5 #define COLLISION_SNAPSCALE (8.0f)
6 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
8 cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125"};
9 cvar_t collision_startnudge = {0, "collision_startnudge", "0"};
10 cvar_t collision_endnudge = {0, "collision_endnudge", "0"};
11 cvar_t collision_enternudge = {0, "collision_enternudge", "0"};
12 cvar_t collision_leavenudge = {0, "collision_leavenudge", "0"};
17 // the hull we're tracing through
20 // the trace structure to fill in
23 // start and end of the trace (in model space)
30 // overrides the CONTENTS_SOLID in the box bsp tree
33 RecursiveHullCheckTraceInfo_t;
35 #define HULLCHECKSTATE_EMPTY 0
36 #define HULLCHECKSTATE_SOLID 1
37 #define HULLCHECKSTATE_DONE 2
39 static int RecursiveHullCheck(RecursiveHullCheckTraceInfo_t *t, int num, double p1f, double p2f, double p1[3], double p2[3])
41 // status variables, these don't need to be saved on the stack when
42 // recursing... but are because this should be thread-safe
43 // (note: tracing against a bbox is not thread-safe, yet)
48 // variables that need to be stored on the stack when recursing
53 // LordHavoc: a goto! everyone flee in terror... :)
58 num = Mod_Q1BSP_SuperContentsFromNativeContents(NULL, num);
59 if (!t->trace->startfound)
61 t->trace->startfound = true;
62 t->trace->startsupercontents |= num;
64 if (num & SUPERCONTENTS_LIQUIDSMASK)
65 t->trace->inwater = true;
67 t->trace->inopen = true;
68 if (num & t->trace->hitsupercontentsmask)
70 // if the first leaf is solid, set startsolid
71 if (t->trace->allsolid)
72 t->trace->startsolid = true;
73 #if COLLISIONPARANOID >= 3
76 return HULLCHECKSTATE_SOLID;
80 t->trace->allsolid = false;
81 #if COLLISIONPARANOID >= 3
84 return HULLCHECKSTATE_EMPTY;
88 // find the point distances
89 node = t->hull->clipnodes + num;
91 plane = t->hull->planes + node->planenum;
94 t1 = p1[plane->type] - plane->dist;
95 t2 = p2[plane->type] - plane->dist;
99 t1 = DotProduct (plane->normal, p1) - plane->dist;
100 t2 = DotProduct (plane->normal, p2) - plane->dist;
107 #if COLLISIONPARANOID >= 3
110 num = node->children[1];
119 #if COLLISIONPARANOID >= 3
122 num = node->children[0];
128 // the line intersects, find intersection point
129 // LordHavoc: this uses the original trace for maximum accuracy
130 #if COLLISIONPARANOID >= 3
135 t1 = t->start[plane->type] - plane->dist;
136 t2 = t->end[plane->type] - plane->dist;
140 t1 = DotProduct (plane->normal, t->start) - plane->dist;
141 t2 = DotProduct (plane->normal, t->end) - plane->dist;
144 midf = t1 / (t1 - t2);
145 midf = bound(p1f, midf, p2f);
146 VectorMA(t->start, midf, t->dist, mid);
148 // recurse both sides, front side first
149 ret = RecursiveHullCheck (t, node->children[side], p1f, midf, p1, mid);
150 // if this side is not empty, return what it is (solid or done)
151 if (ret != HULLCHECKSTATE_EMPTY)
154 ret = RecursiveHullCheck (t, node->children[side ^ 1], midf, p2f, mid, p2);
155 // if other side is not solid, return what it is (empty or done)
156 if (ret != HULLCHECKSTATE_SOLID)
159 // front is air and back is solid, this is the impact point...
162 t->trace->plane.dist = -plane->dist;
163 VectorNegate (plane->normal, t->trace->plane.normal);
167 t->trace->plane.dist = plane->dist;
168 VectorCopy (plane->normal, t->trace->plane.normal);
171 // calculate the true fraction
172 t1 = DotProduct(t->trace->plane.normal, t->start) - t->trace->plane.dist - collision_startnudge.value;
173 t2 = DotProduct(t->trace->plane.normal, t->end) - t->trace->plane.dist - collision_endnudge.value;
174 midf = t1 / (t1 - t2);
175 t->trace->realfraction = bound(0, midf, 1);
177 // calculate the return fraction which is nudged off the surface a bit
178 midf = (t1 - collision_impactnudge.value) / (t1 - t2);
179 t->trace->fraction = bound(0, midf, 1);
181 #if COLLISIONPARANOID >= 3
184 return HULLCHECKSTATE_DONE;
188 // used if start and end are the same
189 static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
191 // If you can read this, you understand BSP trees
193 num = t->hull->clipnodes[num].children[((t->hull->planes[t->hull->clipnodes[num].planenum].type < 3) ? (t->start[t->hull->planes[t->hull->clipnodes[num].planenum].type]) : (DotProduct(t->hull->planes[t->hull->clipnodes[num].planenum].normal, t->start))) < t->hull->planes[t->hull->clipnodes[num].planenum].dist];
196 t->trace->endcontents = num;
197 if (t->trace->thiscontents)
199 if (num == t->trace->thiscontents)
200 t->trace->allsolid = false;
203 // if the first leaf is solid, set startsolid
204 if (t->trace->allsolid)
205 t->trace->startsolid = true;
210 if (num != CONTENTS_SOLID)
212 t->trace->allsolid = false;
213 if (num == CONTENTS_EMPTY)
214 t->trace->inopen = true;
216 t->trace->inwater = true;
220 // if the first leaf is solid, set startsolid
221 if (t->trace->allsolid)
222 t->trace->startsolid = true;
228 static hull_t box_hull;
229 static dclipnode_t box_clipnodes[6];
230 static mplane_t box_planes[6];
232 void Mod_Q1BSP_Collision_Init (void)
237 //Set up the planes and clipnodes so that the six floats of a bounding box
238 //can just be stored out and get a proper hull_t structure.
