if (!ground && !onladder) {
            double dis = vel.speed()*double(delta)/1000;
            //Iterate through all footholds
            for (auto i = footholds.begin(); i != footholds.end(); i++) {
                auto other = *i;
                if (!other->walk && group!=other->group) {continue;}
                double a1 = angdif(vel.direction(), other->dir);
                if (a1 <= 0) {continue;}
                double a2 = angdif(vel.direction(), pdir(x, y, other->x1, other->y1));
                if (a2 >= 0) {continue;}
                double a3 = angdif(vel.direction(), pdir(x, y, other->x2, other->y2));
                if (a3 <= 0) {continue;}
                double d1 = pdis(xprev, yprev, other->x1, other->y1);
                double a4 = angdif(other->dir+90, pdir(xprev, yprev, other->x1, other->y1));
                double d2 = ldx(d1, a4);
                if (d2<0) {continue;}
                if (d2 <= dis) {
                    if (downjump && downjump->group == other->group) {
                        downjump = 0;
                        continue;
                    }
                    ground = other;
                    dis = d2;
                }
            }
            //Deal with the foothold of interest
            if (ground) {
                //double a5 = angdif(ground->dir+90, vel.direction());
                //double d3 = dis/ldx(1, a5);
                x = xprev+ldx(dis, vel.direction());
                y = yprev+ldy(dis, vel.direction());
                vel.limit(ground->dir);
                if (ground->walk) {
                    x = max(min(x, ground->x2-0.1), ground->x1+0.1);
                }
                group = ground->group;
                if (z[1] != ground->layer) {
                    z[1] = ground->layer;
                    resort = true;
                }
            }
        }