collider = self.collider_set.insert_with_parent(
-				collider,
-				rigid_body,
-				&mut self.rigid_body_set,
-			);
-
-			self.projectiles.insert(
-				collider.clone(),
-				PhysProjectile::new(
-					outfit.projectile.clone(),
-					rigid_body,
-					ship.data.get_faction(),
-					collider,
-				),
-			);
-		}
-	}
-
-	/// Step this physics system by `t` seconds
-	pub fn step(&mut self, mut res: PhysStepResources) {
-		res.timing.start_physics_ships();
-		self.step_ships(&mut res);
-		res.timing.mark_physics_ships();
-
-		res.timing.start_physics_sim();
-
-		// Update physics
-		res.wrapper
-			.step(res.t, &mut self.rigid_body_set, &mut self.collider_set);
-
-		// Handle collision events
-		while let Ok(event) = &res.wrapper.collision_queue.try_recv() {
-			if event.started() {
-				let a = event.collider1();
-				let b = event.collider2();
-
-				// If projectiles are part of this collision, make sure
-				// `a` is one of them.
-				let (a, b) = if self.projectiles.contains_key(&b) {
-					(b, a)
-				} else {
-					(a, b)
-				};
-
-				let p = self.projectiles.get(&a);
-				let s = self.ships.get_mut(&b);
-				if p.is_none() || s.is_none() {
-					continue;
-				}
-				self.collide_projectile_ship(&mut res, a, b);
-			}
-		}
-
-		// Delete projectiles
-		let mut to_remove = Vec::new();
-		for (c, p) in &mut self.projectiles {
-			p.tick(res.t);
-			if p.is_expired() {
-				to_remove.push(*c);
-			}
-		}
-
-		let mut rng = rand::thread_rng();
-		for c in to_remove {
-			let (pr, p) = self.remove_projectile(&mut res, c).unwrap();
-
-			match &p.content.expire_effect {
-				None => {}
-				Some(x) => {
-					let x = res.ct.get_effect(*x);
-					let pos = *pr.translation();
-					let vel = pr.velocity_at_point(pr.center_of_mass());
-					let angle = pr.rotation().angle();
-
-					let velocity = {
-						let a = rng
-							.gen_range(-x.velocity_scale_parent_rng..=x.velocity_scale_parent_rng);
-
-						let velocity = (x.velocity_scale_parent + a) * vel;
-
-						velocity
-					};
-
-					res.particles.push(ParticleBuilder::from_content(
-						x,
-						pos.into(),
-						-angle,
-						velocity,
-						Vector2::new(0.0, 0.0),
-					));
-				}
-			};
-		}
-
-		res.timing.mark_physics_sim();
-	}
-}
-
-// Public getters
-impl PhysSim {
-	/// Get a ship physics object
-	pub fn get_ship(&self, ship: &PhysSimShipHandle) -> Option<&PhysSimShip> {
-		self.ships.get(&ship.0)
-	}
-
-	/// Get a ship physics object
-	pub fn get_ship_mut(&mut self, ship: &PhysSimShipHandle) -> Option<&mut PhysSimShip> {
-		self.ships.get_mut(&ship.0)
-	}
-
-	/// Get a rigid body from a handle
-	pub fn get_rigid_body(&self, r: RigidBodyHandle) -> Option<&RigidBody> {
-		self.rigid_body_set.get(r)
-	}
-
-	/// Get a rigid body from a handle
-	pub fn get_rigid_body_mut(&mut self, r: RigidBodyHandle) -> Option<&mut RigidBody> {
-		self.rigid_body_set.get_mut(r)
-	}
-
-	/// Iterate over all ships in this physics system
-	pub fn iter_ship_body(&self) -> impl Iterator<Item = (&PhysSimShip, &RigidBody)> + '_ {
-		self.ships
-			.values()
-			.map(|x| (x, self.rigid_body_set.get(x.rigid_body).unwrap()))
-	}
-
-	/// Iterate over all ships in this physics system
-	pub fn iter_ships(&self) -> impl Iterator<Item = &PhysSimShip> + '_ {
-		self.ships.values()
-	}
-
-	/// Iterate over all ships in this physics system
-	pub fn iter_projectiles(&self) -> impl Iterator<Item = &PhysProjectile> + '_ {
-		self.projectiles.values()
-	}
-}

crates/system/src/phys/systemsim/mod.rs

@@ -0,0 +1,182 @@
+use galactica_content::{Content, FactionHandle, ShipHandle, SystemHandle};
+use galactica_playeragent::PlayerAgent;
+use nalgebra::{Point2, Vector2};
+
+use rapier2d::{
+	dynamics::{RigidBody, RigidBodyBuilder, RigidBodyHandle, RigidBodySet},
+	geometry::{ColliderHandle, ColliderSet},
+};
+use std::collections::HashMap;
+
+use crate::data::{ShipAutoPilot, ShipPersonality, ShipState};
+
+use super::{
+	controller::ShipController,
+	objects::{PhysProjectile, PhysSimShip},
+};
+
+// TODO: replace with a more generic handle
+/// A handle for a ship in this simulation
+/// This lets other crates reference ships
+/// without including `rapier2d`.