240 box_hull.clipnodes = box_clipnodes;
241 box_hull.planes = box_planes;
242 box_hull.firstclipnode = 0;
243 box_hull.lastclipnode = 5;
245 for (i = 0;i < 6;i++)
247 box_clipnodes[i].planenum = i;
251 box_clipnodes[i].children[side] = CONTENTS_EMPTY;
253 box_clipnodes[i].children[side^1] = i + 1;
255 box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
257 box_planes[i].type = i>>1;
258 box_planes[i].normal[i>>1] = 1;
262 void Collision_ClipTrace_Box(trace_t *trace, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask, int boxsupercontents)
264 RecursiveHullCheckTraceInfo_t rhc;
265 // fill in a default trace
266 memset(&rhc, 0, sizeof(rhc));
267 memset(trace, 0, sizeof(trace_t));
268 //To keep everything totally uniform, bounding boxes are turned into small
269 //BSP trees instead of being compared directly.
270 // create a temp hull from bounding box sizes
271 box_planes[0].dist = cmaxs[0] - mins[0];
272 box_planes[1].dist = cmins[0] - maxs[0];
273 box_planes[2].dist = cmaxs[1] - mins[1];
274 box_planes[3].dist = cmins[1] - maxs[1];
275 box_planes[4].dist = cmaxs[2] - mins[2];
276 box_planes[5].dist = cmins[2] - maxs[2];
277 // trace a line through the generated clipping hull
278 rhc.boxsupercontents = boxsupercontents;
279 rhc.hull = &box_hull;
281 rhc.trace->hitsupercontentsmask = hitsupercontentsmask;
282 rhc.trace->fraction = 1;
283 rhc.trace->realfraction = 1;
284 rhc.trace->allsolid = true;
285 VectorCopy(start, rhc.start);
286 VectorCopy(end, rhc.end);
287 VectorSubtract(rhc.end, rhc.start, rhc.dist);
288 Mod_Q1BSP_RecursiveHullCheck(&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
289 VectorMA(rhc.start, rhc.trace->fraction, rhc.dist, rhc.trace->endpos);
290 if (rhc.trace->startsupercontents)
291 rhc.trace->startsupercontents = boxsupercontents;
295 void Collision_Init (void)
297 Cvar_RegisterVariable(&collision_impactnudge);
298 Cvar_RegisterVariable(&collision_startnudge);
299 Cvar_RegisterVariable(&collision_endnudge);
300 Cvar_RegisterVariable(&collision_enternudge);
301 Cvar_RegisterVariable(&collision_leavenudge);
317 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
320 Con_Printf("3 %s\n%i\n", name, brush->numpoints);
321 for (i = 0;i < brush->numpoints;i++)
322 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
324 Con_Printf("4\n%i\n", brush->numplanes);
325 for (i = 0;i < brush->numplanes;i++)
326 Con_Printf("%f %f %f %f\n", brush->planes[i].normal[0], brush->planes[i].normal[1], brush->planes[i].normal[2], brush->planes[i].dist);
329 void Collision_ValidateBrush(colbrushf_t *brush)
331 int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
334 if (!brush->numpoints)
336 Con_Print("Collision_ValidateBrush: brush with no points!\n");
340 // it's ok for a brush to have one point and no planes...
341 if (brush->numplanes == 0 && brush->numpoints != 1)
343 Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
347 if (brush->numplanes)
350 pointswithinsufficientplanes = 0;
351 for (k = 0;k < brush->numplanes;k++)
352 if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
353 Con_Printf("Collision_ValidateBrush: plane #%i (%f %f %f %f) is degenerate\n", k, brush->planes[k].normal[0], brush->planes[k].normal[1], brush->planes[k].normal[2], brush->planes[k].dist);
354 for (j = 0;j < brush->numpoints;j++)
357 for (k = 0;k < brush->numplanes;k++)
359 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
360 if (d > (1.0f / 8.0f))
362 Con_Printf("Collision_ValidateBrush: point #%i (%f %f %f) infront of plane #%i (%f %f %f %f)\n", j, brush->points[j].v[0], brush->points[j].v[1], brush->points[j].v[2], k, brush->planes[k].normal[0], brush->planes[k].normal[1], brush->planes[k].normal[2], brush->planes[k].dist);
365 if (fabs(d) > 0.125f)
370 if (pointonplanes < 3)
371 pointswithinsufficientplanes++;
373 if (pointswithinsufficientplanes)
375 Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
378 if (pointsoffplanes == 0) // all points are on all planes
380 Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
385 Collision_PrintBrushAsQHull(brush, "unnamed");
388 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
390 float dist, bestdist;
391 bestdist = DotProduct(points->v, normal);
395 dist = DotProduct(points->v, normal);
396 bestdist = min(bestdist, dist);
402 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
404 float dist, bestdist;
405 bestdist = DotProduct(points->v, normal);
409 dist = DotProduct(points->v, normal);
410 bestdist = max(bestdist, dist);
417 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents)
420 int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
422 colpointf_t pointsbuf[256];
423 colplanef_t planesbuf[256];
424 int elementsbuf[1024];
425 int polypointbuf[256];
430 // enable these if debugging to avoid seeing garbage in unused data
431 memset(pointsbuf, 0, sizeof(pointsbuf));
432 memset(planesbuf, 0, sizeof(planesbuf));
433 memset(elementsbuf, 0, sizeof(elementsbuf));
434 memset(polypointbuf, 0, sizeof(polypointbuf));
435 memset(p, 0, sizeof(p));
437 // construct a collision brush (points, planes, and renderable mesh) from
438 // a set of planes, this also optimizes out any unnecessary planes (ones
439 // whose polygon is clipped away by the other planes)
440 for (j = 0;j < numoriginalplanes;j++)
442 // add the plane uniquely (no duplicates)
443 for (k = 0;k < numplanesbuf;k++)
444 if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
446 // if the plane is a duplicate, skip it
447 if (k < numplanesbuf)
449 // check if there are too many and skip the brush
450 if (numplanesbuf >= maxplanesbuf)
452 Con_Print("Mod_Q3BSP_LoadBrushes: failed to build collision brush: too many planes for buffer\n");
456 // create a large polygon from the plane
458 PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, 1024.0*1024.0*1024.0);
460 // clip it by all other planes
461 for (k = 0;k < numoriginalplanes && pnumpoints && pnumpoints <= pmaxpoints;k++)
465 // we want to keep the inside of the brush plane so we flip
467 PolygonD_Divide(pnumpoints, p[w], -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, 1.0/32.0, pmaxpoints, p[!w], &pnumpoints, 0, NULL, NULL);
471 // if nothing is left, skip it
474 //Con_Printf("Collision_NewBrushFromPlanes: warning: polygon for plane %f %f %f %f clipped away\n", originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
478 for (k = 0;k < pnumpoints;k++)
482 for (l = 0;l < numoriginalplanes;l++)
483 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < 1.0/8.0)
490 Con_Printf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
494 // check if there are too many polygon vertices for buffer
495 if (pnumpoints > pmaxpoints)
497 Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
501 // check if there are too many triangle elements for buffer
