P2/P3 issues: network-fed launchers priced into smart routes (#4), stable blast light ids (#15), retargeted smart drones replanned round the defences (#21), sim tick without per-unit clones and linear scans (#26), ground cache swept rarely (#31), Oreshnik pieces keep their sector (#32), drives with acceleration and fire only once aimed (#33), radar monitor range (#19), delayed sound volume (#22), world change clears transient state (#23), score line always shown (#24), replay map without full paths (#25), text fit by bisection (#27), docs (#29), glow occlusion by ray distance (#14), blasts composited nearest first (#16)

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

README.md

@@ -23,9 +23,10 @@ python3 tools/airdef.py play    # запустить (аргументы игр
 (`tools/gen_sounds.py`, нужны numpy и ffmpeg), собирает и ставит мод. Сгенерированные файлы лежат в репозитории,
 так что для обычной сборки нужен только Rust.
 
-CI: `.gitea/workflows/build.yml` на каждый пуш собирает мод и игру для Linux, а пуш в `main` публикует релиз
-`build-N`; `.gitea/workflows/desktop.yml` (запуск вручную с тегом релиза) собирает игру для macOS и Windows на
-раннерах с метками `macos-latest` / `windows-latest` и дописывает архивы в релиз.
+CI: `.gitea/workflows/build.yml` на каждый пуш собирает только мод (`airdef.hmod`), а пуш в `main` публикует его
+релизом `build-N`. Игру-форк собирают вручную: `.gitea/workflows/game.yml` (Linux) и `.gitea/workflows/desktop.yml`
+(macOS и Windows, на раннерах с метками `macos-latest` / `windows-latest`); оба запускаются из Actions с тегом
+готового релиза и дописывают свои архивы в него.
 
 ## Как играть
 
@@ -130,7 +131,7 @@ API мода `render.set-lights` (до 512, плавно интерполиру
   перехватчиков (жёлтые), сбития (x), прилёты, шкала времени с событиями; время идёт само, колесо мыши перематывает;
 - **повтор момента** — клик по событию в списке: «призраки» дронов и ракет снова летят в мире, камера идёт за
   целью, потом за перехватчиком (или смотрит из пушки, со стороны на прилёт), в момент сбития время замедляется;
-- **полный повтор** — весь налёт, камера-режиссёр сама выбирает, за чем следить; колесо — скорость (×0.5–×16);
+- **полный повтор** — весь налёт, камера-режиссёр сама выбирает, за чем следить; колесо — перемотка, стрелки — скорость;
 - **лучшие моменты** — нарезка до 8 самых интересных событий (перехват баллистики и гиперзвука, поражения
   объектов, потерянные комплексы, разделение «Орешника») с титрами и замедлением; колесо листает моменты.
 

airdef-mod/shaders/effects.wgsl

@@ -197,7 +197,10 @@ fn post(uv: vec2<f32>, pixel: vec2<f32>) -> vec4<f32> {
         if age < 0.0 || age > 10.0 { continue; }
         let p = project(a.xyz);
         if p.z <= 0.5 { continue; }
-        let visible = select(0.25, 1.0, scene_distance(p.xy) > p.z - a.w);
+        // Ray distance on both sides: `p.z` is the depth along the view axis, which is shorter
+        // than the distance along the ray towards the screen edge.
+        let dist = length(a.xyz - frame.camera.xyz);
+        let visible = select(0.25, 1.0, scene_distance(p.xy) > dist - a.w);
         let f = exp(-age * 0.7) * min(a.w / 4.0, 2.5) * visible;
         let r = screen_radius(a.xyz, a.w * 2.5) + 20.0;
         let dd = length(px - p.xy * frame.resolution.xy) / r;
@@ -211,7 +214,7 @@ fn post(uv: vec2<f32>, pixel: vec2<f32>) -> vec4<f32> {
         let b = frame.params[LIGHT_BASE + 2 * j + 1];
         let p = project(a.xyz);
         if p.z <= 0.3 { continue; }
-        if scene_distance(p.xy) < p.z - a.w * 1.5 { continue; }
+        if scene_distance(p.xy) < length(a.xyz - frame.camera.xyz) - a.w * 1.5 { continue; }
         let r = screen_radius(a.xyz, a.w) + 3.0;
         let dd = length(px - p.xy * frame.resolution.xy) / r;
         let flicker = 0.85 + 0.15 * noise3(vec3<f32>(a.xyz * 0.7 + vec3<f32>(t_now * 1.3)));

airdef-mod/src/lib.rs

@@ -85,8 +85,17 @@ struct AirDef {
     menu: Option<Page>,
     /// Where the player is, for the sounds' delay and far variants.
     listener: DVec3,
-    /// Sounds on their way to the player at the speed of sound: (tick, event, at, pitch).
-    pending: Vec<(u64, String, DVec3, f32)>,
+    /// Sounds on their way to the player at the speed of sound.
+    pending: Vec<PendingSound>,
+}
+
+/// A sound heard later: when, what, where, and how loud and high it was.
+struct PendingSound {
+    due: u64,
+    name: String,
+    at: DVec3,
+    volume: f32,
+    pitch: f32,
 }
 
 /// Blocks a tick the sound travels (343 m/s).
@@ -310,7 +319,8 @@ impl AirDef {
             let size = b.size;
             let glow = (-age / (b.life as f32 * 0.15).max(1.0)).exp();
             let flash = (-age * 0.35).exp() * 4.0;
-            let id = 0x6100_0000 ^ (b.start as u32).wrapping_mul(31) ^ (b.at.x as i32 as u32).wrapping_mul(7);
+            // Its own id range: the models' and the systems' ids are small numbers.
+            let id = 0x6100_0000 | (b.id & 0x00ff_ffff);
             add(id, b.at + DVec3::Y * size as f64 * 0.5, (1.0, 0.58, 0.25), size * size * 18.0 * (glow + flash), size * 14.0);
         }
         for s in &self.sim.sams {
@@ -355,7 +365,14 @@ impl AirDef {
         let mut p = vec![0.0f32; 4];
         p[0] = self.sim.tick as f32;
         p[3] = if self.hd { 1.0 } else { 0.0 };
-        let blasts: Vec<&sim::Blast> = self.sim.blasts.iter().rev().take(48).collect();
+        let mut blasts: Vec<&sim::Blast> = self.sim.blasts.iter().rev().take(48).collect();
+        // The shader composites the volumes front to back with one shared transmittance, so
+        // the nearest to the player goes first. This is exact for volumes that do not
+        // overlap; where two intersect, no order by centre is right along every ray.
+        if let Some(pl) = player() {
+            let e = eye(&pl);
+            blasts.sort_by(|a, b| a.at.distance_squared(e).total_cmp(&b.at.distance_squared(e)));
+        }
         p[1] = blasts.len() as f32;
         for b in &blasts {
             p.extend([b.at.x as f32, b.at.y as f32, b.at.z as f32, b.size]);
@@ -444,7 +461,7 @@ impl AirDef {
                 if delay == 0 {
                     render::play_sound(&name, at.x, at.y, at.z, volume, pitch);
                 } else if self.pending.len() < 256 {
-                    self.pending.push((now + delay, name, at, pitch));
+                    self.pending.push(PendingSound { due: now + delay, name, at, volume, pitch });
                 }
             } else {
                 render::play_sound(event, at.x, at.y, at.z, volume, pitch);
@@ -452,9 +469,9 @@ impl AirDef {
         }
         let mut i = 0;
         while i < self.pending.len() {
-            if self.pending[i].0 <= now {
-                let (_, name, at, pitch) = self.pending.swap_remove(i);
-                render::play_sound(&name, at.x, at.y, at.z, 1.0, pitch);
+            if self.pending[i].due <= now {
+                let s = self.pending.swap_remove(i);
+                render::play_sound(&s.name, s.at.x, s.at.y, s.at.z, s.volume, s.pitch);
             } else {
                 i += 1;
             }
@@ -651,6 +668,12 @@ impl AirDef {
         self.monitor = None;
         self.grid = false;
         self.grid_ids.clear();
+        // The last world's transient state: its sounds were due on its own
+        // clock, its picked unit may have another meaning in this one, and
+        // its models would stay until the next full model list.
+        self.pending.clear();
+        self.moving = None;
+        render::set_models(&[]);
         self.far = true;
         self.world = Some(world);
         self.load();

