5 #define COLLISION_SNAPSCALE (8.0f)
6 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
8 cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125"};
9 cvar_t collision_startnudge = {0, "collision_startnudge", "0"};
10 cvar_t collision_endnudge = {0, "collision_endnudge", "0"};
11 cvar_t collision_enternudge = {0, "collision_enternudge", "0"};
12 cvar_t collision_leavenudge = {0, "collision_leavenudge", "0"};
17 // the hull we're tracing through
20 // the trace structure to fill in
23 // start and end of the trace (in model space)
30 // overrides the CONTENTS_SOLID in the box bsp tree
33 RecursiveHullCheckTraceInfo_t;
35 #define HULLCHECKSTATE_EMPTY 0
36 #define HULLCHECKSTATE_SOLID 1
37 #define HULLCHECKSTATE_DONE 2
39 static int RecursiveHullCheck(RecursiveHullCheckTraceInfo_t *t, int num, double p1f, double p2f, double p1[3], double p2[3])
41 // status variables, these don't need to be saved on the stack when
42 // recursing... but are because this should be thread-safe
43 // (note: tracing against a bbox is not thread-safe, yet)
48 // variables that need to be stored on the stack when recursing
53 // LordHavoc: a goto! everyone flee in terror... :)
58 num = Mod_Q1BSP_SuperContentsFromNativeContents(NULL, num);
59 if (!t->trace->startfound)
61 t->trace->startfound = true;
62 t->trace->startsupercontents |= num;
64 if (num & SUPERCONTENTS_LIQUIDSMASK)
65 t->trace->inwater = true;
67 t->trace->inopen = true;
68 if (num & t->trace->hitsupercontentsmask)
70 // if the first leaf is solid, set startsolid
71 if (t->trace->allsolid)
72 t->trace->startsolid = true;
73 #if COLLISIONPARANOID >= 3
76 return HULLCHECKSTATE_SOLID;
80 t->trace->allsolid = false;
81 #if COLLISIONPARANOID >= 3
84 return HULLCHECKSTATE_EMPTY;
88 // find the point distances
89 node = t->hull->clipnodes + num;
91 plane = t->hull->planes + node->planenum;
94 t1 = p1[plane->type] - plane->dist;
95 t2 = p2[plane->type] - plane->dist;
99 t1 = DotProduct (plane->normal, p1) - plane->dist;
100 t2 = DotProduct (plane->normal, p2) - plane->dist;
107 #if COLLISIONPARANOID >= 3
110 num = node->children[1];
119 #if COLLISIONPARANOID >= 3
122 num = node->children[0];
128 // the line intersects, find intersection point
129 // LordHavoc: this uses the original trace for maximum accuracy
130 #if COLLISIONPARANOID >= 3
135 t1 = t->start[plane->type] - plane->dist;
136 t2 = t->end[plane->type] - plane->dist;
140 t1 = DotProduct (plane->normal, t->start) - plane->dist;
141 t2 = DotProduct (plane->normal, t->end) - plane->dist;
144 midf = t1 / (t1 - t2);
145 midf = bound(p1f, midf, p2f);
146 VectorMA(t->start, midf, t->dist, mid);
148 // recurse both sides, front side first
149 ret = RecursiveHullCheck (t, node->children[side], p1f, midf, p1, mid);
150 // if this side is not empty, return what it is (solid or done)
151 if (ret != HULLCHECKSTATE_EMPTY)
154 ret = RecursiveHullCheck (t, node->children[side ^ 1], midf, p2f, mid, p2);
155 // if other side is not solid, return what it is (empty or done)
156 if (ret != HULLCHECKSTATE_SOLID)
159 // front is air and back is solid, this is the impact point...