+pub struct PhysSimShipHandle(pub ColliderHandle);
+
+/// Manages the physics state of one system
+#[derive(Clone)]
+pub struct PhysSim {
+	/// The system this sim is attached to
+	_system: SystemHandle,
+
+	rigid_body_set: RigidBodySet,
+	collider_set: ColliderSet,
+
+	projectiles: HashMap<ColliderHandle, PhysProjectile>,
+	ships: HashMap<ColliderHandle, PhysSimShip>,
+	ship_behaviors: HashMap<ColliderHandle, ShipController>,
+}
+
+mod step;
+mod steputil;
+
+// Public methods
+impl PhysSim {
+	/// Create a new physics system
+	pub fn new(_ct: &Content, system: SystemHandle) -> Self {
+		Self {
+			_system: system,
+			rigid_body_set: RigidBodySet::new(),
+			collider_set: ColliderSet::new(),
+			projectiles: HashMap::new(),
+			ships: HashMap::new(),
+			ship_behaviors: HashMap::new(),
+		}
+	}
+
+	/// Add a ship to this physics system
+	pub fn add_ship(
+		&mut self,
+		ct: &Content,
+		handle: ShipHandle,
+		faction: FactionHandle,
+		personality: ShipPersonality,
+		position: Point2<f32>,
+	) -> PhysSimShipHandle {
+		let ship_content = ct.get_ship(handle);
+		let cl = ship_content.collider.0.clone();
+		// TODO: additonal ship mass from outfits and cargo
+
+		let rb = RigidBodyBuilder::dynamic()
+			.angular_damping(ship_content.angular_drag)
+			.linear_damping(ship_content.linear_drag)
+			.translation(Vector2::new(position.x, position.y))
+			.can_sleep(false);
+
+		let ridid_body = self.rigid_body_set.insert(rb.build());
+		let collider =
+			self.collider_set
+				.insert_with_parent(cl, ridid_body, &mut self.rigid_body_set);
+
+		self.ship_behaviors.insert(
+			collider,
+			match personality {
+				ShipPersonality::Dummy | ShipPersonality::Player => ShipController::new_null(),
+				ShipPersonality::Point => ShipController::new_point(),
+			},
+		);
+
+		self.ships.insert(
+			collider,
+			PhysSimShip::new(ct, handle, personality, faction, ridid_body, collider),
+		);
+
+		return PhysSimShipHandle(collider);
+	}
+
+	/// Update a player ship's controls
+	pub fn update_player_controls(&mut self, ct: &Content, player: &PlayerAgent) {
+		if player.ship.is_none() {
+			return;
+		}
+		let ship_object = self.ships.get_mut(&player.ship.unwrap());
+		if let Some(ship_object) = ship_object {
+			match ship_object.data.get_state() {
+				ShipState::Landing { .. }
+				| ShipState::UnLanding { .. }
+				| ShipState::Collapsing { .. }
+				| ShipState::Dead => {}
+
+				ShipState::Flying {
+					autopilot: ShipAutoPilot::None,
+				} => {
+					ship_object.controls.guns = player.input.pressed_guns();
+					ship_object.controls.left = player.input.pressed_left();
+					ship_object.controls.right = player.input.pressed_right();
+					ship_object.controls.thrust = player.input.pressed_thrust();
+
+					if player.input.pressed_land() {
+						ship_object.data.set_autopilot(ShipAutoPilot::Landing {