502 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
504 Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
508 for (k = 0;k < pnumpoints;k++)
510 // check if there is already a matching point (no duplicates)
511 for (m = 0;m < numpointsbuf;m++)
512 if (VectorDistance2(&p[w][k*3], pointsbuf[m].v) < COLLISION_SNAP)
515 // if there is no match, add a new one
516 if (m == numpointsbuf)
518 // check if there are too many and skip the brush
519 if (numpointsbuf >= maxpointsbuf)
521 Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
525 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
529 // store the index into a buffer
533 // add the triangles for the polygon
534 // (this particular code makes a triangle fan)
535 for (k = 0;k < pnumpoints - 2;k++)
537 elementsbuf[numelementsbuf++] = polypointbuf[0];
538 elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
539 elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
543 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
544 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
548 // validate plane distances
549 for (j = 0;j < numplanesbuf;j++)
551 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
552 if (fabs(planesbuf[j].dist - d) > (1.0f/32.0f))
553 Con_Printf("plane %f %f %f %f mismatches dist %f\n", planesbuf[j].normal[0], planesbuf[j].normal[1], planesbuf[j].normal[2], planesbuf[j].dist, d);
556 // if nothing is left, there's nothing to allocate
557 if (numelementsbuf < 12 || numplanesbuf < 4 || numpointsbuf < 4)
559 Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
563 // allocate the brush and copy to it
564 brush = Collision_AllocBrushFloat(mempool, numpointsbuf, numplanesbuf, numelementsbuf / 3, supercontents);
565 for (j = 0;j < brush->numpoints;j++)
567 brush->points[j].v[0] = pointsbuf[j].v[0];
568 brush->points[j].v[1] = pointsbuf[j].v[1];
569 brush->points[j].v[2] = pointsbuf[j].v[2];
571 for (j = 0;j < brush->numplanes;j++)
573 brush->planes[j].normal[0] = planesbuf[j].normal[0];
574 brush->planes[j].normal[1] = planesbuf[j].normal[1];
575 brush->planes[j].normal[2] = planesbuf[j].normal[2];
576 brush->planes[j].dist = planesbuf[j].dist;
578 for (j = 0;j < brush->numtriangles * 3;j++)
579 brush->elements[j] = elementsbuf[j];
580 VectorCopy(brush->points[0].v, brush->mins);
581 VectorCopy(brush->points[0].v, brush->maxs);
582 for (j = 1;j < brush->numpoints;j++)
584 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
585 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
586 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
587 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
588 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
589 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
597 Collision_ValidateBrush(brush);
603 colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes, int numtriangles, int supercontents)
606 brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes + sizeof(int[3]) * numtriangles);
607 brush->supercontents = supercontents;
608 brush->numplanes = numplanes;
609 brush->numpoints = numpoints;
610 brush->numtriangles = numtriangles;
611 brush->planes = (void *)(brush + 1);
612 brush->points = (void *)(brush->planes + brush->numplanes);
613 brush->elements = (void *)(brush->points + brush->numpoints);
617 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
620 float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
623 // FIXME: these probably don't actually need to be normalized if the collision code does not care
624 if (brush->numpoints == 3)
626 // optimized triangle case
627 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
628 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
630 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
631 brush->numplanes = 0;
636 brush->numplanes = 5;
637 VectorNormalize(brush->planes[0].normal);
638 brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
639 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
640 brush->planes[1].dist = -brush->planes[0].dist;
641 VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
642 VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
643 VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
646 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
648 float dist, bestdist;
649 bestdist = fabs(brush->planes[0].normal[0]);
651 for (i = 1;i < 3;i++)
653 dist = fabs(brush->planes[0].normal[i]);
660 VectorClear(projectionnormal);
661 if (brush->planes[0].normal[best] < 0)
662 projectionnormal[best] = -1;
664 projectionnormal[best] = 1;
665 VectorCopy(edge0, projectionedge0);
666 VectorCopy(edge1, projectionedge1);
667 VectorCopy(edge2, projectionedge2);
668 projectionedge0[best] = 0;
669 projectionedge1[best] = 0;
670 projectionedge2[best] = 0;
671 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
672 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
673 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
676 CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
677 CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
678 CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
680 VectorNormalize(brush->planes[2].normal);
681 VectorNormalize(brush->planes[3].normal);
682 VectorNormalize(brush->planes[4].normal);
683 brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
684 brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
685 brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
687 if (developer.integer)
693 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
694 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
695 CrossProduct(edge0, edge1, normal);
696 VectorNormalize(normal);
697 VectorSubtract(normal, brush->planes[0].normal, temp);
698 if (VectorLength(temp) > 0.01f)
699 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: TriangleNormal gave wrong answer (%f %f %f != correct answer %f %f %f)\n", brush->planes->normal[0], brush->planes->normal[1], brush->planes->normal[2], normal[0], normal[1], normal[2]);
700 if (fabs(DotProduct(brush->planes[1].normal, brush->planes[0].normal) - -1.0f) > 0.01f || fabs(brush->planes[1].dist - -brush->planes[0].dist) > 0.01f)
701 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 1 (%f %f %f %f) is not opposite plane 0 (%f %f %f %f)\n", brush->planes[1].normal[0], brush->planes[1].normal[1], brush->planes[1].normal[2], brush->planes[1].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[0].dist);
703 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
704 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 2 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[2].dist);
705 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
706 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 3 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[3].dist);