162 t->trace->plane.dist = -plane->dist;
163 VectorNegate (plane->normal, t->trace->plane.normal);
167 t->trace->plane.dist = plane->dist;
168 VectorCopy (plane->normal, t->trace->plane.normal);
171 // calculate the true fraction
172 t1 = DotProduct(t->trace->plane.normal, t->start) - t->trace->plane.dist - collision_startnudge.value;
173 t2 = DotProduct(t->trace->plane.normal, t->end) - t->trace->plane.dist - collision_endnudge.value;
174 midf = t1 / (t1 - t2);
175 t->trace->realfraction = bound(0, midf, 1);
177 // calculate the return fraction which is nudged off the surface a bit
178 midf = (t1 - collision_impactnudge.value) / (t1 - t2);
179 t->trace->fraction = bound(0, midf, 1);
181 #if COLLISIONPARANOID >= 3
184 return HULLCHECKSTATE_DONE;
187 static hull_t box_hull;
188 static dclipnode_t box_clipnodes[6];
189 static mplane_t box_planes[6];
191 void Mod_Q1BSP_Collision_Init (void)
196 //Set up the planes and clipnodes so that the six floats of a bounding box
197 //can just be stored out and get a proper hull_t structure.
199 box_hull.clipnodes = box_clipnodes;
200 box_hull.planes = box_planes;
201 box_hull.firstclipnode = 0;
202 box_hull.lastclipnode = 5;
204 for (i = 0;i < 6;i++)
206 box_clipnodes[i].planenum = i;
210 box_clipnodes[i].children[side] = CONTENTS_EMPTY;
212 box_clipnodes[i].children[side^1] = i + 1;
214 box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
216 box_planes[i].type = i>>1;
217 box_planes[i].normal[i>>1] = 1;
221 void Collision_ClipTrace_Box(trace_t *trace, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask, int boxsupercontents)
223 RecursiveHullCheckTraceInfo_t rhc;
224 // fill in a default trace
225 memset(&rhc, 0, sizeof(rhc));
226 memset(trace, 0, sizeof(trace_t));
227 //To keep everything totally uniform, bounding boxes are turned into small
228 //BSP trees instead of being compared directly.
229 // create a temp hull from bounding box sizes
230 box_planes[0].dist = cmaxs[0] - mins[0];
231 box_planes[1].dist = cmins[0] - maxs[0];
232 box_planes[2].dist = cmaxs[1] - mins[1];
233 box_planes[3].dist = cmins[1] - maxs[1];
234 box_planes[4].dist = cmaxs[2] - mins[2];
235 box_planes[5].dist = cmins[2] - maxs[2];
236 // trace a line through the generated clipping hull
237 rhc.boxsupercontents = boxsupercontents;
238 rhc.hull = &box_hull;
240 rhc.trace->hitsupercontentsmask = hitsupercontentsmask;
241 rhc.trace->fraction = 1;
242 rhc.trace->realfraction = 1;
243 rhc.trace->allsolid = true;
244 VectorCopy(start, rhc.start);
245 VectorCopy(end, rhc.end);
246 VectorSubtract(rhc.end, rhc.start, rhc.dist);
247 Mod_Q1BSP_RecursiveHullCheck(&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
248 VectorMA(rhc.start, rhc.trace->fraction, rhc.dist, rhc.trace->endpos);
249 if (rhc.trace->startsupercontents)
250 rhc.trace->startsupercontents = boxsupercontents;
254 void Collision_Init (void)
256 Cvar_RegisterVariable(&collision_impactnudge);
257 Cvar_RegisterVariable(&collision_startnudge);
258 Cvar_RegisterVariable(&collision_endnudge);
259 Cvar_RegisterVariable(&collision_enternudge);
260 Cvar_RegisterVariable(&collision_leavenudge);
276 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
279 Con_Printf("3 %s\n%i\n", name, brush->numpoints);
280 for (i = 0;i < brush->numpoints;i++)
281 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
283 Con_Printf("4\n%i\n", brush->numplanes);
284 for (i = 0;i < brush->numplanes;i++)
285 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);
288 void Collision_ValidateBrush(colbrushf_t *brush)
290 int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
293 if (!brush->numpoints)
295 Con_Print("Collision_ValidateBrush: brush with no points!\n");
299 // it's ok for a brush to have one point and no planes...
