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Fixed event handling to properly keep the state changes, plus a few other fixes

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roadmap/features/42-callback-effects.md
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# Feature: Callback Effects That Can Change the State
**Status**: completed (2026-10-01)
## Overview
Continuous callbacks located their crossings correctly and then threw away what
the effect did about them. In `Problem::solve`:
```rust
callback.effect(&mut self.ode); // writes to ode.y
}
}
self.ode.y = new_y; // and here it goes
self.ode.t += curr_step;
```
The effect ran on the pre-step state, and the two lines after the callback loop
overwrote `ode.y` with the state the integrator had produced. Anything the effect
wrote to the state was lost. `stop` worked only because it writes `t_end`
instead.
Reproduced with `dy/dt = 1` from 0 to 10, `y0 = 0`, an event of `5 - y[0]` and an
effect of `ode.y = Vector1::new(100.0)`: the solution ended at `y = 10`, exactly
as it does with an empty effect, where it should end near 105.
So the machinery was in place for the easy half of event handling — detect a
condition and stop — and could not do the other half: detect a condition, change
the state, and carry on.
## Why This Feature Matters
A rotating rigid body parameterized by Modified Rodrigues Parameters has a
singularity at a full turn. It is avoided by swapping the parameter vector for
the shadow set `-sigma / |sigma|^2` — the same attitude, different parameters —
whenever `|sigma|` exceeds 1. The event is `1 - |sigma|`, the effect is that
substitution, and the integration has to continue from the substituted state.
Any arc longer than a half turn crosses it, so this is the common case rather
than an edge case.
The same shape of problem covers a body entering or leaving shadow, a vehicle
whose mass or area changes partway through a run, and a bouncing ball. All of
them are a state discontinuity located by an event, which is the one thing the
callbacks could not express.
## What Was Done
### The effect runs after the crossing is committed
The event branch now commits the shortened step before calling the effect:
1. the step is shortened to land on the crossing, and the state there is
recorded;
2. `ode.t` and `ode.y` are set to that crossing;
3. the effect is called, with the ODE at the crossing;
4. whatever the effect leaves in `ode.y` is what the integration continues from.
Detection still reads the state at the start of the step — an event function is
asked about both ends — so nothing can be committed until every callback has been
asked. That is why this is a reordering of the branch rather than a swap of two
lines.
### `effect(&mut self)`
`Callback::effect` takes `&mut self`, so a callback can record that it has fired,
count its firings, or keep anything else it needs across them. `Problem` holds
`Vec<&'a mut dyn Callback<T, D, P>>` and `with_callback` takes `&'a mut dyn
Callback`, which is the breaking part of the change: a registered callback has to
be declared `mut` and passed as `&mut`.
`FnCallback` still holds its two closures by shared reference and so still has no
state of its own; a callback that needs state implements `Callback` on a struct,
which is what [Discrete Callbacks](05-discrete-callbacks.md) will do with its
`has_fired` field.
`Problem` lost its `#[derive(Clone)]`, which a `&mut` field cannot support. It
was never used.
### A terminal effect ends the solution at the crossing
`ODE::finished` existed, was never set and was never read. It now means what its
name says: `ODE::terminate` sets it, the solve loop checks it, and `stop` is
`ode.terminate()`.
Behaviorally this is close to what `stop` already did. Writing `t_end = ode.t`
also ended the loop, and because the step had already been shortened to the
crossing, the last recorded point was the crossing — the solution did not in fact
run a step past the event. What the old `stop` did do was mutate the problem's own
end time, so a solution could no longer report the `t_end` it was asked for. Now
`t_end` is left alone and `finished` says why the solution is short.
### Both sides of a jump are recorded
Where an effect changes the state, the trajectory genuinely has two values at
that time, and the solution holds both: the same `t` appears twice in `times`,
with the state at the crossing and the state the effect left. The `dense` entry
between them spans zero time and is never interpolated into — `interpolate` at
exactly that time hits the search's exact-match branch, and walks to the last
entry at that time, so it reports the state the effect left. That is the value the
trajectory carries forward, and it is the one a caller asking "where is the body
at this instant" wants; the value it arrived with is the entry before it in
`states`.
This is what DifferentialEquations.jl does, where the two are `u_left` and
`u_right`.
### The controller is reset across a jump
`Controller` grew a required `reset` method, which discards the error history and
leaves the next step guess alone. `solve` calls it when an effect changes the
state. The history is a claim about how the error behaves along a smooth
solution, and across a discontinuity it is not about anything.
Keyed on the state changing rather than on the effect running at all, so that a
callback which only observes does not throw away a good history every time it
fires. An effect that changes only the parameters is a discontinuity the solver
cannot see, and does not reset the controller.
`PIDController::reset` already existed as an inherent method and became the trait
implementation; `PIController::reset` restores `factor_old` to its initial value.