707 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
708 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 4 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[4].dist);
709 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
710 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 2 (%f %f %f %f) is not perpendicular to edge 0 (%f %f %f to %f %f %f)\n", brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist, brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2]);
711 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
712 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 3 (%f %f %f %f) is not perpendicular to edge 1 (%f %f %f to %f %f %f)\n", brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist, brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2]);
713 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
714 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 4 (%f %f %f %f) is not perpendicular to edge 2 (%f %f %f to %f %f %f)\n", brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist, brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2]);
717 if (fabs(DotProduct(brush->points[0].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f)
718 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edges (%f %f %f to %f %f %f to %f %f %f) off front plane 0 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[0].dist);
719 if (fabs(DotProduct(brush->points[0].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f)
720 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edges (%f %f %f to %f %f %f to %f %f %f) off back plane 1 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[1].normal[0], brush->planes[1].normal[1], brush->planes[1].normal[2], brush->planes[1].dist);
721 if (fabs(DotProduct(brush->points[2].v, brush->planes[2].normal) - brush->planes[2].dist) > 0.01f || fabs(DotProduct(brush->points[0].v, brush->planes[2].normal) - brush->planes[2].dist) > 0.01f)
722 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist);
723 if (fabs(DotProduct(brush->points[0].v, brush->planes[3].normal) - brush->planes[3].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[3].normal) - brush->planes[3].dist) > 0.01f)
724 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist);
725 if (fabs(DotProduct(brush->points[1].v, brush->planes[4].normal) - brush->planes[4].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[4].normal) - brush->planes[4].dist) > 0.01f)
726 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist);
732 // choose best surface normal for polygon's plane
734 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
736 VectorSubtract(p[-1].v, p[0].v, edge0);
737 VectorSubtract(p[1].v, p[0].v, edge1);
738 CrossProduct(edge0, edge1, normal);
739 //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
740 dist = DotProduct(normal, normal);
741 if (i == 0 || bestdist < dist)
744 VectorCopy(normal, brush->planes->normal);
747 if (bestdist < 0.0001f)
749 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
750 brush->numplanes = 0;
755 brush->numplanes = brush->numpoints + 2;
756 VectorNormalize(brush->planes->normal);
757 brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
759 // negate plane to create other side
760 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
761 brush->planes[1].dist = -brush->planes[0].dist;
762 for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
764 VectorSubtract(p->v, p2->v, edge0);
765 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
766 VectorNormalize(brush->planes[i + 2].normal);
767 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
772 if (developer.integer)
774 // validity check - will be disabled later
775 Collision_ValidateBrush(brush);
776 for (i = 0;i < brush->numplanes;i++)
779 for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
780 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
781 Con_Printf("Error in brush plane generation, plane %i\n", i);
786 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
789 brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
790 brush->supercontents = supercontents;
791 brush->numpoints = numpoints;
792 brush->numplanes = numpoints + 2;
793 brush->planes = (void *)(brush + 1);
794 brush->points = (colpointf_t *)points;
795 Host_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
799 // NOTE: start and end of each brush pair must have same numplanes/numpoints
800 void Collision_TraceBrushBrushFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
802 int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
803 float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
804 const colplanef_t *startplane, *endplane;
812 for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
815 if (nplane2 >= thatbrush_start->numplanes)
817 nplane2 -= thatbrush_start->numplanes;
818 startplane = thisbrush_start->planes + nplane2;
819 endplane = thisbrush_end->planes + nplane2;
820 if (developer.integer)
822 // any brush with degenerate planes is not worth handling
823 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
825 Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
828 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
829 if (fabs(f - startplane->dist) > 0.125f)
830 Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
832 d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
833 d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
837 startplane = thatbrush_start->planes + nplane2;
838 endplane = thatbrush_end->planes + nplane2;
839 if (developer.integer)
841 // any brush with degenerate planes is not worth handling
842 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
844 Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
847 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
848 if (fabs(f - startplane->dist) > 0.125f)
849 Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
851 d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
852 d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
854 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
865 imove = 1 / (d1 - d2);
866 f = (d1 - collision_enternudge.value) * imove;
870 enterfrac2 = f - collision_impactnudge.value * imove;
871 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
877 // moving out of brush
884 f = (d1 + collision_leavenudge.value) / (d1 - d2);
891 brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
894 trace->startsupercontents |= thatbrush_start->supercontents;
897 trace->startsolid = true;
899 trace->allsolid = true;
903 // LordHavoc: we need an epsilon nudge here because for a point trace the
904 // penetrating line segment is normally zero length if this brush was
905 // generated from a polygon (infinitely thin), and could even be slightly
906 // positive or negative due to rounding errors in that case.
