collision.c

   1
   2 #include "quakedef.h"
   3 #include "polygon.h"
   4
   5 #define COLLISION_SNAPSCALE (32.0f)
   6 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
   7 #define COLLISION_PLANE_DIST_EPSILON (1.0f / 32.0f)
   8
   9 cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125", "how much to back off from the impact"};
  10 cvar_t collision_startnudge = {0, "collision_startnudge", "0", "how much to bias collision trace start"};
  11 cvar_t collision_endnudge = {0, "collision_endnudge", "0", "how much to bias collision trace end"};
  12 cvar_t collision_enternudge = {0, "collision_enternudge", "0", "how much to bias collision entry fraction"};
  13 cvar_t collision_leavenudge = {0, "collision_leavenudge", "0", "how much to bias collision exit fraction"};
  14
  15 void Collision_Init (void)
  16 {
  17         Cvar_RegisterVariable(&collision_impactnudge);
  18         Cvar_RegisterVariable(&collision_startnudge);
  19         Cvar_RegisterVariable(&collision_endnudge);
  20         Cvar_RegisterVariable(&collision_enternudge);
  21         Cvar_RegisterVariable(&collision_leavenudge);
  22 }
  23
  24
  25
  26
  27
  28
  29
  30
  31
  32
  33
  34
  35
  36
  37 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
  38 {
  39         int i;
  40         Con_Printf("3 %s\n%i\n", name, brush->numpoints);
  41         for (i = 0;i < brush->numpoints;i++)
  42                 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
  43         // FIXME: optimize!
  44         Con_Printf("4\n%i\n", brush->numplanes);
  45         for (i = 0;i < brush->numplanes;i++)
  46                 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);
  47 }
  48
  49 void Collision_ValidateBrush(colbrushf_t *brush)
  50 {
  51         int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
  52         float d;
  53         printbrush = false;
  54         if (!brush->numpoints)
  55         {
  56                 Con_Print("Collision_ValidateBrush: brush with no points!\n");
  57                 printbrush = true;
  58         }
  59 #if 0
  60         // it's ok for a brush to have one point and no planes...
  61         if (brush->numplanes == 0 && brush->numpoints != 1)
  62         {
  63                 Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
  64                 printbrush = true;
  65         }
  66 #endif
  67         if (brush->numplanes)
  68         {
  69                 pointsoffplanes = 0;
  70                 pointswithinsufficientplanes = 0;
  71                 for (k = 0;k < brush->numplanes;k++)
  72                         if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
  73                                 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);
  74                 for (j = 0;j < brush->numpoints;j++)
  75                 {
  76                         pointonplanes = 0;
  77                         for (k = 0;k < brush->numplanes;k++)
  78                         {
  79                                 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
  80                                 if (d > COLLISION_PLANE_DIST_EPSILON)
  81                                 {
  82                                         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);
  83                                         printbrush = true;
  84                                 }
  85                                 if (fabs(d) > COLLISION_PLANE_DIST_EPSILON)
  86                                         pointsoffplanes++;
  87                                 else
  88                                         pointonplanes++;
  89                         }
  90                         if (pointonplanes < 3)
  91                                 pointswithinsufficientplanes++;
  92                 }
  93                 if (pointswithinsufficientplanes)
  94                 {
  95                         Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
  96                         printbrush = true;
  97                 }
  98                 if (pointsoffplanes == 0) // all points are on all planes
  99                 {
 100                         Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
 101                         printbrush = true;
 102                 }
 103         }
 104         if (printbrush)
 105                 Collision_PrintBrushAsQHull(brush, "unnamed");
 106 }
 107
 108 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 109 {
 110         float dist, bestdist;
 111         bestdist = DotProduct(points->v, normal);
 112         points++;
 113         while(--numpoints)
 114         {
 115                 dist = DotProduct(points->v, normal);
 116                 bestdist = min(bestdist, dist);
 117                 points++;
 118         }
 119         return bestdist;
 120 }
 121
 122 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 123 {
 124         float dist, bestdist;
 125         bestdist = DotProduct(points->v, normal);
 126         points++;
 127         while(--numpoints)
 128         {
 129                 dist = DotProduct(points->v, normal);
 130                 bestdist = max(bestdist, dist);
 131                 points++;
 132         }
 133         return bestdist;
 134 }
 135
 136
 137 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents)
 138 {
 139         // TODO: planesbuf could be replaced by a remapping table
 140         int j, k, m, w;
 141         int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
 142         double maxdist;
 143         colbrushf_t *brush;
 144         colpointf_t pointsbuf[256];
 145         colplanef_t planesbuf[256];
 146         int elementsbuf[1024];
 147         int polypointbuf[256];
 148         int pmaxpoints = 64;
 149         int pnumpoints;
 150         double p[2][3*64];
 151 #if 0
 152         // enable these if debugging to avoid seeing garbage in unused data
 153         memset(pointsbuf, 0, sizeof(pointsbuf));
 154         memset(planesbuf, 0, sizeof(planesbuf));
 155         memset(elementsbuf, 0, sizeof(elementsbuf));
 156         memset(polypointbuf, 0, sizeof(polypointbuf));
 157         memset(p, 0, sizeof(p));
 158 #endif
 159         // figure out how large a bounding box we need to properly compute this brush
 160         maxdist = 0;
 161         for (j = 0;j < numoriginalplanes;j++)
 162                 maxdist = max(maxdist, originalplanes[j].dist);
 163         // now make it large enough to enclose the entire brush, and round it off to a reasonable multiple of 1024
 164         maxdist = floor(maxdist * (4.0 / 1024.0) + 1) * 1024.0;
 165         // construct a collision brush (points, planes, and renderable mesh) from
 166         // a set of planes, this also optimizes out any unnecessary planes (ones
 167         // whose polygon is clipped away by the other planes)
 168         for (j = 0;j < numoriginalplanes;j++)
 169         {
 170                 // add the plane uniquely (no duplicates)
 171                 for (k = 0;k < numplanesbuf;k++)
 172                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
 173                                 break;
 174                 // if the plane is a duplicate, skip it
 175                 if (k < numplanesbuf)
 176                         continue;
 177                 // check if there are too many and skip the brush
 178                 if (numplanesbuf >= maxplanesbuf)
 179                 {
 180                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
 181                         return NULL;
 182                 }
 183
 184                 // create a large polygon from the plane
 185                 w = 0;
 186                 PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, maxdist);
 187                 pnumpoints = 4;
 188                 // clip it by all other planes
 189                 for (k = 0;k < numoriginalplanes && pnumpoints && pnumpoints <= pmaxpoints;k++)
 190                 {
 191                         if (k != j)
 192                         {
 193                                 // we want to keep the inside of the brush plane so we flip
 194                                 // the cutting plane
 195                                 PolygonD_Divide(pnumpoints, p[w], -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, COLLISION_PLANE_DIST_EPSILON, pmaxpoints, p[!w], &pnumpoints, 0, NULL, NULL, NULL);
 196                                 w = !w;
 197                         }
 198                 }
 199                 // if nothing is left, skip it
 200                 if (pnumpoints < 3)
 201                 {
 202                         //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);
 203                         continue;
 204                 }
 205
 206                 for (k = 0;k < pnumpoints;k++)
 207                 {
 208                         int l, m;
 209                         m = 0;
 210                         for (l = 0;l < numoriginalplanes;l++)
 211                                 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < COLLISION_PLANE_DIST_EPSILON)
 212                                         m++;
 213                         if (m < 3)
 214                                 break;
 215                 }
 216                 if (k < pnumpoints)
 217                 {
 218                         Con_Printf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