airdef-mod/src/monitor.rs

@@ -25,11 +25,22 @@ fn fit(t: String, w: f32) -> String {
     if render::text_width(&t) <= w {
         return t;
     }
-    let mut cut: String = t;
-    while !cut.is_empty() && render::text_width(&format!("{cut}…")) > w {
-        cut.pop();
+    // The width grows with the prefix: bisect over its char starts, so a long
+    // label costs a few host calls rather than one per dropped char.
+    let starts: Vec<usize> = t.char_indices().map(|(i, _)| i).collect();
+    let (mut lo, mut hi) = (0, starts.len());
+    while lo < hi {
+        let mid = (lo + hi) / 2;
+        if render::text_width(&format!("{}…", &t[..starts[mid]])) <= w {
+            lo = mid + 1;
+        } else {
+            hi = mid;
+        }
     }
-    format!("{cut}…")
+    if lo == 0 {
+        return "…".into();
+    }
+    format!("{}…", &t[..starts[lo - 1]])
 }
 
 fn argb(rgb: u32, a: u32) -> u32 {
@@ -101,7 +112,13 @@ fn cell(sim: &Sim, index: usize, x: f32, y: f32, w: f32, h: f32, s: &mut Vec<Sha
             s.push(quad(p(a0, r - 0.4), p(a0, r + 0.4), p(a1, r + 0.4), p(a1, r - 0.4), 0x9040FF60));
         }
     }
-    let reach = sam.kind.range();
+    // A system that only fires (no radar) has no reach: a radar's sensor
+    // range stands in, and nothing is divided by zero.
+    let reach = match sam.kind.range() {
+        r if r > 0.0 => r,
+        _ => spec.sensor,
+    };
+    let scale = if reach > 0.0 { rr as f64 / (reach * 1.25) } else { 0.0 };
     let sweep = (tick as f32 * 0.12 + index as f32) % std::f32::consts::TAU;
     for k in 0..6 {
         let a1 = sweep - k as f32 * 0.09;
@@ -115,11 +132,11 @@ fn cell(sim: &Sim, index: usize, x: f32, y: f32, w: f32, h: f32, s: &mut Vec<Sha
     for d in sim.drones.iter().filter(|d| d.alive() && sam.seen.contains(&d.id)) {
         let rel = d.pos - sam.pos;
         let flat = (rel.x * rel.x + rel.z * rel.z).sqrt();
-        if flat > reach * 1.25 {
+        if reach <= 0.0 || flat > reach * 1.25 {
             continue;
         }
         seen += 1;
-        let k = (rr as f64 / (reach * 1.25)) as f32;
+        let k = scale as f32;
         let (bx, by) = (rx + rel.x as f32 * k, ry + rel.z as f32 * k);
         let allowed = sam.roles & d.kind.spec().class.bit() != 0;
         let color = if Some(d.id) == target.map(|t| t.id) {

airdef-mod/src/panel.rs

@@ -10,6 +10,8 @@ const CYAN: u32 = 0x9FE0FF;
 const GREY: u32 = 0xB0B0B0;
 const YELLOW: u32 = 0xFFE070;
 const GREEN: u32 = 0x80FF90;
+/// The most lines the summary holds (the HUD's room).
+const MAX_LINES: usize = 16;
 
 /// Metres (a block is a metre) as a short distance.
 pub fn distance(m: f64) -> String {
@@ -77,7 +79,15 @@ pub fn summary(sim: &Sim, air: &[&Drone], player: DVec3) -> Vec<Line> {
     if !sim.missiles.is_empty() {
         lines.push(line(format!("Перехватчиков в полёте: {}", sim.missiles.len()), YELLOW));
     }
-    for sam in sim.sams.iter().take(8) {
+    // The score is the last line and always shown: the unit list gets what
+    // room is left, and cuts its own tail.
+    let room = (MAX_LINES - 1).saturating_sub(lines.len());
+    let total = sim.sams.len();
+    let mut shown = total.min(8);
+    if shown + usize::from(total > 8) > room {
+        shown = room.saturating_sub(1);
+    }
+    for sam in sim.sams.iter().take(shown) {
         let mut text = if sam.kind.armed() {
             format!("{} [{}]", sam.status(), crate::sim::roles_text(sam.roles))
         } else {
@@ -91,15 +101,16 @@ pub fn summary(sim: &Sim, air: &[&Drone], player: DVec3) -> Vec<Line> {
         }
         lines.push(line(text, CYAN));
     }
-    if sim.sams.len() > 8 {
-        lines.push(line(format!("…и ещё {} комплексов", sim.sams.len() - 8), CYAN));
+    if total > shown && room > 0 {
+        lines.push(line(format!("…и ещё {} комплексов", total - shown), CYAN));
     }
+    // Room for the score whatever came before.
+    lines.truncate(MAX_LINES - 1);
     let real = sim.launched.saturating_sub(0);
     let rate = if real > 0 { sim.kills as f64 * 100.0 / real as f64 } else { 0.0 };
     lines.push(line(
         format!("Сбито {} из {} ({rate:.0}%) · прорвалось {}", sim.kills, sim.launched, sim.hits),
         GREY,
     ));
-    lines.truncate(16);
     lines
 }

airdef-mod/src/replay.rs

@@ -5,7 +5,8 @@
 //! behind the drone, then behind the interceptor or from the side — slowing
 //! time round the moment itself.
 use crate::panel::distance;
-use crate::sim::record::{EventKind, Recording, What};
+use crate::sim::record::{EventKind, Recording, STEP, What};
+use std::cell::Cell;
 use crate::sim::{Class, DroneKind, Out, Sim};
 use glam::DVec3;
 use horizon_mod_sdk::render::{CameraView, FillShape, Point, QuadShape, Rect, Shape, TextShape, ViewShape};
@@ -55,6 +56,8 @@ pub struct Player {
     /// Ticks the controls stay on screen.
     help: u32,
     pub done: bool,
+    /// The map's area, worked out on the first map frame.
+    area: Cell<Option<[f64; 4]>>,
 }
 
