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The missing bit is IMMEDIATE mode. Words can be tagged as IMMEDIATE, which means that they get executed at compile time (or parse time, for an interpreter), rather than a call to them getting compiled (executed at run time, for an interpreter). IF/ELSE/THEN are then "just" IMMEDIATE mode words -- but you can add your own. The "special sauce" is that IF compiles (easier to talk about for a compiler; generalize as needed) a conditional branch to an unknown address, and puts the address of that branch instruction (or an equivalent) on the /compile time/ data stack; THEN then looks at the address on the /compile time/ data stack and patches that instruction to branch to the correct address. Plenty of subtlety possible, but the basic primitive of IMMEDIATE mode is the key.
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