300 if (brush->numplanes == 0 && brush->numpoints != 1)
302 Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
306 if (brush->numplanes)
309 pointswithinsufficientplanes = 0;
310 for (k = 0;k < brush->numplanes;k++)
311 if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
312 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);
313 for (j = 0;j < brush->numpoints;j++)
316 for (k = 0;k < brush->numplanes;k++)
318 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
319 if (d > (1.0f / 8.0f))
321 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);
324 if (fabs(d) > 0.125f)
329 if (pointonplanes < 3)
330 pointswithinsufficientplanes++;
332 if (pointswithinsufficientplanes)
334 Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
337 if (pointsoffplanes == 0) // all points are on all planes
339 Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
344 Collision_PrintBrushAsQHull(brush, "unnamed");
347 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
349 float dist, bestdist;
350 bestdist = DotProduct(points->v, normal);
354 dist = DotProduct(points->v, normal);
355 bestdist = min(bestdist, dist);
361 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
363 float dist, bestdist;
364 bestdist = DotProduct(points->v, normal);
368 dist = DotProduct(points->v, normal);
369 bestdist = max(bestdist, dist);
376 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents)
379 int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
381 colpointf_t pointsbuf[256];
382 colplanef_t planesbuf[256];
383 int elementsbuf[1024];
384 int polypointbuf[256];
389 // enable these if debugging to avoid seeing garbage in unused data
390 memset(pointsbuf, 0, sizeof(pointsbuf));
391 memset(planesbuf, 0, sizeof(planesbuf));
392 memset(elementsbuf, 0, sizeof(elementsbuf));
393 memset(polypointbuf, 0, sizeof(polypointbuf));
394 memset(p, 0, sizeof(p));
396 // construct a collision brush (points, planes, and renderable mesh) from
397 // a set of planes, this also optimizes out any unnecessary planes (ones
398 // whose polygon is clipped away by the other planes)
399 for (j = 0;j < numoriginalplanes;j++)
401 // add the plane uniquely (no duplicates)
402 for (k = 0;k < numplanesbuf;k++)
403 if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
405 // if the plane is a duplicate, skip it
406 if (k < numplanesbuf)
408 // check if there are too many and skip the brush
409 if (numplanesbuf >= maxplanesbuf)
411 Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
415 // create a large polygon from the plane
417 PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, 1024.0*1024.0*1024.0);
419 // clip it by all other planes
420 for (k = 0;k < numoriginalplanes && pnumpoints && pnumpoints <= pmaxpoints;k++)
424 // we want to keep the inside of the brush plane so we flip
426 PolygonD_Divide(pnumpoints, p[w], -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, 1.0/32.0, pmaxpoints, p[!w], &pnumpoints, 0, NULL, NULL);
430 // if nothing is left, skip it
433 //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);
437 for (k = 0;k < pnumpoints;k++)
441 for (l = 0;l < numoriginalplanes;l++)
442 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < 1.0/8.0)
449 Con_Printf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
453 // check if there are too many polygon vertices for buffer
454 if (pnumpoints > pmaxpoints)
456 Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
460 // check if there are too many triangle elements for buffer
461 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
463 Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
467 for (k = 0;k < pnumpoints;k++)
469 // check if there is already a matching point (no duplicates)
470 for (m = 0;m < numpointsbuf;m++)
471 if (VectorDistance2(&p[w][k*3], pointsbuf[m].v) < COLLISION_SNAP)
474 // if there is no match, add a new one
475 if (m == numpointsbuf)
477 // check if there are too many and skip the brush
478 if (numpointsbuf >= maxpointsbuf)
480 Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
484 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
488 // store the index into a buffer
492 // add the triangles for the polygon
493 // (this particular code makes a triangle fan)
494 for (k = 0;k < pnumpoints - 2;k++)
496 elementsbuf[numelementsbuf++] = polypointbuf[0];
497 elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
498 elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
502 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
503 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
507 // validate plane distances
508 for (j = 0;j < numplanesbuf;j++)
510 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
511 if (fabs(planesbuf[j].dist - d) > (1.0f/32.0f))
512 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);
515 // if nothing is left, there's nothing to allocate
516 if (numelementsbuf < 12 || numplanesbuf < 4 || numpointsbuf < 4)
518 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);
522 // allocate the brush and copy to it
523 brush = Collision_AllocBrushFloat(mempool, numpointsbuf, numplanesbuf, numelementsbuf / 3, supercontents);
524 for (j = 0;j < brush->numpoints;j++)
526 brush->points[j].v[0] = pointsbuf[j].v[0];
527 brush->points[j].v[1] = pointsbuf[j].v[1];
528 brush->points[j].v[2] = pointsbuf[j].v[2];
530 for (j = 0;j < brush->numplanes;j++)
532 brush->planes[j].normal[0] = planesbuf[j].normal[0];
533 brush->planes[j].normal[1] = planesbuf[j].normal[1];
534 brush->planes[j].normal[2] = planesbuf[j].normal[2];
535 brush->planes[j].dist = planesbuf[j].dist;
537 for (j = 0;j < brush->numtriangles * 3;j++)
538 brush->elements[j] = elementsbuf[j];
539 VectorCopy(brush->points[0].v, brush->mins);
540 VectorCopy(brush->points[0].v, brush->maxs);
541 for (j = 1;j < brush->numpoints;j++)
543 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