 /// What the replay's keys do.
@@ -201,6 +204,7 @@ impl Player {
         };
         let _ = sim;
         Player {
+            area: Cell::new(None),
             rec,
             mode,
             t: start,
@@ -581,34 +585,16 @@ impl Player {
     fn map(&self, rec: &Recording, gw: f32, gh: f32) -> Vec<Shape> {
         let mut s = vec![fill(0.0, 0.0, gw, gh, 0xF0060A08)];
         let o = rec.origin;
-        // The area: everything that flew, but not far beyond the systems.
-        let mut lo = (f64::MAX, f64::MAX);
-        let mut hi = (f64::MIN, f64::MIN);
-        let mut grow = |p: DVec3| {
-            lo = (lo.0.min(p.x), lo.1.min(p.z));
-            hi = (hi.0.max(p.x), hi.1.max(p.z));
+        // The area is the same every tick: worked out once for the recording.
+        let [l0, l1, h0, h1] = match self.area.get() {
+            Some(a) => a,
+            None => {
+                let a = area(rec, o);
+                self.area.set(Some(a));
+                a
+            }
         };
-        for tr in &rec.tracks {
-            if let What::Drone(k) = tr.what
-                && k.spec().ballistic.is_some()
-            {
-                continue;
-            }
-            for p in tr.path(o, 20, rec.len as f64) {
-                grow(p);
-            }
-        }
-        for sam in &rec.sams {
-            grow(sam.2 - DVec3::splat(60.0));
-            grow(sam.2 + DVec3::splat(60.0));
-        }
-        for p in &rec.objects {
-            grow(*p);
-        }
-        if lo.0 > hi.0 {
-            lo = (o.x - 200.0, o.z - 200.0);
-            hi = (o.x + 200.0, o.z + 200.0);
-        }
+        let (lo, hi) = ((l0, l1), (h0, h1));
         let (top, bottom) = (20.0f32, 34.0f32);
         let (aw, ah) = (gw - 16.0, gh - top - bottom);
         let k = (aw as f64 / (hi.0 - lo.0).max(1.0)).min(ah as f64 / (hi.1 - lo.1).max(1.0));
@@ -638,7 +624,9 @@ impl Player {
             let (x, y) = at(*p);
             s.push(fill(x - 3.0, y - 3.0, 6.0, 6.0, 0xFFFFFFFF));
         }
-        // Tracks up to now: a budget of segments shared out.
+        // Tracks up to now: a budget of segments shared out. The stride is
+        // worked out from the points there are, so only the segments drawn
+        // are ever copied.
         let n = rec.tracks.len().max(1);
         let per = (640 / n).clamp(2, 14);
         for tr in &rec.tracks {
@@ -647,16 +635,21 @@ impl Player {
                 What::Drone(_) => (0x90FF4040, 0xFFFF6060),
                 What::Missile(..) => (0x90FFD040, 0xFFFFE070),
             };
-            let pts = tr.path(o, 1, self.t);
+            let upto = ((self.t - tr.first as f64) / STEP as f64).floor();
+            if upto < 0.0 {
+                continue;
+            }
+            let last = ((tr.last() - tr.first) / STEP) as f64;
+            let count = upto.min(last) as usize + 1;
+            if count < 2 {
+                continue;
+            }
+            let pts = tr.path(o, count.div_ceil(per).max(1), self.t);
             if pts.len() < 2 {
                 continue;
             }
-            let every = pts.len().div_ceil(per).max(1);
             let mut prev = at(pts[0]);
-            for (i, p) in pts.iter().enumerate().skip(1) {
-                if i % every != 0 && i != pts.len() - 1 {
-                    continue;
-                }
+            for p in pts.iter().skip(1) {
                 let q = at(*p);
                 if inside(prev) && inside(q) {
                     s.push(line(prev, q, 1.0, color));
@@ -718,6 +711,41 @@ impl Player {
     }
 }
 
+/// The ground the map shows, as [lo x, lo z, hi x, hi z]: everything that
+/// flew (not the ballistic falls), with the systems and objects, or round the
+/// origin when nothing did.
+fn area(rec: &Recording, o: DVec3) -> [f64; 4] {
+    let mut lo = (f64::MAX, f64::MAX);
+    let mut hi = (f64::MIN, f64::MIN);
+    let mut grow = |p: DVec3| {
+        lo = (lo.0.min(p.x), lo.1.min(p.z));
+        hi = (hi.0.max(p.x), hi.1.max(p.z));
+    };
+    for tr in &rec.tracks {
+        if let What::Drone(k) = tr.what
+            && k.spec().ballistic.is_some()
+        {
+            continue;
+        }
+        for p in tr.path(o, 20, rec.len as f64) {
+            grow(p);
+        }
+    }
+    // The systems, with some room round them.
+    for sam in &rec.sams {
+        grow(sam.2 - DVec3::splat(60.0));
+        grow(sam.2 + DVec3::splat(60.0));
+    }
+    for p in &rec.objects {
+        grow(*p);
+    }
+    if lo.0 > hi.0 {
+        lo = (o.x - 200.0, o.z - 200.0);
+        hi = (o.x + 200.0, o.z + 200.0);
+    }
+    [lo.0, lo.1, hi.0, hi.1]
+}
+
 impl Player {
     pub fn event_clip(rec: &Recording, i: usize) -> Mode {
         Mode::Clips { list: vec![clip(rec, i)], at: 0, reel: false }

airdef-mod/src/sim/ew.rs

@@ -159,8 +159,10 @@ impl Sim {
             return;
         }
         let pick = |i: usize, list: &[(u32, DVec3)]| list[i % list.len()].1;
+        // The drones sent at a new target: (waiting in the queue, index), to get a new route.
+        let mut retargeted: Vec<(bool, usize)> = Vec::new();
         let mut n = 0usize;
-        for (_, d) in self.queue.iter_mut().filter(|(_, d)| d.smart) {
+        for (qi, (_, d)) in self.queue.iter_mut().enumerate().filter(|(_, (_, d))| d.smart) {
             let hunter = matches!(d.kind, DroneKind::Lancet | DroneKind::Kh22 | DroneKind::Zircon);
             if !hunter && !(d.kind == DroneKind::Shahed && n % 4 == 0) {
                 n += 1;
@@ -173,18 +175,80 @@ impl Sim {
             let to = if !ew.is_empty() { pick(n, &ew) } else { pick(n, &known) };
             d.target = to;
             d.route.clear();
+            retargeted.push((true, qi));
             n += 1;
         }
         // In flight: a target system destroyed — the next known one, or keep going.
-        for d in self.drones.iter_mut().filter(|d| d.alive() && d.smart) {
+        for (di, d) in self.drones.iter_mut().enumerate().filter(|(_, d)| d.alive() && d.smart) {
             let aimed_at_wreck = self.sams.iter().any(|s| !s.alive() && s.pos.distance(d.target) < 6.0);
             if aimed_at_wreck {
                 let next = known.iter().min_by(|a, b| a.1.distance(d.pos).total_cmp(&b.1.distance(d.pos)));
                 if let Some((_, at)) = next {
                     d.target = *at;
                     d.route.clear();
+                    retargeted.push((false, di));
                 }
             }
         }
+        self.replan_routes(&retargeted);
+    }
+
+    /// Routes round the known defences for drones that were just sent at a new target, from where they are
+    /// (or wait). One grid and one set of prices cover them all, and the work is the planner's share for a
+    /// tick: those left over fly straight, as they did before there was a replan. A Lancet's strike on a
+    /// unit and the ballistic missiles go straight on purpose, as in the raid's own plan.
+    fn replan_routes(&mut self, jobs: &[(bool, usize)]) {
+        let drone = |s: &Sim, (queued, i): (bool, usize)| if queued { s.queue[i].1.clone() } else { s.drones[i].clone() };
+        let jobs: Vec<(bool, usize)> = jobs
+            .iter()
+            .copied()
+            .filter(|&j| {
+                let d = drone(self, j);
+                let spec = d.kind.spec();
+                d.smart && spec.ballistic.is_none() && !spec.decoy && d.kind != DroneKind::Lancet
+            })
+            .collect();
+        if jobs.is_empty() {
+            return;
+        }
+        // One grid over all their starts and goals, with room round them to go by.
+        let (mut lo, mut hi) = (DVec3::splat(f64::INFINITY), DVec3::splat(f64::NEG_INFINITY));
+        for &j in &jobs {
+            let d = drone(self, j);
+            for p in [d.pos, d.target] {
+                lo = lo.min(p);
+                hi = hi.max(p);
+            }
+        }
+        let span = (hi.x - lo.x).max(hi.z - lo.z) / 2.0 + 450.0;
+        let cell = raid::CELL.max(2.0 * span / raid::CELLS as f64);
+        let centre = (lo + hi) / 2.0;
+        let grid = raid::Grid { min: centre - DVec3::new(span, 0.0, span), cell, size: (2.0 * span / cell) as i32 + 1 };
+        let mut prices: HashMap<DroneKind, Vec<f32>> = HashMap::new();
+        let mut routes: HashMap<(DroneKind, (i32, i32), (i32, i32)), Vec<DVec3>> = HashMap::new();
+        let mut work = 0usize;
+        for j in jobs {
+            let d = drone(self, j);
+            if work >= raid::WORK_PER_TICK {
+                break;
+            }
+            let key = (d.kind, grid.index(d.pos), grid.index(d.target));
+            let route = match routes.get(&key) {
+                Some(r) => r.clone(),
+                None => {
+                    if !prices.contains_key(&d.kind) {
+                        let (p, cost) = self.price_grid(&grid, d.kind);
+                        work += cost;
+                        prices.insert(d.kind, p);
+                    }
+                    let (r, cost) = raid::plan_route(&grid, &prices[&d.kind], d.pos, d.target);
+                    work += cost;
+                    routes.insert(key, r.clone());
+                    r
+                }
+            };
+            let d = if j.0 { &mut self.queue[j.1].1 } else { &mut self.drones[j.1] };
+            d.route = route;
+        }
     }
 }