 219                         //return NULL;
 220                 }
 221
 222                 // check if there are too many polygon vertices for buffer
 223                 if (pnumpoints > pmaxpoints)
 224                 {
 225                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 226                         return NULL;
 227                 }
 228
 229                 // check if there are too many triangle elements for buffer
 230                 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
 231                 {
 232                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
 233                         return NULL;
 234                 }
 235
 236                 for (k = 0;k < pnumpoints;k++)
 237                 {
 238                         // check if there is already a matching point (no duplicates)
 239                         for (m = 0;m < numpointsbuf;m++)
 240                                 if (VectorDistance2(&p[w][k*3], pointsbuf[m].v) < COLLISION_SNAP)
 241                                         break;
 242
 243                         // if there is no match, add a new one
 244                         if (m == numpointsbuf)
 245                         {
 246                                 // check if there are too many and skip the brush
 247                                 if (numpointsbuf >= maxpointsbuf)
 248                                 {
 249                                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 250                                         return NULL;
 251                                 }
 252                                 // add the new one
 253                                 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
 254                                 numpointsbuf++;
 255                         }
 256
 257                         // store the index into a buffer
 258                         polypointbuf[k] = m;
 259                 }
 260
 261                 // add the triangles for the polygon
 262                 // (this particular code makes a triangle fan)
 263                 for (k = 0;k < pnumpoints - 2;k++)
 264                 {
 265                         elementsbuf[numelementsbuf++] = polypointbuf[0];
 266                         elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
 267                         elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
 268                 }
 269
 270                 // add the new plane
 271                 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
 272                 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
 273                 planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
 274                 planesbuf[numplanesbuf].texture = originalplanes[j].texture;
 275                 numplanesbuf++;
 276         }
 277
 278         // validate plane distances
 279         for (j = 0;j < numplanesbuf;j++)
 280         {
 281                 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
 282                 if (fabs(planesbuf[j].dist - d) > COLLISION_PLANE_DIST_EPSILON)
 283                         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);
 284         }
 285
 286         // if nothing is left, there's nothing to allocate
 287         if (numelementsbuf < 12 || numplanesbuf < 4 || numpointsbuf < 4)
 288         {
 289                 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);
 290                 return NULL;
 291         }
 292
 293         // allocate the brush and copy to it
 294         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
 295         brush->supercontents = supercontents;
 296         brush->numplanes = numplanesbuf;
 297         brush->numpoints = numpointsbuf;
 298         brush->numtriangles = numelementsbuf / 3;
 299         brush->planes = (colplanef_t *)(brush + 1);
 300         brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
 301         brush->elements = (int *)(brush->points + brush->numpoints);
 302         for (j = 0;j < brush->numpoints;j++)
 303         {
 304                 brush->points[j].v[0] = pointsbuf[j].v[0];
 305                 brush->points[j].v[1] = pointsbuf[j].v[1];
 306                 brush->points[j].v[2] = pointsbuf[j].v[2];
 307         }
 308         for (j = 0;j < brush->numplanes;j++)
 309         {
 310                 brush->planes[j].normal[0] = planesbuf[j].normal[0];
 311                 brush->planes[j].normal[1] = planesbuf[j].normal[1];
 312                 brush->planes[j].normal[2] = planesbuf[j].normal[2];
 313                 brush->planes[j].dist = planesbuf[j].dist;
 314                 brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
 315                 brush->planes[j].texture = planesbuf[j].texture;
 316         }
 317         for (j = 0;j < brush->numtriangles * 3;j++)
 318                 brush->elements[j] = elementsbuf[j];
 319         VectorCopy(brush->points[0].v, brush->mins);
 320         VectorCopy(brush->points[0].v, brush->maxs);
 321         for (j = 1;j < brush->numpoints;j++)
 322         {
 323                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
 324                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
 325                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
 326                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
 327                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
 328                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
 329         }
 330         brush->mins[0] -= 1;
 331         brush->mins[1] -= 1;
 332         brush->mins[2] -= 1;
 333         brush->maxs[0] += 1;
 334         brush->maxs[1] += 1;
 335         brush->maxs[2] += 1;
 336         Collision_ValidateBrush(brush);
 337         return brush;
 338 }
 339
 340
 341
 342 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 343 {
 344         int i;
 345         float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
 346         colpointf_t *p, *p2;
 347
 348         // FIXME: these probably don't actually need to be normalized if the collision code does not care
 349         if (brush->numpoints == 3)
 350         {
 351                 // optimized triangle case
 352                 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
 353                 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
 354                 {
 355                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 356                         brush->numplanes = 0;
 357                         return;
 358                 }
 359                 else
 360                 {
 361                         brush->numplanes = 5;
 362                         VectorNormalize(brush->planes[0].normal);
 363                         brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
 364                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 365                         brush->planes[1].dist = -brush->planes[0].dist;
 366                         VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
 367                         VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
 368                         VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
 369 #if 1
 370                         {
 371                                 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
 372                                 int i, best;
 373                                 float dist, bestdist;
 374                                 bestdist = fabs(brush->planes[0].normal[0]);
 375                                 best = 0;
 376                                 for (i = 1;i < 3;i++)
 377                                 {
 378                                         dist = fabs(brush->planes[0].normal[i]);
 379                                         if (bestdist < dist)
 380                                         {
 381                                                 bestdist = dist;
 382                                                 best = i;
 383                                         }
 384                                 }
 385                                 VectorClear(projectionnormal);
 386                                 if (brush->planes[0].normal[best] < 0)
 387                                         projectionnormal[best] = -1;
 388                                 else
 389                                         projectionnormal[best] = 1;
 390                                 VectorCopy(edge0, projectionedge0);
 391                                 VectorCopy(edge1, projectionedge1);
 392                                 VectorCopy(edge2, projectionedge2);
 393                                 projectionedge0[best] = 0;
 394                                 projectionedge1[best] = 0;
 395                                 projectionedge2[best] = 0;
 396                                 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
 397                                 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
 398                                 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
 399                         }
 400 #else
 401                         CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
 402                         CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
 403                         CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
