#include "quakedef.h"
#include "polygon.h"
-#define COLLISION_SNAPSCALE (32.0f)
+#define COLLISION_SNAPSCALE (8.0f)
#define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125"};
float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
colpointf_t *p, *p2;
+ // FIXME: these probably don't actually need to be normalized if the collision code does not care
if (brush->numpoints == 3)
{
// optimized triangle case
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)
{
int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
- float enterfrac, leavefrac, d1, d2, f, move, imove, newimpactnormal[3], enterfrac2;
+ float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
const colplanef_t *startplane, *endplane;
enterfrac = -1;
return;
}
f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
- if (fabs(f - startplane->dist) > 0.01f)
+ if (fabs(f - startplane->dist) > 0.125f)
Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
}
d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
return;
}
f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
- if (fabs(f - startplane->dist) > 0.01f)
+ if (fabs(f - startplane->dist) > 0.125f)
Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
}
d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
}
//Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
- move = d1 - d2;
- if (move > 0)
+ if(d1 > d2)
{
// moving into brush
- if (d2 > collision_enternudge.value)
+ if(d2 > 0)
return;
- if (d1 < 0)
- continue;
- // enter
- fstartsolid = false;
- imove = 1 / move;
- f = (d1 - collision_enternudge.value) * imove;
- f = bound(0, f, 1);
- if (enterfrac < f)
+ if(d1 > 0)
{
- enterfrac = f;
- enterfrac2 = f - collision_impactnudge.value * imove;
- enterfrac2 = bound(0, enterfrac2, 1);
- VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+ // enter
+ fstartsolid = false;
+ imove = 1 / (d1 - d2);
+ f = (d1 - collision_enternudge.value) * imove;
+ if (enterfrac < f)
+ {
+ enterfrac = f;
+ enterfrac2 = f - collision_impactnudge.value * imove;
+ VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+ }
}
}
- else if (move < 0)
- {
- // moving out of brush
- if (d1 > collision_leavenudge.value)
- return;
- if (d2 < 0)
- continue;
- // leave
- fendsolid = false;
- f = (d1 + collision_leavenudge.value) / move;
- f = bound(0, f, 1);
- if (leavefrac > f)
- leavefrac = f;
- }
else
{
- // sliding along plane
- if (d1 > 0)
+ // moving out of brush
+ if(d1 > 0)
return;
+ if(d2 > 0)
+ {
+ // leave
+ fendsolid = false;
+ f = (d1 + collision_leavenudge.value) / (d1 - d2);
+ if (leavefrac > f)
+ leavefrac = f;
+ }
}
}
void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
{
int nplane, fstartsolid, fendsolid, brushsolid;
- float enterfrac, leavefrac, d1, d2, f, move, imove, newimpactnormal[3], enterfrac2;
+ float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
const colplanef_t *startplane, *endplane;
enterfrac = -1;
if (thatbrush_start->numpoints)
{
f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
- if (fabs(f - startplane->dist) > 0.01f)
+ if (fabs(f - startplane->dist) > 0.125f)
Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
}
}
- move = d1 - d2;
- if (move > 0)
+ if (d1 > d2)
{
// moving into brush
- if (d2 >= 0)
+ if (d2 > 0)
return;
- if (d1 <= 0)
- continue;
- // enter
- fstartsolid = false;
- imove = 1 / move;
- f = (d1 - collision_enternudge.value) * imove;
- if (enterfrac < f)
+ if (d1 > 0)
{
- enterfrac = f;
- enterfrac2 = f - collision_impactnudge.value * imove;
- VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+ // enter
+ fstartsolid = false;
+ imove = 1 / (d1 - d2);
+ f = (d1 - collision_enternudge.value) * imove;
+ if (enterfrac < f)
+ {
+ enterfrac = f;
+ enterfrac2 = f - collision_impactnudge.value * imove;
+ VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+ }
}
}
else
{
// moving out of brush
- if (d1 >= 0)
+ if (d1 > 0)
return;
- if (d2 <= 0)
- continue;
- // leave
- fendsolid = false;
- f = (d1 - collision_leavenudge.value) / move;
- if (leavefrac > f)
- leavefrac = f;
+ if (d2 > 0)
+ {
+ // leave
+ fendsolid = false;
+ f = (d1 + collision_leavenudge.value) / (d1 - d2);
+ if (leavefrac > f)
+ leavefrac = f;
+ }
}
}
colbrushf_t *brush;
if (brushforbox_brush[0].numpoints == 0)
Collision_InitBrushForBox();
+ // FIXME: these probably don't actually need to be normalized if the collision code does not care
if (VectorCompare(mins, maxs))
{
// point brush
void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const float *point0, const float *point1, const float *point2)
{
- float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
+#if 1
+ // more optimized
+ float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
+
+ // this function executes:
+ // 32 ops when line starts behind triangle
+ // 38 ops when line ends infront of triangle
+ // 43 ops when line fraction is already closer than this triangle
+ // 72 ops when line is outside edge 01
+ // 92 ops when line is outside edge 21
+ // 115 ops when line is outside edge 02
+ // 123 ops when line impacts triangle and updates trace results
// this code is designed for clockwise triangles, conversion to
// counterclockwise would require swapping some things around...
// function when calling it than it is to rewire the internals.