544 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
545 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
546 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
547 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
548 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
556 Collision_ValidateBrush(brush);
562 colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes, int numtriangles, int supercontents)
565 brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes + sizeof(int[3]) * numtriangles);
566 brush->supercontents = supercontents;
567 brush->numplanes = numplanes;
568 brush->numpoints = numpoints;
569 brush->numtriangles = numtriangles;
570 brush->planes = (void *)(brush + 1);
571 brush->points = (void *)(brush->planes + brush->numplanes);
572 brush->elements = (void *)(brush->points + brush->numpoints);
576 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
579 float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
582 // FIXME: these probably don't actually need to be normalized if the collision code does not care
583 if (brush->numpoints == 3)
585 // optimized triangle case
586 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
587 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
589 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
590 brush->numplanes = 0;
595 brush->numplanes = 5;
596 VectorNormalize(brush->planes[0].normal);
597 brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
598 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
599 brush->planes[1].dist = -brush->planes[0].dist;
600 VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
601 VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
602 VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
605 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
607 float dist, bestdist;
608 bestdist = fabs(brush->planes[0].normal[0]);
610 for (i = 1;i < 3;i++)
612 dist = fabs(brush->planes[0].normal[i]);
619 VectorClear(projectionnormal);
620 if (brush->planes[0].normal[best] < 0)
621 projectionnormal[best] = -1;
623 projectionnormal[best] = 1;
624 VectorCopy(edge0, projectionedge0);
625 VectorCopy(edge1, projectionedge1);
626 VectorCopy(edge2, projectionedge2);
627 projectionedge0[best] = 0;
628 projectionedge1[best] = 0;
629 projectionedge2[best] = 0;
630 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
631 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
632 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
635 CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
636 CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
637 CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
639 VectorNormalize(brush->planes[2].normal);
640 VectorNormalize(brush->planes[3].normal);
641 VectorNormalize(brush->planes[4].normal);
642 brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
643 brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
644 brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
646 if (developer.integer)
652 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
653 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
654 CrossProduct(edge0, edge1, normal);
655 VectorNormalize(normal);
656 VectorSubtract(normal, brush->planes[0].normal, temp);
657 if (VectorLength(temp) > 0.01f)
658 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]);
659 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)
660 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);
662 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
663 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);
664 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
665 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);
666 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
667 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);
668 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
669 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]);
670 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
671 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]);
672 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
673 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]);
676 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)
677 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);
678 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)
679 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);
680 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)
681 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);
682 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)
683 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);
684 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)
685 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);
691 // choose best surface normal for polygon's plane
693 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
695 VectorSubtract(p[-1].v, p[0].v, edge0);
696 VectorSubtract(p[1].v, p[0].v, edge1);
697 CrossProduct(edge0, edge1, normal);
698 //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
699 dist = DotProduct(normal, normal);
700 if (i == 0 || bestdist < dist)
703 VectorCopy(normal, brush->planes->normal);
706 if (bestdist < 0.0001f)
708 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
709 brush->numplanes = 0;
714 brush->numplanes = brush->numpoints + 2;
715 VectorNormalize(brush->planes->normal);
716 brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
718 // negate plane to create other side
719 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
720 brush->planes[1].dist = -brush->planes[0].dist;
721 for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
723 VectorSubtract(p->v, p2->v, edge0);
724 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
725 VectorNormalize(brush->planes[i + 2].normal);
726 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