airdef-mod/src/sim/mod.rs

@@ -54,6 +54,8 @@ pub struct Particle {
 /// A blast the post-processing shader draws as a fireball, flash and shock.
 #[derive(Clone, Copy)]
 pub struct Blast {
+    /// Never reused while the simulation lives: the HD light keeps its identity through the blast's life.
+    pub id: u32,
     pub at: DVec3,
     /// Fireball radius in blocks.
     pub size: f32,
@@ -163,6 +165,33 @@ fn slew(from: f64, to: f64, rate: f64) -> f64 {
     from + angle_diff(from, to).clamp(-rate, rate)
 }
 
+/// One axis of a drive: speeds up towards `err` (the angle still to turn), brakes in time to stop on it,
+/// and returns the turn this tick. Arriving takes the last bit at once, so there is no overshoot or jitter.
+fn drive(vel: &mut f64, err: f64, speed: f64, accel: f64) -> f64 {
+    // The fastest it may go and still stop within what is left.
+    let fastest = (2.0 * accel * err.abs()).sqrt().min(speed);
+    let want = fastest.copysign(err);
+    *vel = (*vel + (want - *vel).clamp(-accel, accel)).clamp(-speed, speed);
+    if vel.abs() >= err.abs() && vel.signum() == err.signum() {
+        *vel = 0.0;
+        return err;
+    }
+    *vel
+}
+
+/// Moves one system's claim from the drone it had to the one it has, in a count of claims per drone.
+fn retarget(counts: &mut HashMap<u32, u32>, from: Option<u32>, to: Option<u32>) {
+    if from == to {
+        return;
+    }
+    if let Some(n) = from.and_then(|id| counts.get_mut(&id)) {
+        *n = n.saturating_sub(1);
+    }
+    if let Some(id) = to {
+        *counts.entry(id).or_insert(0) += 1;
+    }
+}
+
 fn angle_diff(from: f64, to: f64) -> f64 {
     (to - from + std::f64::consts::PI).rem_euclid(TAU) - std::f64::consts::PI
 }
@@ -175,8 +204,13 @@ pub struct Ground {
     known: HashMap<(i32, i32), (i32, u64)>,
     wanted: Vec<(i32, i32)>,
     asked: std::collections::HashSet<(i32, i32)>,
+    /// The tick of the last full clean-up (a big cache would otherwise be scanned on every answer).
+    swept: u64,
 }
 
+/// Ticks between full clean-ups of a big ground cache.
+const SWEEP_EVERY: u64 = 200;
+
 impl Ground {
     /// One above the highest solid block, if known; the column is asked for
     /// when it isn't (or is old).
@@ -203,8 +237,9 @@ impl Ground {
         for (x, z, y) in answers {
             self.known.insert((x, z), (y, now));
         }
-        if self.known.len() > 300_000 {
-            self.known.retain(|_, (_, when)| now - *when < 2000);
+        if self.known.len() > 300_000 && now.saturating_sub(self.swept) >= SWEEP_EVERY {
+            self.swept = now;
+            self.known.retain(|_, (_, when)| now.saturating_sub(*when) < 2000);
         }
     }
     pub fn take_wanted(&mut self) -> Vec<(i32, i32)> {
@@ -936,6 +971,9 @@ pub struct Sam {
     pub heading: f64,
     yaw: f64,
     pitch: f64,
+    /// How fast the mount turns now (radians a tick); not saved, a loaded system starts at rest.
+    yaw_vel: f64,
+    pitch_vel: f64,
     pub missiles: u32,
     pub bursts: u32,
     cooldown: u32,
@@ -989,6 +1027,8 @@ impl Sam {
             heading,
             yaw: heading,
             pitch: spec.rest_pitch,
+            yaw_vel: 0.0,
+            pitch_vel: 0.0,
             missiles: spec.missile.as_ref().map_or(0, |m| m.magazine),
             bursts: spec.gun.as_ref().map_or(0, |g| g.bursts),
             cooldown: 40,
@@ -1028,6 +1068,21 @@ impl Sam {
         self.health > 0.0
     }
     /// How well it still works: turning, aiming, its radar's reach.
+    /// Turns the mount towards `yaw` (and `pitch`, if it elevates) under its drive's limits; a damaged
+    /// system has the less of both speed and acceleration.
+    fn aim_towards(&mut self, yaw: f64, pitch: Option<f64>) {
+        let d = self.kind.spec().drive();
+        let fit = self.fitness();
+        self.yaw += drive(&mut self.yaw_vel, angle_diff(self.yaw, yaw), d.yaw.0 * fit, d.yaw.1 * fit);
+        if let Some(pitch) = pitch {
+            self.pitch += drive(&mut self.pitch_vel, pitch - self.pitch, d.pitch.0 * fit, d.pitch.1 * fit);
+        }
+    }
+    /// The mount stops where it is (a march, a deployment: the vehicle drives it directly).
+    pub(super) fn halt_mount(&mut self) {
+        self.yaw_vel = 0.0;
+        self.pitch_vel = 0.0;
+    }
     fn fitness(&self) -> f64 {
         0.45 + 0.55 * self.health.clamp(0.0, 1.0)
     }
@@ -1094,6 +1149,8 @@ pub struct Sim {
     fx: Vec<(u32, Fx)>,
     /// Blasts for the post-processing shader.
     pub blasts: Vec<Blast>,
+    /// The next blast's id (separate from `next`, so the other units' ids stay as they were).
+    blast_seq: u32,
     next: u32,
     pub rng: Rng,
     pub tick: u64,
@@ -1144,6 +1201,7 @@ impl Sim {
             targets: Vec::new(),
             fx: Vec::new(),
             blasts: Vec::new(),
+            blast_seq: 0,
             next: 1,
             rng: Rng::new(seed),
             tick: 0,
@@ -1312,8 +1370,8 @@ impl Sim {
         let now = self.tick;
         let mut boom: Vec<(DVec3, u32, bool)> = Vec::new();
         let mut removed: Vec<u32> = Vec::new();
-        // Oreshnik pieces released this tick: kind, at, velocity, target.
-        let mut released: Vec<(DroneKind, DVec3, DVec3, DVec3)> = Vec::new();
+        // Oreshnik pieces released this tick: kind, at, velocity, target, the parent's sector (what they teach the enemy).
+        let mut released: Vec<(DroneKind, DVec3, DVec3, DVec3, u8)> = Vec::new();
         // Warheads that reached their aim (for the replays): drone, kind, where, TNT; and splits.
         let mut impacts: Vec<(u32, DroneKind, DVec3, u32)> = Vec::new();
         let mut splits: Vec<(u32, DVec3)> = Vec::new();
@@ -1390,7 +1448,7 @@ impl Sim {
                         let aim = d.target + DVec3::new(a.sin() * r, 0.0, a.cos() * r);
                         // Straight down at the aim point, at the bus's speed.
                         let v = (aim - d.pos).normalize_or(DVec3::NEG_Y) * 3.0;
-                        released.push((piece, d.pos + v.normalize_or_zero() * (i as f64 * 0.3), v, aim));
+                        released.push((piece, d.pos + v.normalize_or_zero() * (i as f64 * 0.3), v, aim, d.sector));
                     }
                     out.sound("airdef:boom.sonic", d.pos, 1.0, 0.7);
                     splits.push((d.id, d.pos));
@@ -1522,7 +1580,7 @@ impl Sim {
             self.explode(pos, warhead, small, ground, player, out);
         }
         self.drones.retain(|d| !removed.contains(&d.id));
-        for (kind, pos, vel, target) in released {
+        for (kind, pos, vel, target, sector) in released {
             let id = self.id();
             self.drones.push(Drone {
                 id,
@@ -1538,7 +1596,7 @@ impl Sim {
                 route: Vec::new(),
                 low: false,
                 jammed: false,
-                sector: 0,
+                sector,
                 smart: false,
             });
         }
@@ -1637,7 +1695,8 @@ impl Sim {
     }
 