// calculate the faceplanenormal of the triangle, this represents the front side
- TriangleNormal(point0, point1, point2, faceplanenormal);
+ // 15 ops
+ VectorSubtract(point0, point1, edge01);
+ VectorSubtract(point2, point1, edge21);
+ CrossProduct(edge01, edge21, faceplanenormal);
// there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
- if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
+ // 6 ops
+ faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
+ if (faceplanenormallength2 < 0.0001f)
return;
- // normalize the normal
- VectorNormalize(faceplanenormal);
// calculate the distance
+ // 5 ops
faceplanedist = DotProduct(point0, faceplanenormal);
+ // if start point is on the back side there is no collision
+ // (we don't care about traces going through the triangle the wrong way)
+
// calculate the start distance
+ // 6 ops
+ d1 = DotProduct(faceplanenormal, linestart);
+ if (d1 <= faceplanedist)
+ return;
+
+ // calculate the end distance
+ // 6 ops
+ d2 = DotProduct(faceplanenormal, lineend);
+ // if both are in front, there is no collision
+ if (d2 >= faceplanedist)
+ return;
+
+ // from here on we know d1 is >= 0 and d2 is < 0
+ // this means the line starts infront and ends behind, passing through it
+
+ // calculate the recipricol of the distance delta,
+ // so we can use it multiple times cheaply (instead of division)
+ // 2 ops
+ d = 1.0f / (d1 - d2);
+ // calculate the impact fraction by taking the start distance (> 0)
+ // and subtracting the face plane distance (this is the distance of the
+ // triangle along that same normal)
+ // then multiply by the recipricol distance delta
+ // 2 ops
+ f = (d1 - faceplanedist) * d;
+ // skip out if this impact is further away than previous ones
+ // 1 ops
+ if (f > trace->realfraction)
+ return;
+ // calculate the perfect impact point for classification of insidedness
+ // 9 ops
+ impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
+ impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
+ impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
+
+ // calculate the edge normal and reject if impact is outside triangle
+ // (an edge normal faces away from the triangle, to get the desired normal
+ // a crossproduct with the faceplanenormal is used, and because of the way
+ // the insidedness comparison is written it does not need to be normalized)
+
+ // first use the two edges from the triangle plane math
+ // the other edge only gets calculated if the point survives that long
+
+ // 20 ops
+ CrossProduct(edge01, faceplanenormal, edgenormal);
+ if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
+ return;
+
+ // 20 ops
+ CrossProduct(faceplanenormal, edge21, edgenormal);
+ if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
+ return;
+
+ // 23 ops
+ VectorSubtract(point0, point2, edge02);
+ CrossProduct(faceplanenormal, edge02, edgenormal);
+ if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
+ return;
+
+ // 8 ops (rare)
+
+ // store the new trace fraction
+ trace->realfraction = f;
+
+ // calculate a nudged fraction to keep it out of the surface
+ // (the main fraction remains perfect)
+ trace->fraction = f - collision_impactnudge.value * d;
+
+ // store the new trace plane (because collisions only happen from
+ // the front this is always simply the triangle normal, never flipped)
+ d = 1.0 / sqrt(faceplanenormallength2);
+ VectorScale(faceplanenormal, d, trace->plane.normal);
+ trace->plane.dist = faceplanedist * d;
+#else
+ float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
+
+ // this code is designed for clockwise triangles, conversion to
+ // counterclockwise would require swapping some things around...
+ // it is easier to simply swap the point0 and point2 parameters to this
+ // function when calling it than it is to rewire the internals.
+
+ // calculate the unnormalized faceplanenormal of the triangle,
+ // this represents the front side
+ TriangleNormal(point0, point1, point2, faceplanenormal);
+ // there's no point in processing a degenerate triangle
+ // (GIGO - Garbage In, Garbage Out)
+ if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
+ return;
+ // calculate the unnormalized distance
+ faceplanedist = DotProduct(point0, faceplanenormal);
+
+ // calculate the unnormalized start distance
d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
// if start point is on the back side there is no collision
// (we don't care about traces going through the triangle the wrong way)
- if (d1 < 0)
+ if (d1 <= 0)
return;
- // calculate the end distance
+ // calculate the unnormalized end distance
d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
// if both are in front, there is no collision
if (d2 >= 0)
// (an edge normal faces away from the triangle, to get the desired normal
// a crossproduct with the faceplanenormal is used, and because of the way
// the insidedness comparison is written it does not need to be normalized)
-
+
VectorSubtract(point2, point0, edge);
CrossProduct(edge, faceplanenormal, edgenormal);
if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
// store the new trace fraction
trace->realfraction = bound(0, f, 1);
+ // store the new trace plane (because collisions only happen from
+ // the front this is always simply the triangle normal, never flipped)
+ VectorNormalize(faceplanenormal);
+ VectorCopy(faceplanenormal, trace->plane.normal);
+ trace->plane.dist = DotProduct(point0, faceplanenormal);
+
+ // calculate the normalized start and end distances
+ d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
+ d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
+
// calculate a nudged fraction to keep it out of the surface
// (the main fraction remains perfect)
- fnudged = (d1 - collision_impactnudge.value) * d;
+ fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
trace->fraction = bound(0, fnudged, 1);
// store the new trace endpos
//trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
//trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
//trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
-
- // store the new trace plane (because collisions only happen from
- // the front this is always simply the triangle normal, never flipped)
- VectorCopy(faceplanenormal, trace->plane.normal);
- trace->plane.dist = faceplanedist;
+#endif
}
typedef struct colbspnode_s
projects / xonotic / darkplaces.git / blobdiff