 404 #endif
 405                         VectorNormalize(brush->planes[2].normal);
 406                         VectorNormalize(brush->planes[3].normal);
 407                         VectorNormalize(brush->planes[4].normal);
 408                         brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
 409                         brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
 410                         brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
 411
 412                         if (developer.integer >= 100)
 413                         {
 414                                 // validation code
 415 #if 0
 416                                 float temp[3];
 417
 418                                 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
 419                                 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
 420                                 CrossProduct(edge0, edge1, normal);
 421                                 VectorNormalize(normal);
 422                                 VectorSubtract(normal, brush->planes[0].normal, temp);
 423                                 if (VectorLength(temp) > 0.01f)
 424                                         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]);
 425                                 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)
 426                                         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);
 427 #if 0
 428                                 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
 429                                         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);
 430                                 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
 431                                         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);
 432                                 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
 433                                         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);
 434                                 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
 435                                         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]);
 436                                 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
 437                                         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]);
 438                                 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
 439                                         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]);
 440 #endif
 441 #endif
 442                                 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)
 443                                         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);
 444                                 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)
 445                                         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);
 446                                 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)
 447                                         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);
 448                                 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)
 449                                         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);
 450                                 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)
 451                                         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);
 452                         }
 453                 }
 454         }
 455         else
 456         {
 457                 // choose best surface normal for polygon's plane
 458                 bestdist = 0;
 459                 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
 460                 {
 461                         VectorSubtract(p[-1].v, p[0].v, edge0);
 462                         VectorSubtract(p[1].v, p[0].v, edge1);
 463                         CrossProduct(edge0, edge1, normal);
 464                         //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
 465                         dist = DotProduct(normal, normal);
 466                         if (i == 0 || bestdist < dist)
 467                         {
 468                                 bestdist = dist;
 469                                 VectorCopy(normal, brush->planes->normal);
 470                         }
 471                 }
 472                 if (bestdist < 0.0001f)
 473                 {
 474                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 475                         brush->numplanes = 0;
 476                         return;
 477                 }
 478                 else
 479                 {
 480                         brush->numplanes = brush->numpoints + 2;
 481                         VectorNormalize(brush->planes->normal);
 482                         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 483
 484                         // negate plane to create other side
 485                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 486                         brush->planes[1].dist = -brush->planes[0].dist;
 487                         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
 488                         {
 489                                 VectorSubtract(p->v, p2->v, edge0);
 490                                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
 491                                 VectorNormalize(brush->planes[i + 2].normal);
 492                                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
 493                         }
 494                 }
 495         }
 496
 497         if (developer.integer >= 100)
 498         {
 499                 // validity check - will be disabled later
 500                 Collision_ValidateBrush(brush);
 501                 for (i = 0;i < brush->numplanes;i++)
 502                 {
 503                         int j;
 504                         for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
 505                                 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + COLLISION_PLANE_DIST_EPSILON)
 506                                         Con_Printf("Error in brush plane generation, plane %i\n", i);
 507                 }
 508         }
 509 }
 510
 511 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
 512 {
 513         colbrushf_t *brush;
 514         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
 515         brush->supercontents = supercontents;
 516         brush->numpoints = numpoints;
 517         brush->numplanes = numpoints + 2;
 518         brush->planes = (colplanef_t *)(brush + 1);
 519         brush->points = (colpointf_t *)points;
 520         Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...");
 521         return brush;
 522 }
 523
 524 // NOTE: start and end of each brush pair must have same numplanes/numpoints
 525 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)
 526 {
 527         int nplane, nplane2, fstartsolid = true, fendsolid = true, brushsolid, hitq3surfaceflags = 0;
 528         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
 529         const colplanef_t *startplane, *endplane;
 530         texture_t *hittexture = NULL;
 531
 532         VectorClear(newimpactnormal);
 533
 534         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 535         {
 536                 nplane2 = nplane;
 537                 if (nplane2 >= thatbrush_start->numplanes)
 538                 {
 539                         nplane2 -= thatbrush_start->numplanes;
 540                         startplane = thisbrush_start->planes + nplane2;
 541                         endplane = thisbrush_end->planes + nplane2;
 542                         if (developer.integer >= 100)
 543                         {
 544                                 // any brush with degenerate planes is not worth handling
 545                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 546                                 {
 547                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
 548                                         return;
 549                                 }
 550                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
 551                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 552                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
 553                         }
 554                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
 555                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
 556                 }
 557                 else
 558                 {
 559                         startplane = thatbrush_start->planes + nplane2;
 560                         endplane = thatbrush_end->planes + nplane2;
 561                         if (developer.integer >= 100)
 562                         {
 563                                 // any brush with degenerate planes is not worth handling
 564                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 565                                 {
 566                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
 567                                         return;
 568                                 }