     fn fireball(&mut self, pos: DVec3, size: f64, life: u32) {
-        self.blasts.push(Blast { at: pos, size: size as f32, start: self.tick, life: life * 9 });
+        self.blast_seq = self.blast_seq.wrapping_add(1);
+        self.blasts.push(Blast { id: self.blast_seq, at: pos, size: size as f32, start: self.tick, life: life * 9 });
         if self.blasts.len() > 48 {
             self.blasts.remove(0);
         }
@@ -1701,6 +1760,15 @@ impl Sim {
             return;
         }
         let logistics = self.logistics();
+        // Drones by id (none come or go while the systems act), and how many systems have each as their
+        // missile target and as their gun target: counted once, then kept up to date as targets change.
+        let drone_at: HashMap<u32, usize> = self.drones.iter().enumerate().map(|(k, d)| (d.id, k)).collect();
+        let mut missile_on: HashMap<u32, u32> = HashMap::new();
+        let mut guns_on: HashMap<u32, u32> = HashMap::new();
+        for s in &self.sams {
+            retarget(&mut missile_on, None, s.target);
+            retarget(&mut guns_on, None, s.gun_target);
+        }
         let mut launches: Vec<(MissileKind, DVec3, DVec3, u32, u32)> = Vec::new();
         let mut gun_hits: Vec<(u32, u32)> = Vec::new();
         let mut tracers: Vec<(u32, DVec3, DVec3, u32)> = Vec::new();
@@ -1709,8 +1777,8 @@ impl Sim {
             if !self.sams[i].alive() {
                 let sam = &mut self.sams[i];
                 sam.state = SamState::Destroyed;
-                sam.target = None;
-                sam.gun_target = None;
+                retarget(&mut missile_on, sam.target.take(), None);
+                retarget(&mut guns_on, sam.gun_target.take(), None);
                 continue;
             }
             let fit = self.sams[i].fitness();
@@ -1738,56 +1806,65 @@ impl Sim {
                 sam.state = SamState::Search;
                 // A searchlight's target is its beam's (step_lights): kept for its spot of light.
                 if sam.kind != SamKind::Light {
-                    sam.target = None;
+                    retarget(&mut missile_on, sam.target.take(), None);
                 }
-                sam.gun_target = None;
+                retarget(&mut guns_on, sam.gun_target.take(), None);
                 continue;
             }
             let pos = self.sams[i].pos;
-            let me = self.sams[i].id;
             let roles = self.sams[i].roles;
-            let seen = self.sams[i].seen.clone();
-            let own = self.sams[i].own.clone();
-            let allowed = |d: &Drone| d.alive() && roles & d.kind.spec().class.bit() != 0 && seen.contains(&d.id);
-            // Interceptors a target has or will have: in flight, and other systems' launchers on it.
-            let claimed = |d: &Drone| {
-                d.engaged + self.sams.iter().filter(|s| s.id != me && s.target == Some(d.id)).count() as u32
-            };
-            // Ballistic missiles get a pair; anything else one.
-            let needed = |d: &Drone| if d.kind.spec().class == Class::Ballistic { 2 } else { 1 };
-            if let Some(load) = &spec.missile {
-                let in_reach = |d: &Drone, k: f64| (load.min..load.max * k).contains(&d.pos.distance(pos));
-                let keep = self.sams[i].target.filter(|t| {
-                    self.drones.iter().any(|d| d.id == *t && allowed(d) && in_reach(d, 1.1))
+            let (had_target, had_gun) = (self.sams[i].target, self.sams[i].gun_target);
+            let (target, gun_target) = {
+                let (seen, own) = (&self.sams[i].seen, &self.sams[i].own);
+                let allowed = |d: &Drone| d.alive() && roles & d.kind.spec().class.bit() != 0 && seen.contains(&d.id);
+                // Interceptors a target has or will have: in flight, and other systems' launchers on it.
+                let claimed = |d: &Drone| {
+                    let on = missile_on.get(&d.id).copied().unwrap_or(0) - u32::from(had_target == Some(d.id));
+                    d.engaged + on
+                };
+                // Ballistic missiles get a pair; anything else one.
+                let needed = |d: &Drone| if d.kind.spec().class == Class::Ballistic { 2 } else { 1 };
+                let target = spec.missile.as_ref().map(|load| {
+                    let in_reach = |d: &Drone, k: f64| (load.min..load.max * k).contains(&d.pos.distance(pos));
+                    let keep = had_target.filter(|t| {
+                        drone_at.get(t).is_some_and(|&k| allowed(&self.drones[k]) && in_reach(&self.drones[k], 1.1))
+                    });
+                    keep.or_else(|| {
+                        self.drones
+                            .iter()
+                            .filter(|d| allowed(d) && in_reach(d, 1.0) && claimed(d) < needed(d))
+                            .max_by(|a, b| a.threat(pos).total_cmp(&b.threat(pos)))
+                            .map(|d| d.id)
+                    })
                 });
-                let target = keep.or_else(|| {
+                // Guns: the nearest, spread over the targets the other guns and missiles aren't on.
+                let gun_target = spec.gun.as_ref().map(|gun| {
+                    let on_it = |d: &Drone| {
+                        (guns_on.get(&d.id).copied().unwrap_or(0) - u32::from(had_gun == Some(d.id))) as f64
+                    };
                     self.drones
                         .iter()
-                        .filter(|d| allowed(d) && in_reach(d, 1.0) && claimed(d) < needed(d))
-                        .max_by(|a, b| a.threat(pos).total_cmp(&b.threat(pos)))
-                        .map(|d| d.id)
+                        .filter(|d| allowed(d) && own.contains(&d.id) && d.pos.distance(pos) < gun.track)
+                        .map(|d| {
+                            let busy = 1.0 + 2.0 * on_it(d) + if d.engaged > 0 { 1.5 } else { 0.0 };
+                            (d.pos.distance(pos) * busy, d.id)
+                        })
+                        .min_by(|a, b| a.0.total_cmp(&b.0))
+                        .map(|(_, id)| id)
                 });
+                (target, gun_target)
+            };
+            if let Some(target) = target {
+                retarget(&mut missile_on, had_target, target);
                 self.sams[i].target = target;
             }