907 if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
911 if (thatbrush_start->ispolygon)
913 d1 = nearestplanedist_float(thatbrush_start->planes[0].normal, thisbrush_start->points, thisbrush_start->numpoints) - thatbrush_start->planes[0].dist - collision_startnudge.value;
914 d2 = nearestplanedist_float(thatbrush_end->planes[0].normal, thisbrush_end->points, thisbrush_end->numpoints) - thatbrush_end->planes[0].dist - collision_endnudge.value;
916 if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
920 enterfrac = (d1 - collision_enternudge.value) * imove;
921 if (enterfrac < trace->realfraction)
923 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
924 trace->realfraction = bound(0, enterfrac, 1);
925 trace->fraction = bound(0, enterfrac2, 1);
926 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
932 trace->realfraction = bound(0, enterfrac, 1);
933 trace->fraction = bound(0, enterfrac2, 1);
934 VectorCopy(newimpactnormal, trace->plane.normal);
939 // NOTE: start and end brush pair must have same numplanes/numpoints
940 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
942 int nplane, fstartsolid, fendsolid, brushsolid;
943 float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
944 const colplanef_t *startplane, *endplane;
952 for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
954 startplane = thatbrush_start->planes + nplane;
955 endplane = thatbrush_end->planes + nplane;
956 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
957 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
958 if (developer.integer)
960 // any brush with degenerate planes is not worth handling
961 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
963 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
966 if (thatbrush_start->numpoints)
968 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
969 if (fabs(f - startplane->dist) > 0.125f)
970 Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
983 imove = 1 / (d1 - d2);
984 f = (d1 - collision_enternudge.value) * imove;
988 enterfrac2 = f - collision_impactnudge.value * imove;
989 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
995 // moving out of brush
1002 f = (d1 + collision_leavenudge.value) / (d1 - d2);
1009 brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
1012 trace->startsupercontents |= thatbrush_start->supercontents;
1015 trace->startsolid = true;
1017 trace->allsolid = true;
1021 // LordHavoc: we need an epsilon nudge here because for a point trace the
1022 // penetrating line segment is normally zero length if this brush was
1023 // generated from a polygon (infinitely thin), and could even be slightly
1024 // positive or negative due to rounding errors in that case.
1025 if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
1029 if (thatbrush_start->ispolygon)
1031 d1 = DotProduct(thatbrush_start->planes[0].normal, linestart) - thatbrush_start->planes[0].dist - collision_startnudge.value;
1032 d2 = DotProduct(thatbrush_end->planes[0].normal, lineend) - thatbrush_end->planes[0].dist - collision_endnudge.value;
1034 if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
1038 enterfrac = (d1 - collision_enternudge.value) * imove;
1039 if (enterfrac < trace->realfraction)
1041 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
1042 trace->realfraction = bound(0, enterfrac, 1);
1043 trace->fraction = bound(0, enterfrac2, 1);
1044 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
1050 trace->realfraction = bound(0, enterfrac, 1);
1051 trace->fraction = bound(0, enterfrac2, 1);
1052 VectorCopy(newimpactnormal, trace->plane.normal);
1057 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
1060 const colplanef_t *plane;
1062 for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
1063 if (DotProduct(plane->normal, point) > plane->dist)
1066 trace->startsupercontents |= thatbrush->supercontents;
1067 if (trace->hitsupercontentsmask & thatbrush->supercontents)
1069 trace->startsolid = true;
1070 trace->allsolid = true;
1074 static colpointf_t polyf_points[256];
1075 static colplanef_t polyf_planes[256 + 2];
1076 static colbrushf_t polyf_brush;
1078 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
1082 out->v[0] = floor(in->v[0] * fractionprecision + 0.5f) * invfractionprecision;
1083 out->v[1] = floor(in->v[1] * fractionprecision + 0.5f) * invfractionprecision;
1084 out->v[2] = floor(in->v[2] * fractionprecision + 0.5f) * invfractionprecision;
1088 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
1090 if (numpoints > 256)
1092 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
1095 polyf_brush.numpoints = numpoints;
1096 polyf_brush.numplanes = numpoints + 2;
1097 //polyf_brush.points = (colpointf_t *)points;
1098 polyf_brush.planes = polyf_planes;
1099 polyf_brush.supercontents = supercontents;
1100 polyf_brush.points = polyf_points;
1101 Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1102 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1103 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1104 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
1107 void Collision_TraceBrushTriangleMeshFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, const vec3_t segmentmins, const vec3_t segmentmaxs)
1110 float facemins[3], facemaxs[3];
1111 polyf_brush.numpoints = 3;
1112 polyf_brush.numplanes = 5;
1113 polyf_brush.points = polyf_points;
1114 polyf_brush.planes = polyf_planes;
1115 polyf_brush.supercontents = supercontents;
1116 for (i = 0;i < numtriangles;i++, element3i += 3)
1118 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
1119 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
1120 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
1121 Collision_SnapCopyPoints(3, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1122 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0])) - 1;
1123 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1])) - 1;
1124 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2])) - 1;
1125 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0])) + 1;
1126 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1])) + 1;
1127 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2])) + 1;
1128 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
1130 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1131 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1132 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
1137 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
1139 if (numpoints > 256)
1141 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
1144 polyf_brush.numpoints = numpoints;
1145 polyf_brush.numplanes = numpoints + 2;
1146 //polyf_brush.points = (colpointf_t *)points;
1147 polyf_brush.points = polyf_points;
1148 Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1149 polyf_brush.planes = polyf_planes;
1150 polyf_brush.supercontents = supercontents;
1151 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1152 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1153 Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
1156 void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, const vec3_t segmentmins, const vec3_t segmentmaxs)
1160 // FIXME: snap vertices?