+							target: player.selection.get_planet().unwrap(),
+						})
+					}
+				}
+
+				ShipState::Flying { .. } => {
+					// Any input automatically releases autopilot
+					if player.input.pressed_left()
+						|| player.input.pressed_right()
+						|| player.input.pressed_thrust()
+						|| player.input.pressed_guns()
+					{
+						ship_object.data.set_autopilot(ShipAutoPilot::None);
+					}
+				}
+
+				ShipState::Landed { .. } => {
+					if player.input.pressed_land() {
+						self.unland_ship(ct, player.ship.unwrap());
+					}
+				}
+			};
+		}
+	}
+}
+
+// Public getters
+impl PhysSim {
+	/// Get a ship physics object
+	pub fn get_ship(&self, ship: &PhysSimShipHandle) -> Option<&PhysSimShip> {
+		self.ships.get(&ship.0)
+	}
+
+	/// Get a ship physics object
+	pub fn get_ship_mut(&mut self, ship: &PhysSimShipHandle) -> Option<&mut PhysSimShip> {
+		self.ships.get_mut(&ship.0)
+	}
+
+	/// Get a rigid body from a handle
+	pub fn get_rigid_body(&self, r: RigidBodyHandle) -> Option<&RigidBody> {
+		self.rigid_body_set.get(r)
+	}
+
+	/// Get a rigid body from a handle
+	pub fn get_rigid_body_mut(&mut self, r: RigidBodyHandle) -> Option<&mut RigidBody> {
+		self.rigid_body_set.get_mut(r)
+	}
+
+	/// Iterate over all ships in this physics system
+	pub fn iter_ship_body(&self) -> impl Iterator<Item = (&PhysSimShip, &RigidBody)> + '_ {
+		self.ships
+			.values()
+			.map(|x| (x, self.rigid_body_set.get(x.rigid_body).unwrap()))
+	}
+
+	/// Iterate over all ships in this physics system
+	pub fn iter_ships(&self) -> impl Iterator<Item = &PhysSimShip> + '_ {
+		self.ships.values()
+	}
+
+	/// Iterate over all ships in this physics system
+	pub fn iter_projectiles(&self) -> impl Iterator<Item = &PhysProjectile> + '_ {
+		self.projectiles.values()
+	}
+}

crates/system/src/phys/systemsim/step.rs

@@ -0,0 +1,283 @@
+use galactica_content::{GunPoint, OutfitHandle, ProjectileCollider};
+use nalgebra::{Rotation2, Vector2};
+use rand::Rng;
+use rapier2d::{dynamics::RigidBodyBuilder, geometry::ColliderBuilder, pipeline::ActiveEvents};
+
+use crate::{
+	data::{ShipAutoPilot, ShipState},
+	phys::{controller::autopilot, objects::PhysProjectile, ParticleBuilder, PhysStepResources},
+};
+
+use super::PhysSim;
+
+impl PhysSim {
+	/// Run ship updates:
+	/// - updates ship controls (runs behaviors)
+	/// - applies ship controls
+	/// - creates projectiles
+	fn step_ships(&mut self, res: &mut PhysStepResources) {
+		// We can't apply these right away since self is borrowed
+		// by the iterator
+		// TODO: don't allocate!
+		let mut projectiles = Vec::new();
+		let mut to_remove = Vec::new();
+		// Again, borrow checker hack. TODO: fix
+		let keys: Vec<_> = self.ships.keys().map(|c| *c).collect();
+		for collider in keys {
+			// Borrow immutably for now...