731 if (developer.integer)
733 // validity check - will be disabled later
734 Collision_ValidateBrush(brush);
735 for (i = 0;i < brush->numplanes;i++)
738 for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
739 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
740 Con_Printf("Error in brush plane generation, plane %i\n", i);
745 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
748 brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
749 brush->supercontents = supercontents;
750 brush->numpoints = numpoints;
751 brush->numplanes = numpoints + 2;
752 brush->planes = (void *)(brush + 1);
753 brush->points = (colpointf_t *)points;
754 Host_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
758 // NOTE: start and end of each brush pair must have same numplanes/numpoints
759 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)
761 int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
762 float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
763 const colplanef_t *startplane, *endplane;
771 for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
774 if (nplane2 >= thatbrush_start->numplanes)
776 nplane2 -= thatbrush_start->numplanes;
777 startplane = thisbrush_start->planes + nplane2;
778 endplane = thisbrush_end->planes + nplane2;
779 if (developer.integer)
781 // any brush with degenerate planes is not worth handling
782 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
784 Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
787 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
788 if (fabs(f - startplane->dist) > 0.125f)
789 Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
791 d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
792 d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
796 startplane = thatbrush_start->planes + nplane2;
797 endplane = thatbrush_end->planes + nplane2;
798 if (developer.integer)
800 // any brush with degenerate planes is not worth handling
801 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
803 Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
806 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
807 if (fabs(f - startplane->dist) > 0.125f)
808 Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
810 d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
811 d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
813 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
824 imove = 1 / (d1 - d2);
825 f = (d1 - collision_enternudge.value) * imove;
829 enterfrac2 = f - collision_impactnudge.value * imove;
830 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
836 // moving out of brush
843 f = (d1 + collision_leavenudge.value) / (d1 - d2);
850 brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
853 trace->startsupercontents |= thatbrush_start->supercontents;
856 trace->startsolid = true;
858 trace->allsolid = true;
862 // LordHavoc: we need an epsilon nudge here because for a point trace the
863 // penetrating line segment is normally zero length if this brush was
864 // generated from a polygon (infinitely thin), and could even be slightly
865 // positive or negative due to rounding errors in that case.
866 if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
870 if (thatbrush_start->ispolygon)
872 d1 = nearestplanedist_float(thatbrush_start->planes[0].normal, thisbrush_start->points, thisbrush_start->numpoints) - thatbrush_start->planes[0].dist - collision_startnudge.value;
873 d2 = nearestplanedist_float(thatbrush_end->planes[0].normal, thisbrush_end->points, thisbrush_end->numpoints) - thatbrush_end->planes[0].dist - collision_endnudge.value;
875 if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
879 enterfrac = (d1 - collision_enternudge.value) * imove;
880 if (enterfrac < trace->realfraction)
882 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
883 trace->realfraction = bound(0, enterfrac, 1);
884 trace->fraction = bound(0, enterfrac2, 1);
885 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
891 trace->realfraction = bound(0, enterfrac, 1);
892 trace->fraction = bound(0, enterfrac2, 1);
893 VectorCopy(newimpactnormal, trace->plane.normal);
898 // NOTE: start and end brush pair must have same numplanes/numpoints
899 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
901 int nplane, fstartsolid, fendsolid, brushsolid;
902 float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
903 const colplanef_t *startplane, *endplane;
911 for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
913 startplane = thatbrush_start->planes + nplane;
914 endplane = thatbrush_end->planes + nplane;
915 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
916 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
917 if (developer.integer)
919 // any brush with degenerate planes is not worth handling
920 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
922 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
925 if (thatbrush_start->numpoints)
927 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
928 if (fabs(f - startplane->dist) > 0.125f)
929 Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
942 imove = 1 / (d1 - d2);
943 f = (d1 - collision_enternudge.value) * imove;
947 enterfrac2 = f - collision_impactnudge.value * imove;
948 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
954 // moving out of brush
961 f = (d1 + collision_leavenudge.value) / (d1 - d2);
968 brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
971 trace->startsupercontents |= thatbrush_start->supercontents;
974 trace->startsolid = true;
976 trace->allsolid = true;
980 // LordHavoc: we need an epsilon nudge here because for a point trace the
981 // penetrating line segment is normally zero length if this brush was
982 // generated from a polygon (infinitely thin), and could even be slightly
983 // positive or negative due to rounding errors in that case.