-            // Guns: the nearest, spread over the targets the other guns and missiles aren't on.
-            if let Some(gun) = &spec.gun {
-                let guns_on = |d: &Drone| {
-                    self.sams.iter().filter(|s| s.id != me && s.gun_target == Some(d.id)).count() as f64
-                };
-                self.sams[i].gun_target = self
-                    .drones
-                    .iter()
-                    .filter(|d| allowed(d) && own.contains(&d.id) && d.pos.distance(pos) < gun.track)
-                    .map(|d| {
-                        let busy = 1.0 + 2.0 * guns_on(d) + if d.engaged > 0 { 1.5 } else { 0.0 };
-                        (d.pos.distance(pos) * busy, d.id)
-                    })
-                    .min_by(|a, b| a.0.total_cmp(&b.0))
-                    .map(|(_, id)| id);
+            if let Some(gun_target) = gun_target {
+                retarget(&mut guns_on, had_gun, gun_target);
+                self.sams[i].gun_target = gun_target;
             }
             let sam = &mut self.sams[i];
             // What the turret or launcher points at: guns first when a target is close.
-            let aim = sam.gun_target.or(sam.target).and_then(|t| self.drones.iter().find(|d| d.id == t));
+            let aim = sam.gun_target.or(sam.target).and_then(|t| drone_at.get(&t).map(|&k| &self.drones[k]));
             sam.launched = sam.launched.saturating_sub(1);
             let Some(aim) = aim else {
                 // Out of missiles or of shells, and nothing to shoot: reload now (both, as a
@@ -1803,8 +1880,8 @@ impl Sim {
                 } else {
                     SamState::Search
                 };
-                sam.yaw = slew(sam.yaw, sam.heading, 0.03);
-                sam.pitch += (spec.rest_pitch - sam.pitch) * 0.05;
+                // Back to the rest position, under the drive's limits like any other turn.
+                sam.aim_towards(sam.heading, Some(spec.rest_pitch));
                 continue;
             };
             let (mount, _) = sam.mount();
@@ -1813,21 +1890,21 @@ impl Sim {
             let to = lead - mount;
             let want_yaw = heading_of(to);
             let want_pitch = (to.y / to.length().max(0.01)).asin().clamp(-0.1, 1.45);
-            let (yaw_rate, pitch_rate) = spec.gun.as_ref().map_or((0.05, 0.05), |g| g.slew);
-            let (yaw_rate, pitch_rate) = (yaw_rate * fit, pitch_rate * fit);
             let cells = matches!(spec.muzzle, Muzzle::Cells);
             match spec.family {
                 // Vertical launch: no aiming (the Tor's turret turns its radar to the target).
-                Family::Vertical if cells => sam.yaw = slew(sam.yaw, want_yaw, 0.15 * fit),
+                Family::Vertical if cells => sam.aim_towards(want_yaw, None),
                 Family::Vertical => {}
-                Family::Trainable => sam.yaw = slew(sam.yaw, want_yaw, 0.12 * fit),
-                _ => {
-                    sam.yaw = slew(sam.yaw, want_yaw, yaw_rate);
-                    sam.pitch = slew(sam.pitch, want_pitch, pitch_rate);
-                }
+                // The launcher's elevation is fixed (the missile turns after its boost): only the training is aimed.
+                Family::Trainable => sam.aim_towards(want_yaw, None),
+                _ => sam.aim_towards(want_yaw, Some(want_pitch)),
             }
-            let aim_error = angle_diff(sam.yaw, want_yaw).abs()
-                + if spec.gun.is_some() { (want_pitch - sam.pitch).abs() } else { 0.0 };
+            // How far the mount still is from the aim, over the axes this family aims.
+            let yaw_error = angle_diff(sam.yaw, want_yaw).abs();
+            let aim_error = match spec.family {
+                Family::Trainable | Family::Vertical => yaw_error,
+                _ => yaw_error + (want_pitch - sam.pitch).abs(),
+            };
             let vertical = spec.family == Family::Vertical;
             sam.state = if sam.reloading > 0 {
                 SamState::Reload
@@ -1846,7 +1923,7 @@ impl Sim {
             };
             // Guns.
             if let (Some(gun), Some(gt)) = (&spec.gun, sam.gun_target) {
-                if let Some(t) = self.drones.iter().find(|d| d.id == gt) {
+                if let Some(t) = drone_at.get(&gt).map(|&k| &self.drones[k]) {
                     let dist = t.pos.distance(mount);
                     if aim.id == gt && aim_error < 0.1 && dist < gun.range && sam.gun_cooldown == 0 && sam.reloading == 0 && sam.bursts > 0 {
                         sam.gun_cooldown = 2;
@@ -1894,11 +1971,11 @@ impl Sim {
                 let ready = sam.cooldown == 0 && sam.reloading == 0 && sam.missiles > 0;
                 let aligned = match spec.family {
                     Family::Trainable => {
-                        let t = self.drones.iter().find(|d| d.id == mt);
-                        // The missile turns after its boost: the launcher needn't be exact.
-                        t.is_some_and(|t| angle_diff(sam.yaw, heading_of(t.pos - mount)).abs() < 0.45)
+                        let t = drone_at.get(&mt).map(|&k| &self.drones[k]);
+                        // The missile turns after its boost, but the launcher must point near the target.
+                        t.is_some_and(|t| angle_diff(sam.yaw, heading_of(t.pos - mount)).abs() < 0.15)
                     }
-                    Family::Turret => aim.id == mt && aim_error < 0.2,
+                    Family::Turret => aim.id == mt && aim_error < 0.15,
                     _ => true,
                 };
                 if ready && aligned {
@@ -1907,10 +1984,11 @@ impl Sim {
                     launches.push((load.kind, muzzle, dir, mt, sam.id));
                     // Its missile is on it from now, so the systems after this one this tick see
                     // the target taken; this one's next launch looks for another.
-                    if let Some(d) = self.drones.iter_mut().find(|d| d.id == mt) {
-                        d.engaged += 1;
+                    if let Some(&k) = drone_at.get(&mt) {
+                        self.drones[k].engaged += 1;
                     }
                     sam.target = None;
+                    retarget(&mut missile_on, Some(mt), None);
                     sam.launched = 12;
                     sam.missiles -= 1;
                     sam.fired += 1;