1161 for (i = 0;i < numtriangles;i++, element3i += 3)
1162 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3);
1164 polyf_brush.numpoints = 3;
1165 polyf_brush.numplanes = 5;
1166 polyf_brush.points = polyf_points;
1167 polyf_brush.planes = polyf_planes;
1168 polyf_brush.supercontents = supercontents;
1169 for (i = 0;i < numtriangles;i++, element3i += 3)
1171 float facemins[3], facemaxs[3];
1172 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
1173 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
1174 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
1175 Collision_SnapCopyPoints(numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1176 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0])) - 1;
1177 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1])) - 1;
1178 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2])) - 1;
1179 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0])) + 1;
1180 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1])) + 1;
1181 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2])) + 1;
1182 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
1184 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1185 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1186 Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
1193 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
1194 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
1195 static colbrushf_t polyf_brushstart, polyf_brushend;
1197 void Collision_TraceBrushPolygonTransformFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, const matrix4x4_t *polygonmatrixstart, const matrix4x4_t *polygonmatrixend, int supercontents)
1200 if (numpoints > 256)
1202 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
1205 polyf_brushstart.numpoints = numpoints;
1206 polyf_brushstart.numplanes = numpoints + 2;
1207 polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
1208 polyf_brushstart.planes = polyf_planesstart;
1209 polyf_brushstart.supercontents = supercontents;
1210 for (i = 0;i < numpoints;i++)
1211 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
1212 polyf_brushend.numpoints = numpoints;
1213 polyf_brushend.numplanes = numpoints + 2;
1214 polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
1215 polyf_brushend.planes = polyf_planesend;
1216 polyf_brushend.supercontents = supercontents;
1217 for (i = 0;i < numpoints;i++)
1218 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
1219 Collision_SnapCopyPoints(numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
1220 Collision_SnapCopyPoints(numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
1221 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
1222 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
1224 //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
1225 //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
1227 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
1232 #define MAX_BRUSHFORBOX 16
1233 static int brushforbox_index = 0;
1234 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1235 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1236 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1237 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
1239 void Collision_InitBrushForBox(void)
1242 for (i = 0;i < MAX_BRUSHFORBOX;i++)
1244 brushforbox_brush[i].supercontents = SUPERCONTENTS_SOLID;
1245 brushforbox_brush[i].numpoints = 8;
1246 brushforbox_brush[i].numplanes = 6;
1247 brushforbox_brush[i].points = brushforbox_point + i * 8;
1248 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1249 brushforpoint_brush[i].supercontents = SUPERCONTENTS_SOLID;
1250 brushforpoint_brush[i].numpoints = 1;
1251 brushforpoint_brush[i].numplanes = 0;
1252 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1253 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1257 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
1262 if (brushforbox_brush[0].numpoints == 0)
1263 Collision_InitBrushForBox();
1264 // FIXME: these probably don't actually need to be normalized if the collision code does not care
1265 if (VectorCompare(mins, maxs))
1268 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1269 VectorCopy(mins, brush->points->v);
1273 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1275 for (i = 0;i < 8;i++)
1277 v[0] = i & 1 ? maxs[0] : mins[0];
1278 v[1] = i & 2 ? maxs[1] : mins[1];
1279 v[2] = i & 4 ? maxs[2] : mins[2];
1280 Matrix4x4_Transform(matrix, v, brush->points[i].v);
1283 for (i = 0;i < 6;i++)
1286 v[i >> 1] = i & 1 ? 1 : -1;
1287 Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1288 VectorNormalize(brush->planes[i].normal);
1291 for (j = 0;j < brush->numplanes;j++)
1292 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1293 VectorCopy(brush->points[0].v, brush->mins);
1294 VectorCopy(brush->points[0].v, brush->maxs);
1295 for (j = 1;j < brush->numpoints;j++)
1297 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1298 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1299 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1300 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1301 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1302 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1304 brush->mins[0] -= 1;