+			// (required to compute controls)
+			let ship = self.ships.get(&collider).unwrap();
+			match ship.data.get_state() {
+				ShipState::Dead => {
+					to_remove.push(collider);
+				}
+
+				ShipState::UnLanding { .. }
+				| ShipState::Landed { .. }
+				| ShipState::Collapsing { .. } => {
+					let ship = self.ships.get_mut(&collider).unwrap();
+					ship.step(
+						res,
+						&mut self.rigid_body_set[ship.rigid_body],
+						&mut self.collider_set[ship.collider],
+					);
+				}
+
+				ShipState::Landing { target, current_z } => {
+					let target_obj = res.ct.get_system_object(*target);
+					let controls = autopilot::auto_landing(
+						&res,
+						&self.rigid_body_set,
+						&self.ships,
+						ship.collider,
+						*target,
+					);
+
+					let current_z = *current_z;
+					let target = *target;
+					let ship = self.ships.get_mut(&collider).unwrap();
+					let r = &mut self.rigid_body_set[ship.rigid_body];
+					let zdist = target_obj.pos.z - 1.0;
+
+					if current_z >= target_obj.pos.z {
+						self.finish_land_ship(res.ct, collider, target);
+					} else {
+						ship.data.set_landing_z(current_z + zdist * res.t / 2.0);
+
+						if let Some(controls) = controls {
+							ship.controls = controls;
+						}
+						ship.step(res, r, &mut self.collider_set[ship.collider])
+					};
+				}
+
+				ShipState::Flying { autopilot } => {
+					// Compute new controls
+					// This is why we borrow immutably first
+					let controls = match autopilot {
+						ShipAutoPilot::Landing {
+							target: target_handle,
+						} => {
+							let controls = autopilot::auto_landing(
+								&res,
+								&self.rigid_body_set,
+								&self.ships,
+								ship.collider,
+								*target_handle,
+							);
+
+							let landed = self.try_land_ship(res.ct, collider, *target_handle);
+							if landed {
+								None
+							} else {
+								controls
+							}
+						}
+
+						ShipAutoPilot::None => {
+							let b = self.ship_behaviors.get_mut(&collider).unwrap();
+							b.update_controls(
+								&res,
+								&self.rigid_body_set,
+								&self.ships,
+								ship.collider,
+							)
+						}
+					};
+
+					// Re-borrow mutably to apply changes
+					let ship = self.ships.get_mut(&collider).unwrap();
+
+					if let Some(controls) = controls {
+						ship.controls = controls;
+					}
+					ship.step(
+						res,
+						&mut self.rigid_body_set[ship.rigid_body],
+						&mut self.collider_set[ship.collider],
+					);
+
+					// If we're firing, try to fire each gun
+					if ship.controls.guns {
+						// TODO: don't allocate here. This is a hack to satisfy the borrow checker,
+						// convert this to a refcell or do the replace dance.
+						let pairs: Vec<(GunPoint, Option<OutfitHandle>)> = ship
+							.data
+							.get_outfits()
+							.iter_gun_points()
+							.map(|(p, o)| (p.clone(), o.clone()))
+							.collect();
+
+						for (gun, outfit) in pairs {
+							if ship.data.fire_gun(res.ct, &gun) {
+								projectiles.push((ship.collider, gun.clone(), outfit.unwrap()));
+							}
+						}
+					}
+				}
+			}
+		}
+
+		// Remove ships that don't exist
+		for c in to_remove {
+			self.remove_ship(res, c);
+		}
+
+		// Create projectiles
+		for (collider, gun_point, outfit) in projectiles {
+			let mut rng = rand::thread_rng();
+
+			let ship = self.ships.get(&collider).unwrap();
+			let rigid_body = self.get_rigid_body(ship.rigid_body).unwrap();
+			let ship_pos = rigid_body.translation();
+			let ship_rot = rigid_body.rotation();
+			let ship_ang = ship_rot.angle();
+			let ship_vel = rigid_body.velocity_at_point(rigid_body.center_of_mass());
+
+			let pos = ship_pos + (ship_rot * gun_point.pos);
+
+			let outfit = res.ct.get_outfit(outfit);
+			let outfit = outfit.gun.as_ref().unwrap();
+
+			let spread = rng.gen_range(-outfit.projectile.angle_rng..=outfit.projectile.angle_rng);
+			let vel = ship_vel
+				+ (Rotation2::new(ship_ang + spread)
+					* Vector2::new(
+						outfit.projectile.speed
+							+ rng.gen_range(
+								-outfit.projectile.speed_rng..=outfit.projectile.speed_rng,
+							),
+						0.0,
+					));
+
+			let rigid_body = RigidBodyBuilder::kinematic_velocity_based()
+				.translation(pos)
+				.rotation(ship_ang)
+				.linvel(vel)
+				.build();
+
+			let collider = match &outfit.projectile.collider {
+				ProjectileCollider::Ball(b) => ColliderBuilder::ball(b.radius)
+					.sensor(true)
+					.active_events(ActiveEvents::COLLISION_EVENTS)
+					.build(),
+			};
+
+			let rigid_body = self.rigid_body_set.insert(rigid_body);
+			let collider = self.collider_set.insert_with_parent(
+				collider,
+				rigid_body,
+				&mut self.rigid_body_set,
+			);
+
+			self.projectiles.insert(
+				collider.clone(),
+				PhysProjectile::new(
+					outfit.projectile.clone(),
+					rigid_body,
+					ship.data.get_faction(),
+					collider,
+				),
+			);
+		}
+	}
+
+	/// Step this physics system by `t` seconds
+	pub fn step(&mut self, mut res: PhysStepResources) {
+		res.timing.start_physics_ships();
+		self.step_ships(&mut res);
+		res.timing.mark_physics_ships();
+
+		res.timing.start_physics_sim();
+
+		// Update physics
+		res.wrapper
+			.step(res.t, &mut self.rigid_body_set, &mut self.collider_set);
+
+		// Handle collision events
+		while let Ok(event) = &res.wrapper.collision_queue.try_recv() {
+			if event.started() {
+				let a = event.collider1();
+				let b = event.collider2();
+
+				// If projectiles are part of this collision, make sure
+				// `a` is one of them.