airdef-mod/src/sim/orders.rs

@@ -56,6 +56,10 @@ impl Sim {
                 continue;
             }
             let spec = sam.kind.spec();
+            // The march and the packing drive the mount themselves: no speed carries over into or out of them.
+            if matches!(sam.state, SamState::Packing | SamState::Moving | SamState::Deploying) {
+                sam.halt_mount();
+            }
             match sam.state {
                 SamState::Packing => {
                     // The launcher comes down for the march.

airdef-mod/src/sim/raid.rs

@@ -98,10 +98,10 @@ pub(super) struct WaveStats {
 }
 
 /// The planner's grid: cells this big, at most this many a side.
-const CELL: f64 = 16.0;
-const CELLS: i32 = 140;
+pub(super) const CELL: f64 = 16.0;
+pub(super) const CELLS: i32 = 140;
 /// The planner's work a tick (cells priced and opened): a raid takes a few ticks to plan, never a long one.
-const WORK_PER_TICK: usize = 40_000;
+pub(super) const WORK_PER_TICK: usize = 40_000;
 
 /// The planner's grid over a raid: its corner, its cells' size and how many a side.
 pub(super) struct Grid {
@@ -111,7 +111,7 @@ pub(super) struct Grid {
 }
 
 impl Grid {
-    fn index(&self, p: DVec3) -> (i32, i32) {
+    pub(super) fn index(&self, p: DVec3) -> (i32, i32) {
         let n = self.size;
         ((((p.x - self.min.x) / self.cell) as i32).clamp(0, n - 1), (((p.z - self.min.z) / self.cell) as i32).clamp(0, n - 1))
     }
@@ -121,7 +121,7 @@ impl Grid {
 }
 
 /// The cheapest way over `grid` from `from` to `to` by its prices (A*): points along it, `to` last.
-fn plan_route(grid: &Grid, prices: &[f32], from: DVec3, to: DVec3) -> (Vec<DVec3>, usize) {
+pub(super) fn plan_route(grid: &Grid, prices: &[f32], from: DVec3, to: DVec3) -> (Vec<DVec3>, usize) {
     let mut opened = 0;
     let n = grid.size;
     let at = |(i, j): (i32, i32)| (i * n + j) as usize;
@@ -426,8 +426,16 @@ impl Sim {
             let sp = s.kind.spec();
             let (lo, hi) = sp.missile.as_ref().map_or((0.0, 0.0), |m| (m.min, m.max));
             let gun = sp.gun.as_ref().map_or(0.0, |g| g.range);
-            let radar = sight::reach(s, kind, height);
-            let far = hi.max(gun).min(radar);
+            // A gun needs its own radar; a missile also flies on the tracks of any radar within data-link range.
+            let own = sight::reach(s, kind, height);
+            let net = self
+                .sams
+                .iter()
+                .filter(|r| r.alive() && r.id != s.id && r.pos.distance(s.pos) <= sight::LINK)
+                .map(|r| sight::reach(r, kind, height))
+                .fold(0.0, f64::max);
+            let (hi, gun) = (hi.min(own.max(net)), gun.min(own));
+            let far = hi.max(gun);
             let at = sight::antenna(s);
             let horizon = self.horizons.get(&s.id);
             // Only the cells round it.

airdef-mod/src/sim/regress.rs

@@ -98,3 +98,127 @@ fn munitions_must_go_down_to_the_land_left_under_a_destroyed_target() {
         assert!(blast.is_some_and(|b| b.y < 80.0), "{kind:?} burst at {blast:?}, in the air over the land");
     }
 }
+
+// #15: lights of blasts in one tick at the same whole X must stay apart
+#[test]
+fn blasts_in_one_tick_have_their_own_ids() {
+    let mut sim = Sim::new(1);
+    sim.tick = 100;
+    sim.fireball(DVec3::new(0.0, 70.0, 100.0), 4.0, 10);
+    sim.fireball(DVec3::new(0.0, 70.0, 200.0), 4.0, 10);
+    assert_ne!(sim.blasts[0].id, sim.blasts[1].id);
+    // A blast going away does not hand its id to the next one.
+    let gone = sim.blasts.remove(0).id;
+    sim.fireball(DVec3::new(0.0, 70.0, 300.0), 4.0, 10);
+    assert!(sim.blasts.iter().all(|b| b.id != gone));
+}
+
+// #21: a smart drone sent at a new target gets a route again, not a straight line
+#[test]
+fn retargeted_smart_drone_gets_a_route_round_the_defences() {
+    let mut sim = Sim::new(1);
+    // A system in the way, between the drone and the unit it is sent at.
+    let id = sim.id();
+    sim.sams.push(Sam::new(id, SamKind::Patriot, DVec3::new(0.0, 70.0, 0.0), 0.0));
+    let id = sim.id();
+    sim.sams.push(Sam::new(id, SamKind::Radar, DVec3::new(0.0, 70.0, 0.0), 0.0));
+    let goal = sim.id();
+    sim.sams.push(Sam::new(goal, SamKind::Ew, DVec3::new(0.0, 70.0, 1000.0), 0.0));
+    sim.intel.revealed.push((goal, DVec3::new(0.0, 70.0, 1000.0), 0));
+    // Its first target, a system that is destroyed by now.
+    let id = sim.id();
+    let mut wreck = Sam::new(id, SamKind::Patriot, DVec3::new(3000.0, 70.0, -1000.0), 0.0);
+    wreck.health = 0.0;
+    sim.sams.push(wreck);
+    sim.add_drone(DroneKind::Shahed, DVec3::new(0.0, 100.0, -1000.0), DVec3::Z, DVec3::new(3000.0, 70.0, -1000.0));
+    sim.drones[0].pos = DVec3::new(0.0, 100.0, -1000.0);
+    sim.drones[0].smart = true;
+    sim.tick = 40;
+    sim.adapt();
+    let d = &sim.drones[0];
+    assert!(d.target.distance(DVec3::new(0.0, 70.0, 1000.0)) < 1.0, "not sent at the unit");
+    assert!(d.route.len() > 1, "no route after the new target: it flies straight through the defences");
+}
+
+// #31: a big cache of fresh columns is not scanned on every answer
+#[test]
+fn big_ground_cache_is_swept_rarely() {
+    let mut ground = Ground::default();
+    ground.known.extend((0..300_001).map(|x| ((x, 0), (64, 2000))));
+    ground.known.insert((-1, 0), (64, 0));
+    // The first answer past the threshold sweeps what is stale and keeps what is fresh.
+    ground.answer(vec![(-2, 0, 64)], 2100);
+    assert!(!ground.known.contains_key(&(-1, 0)), "a stale column was never swept");
+    assert!(ground.known.len() > 300_000);
+    // The next ones wait their pause: a stale column added now survives them.
+    ground.known.insert((-1, 0), (64, 0));
+    let swept = ground.swept;
+    ground.answer(vec![(-3, 0, 64)], 2101);
+    assert_eq!(ground.swept, swept, "swept again at once");
+    assert!(ground.known.contains_key(&(-1, 0)));
+    ground.answer(vec![(-4, 0, 64)], 2100 + SWEEP_EVERY);
+    assert!(!ground.known.contains_key(&(-1, 0)), "never swept again");
+}
+
+// #32: the pieces of an Oreshnik teach the enemy about the sector it came from
+#[test]
+fn oreshnik_pieces_keep_the_sector() {
+    let mut sim = Sim::new(1);
+    sim.add_drone(DroneKind::Oreshnik, DVec3::new(100.0, 300.0, 0.0), DVec3::NEG_Y, DVec3::new(0.0, 70.0, 0.0));
+    sim.drones[0].vel = DVec3::new(-1.0, -1.0, 0.0);
+    sim.drones[0].sector = 7;
+    let mut out = Out::default();
+    sim.step_drones(&mut Ground::default(), None, &mut out);
+    let pieces: Vec<_> = sim.drones.iter().filter(|d| d.kind == DroneKind::OreshnikBlock).collect();
+    assert_eq!(pieces.len(), 6);
+    assert!(pieces.iter().all(|d| d.sector == 7));
+}
+
+// #33: a turret does not fire before it has turned to the target
+#[test]
+fn turret_waits_for_its_aim() {
+    let mut sim = Sim::new(1);
+    let id = sim.id();
+    let mut s = Sam::new(id, SamKind::Gepard, DVec3::new(0.0, 70.0, 0.0), 0.0);
+    s.cooldown = 0;
+    sim.sams.push(s);
+    let id = sim.id();
+    sim.sams.push(Sam::new(id, SamKind::Radar, DVec3::new(0.0, 70.0, 0.0), 0.0));
+    // Straight behind the turret's heading, a slow target well inside the gun's reach.
+    sim.add_drone(DroneKind::Shahed, DVec3::new(0.0, 75.0, 60.0), DVec3::ZERO, DVec3::new(0.0, 70.0, 900.0));
+    sim.drones[0].vel = DVec3::ZERO;
+    let (mut ground, mut out) = (Ground::default(), Out::default());
+    let mut turned = 0;
+    for _ in 0..200 {
+        sim.step(&mut ground, None, &mut out);
+        let g = &sim.sams[0];
+        let want = heading_of(sim.drones[0].pos - g.mount().0);
+        if angle_diff(g.yaw, want).abs() > 0.1 {
+            assert_eq!(g.bursts, 160, "fired with the turret still turning");
+            turned += 1;
+        }
+        if g.bursts < 160 || sim.drones.is_empty() {
+            break;
+        }
+    }
+    assert!(turned > 20, "the turret turned too fast to tell ({turned} ticks)");
+    assert!(sim.sams[0].bursts < 160, "never fired");
+}
+
+// #33: the drive speeds up, brakes in time and does not overshoot
+#[test]
+fn drive_arrives_without_overshoot() {
+    for err in [std::f64::consts::PI, 1.57, 0.3, 0.02] {
+        let (mut vel, mut left) = (0.0, err);
+        let (speed, accel) = (0.088, 0.011);
+        let mut ticks = 0;
+        while left > 0.0 {
+            let step = drive(&mut vel, left, speed, accel);
+            assert!(step.abs() <= speed + 1e-9 && step >= 0.0, "step {step} at {left} left");
+            left -= step;
+            ticks += 1;
+            assert!(ticks < 400, "never arrived for {err}");
+        }
+        assert!(left.abs() < 1e-9 && vel == 0.0);
+    }
+}