1305 brush->mins[1] -= 1;
1306 brush->mins[2] -= 1;
1307 brush->maxs[0] += 1;
1308 brush->maxs[1] += 1;
1309 brush->maxs[2] += 1;
1310 Collision_ValidateBrush(brush);
1314 void Collision_ClipTrace_BrushBox(trace_t *trace, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask)
1316 colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1317 matrix4x4_t identitymatrix;
1318 vec3_t startmins, startmaxs, endmins, endmaxs;
1320 // create brushes for the collision
1321 VectorAdd(start, mins, startmins);
1322 VectorAdd(start, maxs, startmaxs);
1323 VectorAdd(end, mins, endmins);
1324 VectorAdd(end, maxs, endmaxs);
1325 Matrix4x4_CreateIdentity(&identitymatrix);
1326 boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
1327 thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs);
1328 thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs);
1330 memset(trace, 0, sizeof(trace_t));
1331 trace->hitsupercontentsmask = hitsupercontentsmask;
1332 trace->fraction = 1;
1333 trace->realfraction = 1;
1334 trace->allsolid = true;
1335 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1338 // LordHavoc: currently unused and not yet tested
1339 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1340 // by simply adding the moving sphere's radius to the sphereradius parameter,
1341 // all the results are correct (impactpoint, impactnormal, and fraction)
1342 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1344 double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1345 // make sure the impactpoint and impactnormal are valid even if there is
1347 impactpoint[0] = lineend[0];
1348 impactpoint[1] = lineend[1];
1349 impactpoint[2] = lineend[2];
1350 impactnormal[0] = 0;
1351 impactnormal[1] = 0;
1352 impactnormal[2] = 0;
1353 // calculate line direction
1354 dir[0] = lineend[0] - linestart[0];
1355 dir[1] = lineend[1] - linestart[1];
1356 dir[2] = lineend[2] - linestart[2];
1357 // normalize direction
1358 linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
1361 scale = 1.0 / linelength;
1366 // this dotproduct calculates the distance along the line at which the
1367 // sphere origin is (nearest point to the sphere origin on the line)
1368 impactdist = dir[0] * (sphereorigin[0] - linestart[0]) + dir[1] * (sphereorigin[1] - linestart[1]) + dir[2] * (sphereorigin[2] - linestart[2]);
1369 // calculate point on line at that distance, and subtract the
1370 // sphereorigin from it, so we have a vector to measure for the distance
1371 // of the line from the sphereorigin (deviation, how off-center it is)
1372 v[0] = linestart[0] + impactdist * dir[0] - sphereorigin[0];
1373 v[1] = linestart[1] + impactdist * dir[1] - sphereorigin[1];
1374 v[2] = linestart[2] + impactdist * dir[2] - sphereorigin[2];
1375 deviationdist = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
1376 // if outside the radius, it's a miss for sure
1377 // (we do this comparison using squared radius to avoid a sqrt)
1378 if (deviationdist > sphereradius*sphereradius)
1379 return 1; // miss (off to the side)
1380 // nudge back to find the correct impact distance
1381 impactdist += (sqrt(deviationdist) - sphereradius);
1382 if (impactdist >= linelength)
1383 return 1; // miss (not close enough)
1385 return 1; // miss (linestart is past or inside sphere)
1386 // calculate new impactpoint
1387 impactpoint[0] = linestart[0] + impactdist * dir[0];
1388 impactpoint[1] = linestart[1] + impactdist * dir[1];
1389 impactpoint[2] = linestart[2] + impactdist * dir[2];
1390 // calculate impactnormal (surface normal at point of impact)
1391 impactnormal[0] = impactpoint[0] - sphereorigin[0];
1392 impactnormal[1] = impactpoint[1] - sphereorigin[1];
1393 impactnormal[2] = impactpoint[2] - sphereorigin[2];
1394 // normalize impactnormal
1395 scale = impactnormal[0] * impactnormal[0] + impactnormal[1] * impactnormal[1] + impactnormal[2] * impactnormal[2];
1398 scale = 1.0 / sqrt(scale);
1399 impactnormal[0] *= scale;
1400 impactnormal[1] *= scale;
1401 impactnormal[2] *= scale;
1403 // return fraction of movement distance
1404 return impactdist / linelength;
1407 void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const float *point0, const float *point1, const float *point2)
1411 float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1413 // this function executes:
1414 // 32 ops when line starts behind triangle
1415 // 38 ops when line ends infront of triangle
1416 // 43 ops when line fraction is already closer than this triangle
1417 // 72 ops when line is outside edge 01
1418 // 92 ops when line is outside edge 21
1419 // 115 ops when line is outside edge 02
1420 // 123 ops when line impacts triangle and updates trace results
1422 // this code is designed for clockwise triangles, conversion to
1423 // counterclockwise would require swapping some things around...
1424 // it is easier to simply swap the point0 and point2 parameters to this
1425 // function when calling it than it is to rewire the internals.