 569                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 570                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 571                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
 572                         }
 573                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
 574                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
 575                 }
 576                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 577
 578                 if(d1 > d2)
 579                 {
 580                         // moving into brush
 581                         if(d2 > 0)
 582                                 return;
 583                         if(d1 > 0)
 584                         {
 585                                 // enter
 586                                 fstartsolid = false;
 587                                 imove = 1 / (d1 - d2);
 588                                 f = (d1 - collision_enternudge.value) * imove;
 589                                 if (enterfrac < f)
 590                                 {
 591                                         enterfrac = f;
 592                                         enterfrac2 = f - collision_impactnudge.value * imove;
 593                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 594                                         hitq3surfaceflags = startplane->q3surfaceflags;
 595                                         hittexture = startplane->texture;
 596                                 }
 597                         }
 598                 }
 599                 else
 600                 {
 601                         // moving out of brush
 602                         if(d1 > 0)
 603                                 return;
 604                         if(d2 > 0)
 605                         {
 606                                 // leave
 607                                 fendsolid = false;
 608                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 609                                 if (leavefrac > f)
 610                                         leavefrac = f;
 611                         }
 612                 }
 613         }
 614
 615         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 616         if (fstartsolid)
 617         {
 618                 trace->startsupercontents |= thatbrush_start->supercontents;
 619                 if (brushsolid)
 620                 {
 621                         trace->startsolid = true;
 622                         if (fendsolid)
 623                                 trace->allsolid = true;
 624                 }
 625         }
 626
 627         // LordHavoc: we need an epsilon nudge here because for a point trace the
 628         // penetrating line segment is normally zero length if this brush was
 629         // generated from a polygon (infinitely thin), and could even be slightly
 630         // positive or negative due to rounding errors in that case.
 631         if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 632         {
 633 #if 0
 634                 // broken
 635                 if (thatbrush_start->ispolygon)
 636                 {
 637                         d1 = nearestplanedist_float(thatbrush_start->planes[0].normal, thisbrush_start->points, thisbrush_start->numpoints) - thatbrush_start->planes[0].dist - collision_startnudge.value;
 638                         d2 = nearestplanedist_float(thatbrush_end->planes[0].normal, thisbrush_end->points, thisbrush_end->numpoints) - thatbrush_end->planes[0].dist - collision_endnudge.value;
 639                         move = d1 - d2;
 640                         if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
 641                                 return;
 642                         // enter
 643                         imove = 1 / move;
 644                         enterfrac = (d1 - collision_enternudge.value) * imove;
 645                         if (enterfrac < trace->realfraction)
 646                         {
 647                                 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
 648                                 trace->hitsupercontents = thatbrush_start->supercontents;
 649                                 trace->hitq3surfaceflags = thatbrush_start->planes[0].q3surfaceflags;
 650                                 trace->hittexture = thatbrush_start->planes[0].texture;
 651                                 trace->realfraction = bound(0, enterfrac, 1);
 652                                 trace->fraction = bound(0, enterfrac2, 1);
 653                                 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
 654                         }
 655                 }
 656                 else
 657 #endif
 658                 {
 659                         trace->hitsupercontents = thatbrush_start->supercontents;
 660                         trace->hitq3surfaceflags = hitq3surfaceflags;
 661                         trace->hittexture = hittexture;
 662                         trace->realfraction = bound(0, enterfrac, 1);
 663                         trace->fraction = bound(0, enterfrac2, 1);
 664                         VectorCopy(newimpactnormal, trace->plane.normal);
 665                 }
 666         }
 667 }
 668
 669 // NOTE: start and end brush pair must have same numplanes/numpoints
 670 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
 671 {
 672         int nplane, fstartsolid = true, fendsolid = true, brushsolid, hitq3surfaceflags = 0;
 673         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
 674         const colplanef_t *startplane, *endplane;
 675         texture_t *hittexture = NULL;
 676
 677         VectorClear(newimpactnormal);
 678
 679         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 680         {
 681                 startplane = thatbrush_start->planes + nplane;
 682                 endplane = thatbrush_end->planes + nplane;
 683                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
 684                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
 685                 if (developer.integer >= 100)
 686                 {
 687                         // any brush with degenerate planes is not worth handling
 688                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 689                         {
 690                                 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
 691                                 return;
 692                         }
 693                         if (thatbrush_start->numpoints)
 694                         {
 695                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 696                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 697                                         Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
 698                         }
 699                 }
 700
 701                 if (d1 > d2)
 702                 {
 703                         // moving into brush
 704                         if (d2 > 0)
 705                                 return;
 706                         if (d1 > 0)
 707                         {
 708                                 // enter
 709                                 fstartsolid = false;
 710                                 imove = 1 / (d1 - d2);
 711                                 f = (d1 - collision_enternudge.value) * imove;
 712                                 if (enterfrac < f)
 713                                 {
 714                                         enterfrac = f;
 715                                         enterfrac2 = f - collision_impactnudge.value * imove;
 716                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 717                                         hitq3surfaceflags = startplane->q3surfaceflags;
 718                                         hittexture = startplane->texture;
 719                                 }
 720                         }
 721                 }
 722                 else
 723                 {
 724                         // moving out of brush
 725                         if (d1 > 0)
 726                                 return;
 727                         if (d2 > 0)
 728                         {
 729                                 // leave
 730                                 fendsolid = false;
 731                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 732                                 if (leavefrac > f)
 733                                         leavefrac = f;
 734                         }
 735                 }
 736         }
 737
 738         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 739         if (fstartsolid)
 740         {
 741                 trace->startsupercontents |= thatbrush_start->supercontents;
 742                 if (brushsolid)
 743                 {
 744                         trace->startsolid = true;
 745                         if (fendsolid)
 746                                 trace->allsolid = true;
 747                 }
 748         }
 749
 750         // LordHavoc: we need an epsilon nudge here because for a point trace the
 751         // penetrating line segment is normally zero length if this brush was
 752         // generated from a polygon (infinitely thin), and could even be slightly
 753         // positive or negative due to rounding errors in that case.