airdef-mod/src/sim/sight.rs

@@ -90,7 +90,8 @@ impl Sim {
                 self.horizons.insert(sam.id, h);
             }
         }
-        self.horizons.retain(|id, _| self.sams.iter().any(|s| s.id == *id && s.alive()));
+        let alive: std::collections::HashSet<u32> = self.sams.iter().filter(|s| s.alive()).map(|s| s.id).collect();
+        self.horizons.retain(|id, _| alive.contains(id));
         // Each drone's height over the land under it (or over the systems' ground, unknown).
         let heights: Vec<Option<f64>> =
             self.drones.iter().map(|d| ground.at(d.pos, now).map(|g| d.pos.y - g)).collect();
@@ -120,18 +121,20 @@ impl Sim {
         // The network: every unit gets the tracks of the radars within data-link range.
         let tracks: Vec<(DVec3, Vec<u32>)> =
             self.sams.iter().filter(|s| !s.own.is_empty()).map(|s| (s.pos, s.own.clone())).collect();
+        // Merged in the radars' order, each track once: a set marks what is in already.
+        let mut have: std::collections::HashSet<u32> = std::collections::HashSet::new();
         for sam in &mut self.sams {
+            sam.seen.clone_from(&sam.own);
             if !sam.alive() || sam.moving() || !sam.kind.armed() {
-                sam.seen = sam.own.clone();
                 continue;
             }
-            let mut seen = sam.own.clone();
+            have.clear();
+            have.extend(sam.own.iter().copied());
             for (at, ids) in &tracks {
                 if at.distance(sam.pos) <= LINK {
-                    seen.extend(ids.iter().copied().filter(|id| !seen.contains(id)).collect::<Vec<_>>());
+                    sam.seen.extend(ids.iter().copied().filter(|id| have.insert(*id)));
                 }
             }
-            sam.seen = seen;
         }
     }
 

airdef-mod/src/sim/units.rs

@@ -99,6 +99,19 @@ pub(super) struct GunSpec {
     pub slew: (f64, f64),
 }
 
+/// How fast a weapon's mount turns: per axis the top speed (radians a tick) and the acceleration, which
+/// is also the braking (radians a tick²). Game settings, not the real machines' figures.
+#[derive(Clone, Copy)]
+pub(super) struct Drive {
+    pub yaw: (f64, f64),
+    pub pitch: (f64, f64),
+}
+
+/// The drives are this share of the speeds they had before they had a speed of their own.
+const DRIVE_SCALE: f64 = 0.4;
+/// Ticks a drive takes to reach its top speed (and to stop from it).
+const DRIVE_RAMP: f64 = 8.0;
+
 pub struct SamSpec {
     pub name: &'static str,
     pub key: &'static str,
@@ -122,6 +135,20 @@ pub struct SamSpec {
     pub mast: f64,
 }
 
+impl SamSpec {
+    /// The mount's drive: the guns' own slew rates, the old rates of the launchers, scaled down.
+    pub(super) fn drive(&self) -> Drive {
+        let (yaw, pitch) = match (&self.gun, self.family) {
+            (Some(g), _) => g.slew,
+            (None, Family::Trainable) => (0.12, 0.0),
+            (None, Family::Vertical) => (0.15, 0.0),
+            (None, _) => (0.05, 0.05),
+        };
+        let axis = |speed: f64| (speed * DRIVE_SCALE, speed * DRIVE_SCALE / DRIVE_RAMP);
+        Drive { yaw: axis(yaw), pitch: axis(pitch) }
+    }
+}
+
 const NO_PARTS: Parts = Parts { body: "", launcher: None, pack: None, dish: None, fixed: &[], spinner: None };
 /// The battery radar trailer behind a vertical launcher.
 const BATTERY_RADAR: &[(&str, f64, f64)] = &[("airdef:radar_trailer", 0.0, 4.2)];

docs/INSTALL.md

@@ -55,7 +55,7 @@ cd ~/Downloads/airdef-macos-arm64
 
 ```powershell
 rustup target add wasm32-unknown-unknown
-git clone ssh://git@gitea.maoniao.team:2222/chexit/airdef.git
+git clone https://gitea.maoniao.team/chexit/airdef.git
 cd airdef
 py tools\airdef.py all          # форк Horizon + сборка игры + мод + установка мода
 py tools\airdef.py play         # запуск; мир: py tools\airdef.py play --world "Имя мира"
@@ -69,12 +69,14 @@ py tools\airdef.py play         # запуск; мир: py tools\airdef.py play
 
 ```sh
 rustup target add wasm32-unknown-unknown
-git clone ssh://git@gitea.maoniao.team:2222/chexit/airdef.git
+git clone https://gitea.maoniao.team/chexit/airdef.git
 cd airdef
 python3 tools/airdef.py all
 python3 tools/airdef.py play    # или: python3 tools/airdef.py play --world "Имя мира"
 ```
 
+Клон по HTTPS не требует ключа. Если у тебя есть SSH-ключ в Gitea, можно и так: `git clone ssh://git@gitea.maoniao.team:2222/chexit/airdef.git`.
+
 Шаги по отдельности: `fork` (скачать Horizon и наложить патчи `horizon-patches/`), `game` (собрать игру),
 `mod` (собрать `airdef.hmod`), `install` (положить мод в папку игры и включить), `play`.