1427 // calculate the faceplanenormal of the triangle, this represents the front side
1429 VectorSubtract(point0, point1, edge01);
1430 VectorSubtract(point2, point1, edge21);
1431 CrossProduct(edge01, edge21, faceplanenormal);
1432 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1434 faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1435 if (faceplanenormallength2 < 0.0001f)
1437 // calculate the distance
1439 faceplanedist = DotProduct(point0, faceplanenormal);
1441 // if start point is on the back side there is no collision
1442 // (we don't care about traces going through the triangle the wrong way)
1444 // calculate the start distance
1446 d1 = DotProduct(faceplanenormal, linestart);
1447 if (d1 <= faceplanedist)
1450 // calculate the end distance
1452 d2 = DotProduct(faceplanenormal, lineend);
1453 // if both are in front, there is no collision
1454 if (d2 >= faceplanedist)
1457 // from here on we know d1 is >= 0 and d2 is < 0
1458 // this means the line starts infront and ends behind, passing through it
1460 // calculate the recipricol of the distance delta,
1461 // so we can use it multiple times cheaply (instead of division)
1463 d = 1.0f / (d1 - d2);
1464 // calculate the impact fraction by taking the start distance (> 0)
1465 // and subtracting the face plane distance (this is the distance of the
1466 // triangle along that same normal)
1467 // then multiply by the recipricol distance delta
1469 f = (d1 - faceplanedist) * d;
1470 // skip out if this impact is further away than previous ones
1472 if (f > trace->realfraction)
1474 // calculate the perfect impact point for classification of insidedness
1476 impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1477 impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1478 impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1480 // calculate the edge normal and reject if impact is outside triangle
1481 // (an edge normal faces away from the triangle, to get the desired normal
1482 // a crossproduct with the faceplanenormal is used, and because of the way
1483 // the insidedness comparison is written it does not need to be normalized)
1485 // first use the two edges from the triangle plane math
1486 // the other edge only gets calculated if the point survives that long
1489 CrossProduct(edge01, faceplanenormal, edgenormal);
1490 if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1494 CrossProduct(faceplanenormal, edge21, edgenormal);
1495 if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1499 VectorSubtract(point0, point2, edge02);
1500 CrossProduct(faceplanenormal, edge02, edgenormal);
1501 if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1506 // store the new trace fraction
1507 trace->realfraction = f;
1509 // calculate a nudged fraction to keep it out of the surface
1510 // (the main fraction remains perfect)
1511 trace->fraction = f - collision_impactnudge.value * d;
1513 // store the new trace plane (because collisions only happen from
1514 // the front this is always simply the triangle normal, never flipped)
1515 d = 1.0 / sqrt(faceplanenormallength2);
1516 VectorScale(faceplanenormal, d, trace->plane.normal);
1517 trace->plane.dist = faceplanedist * d;
1519 float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1521 // this code is designed for clockwise triangles, conversion to
1522 // counterclockwise would require swapping some things around...
1523 // it is easier to simply swap the point0 and point2 parameters to this
1524 // function when calling it than it is to rewire the internals.
1526 // calculate the unnormalized faceplanenormal of the triangle,
1527 // this represents the front side
1528 TriangleNormal(point0, point1, point2, faceplanenormal);
1529 // there's no point in processing a degenerate triangle
1530 // (GIGO - Garbage In, Garbage Out)
1531 if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1533 // calculate the unnormalized distance
1534 faceplanedist = DotProduct(point0, faceplanenormal);
1536 // calculate the unnormalized start distance
1537 d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1538 // if start point is on the back side there is no collision
1539 // (we don't care about traces going through the triangle the wrong way)
1543 // calculate the unnormalized end distance
1544 d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1545 // if both are in front, there is no collision
1549 // from here on we know d1 is >= 0 and d2 is < 0
1550 // this means the line starts infront and ends behind, passing through it
1552 // calculate the recipricol of the distance delta,
1553 // so we can use it multiple times cheaply (instead of division)
1554 d = 1.0f / (d1 - d2);
1555 // calculate the impact fraction by taking the start distance (> 0)
1556 // and subtracting the face plane distance (this is the distance of the
1557 // triangle along that same normal)
1558 // then multiply by the recipricol distance delta
1560 // skip out if this impact is further away than previous ones
1561 if (f > trace->realfraction)
1563 // calculate the perfect impact point for classification of insidedness
1564 impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1565 impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1566 impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1568 // calculate the edge normal and reject if impact is outside triangle
1569 // (an edge normal faces away from the triangle, to get the desired normal
1570 // a crossproduct with the faceplanenormal is used, and because of the way
1571 // the insidedness comparison is written it does not need to be normalized)
1573 VectorSubtract(point2, point0, edge);
1574 CrossProduct(edge, faceplanenormal, edgenormal);
1575 if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1578 VectorSubtract(point0, point1, edge);
1579 CrossProduct(edge, faceplanenormal, edgenormal);
1580 if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1583 VectorSubtract(point1, point2, edge);
1584 CrossProduct(edge, faceplanenormal, edgenormal);
1585 if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1588 // store the new trace fraction
1589 trace->realfraction = bound(0, f, 1);
1591 // store the new trace plane (because collisions only happen from
1592 // the front this is always simply the triangle normal, never flipped)
1593 VectorNormalize(faceplanenormal);
1594 VectorCopy(faceplanenormal, trace->plane.normal);
1595 trace->plane.dist = DotProduct(point0, faceplanenormal);
1597 // calculate the normalized start and end distances
1598 d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1599 d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1601 // calculate a nudged fraction to keep it out of the surface
1602 // (the main fraction remains perfect)
1603 fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1604 trace->fraction = bound(0, fnudged, 1);
1606 // store the new trace endpos
1607 // not needed, it's calculated later when the trace is finished
1608 //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1609 //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1610 //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1614 typedef struct colbspnode_s
1617 struct colbspnode_s *children[2];
1618 // the node is reallocated or split if max is reached
1621 colbrushf_t **colbrushflist;
1624 //colbrushd_t **colbrushdlist;
1628 typedef struct colbsp_s
1631 colbspnode_t *nodes;
1635 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1638 bsp = Mem_Alloc(mempool, sizeof(colbsp_t));
1639 bsp->mempool = mempool;
1640 bsp->nodes = Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1644 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1646 if (node->children[0])
1647 Collision_FreeCollisionBSPNode(node->children[0]);
1648 if (node->children[1])
1649 Collision_FreeCollisionBSPNode(node->children[1]);
1650 while (--node->numcolbrushf)
1651 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1652 //while (--node->numcolbrushd)
1653 // Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1657 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1659 Collision_FreeCollisionBSPNode(bsp->nodes);
1663 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1666 colpointf_t *ps, *pe;
1667 float tempstart[3], tempend[3];
1668 VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1669 VectorCopy(mins, maxs);
1670 for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1672 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1673 VectorLerp(ps->v, endfrac, pe->v, tempend);
1674 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1675 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1676 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1677 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1678 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1679 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));