 754         if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac <= leavefrac)
 755         {
 756 #if 0
 757                 // broken
 758                 if (thatbrush_start->ispolygon)
 759                 {
 760                         d1 = DotProduct(thatbrush_start->planes[0].normal, linestart) - thatbrush_start->planes[0].dist - collision_startnudge.value;
 761                         d2 = DotProduct(thatbrush_end->planes[0].normal, lineend) - thatbrush_end->planes[0].dist - collision_endnudge.value;
 762                         move = d1 - d2;
 763                         if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
 764                                 return;
 765                         // enter
 766                         imove = 1 / move;
 767                         enterfrac = (d1 - collision_enternudge.value) * imove;
 768                         if (enterfrac < trace->realfraction)
 769                         {
 770                                 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
 771                                 trace->hitsupercontents = thatbrush_start->supercontents;
 772                                 trace->hitq3surfaceflags = hitq3surfaceflags;
 773                                 trace->hittexture = hittexture;
 774                                 trace->realfraction = bound(0, enterfrac, 1);
 775                                 trace->fraction = bound(0, enterfrac2, 1);
 776                                 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
 777                         }
 778                 }
 779                 else
 780 #endif
 781                 {
 782                         trace->hitsupercontents = thatbrush_start->supercontents;
 783                         trace->hitq3surfaceflags = hitq3surfaceflags;
 784                         trace->hittexture = hittexture;
 785                         trace->realfraction = bound(0, enterfrac, 1);
 786                         trace->fraction = bound(0, enterfrac2, 1);
 787                         VectorCopy(newimpactnormal, trace->plane.normal);
 788                 }
 789         }
 790 }
 791
 792 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
 793 {
 794         int nplane;
 795         const colplanef_t *plane;
 796
 797         for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
 798                 if (DotProduct(plane->normal, point) > plane->dist)
 799                         return;
 800
 801         trace->startsupercontents |= thatbrush->supercontents;
 802         if (trace->hitsupercontentsmask & thatbrush->supercontents)
 803         {
 804                 trace->startsolid = true;
 805                 trace->allsolid = true;
 806         }
 807 }
 808
 809 static colpointf_t polyf_points[256];
 810 static colplanef_t polyf_planes[256 + 2];
 811 static colbrushf_t polyf_brush;
 812
 813 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
 814 {
 815         while (numpoints--)
 816         {
 817                 out->v[0] = floor(in->v[0] * fractionprecision + 0.5f) * invfractionprecision;
 818                 out->v[1] = floor(in->v[1] * fractionprecision + 0.5f) * invfractionprecision;
 819                 out->v[2] = floor(in->v[2] * fractionprecision + 0.5f) * invfractionprecision;
 820         }
 821 }
 822
 823 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
 824 {
 825         if (numpoints > 256)
 826         {
 827                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 828                 return;
 829         }
 830         polyf_brush.numpoints = numpoints;
 831         polyf_brush.numplanes = numpoints + 2;
 832         //polyf_brush.points = (colpointf_t *)points;
 833         polyf_brush.planes = polyf_planes;
 834         polyf_brush.supercontents = supercontents;
 835         polyf_brush.points = polyf_points;
 836         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 837         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 838         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 839         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 840 }
 841
 842 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, int q3surfaceflags, texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
 843 {
 844         int i;
 845         float facemins[3], facemaxs[3];
 846         polyf_brush.numpoints = 3;
 847         polyf_brush.numplanes = 5;
 848         polyf_brush.points = polyf_points;
 849         polyf_brush.planes = polyf_planes;
 850         polyf_brush.supercontents = supercontents;
 851         for (i = 0;i < polyf_brush.numplanes;i++)
 852         {
 853                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
 854                 polyf_brush.planes[i].texture = texture;
 855         }
 856         for (i = 0;i < numtriangles;i++, element3i += 3)
 857         {
 858                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 859                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 860                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 861                 Collision_SnapCopyPoints(3, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 862                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 863                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 864                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 865                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 866                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 867                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 868                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 869                 {
 870                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 871                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 872                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 873                 }
 874         }
 875 }
 876
 877 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
 878 {
 879         if (numpoints > 256)
 880         {
 881                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 882                 return;
 883         }
 884         polyf_brush.numpoints = numpoints;
 885         polyf_brush.numplanes = numpoints + 2;
 886         //polyf_brush.points = (colpointf_t *)points;
 887         polyf_brush.points = polyf_points;
 888         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 889         polyf_brush.planes = polyf_planes;
 890         polyf_brush.supercontents = supercontents;
 891         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 892         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 893         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 894 }
 895
 896 void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, int q3surfaceflags, texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
 897 {
 898         int i;
 899 #if 1
 900         // FIXME: snap vertices?