### Two events in one step
Defined and tested: the earliest crossing in the step fires, the step ends there,
and any later event is still ahead and is found again on the following step. A
tie goes to registration order.
The old behavior was to walk the callbacks in registration order, each shortening
what the last one left. That could apply a later event's effect and then truncate
the step to before it, so the effect was applied at a time the solution never
reached. One pass to find the earliest crossing costs an extra root find only
when more than one callback crosses in the same step.
### Crossings at exactly zero, and not firing twice at one
The test was `before * after < 0.0`, which misses a crossing that starts or ends
exactly on zero. Now:
- `before == 0.0` is a crossing at the step's own start, located at `h = 0`;
- `after == 0.0` is a crossing at the step's end;
- opposite signs are located with Brent as before.
The first of those needs a guard, because an effect is free to leave its event
function sitting on the zero it fired at. The shadow set swap does exactly that:
`|sigma|` is 1 on both sides of it, so `1 - |sigma|` is still zero after the
effect. Without a guard the callback is re-detected at the start of the next
step, located at `h = 0`, fired again, forever.
The guard is that the step beginning at a firing searches from
`EVENT_PROBE_FRACTION` of itself — a millionth — rather than from its start, for
that callback alone. Both the `before` sign and Brent's bracket start there, so
the event just handled is out of reach while a second crossing later in the same
step is still found. `solve` tracks the time each callback last fired to know
when to do this.
The first attempt at this guard was to skip a callback for the whole step that
begins at its firing, which is simpler and wrong: a bouncing ball bounced once
and then fell through the floor, because the step after the bounce contained the
next landing and the callback was not looking. That is in the test suite now.
A fraction of a step is not a satisfying thing to have to choose, and this is the
least bad option found rather than a good one. Alternatives considered: an
absolute tolerance on the event value, which is unit-dependent and no better
founded; taking the sign from the step before the firing, which still leaves
Brent bracketing a root at `h = 0`; and refusing a located crossing below some
`h`, which is the same arbitrary fraction one step further down. If something
cleaner turns up, this is the place to change it.
## Known Limitations
- An even number of crossings inside one step is still missed: the two ends of
the step agree in sign and nothing looks in between. Documented on
`Problem::solve`.
- A crossing inside the first millionth of the step that begins at a firing is
missed, which is the cost of the no-refiring guard. It takes an event that
recurs almost immediately after one was handled.
- The crossing time is located in real arithmetic and carries no derivative.
Deliberate: differentiating through Brent's iterations gives the derivative of
the iterative procedure rather than the sensitivity of the event, which is
wrong without being loud about it. The state at the crossing comes from one
ordinary step of the integrator, so it does carry derivatives.
- An effect that changes the parameters rather than the state does not reset the
controller, and does not record two points.
## Testing
In `src/problem.rs`:
- the reproduction above, ending near 105 rather than 10;
- both sides of the jump present in `times`/`states`, interpolation either side of
it following the branch it is on, and interpolation at the jump itself giving
the state the effect left;
- `stop` ending the solution at the crossing, with nothing past it, `t_end`
untouched and `finished` set;
- a callback counting its own firings and acting only on the first, which needs
the `&mut self`;
- two events in one step firing earliest-first, with the registration order
reversed to show it does not matter;
- an effect that lands back on its own event firing once there rather than
looping, and firing again when the event genuinely recurs;
- a bouncing ball, bouncing at the three analytic bounce times inside the
interval and interpolating correctly inside each arc;
- an event function already zero at the start of the integration firing there;
- the controller reset asked for once across a jump and not at all for an effect
that changes nothing, measured with a controller that counts the resets;
- a jump under dual numbers, where the derivative through the effect is exact
(in `src/lib.rs`, with the autodiff tests);
- the Modified Rodrigues Parameter swap itself, against the closed form for a
constant angular velocity: one swap, at exactly half a turn, `|sigma| <= 1`
throughout, and the final attitude equal to `-cot(theta / 4)` about the
rotation axis.
## Success Criteria
- An effect that writes to `ode.y` changes what is integrated from. ✅
- An effect can record something about itself. ✅
- A terminated solution ends at the crossing. ✅
- A jump is recorded on both sides. ✅
- The step size controller forgets its history across a jump. ✅
- The order of two events in one step is defined and tested. ✅
- No measurable change on the criterion benches. ✅ Measured before and after on
the same machine in one sitting: `bench_orbit` -1.02%, `bench_simple_1d`
+0.36%, `bench_interpolation_1d` -0.67%, all three within criterion's noise
threshold. Which is the right reading of them: re-running the *identical*
binary moved `bench_simple_1d` by -0.80% and `bench_interpolation_1d` by
+1.47%, so run-to-run drift here is about a percent either way and is larger
than the difference being looked for. No bench registers a callback, so what
they measure is the no-callback path, which gains a loop over an empty slice
and a `finished` check per step.
**Effort**: Medium