+				let (a, b) = if self.projectiles.contains_key(&b) {
+					(b, a)
+				} else {
+					(a, b)
+				};
+
+				let p = self.projectiles.get(&a);
+				let s = self.ships.get_mut(&b);
+				if p.is_none() || s.is_none() {
+					continue;
+				}
+				self.collide_projectile_ship(&mut res, a, b);
+			}
+		}
+
+		// Delete projectiles
+		let mut to_remove = Vec::new();
+		for (c, p) in &mut self.projectiles {
+			p.tick(res.t);
+			if p.is_expired() {
+				to_remove.push(*c);
+			}
+		}
+
+		let mut rng = rand::thread_rng();
+		for c in to_remove {
+			let (pr, p) = self.remove_projectile(&mut res, c).unwrap();
+
+			match &p.content.expire_effect {
+				None => {}
+				Some(x) => {
+					let x = res.ct.get_effect(*x);
+					let pos = *pr.translation();
+					let vel = pr.velocity_at_point(pr.center_of_mass());
+					let angle = pr.rotation().angle();
+
+					let velocity = {
+						let a = rng
+							.gen_range(-x.velocity_scale_parent_rng..=x.velocity_scale_parent_rng);
+
+						let velocity = (x.velocity_scale_parent + a) * vel;
+
+						velocity
+					};
+
+					res.particles.push(ParticleBuilder::from_content(
+						x,
+						pos.into(),
+						-angle,
+						velocity,
+						Vector2::new(0.0, 0.0),
+					));
+				}
+			};
+		}
+
+		res.timing.mark_physics_sim();
+	}
+}

crates/system/src/phys/systemsim/steputil.rs

@@ -0,0 +1,196 @@
+use galactica_content::{Content, Relationship, SystemObjectHandle};
+use nalgebra::{Isometry2, Point2, Vector2};
+use rapier2d::{dynamics::RigidBody, geometry::ColliderHandle};
+
+use crate::{
+	data::ShipState,
+	phys::{objects::PhysProjectile, ParticleBuilder, PhysStepResources},
+};
+
+use super::PhysSim;
+
+// Private methods
+impl PhysSim {
+	pub(super) fn remove_projectile(
+		&mut self,
+		res: &mut PhysStepResources,
+		c: ColliderHandle,
+	) -> Option<(RigidBody, PhysProjectile)> {
+		let p = match self.projectiles.remove(&c) {
+			Some(p) => p,
+			None => return None,
+		};
+		let r = self
+			.rigid_body_set
+			.remove(
+				p.rigid_body,
+				&mut res.wrapper.im,
+				&mut self.collider_set,
+				&mut res.wrapper.ij,
+				&mut res.wrapper.mj,
+				true,
+			)
+			.unwrap();
+
+		return Some((r, p));
+	}
+
+	/// Try to land the given ship on the given planet.
+	/// State changes on success, and nothing happens on failure.
+	/// returns `true` if landing was successful.
+	pub(super) fn try_land_ship(
+		&mut self,
+		ct: &Content,
+		collider: ColliderHandle,
+		target_handle: SystemObjectHandle,
+	) -> bool {
+		let ship = self.ships.get_mut(&collider).unwrap();
+		let r = self.rigid_body_set.get(ship.rigid_body).unwrap();
+
+		let target = ct.get_system_object(target_handle);
+		let t_pos = Vector2::new(target.pos.x, target.pos.y);
+		let s_pos = Vector2::new(r.position().translation.x, r.position().translation.y);
+
+		// TODO: deactivate collider when landing.
+		// Can't just set_active(false), since we still need that collider's mass.
+
+		// We're in land range...
+		if (t_pos - s_pos).magnitude() > target.size / 2.0 {
+			return false;
+		}
+
+		// And we'll stay in land range long enough.
+		if (t_pos - (s_pos + r.velocity_at_point(r.center_of_mass()) * 2.0)).magnitude()
+			> target.size / 2.0
+		{
+			return false;
+		}
+
+		ship.data.start_land_on(target_handle);
+		return true;
+	}
+
+	/// Finish landing this ship on a planet.