 901         for (i = 0;i < numtriangles;i++, element3i += 3)
 902                 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
 903 #else
 904         polyf_brush.numpoints = 3;
 905         polyf_brush.numplanes = 5;
 906         polyf_brush.points = polyf_points;
 907         polyf_brush.planes = polyf_planes;
 908         polyf_brush.supercontents = supercontents;
 909         for (i = 0;i < polyf_brush.numplanes;i++)
 910         {
 911                 polyf_brush.planes[i].supercontents = supercontents;
 912                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
 913                 polyf_brush.planes[i].texture = texture;
 914         }
 915         for (i = 0;i < numtriangles;i++, element3i += 3)
 916         {
 917                 float facemins[3], facemaxs[3];
 918                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 919                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 920                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 921                 Collision_SnapCopyPoints(numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 922                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 923                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 924                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 925                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 926                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 927                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 928                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 929                 {
 930                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 931                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 932                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 933                 }
 934         }
 935 #endif
 936 }
 937
 938
 939 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
 940 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
 941 static colbrushf_t polyf_brushstart, polyf_brushend;
 942
 943 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, int q3surfaceflags, texture_t *texture)
 944 {
 945         int i;
 946         if (numpoints > 256)
 947         {
 948                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 949                 return;
 950         }
 951         polyf_brushstart.numpoints = numpoints;
 952         polyf_brushstart.numplanes = numpoints + 2;
 953         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
 954         polyf_brushstart.planes = polyf_planesstart;
 955         polyf_brushstart.supercontents = supercontents;
 956         for (i = 0;i < numpoints;i++)
 957                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
 958         polyf_brushend.numpoints = numpoints;
 959         polyf_brushend.numplanes = numpoints + 2;
 960         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
 961         polyf_brushend.planes = polyf_planesend;
 962         polyf_brushend.supercontents = supercontents;
 963         for (i = 0;i < numpoints;i++)
 964                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
 965         for (i = 0;i < polyf_brushstart.numplanes;i++)
 966         {
 967                 polyf_brushstart.planes[i].q3surfaceflags = q3surfaceflags;
 968                 polyf_brushstart.planes[i].texture = texture;
 969         }
 970         Collision_SnapCopyPoints(numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
 971         Collision_SnapCopyPoints(numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
 972         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
 973         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
 974
 975         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
 976         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
 977
 978         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
 979 }
 980
 981
 982
 983 #define MAX_BRUSHFORBOX 16
 984 static int brushforbox_index = 0;
 985 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
 986 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
 987 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
 988 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
 989
 990 void Collision_InitBrushForBox(void)
 991 {
 992         int i;
 993         for (i = 0;i < MAX_BRUSHFORBOX;i++)
 994         {
 995                 brushforbox_brush[i].numpoints = 8;
 996                 brushforbox_brush[i].numplanes = 6;
 997                 brushforbox_brush[i].points = brushforbox_point + i * 8;
 998                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
 999                 brushforpoint_brush[i].numpoints = 1;
1000                 brushforpoint_brush[i].numplanes = 0;
1001                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1002                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1003         }
1004 }
1005
1006 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, texture_t *texture)
1007 {
1008         int i, j;
1009         vec3_t v;
1010         colbrushf_t *brush;
1011         if (brushforbox_brush[0].numpoints == 0)
1012                 Collision_InitBrushForBox();
1013         // FIXME: these probably don't actually need to be normalized if the collision code does not care
1014         if (VectorCompare(mins, maxs))
1015         {
1016                 // point brush
1017                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1018                 VectorCopy(mins, brush->points->v);
1019         }
1020         else
1021         {
1022                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1023                 // FIXME: optimize
1024                 for (i = 0;i < 8;i++)
1025                 {
1026                         v[0] = i & 1 ? maxs[0] : mins[0];
1027                         v[1] = i & 2 ? maxs[1] : mins[1];
1028                         v[2] = i & 4 ? maxs[2] : mins[2];
1029                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1030                 }
1031                 // FIXME: optimize!
1032                 for (i = 0;i < 6;i++)
1033                 {
1034                         VectorClear(v);
1035                         v[i >> 1] = i & 1 ? 1 : -1;
1036                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1037                         VectorNormalize(brush->planes[i].normal);
1038                 }
1039         }
1040         brush->supercontents = supercontents;
1041         for (j = 0;j < brush->numplanes;j++)
1042         {
1043                 brush->planes[j].q3surfaceflags = q3surfaceflags;
1044                 brush->planes[j].texture = texture;
1045                 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1046         }
1047         VectorCopy(brush->points[0].v, brush->mins);
1048         VectorCopy(brush->points[0].v, brush->maxs);
1049         for (j = 1;j < brush->numpoints;j++)
1050         {
1051                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1052                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1053                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1054                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1055                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1056                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1057         }
1058         brush->mins[0] -= 1;
1059         brush->mins[1] -= 1;
1060         brush->mins[2] -= 1;
1061         brush->maxs[0] += 1;
1062         brush->maxs[1] += 1;
1063         brush->maxs[2] += 1;
1064         Collision_ValidateBrush(brush);
1065         return brush;
1066 }
1067
1068 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, int supercontents, int q3surfaceflags, texture_t *texture)
1069 {
1070         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1071         vec3_t startmins, startmaxs, endmins, endmaxs;
1072
1073         // create brushes for the collision
1074         VectorAdd(start, mins, startmins);
1075         VectorAdd(start, maxs, startmaxs);
1076         VectorAdd(end, mins, endmins);
1077         VectorAdd(end, maxs, endmaxs);
1078         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs, supercontents, q3surfaceflags, texture);
1079         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs, 0, 0, NULL);
1080         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs, 0, 0, NULL);
1081
1082         memset(trace, 0, sizeof(trace_t));
1083         trace->hitsupercontentsmask = hitsupercontentsmask;
1084         trace->fraction = 1;
1085         trace->realfraction = 1;
1086         trace->allsolid = true;
1087         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1088 }
1089
1090 //pseudocode for detecting line/sphere overlap without calculating an impact point
1091 //linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
1092
1093 // LordHavoc: currently unused, but tested
1094 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1095 // by simply adding the moving sphere's radius to the sphereradius parameter,
1096 // all the results are correct (impactpoint, impactnormal, and fraction)
1097 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1098 {
1099         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1100         // make sure the impactpoint and impactnormal are valid even if there is
1101         // no collision
1102         VectorCopy(lineend, impactpoint);
1103         VectorClear(impactnormal);
1104         // calculate line direction
1105         VectorSubtract(lineend, linestart, dir);
1106         // normalize direction
1107         linelength = VectorLength(dir);
1108         if (linelength)
1109         {
1110                 scale = 1.0 / linelength;
1111                 VectorScale(dir, scale, dir);
1112         }
1113         // this dotproduct calculates the distance along the line at which the
1114         // sphere origin is (nearest point to the sphere origin on the line)
1115         impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
1116         // calculate point on line at that distance, and subtract the
1117         // sphereorigin from it, so we have a vector to measure for the distance
1118         // of the line from the sphereorigin (deviation, how off-center it is)
1119         VectorMA(linestart, impactdist, dir, v);
1120         VectorSubtract(v, sphereorigin, v);
1121         deviationdist = VectorLength2(v);
1122         // if outside the radius, it's a miss for sure
1123         // (we do this comparison using squared radius to avoid a sqrt)
1124         if (deviationdist > sphereradius*sphereradius)
1125                 return 1; // miss (off to the side)
1126         // nudge back to find the correct impact distance
1127         impactdist += deviationdist - sphereradius;
1128         if (impactdist >= linelength)
1129                 return 1; // miss (not close enough)
1130         if (impactdist < 0)
1131                 return 1; // miss (linestart is past or inside sphere)
1132         // calculate new impactpoint
1133         VectorMA(linestart, impactdist, dir, impactpoint);
1134         // calculate impactnormal (surface normal at point of impact)
1135         VectorSubtract(impactpoint, sphereorigin, impactnormal);
1136         // normalize impactnormal
1137         VectorNormalize(impactnormal);
1138         // return fraction of movement distance
1139         return impactdist / linelength;
1140 }
1141
1142 void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const float *point0, const float *point1, const float *point2, int supercontents, int q3surfaceflags, texture_t *texture)
1143 {
1144 #if 1
1145         // more optimized
1146         float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1147
1148         // this function executes:
1149         // 32 ops when line starts behind triangle
1150         // 38 ops when line ends infront of triangle
1151         // 43 ops when line fraction is already closer than this triangle
1152         // 72 ops when line is outside edge 01
1153         // 92 ops when line is outside edge 21
1154         // 115 ops when line is outside edge 02
1155         // 123 ops when line impacts triangle and updates trace results
1156
1157         // this code is designed for clockwise triangles, conversion to
1158         // counterclockwise would require swapping some things around...
1159         // it is easier to simply swap the point0 and point2 parameters to this
1160         // function when calling it than it is to rewire the internals.
1161
1162         // calculate the faceplanenormal of the triangle, this represents the front side
1163         // 15 ops
1164         VectorSubtract(point0, point1, edge01);
1165         VectorSubtract(point2, point1, edge21);
1166         CrossProduct(edge01, edge21, faceplanenormal);
1167         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1168         // 6 ops
1169         faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1170         if (faceplanenormallength2 < 0.0001f)
1171                 return;
1172         // calculate the distance
1173         // 5 ops
1174         faceplanedist = DotProduct(point0, faceplanenormal);
1175
1176         // if start point is on the back side there is no collision
1177         // (we don't care about traces going through the triangle the wrong way)
1178
1179         // calculate the start distance
1180         // 6 ops
1181         d1 = DotProduct(faceplanenormal, linestart);
1182         if (d1 <= faceplanedist)
1183                 return;
1184
1185         // calculate the end distance
1186         // 6 ops
1187         d2 = DotProduct(faceplanenormal, lineend);
1188         // if both are in front, there is no collision
1189         if (d2 >= faceplanedist)
1190                 return;
1191
1192         // from here on we know d1 is >= 0 and d2 is < 0
1193         // this means the line starts infront and ends behind, passing through it
1194
1195         // calculate the recipricol of the distance delta,
1196         // so we can use it multiple times cheaply (instead of division)
1197         // 2 ops
1198         d = 1.0f / (d1 - d2);
1199         // calculate the impact fraction by taking the start distance (> 0)
1200         // and subtracting the face plane distance (this is the distance of the
1201         // triangle along that same normal)
1202         // then multiply by the recipricol distance delta
1203         // 2 ops
1204         f = (d1 - faceplanedist) * d;
1205         // skip out if this impact is further away than previous ones
1206         // 1 ops
1207         if (f > trace->realfraction)
1208                 return;
1209         // calculate the perfect impact point for classification of insidedness
1210         // 9 ops
1211         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1212         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1213         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1214
1215         // calculate the edge normal and reject if impact is outside triangle
1216         // (an edge normal faces away from the triangle, to get the desired normal
1217         //  a crossproduct with the faceplanenormal is used, and because of the way
1218         // the insidedness comparison is written it does not need to be normalized)
1219
1220         // first use the two edges from the triangle plane math
1221         // the other edge only gets calculated if the point survives that long
1222
1223         // 20 ops
1224         CrossProduct(edge01, faceplanenormal, edgenormal);
1225         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1226                 return;
1227
1228         // 20 ops
1229         CrossProduct(faceplanenormal, edge21, edgenormal);
1230         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1231                 return;
1232
1233         // 23 ops
1234         VectorSubtract(point0, point2, edge02);
1235         CrossProduct(faceplanenormal, edge02, edgenormal);
1236         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1237                 return;
1238
1239         // 8 ops (rare)
1240
1241         // store the new trace fraction
1242         trace->realfraction = f;
1243
1244         // calculate a nudged fraction to keep it out of the surface
1245         // (the main fraction remains perfect)
1246         trace->fraction = f - collision_impactnudge.value * d;
1247
1248         // store the new trace plane (because collisions only happen from
1249         // the front this is always simply the triangle normal, never flipped)
1250         d = 1.0 / sqrt(faceplanenormallength2);
1251         VectorScale(faceplanenormal, d, trace->plane.normal);
1252         trace->plane.dist = faceplanedist * d;
1253
1254         trace->hitsupercontents = supercontents;
1255         trace->hitq3surfaceflags = q3surfaceflags;
1256         trace->hittexture = texture;
1257 #else
1258         float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1259
1260         // this code is designed for clockwise triangles, conversion to
1261         // counterclockwise would require swapping some things around...