+	/// Called after the landing animation finishes.
+	pub(super) fn finish_land_ship(
+		&mut self,
+		_ct: &Content,
+		collider: ColliderHandle,
+		_target: SystemObjectHandle,
+	) {
+		let ship = self.ships.get_mut(&collider).unwrap();
+		ship.data.finish_land_on();
+		let r = self.rigid_body_set.get_mut(ship.rigid_body).unwrap();
+		r.set_enabled(false);
+		r.set_angvel(0.0, false);
+		r.set_linvel(nalgebra::Vector2::new(0.0, 0.0), false);
+	}
+
+	pub(super) fn unland_ship(&mut self, ct: &Content, collider: ColliderHandle) {
+		let ship = self.ships.get_mut(&collider).unwrap();
+		let obj = ship.data.get_state().landed_on().unwrap();
+		let obj = ct.get_system_object(obj);
+
+		let target_pos = Isometry2::new(Vector2::new(obj.pos.x + 100.0, obj.pos.y + 100.0), 1.0);
+
+		ship.data.unland(target_pos);
+
+		let r = self.rigid_body_set.get_mut(ship.rigid_body).unwrap();
+		r.set_enabled(true);
+		r.set_position(target_pos, true);
+
+		self.collider_set
+			.get_mut(ship.collider)
+			.unwrap()
+			.set_enabled(true);
+	}
+
+	pub(super) fn remove_ship(
+		&mut self,
+		res: &mut PhysStepResources,
+		colliderhandle: ColliderHandle,
+	) {
+		let ship = match self.ships.get(&colliderhandle) {
+			None => return,
+			Some(s) => s,
+		};
+
+		self.rigid_body_set.remove(
+			ship.rigid_body,
+			&mut res.wrapper.im,
+			&mut self.collider_set,
+			&mut res.wrapper.ij,
+			&mut res.wrapper.mj,
+			true,
+		);
+		self.ships.remove(&colliderhandle).unwrap();
+		self.ship_behaviors.remove(&colliderhandle);
+	}
+
+	pub(super) fn collide_projectile_ship(
+		&mut self,
+		res: &mut PhysStepResources,
+		projectile_h: ColliderHandle,
+		ship_h: ColliderHandle,
+	) {
+		let projectile = self.projectiles.get(&projectile_h);
+		let ship = self.ships.get_mut(&ship_h);
+		if projectile.is_none() || ship.is_none() {
+			return;
+		}
+		let projectile = projectile.unwrap();
+		let ship = ship.unwrap();
+
+		let f = res.ct.get_faction(projectile.faction);
+		let r = f.relationships.get(&ship.data.get_faction()).unwrap();
+		let destory_projectile = match r {
+			Relationship::Hostile => match ship.data.get_state() {
+				ShipState::Flying { .. } => {
+					ship.data.apply_damage(res.ct, projectile.content.damage);
+					true
+				}
+				ShipState::Collapsing { .. } => true,
+				_ => false,
+			},
+			_ => false,
+		};
+
+		if destory_projectile {
+			let pr = self.rigid_body_set.get(projectile.rigid_body).unwrap();
+			let v =
+				pr.velocity_at_point(pr.center_of_mass()).normalize() * projectile.content.force;
+			let pos = *pr.translation();
+			let _ = pr;
+
+			let r = self.rigid_body_set.get_mut(ship.rigid_body).unwrap();
+			r.apply_impulse_at_point(Vector2::new(v.x, v.y), Point2::new(pos.x, pos.y), true);
+
+			// Borrow again, we can only have one at a time
+			let pr = self.rigid_body_set.get(projectile.rigid_body).unwrap();
+			let pos = *pr.translation();
+			let angle = pr.rotation().angle();
+
+			match &projectile.content.impact_effect {
+				None => {}
+				Some(x) => {
+					let effect = res.ct.get_effect(*x);
+					let r = ship.rigid_body;
+					let sr = self.get_rigid_body(r).unwrap();
+					let parent_velocity = pr.velocity_at_point(pr.center_of_mass());
+					let target_velocity =
+						sr.velocity_at_point(&nalgebra::Point2::new(pos.x, pos.y));
+
+					res.particles.push(ParticleBuilder::from_content(
+						effect,
+						pos.into(),
+						-angle,
+						parent_velocity,
+						target_velocity,
+					));
+				}
+			};
+
+			self.remove_projectile(res, projectile.collider);
+		}
+	}
+}