1262         // it is easier to simply swap the point0 and point2 parameters to this
1263         // function when calling it than it is to rewire the internals.
1264
1265         // calculate the unnormalized faceplanenormal of the triangle,
1266         // this represents the front side
1267         TriangleNormal(point0, point1, point2, faceplanenormal);
1268         // there's no point in processing a degenerate triangle
1269         // (GIGO - Garbage In, Garbage Out)
1270         if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1271                 return;
1272         // calculate the unnormalized distance
1273         faceplanedist = DotProduct(point0, faceplanenormal);
1274
1275         // calculate the unnormalized start distance
1276         d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1277         // if start point is on the back side there is no collision
1278         // (we don't care about traces going through the triangle the wrong way)
1279         if (d1 <= 0)
1280                 return;
1281
1282         // calculate the unnormalized end distance
1283         d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1284         // if both are in front, there is no collision
1285         if (d2 >= 0)
1286                 return;
1287
1288         // from here on we know d1 is >= 0 and d2 is < 0
1289         // this means the line starts infront and ends behind, passing through it
1290
1291         // calculate the recipricol of the distance delta,
1292         // so we can use it multiple times cheaply (instead of division)
1293         d = 1.0f / (d1 - d2);
1294         // calculate the impact fraction by taking the start distance (> 0)
1295         // and subtracting the face plane distance (this is the distance of the
1296         // triangle along that same normal)
1297         // then multiply by the recipricol distance delta
1298         f = d1 * d;
1299         // skip out if this impact is further away than previous ones
1300         if (f > trace->realfraction)
1301                 return;
1302         // calculate the perfect impact point for classification of insidedness
1303         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1304         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1305         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1306
1307         // calculate the edge normal and reject if impact is outside triangle
1308         // (an edge normal faces away from the triangle, to get the desired normal
1309         //  a crossproduct with the faceplanenormal is used, and because of the way
1310         // the insidedness comparison is written it does not need to be normalized)
1311
1312         VectorSubtract(point2, point0, edge);
1313         CrossProduct(edge, faceplanenormal, edgenormal);
1314         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1315                 return;
1316
1317         VectorSubtract(point0, point1, edge);
1318         CrossProduct(edge, faceplanenormal, edgenormal);
1319         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1320                 return;
1321
1322         VectorSubtract(point1, point2, edge);
1323         CrossProduct(edge, faceplanenormal, edgenormal);
1324         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1325                 return;
1326
1327         // store the new trace fraction
1328         trace->realfraction = bound(0, f, 1);
1329
1330         // store the new trace plane (because collisions only happen from
1331         // the front this is always simply the triangle normal, never flipped)
1332         VectorNormalize(faceplanenormal);
1333         VectorCopy(faceplanenormal, trace->plane.normal);
1334         trace->plane.dist = DotProduct(point0, faceplanenormal);
1335
1336         // calculate the normalized start and end distances
1337         d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1338         d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1339
1340         // calculate a nudged fraction to keep it out of the surface
1341         // (the main fraction remains perfect)
1342         fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1343         trace->fraction = bound(0, fnudged, 1);
1344
1345         // store the new trace endpos
1346         // not needed, it's calculated later when the trace is finished
1347         //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1348         //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1349         //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1350         trace->hitsupercontents = supercontents;
1351         trace->hitq3surfaceflags = q3surfaceflags;
1352         trace->hittexture = texture;
1353 #endif
1354 }
1355
1356 typedef struct colbspnode_s
1357 {
1358         mplane_t plane;
1359         struct colbspnode_s *children[2];
1360         // the node is reallocated or split if max is reached
1361         int numcolbrushf;
1362         int maxcolbrushf;
1363         colbrushf_t **colbrushflist;
1364         //int numcolbrushd;
1365         //int maxcolbrushd;
1366         //colbrushd_t **colbrushdlist;
1367 }
1368 colbspnode_t;
1369
1370 typedef struct colbsp_s
1371 {
1372         mempool_t *mempool;
1373         colbspnode_t *nodes;
1374 }
1375 colbsp_t;
1376
1377 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1378 {
1379         colbsp_t *bsp;
1380         bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
1381         bsp->mempool = mempool;
1382         bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1383         return bsp;
1384 }
1385
1386 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1387 {
1388         if (node->children[0])
1389                 Collision_FreeCollisionBSPNode(node->children[0]);
1390         if (node->children[1])
1391                 Collision_FreeCollisionBSPNode(node->children[1]);
1392         while (--node->numcolbrushf)
1393                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1394         //while (--node->numcolbrushd)
1395         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1396         Mem_Free(node);
1397 }
1398
1399 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1400 {
1401         Collision_FreeCollisionBSPNode(bsp->nodes);
1402         Mem_Free(bsp);
1403 }
1404
1405 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1406 {
1407         int i;
1408         colpointf_t *ps, *pe;
1409         float tempstart[3], tempend[3];
1410         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1411         VectorCopy(mins, maxs);
1412         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1413         {
1414                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1415                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1416                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1417                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1418                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1419                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1420                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1421                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1422         }
1423         mins[0] -= 1;
1424         mins[1] -= 1;
1425         mins[2] -= 1;
1426         maxs[0] += 1;
1427         maxs[1] += 1;
1428         maxs[2] += 1;
1429 }
1430