984 if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
988 if (thatbrush_start->ispolygon)
990 d1 = DotProduct(thatbrush_start->planes[0].normal, linestart) - thatbrush_start->planes[0].dist - collision_startnudge.value;
991 d2 = DotProduct(thatbrush_end->planes[0].normal, lineend) - thatbrush_end->planes[0].dist - collision_endnudge.value;
993 if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
997 enterfrac = (d1 - collision_enternudge.value) * imove;
998 if (enterfrac < trace->realfraction)
1000 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
1001 trace->realfraction = bound(0, enterfrac, 1);
1002 trace->fraction = bound(0, enterfrac2, 1);
1003 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
1009 trace->realfraction = bound(0, enterfrac, 1);
1010 trace->fraction = bound(0, enterfrac2, 1);
1011 VectorCopy(newimpactnormal, trace->plane.normal);
1016 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
1019 const colplanef_t *plane;
1021 for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
1022 if (DotProduct(plane->normal, point) > plane->dist)
1025 trace->startsupercontents |= thatbrush->supercontents;
1026 if (trace->hitsupercontentsmask & thatbrush->supercontents)
1028 trace->startsolid = true;
1029 trace->allsolid = true;
1033 static colpointf_t polyf_points[256];
1034 static colplanef_t polyf_planes[256 + 2];
1035 static colbrushf_t polyf_brush;
1037 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
1041 out->v[0] = floor(in->v[0] * fractionprecision + 0.5f) * invfractionprecision;
1042 out->v[1] = floor(in->v[1] * fractionprecision + 0.5f) * invfractionprecision;
1043 out->v[2] = floor(in->v[2] * fractionprecision + 0.5f) * invfractionprecision;
1047 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
1049 if (numpoints > 256)
1051 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
1054 polyf_brush.numpoints = numpoints;
1055 polyf_brush.numplanes = numpoints + 2;
1056 //polyf_brush.points = (colpointf_t *)points;
1057 polyf_brush.planes = polyf_planes;
1058 polyf_brush.supercontents = supercontents;
1059 polyf_brush.points = polyf_points;
1060 Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1061 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1062 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1063 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
1066 void Collision_TraceBrushTriangleMeshFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, const vec3_t segmentmins, const vec3_t segmentmaxs)
1069 float facemins[3], facemaxs[3];
1070 polyf_brush.numpoints = 3;
1071 polyf_brush.numplanes = 5;
1072 polyf_brush.points = polyf_points;
1073 polyf_brush.planes = polyf_planes;
1074 polyf_brush.supercontents = supercontents;
1075 for (i = 0;i < numtriangles;i++, element3i += 3)
1077 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
1078 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
1079 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
1080 Collision_SnapCopyPoints(3, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1081 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0])) - 1;
1082 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1])) - 1;
1083 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2])) - 1;
1084 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0])) + 1;
1085 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1])) + 1;
1086 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2])) + 1;
1087 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
1089 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1090 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1091 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
1096 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
1098 if (numpoints > 256)
1100 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
1103 polyf_brush.numpoints = numpoints;
1104 polyf_brush.numplanes = numpoints + 2;
1105 //polyf_brush.points = (colpointf_t *)points;
1106 polyf_brush.points = polyf_points;
1107 Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1108 polyf_brush.planes = polyf_planes;
1109 polyf_brush.supercontents = supercontents;
1110 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1111 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1112 Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
1115 void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, const vec3_t segmentmins, const vec3_t segmentmaxs)
1119 // FIXME: snap vertices?
1120 for (i = 0;i < numtriangles;i++, element3i += 3)
1121 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3);
1123 polyf_brush.numpoints = 3;
1124 polyf_brush.numplanes = 5;
1125 polyf_brush.points = polyf_points;
1126 polyf_brush.planes = polyf_planes;
1127 polyf_brush.supercontents = supercontents;
1128 for (i = 0;i < numtriangles;i++, element3i += 3)
1130 float facemins[3], facemaxs[3];
1131 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
1132 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
1133 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
1134 Collision_SnapCopyPoints(numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1135 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0])) - 1;
1136 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1])) - 1;
1137 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2])) - 1;
1138 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0])) + 1;
1139 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1])) + 1;
1140 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2])) + 1;
1141 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
1143 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1144 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1145 Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
1152 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
1153 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
1154 static colbrushf_t polyf_brushstart, polyf_brushend;
1156 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)
1159 if (numpoints > 256)
1161 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
1164 polyf_brushstart.numpoints = numpoints;
1165 polyf_brushstart.numplanes = numpoints + 2;
1166 polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
1167 polyf_brushstart.planes = polyf_planesstart;
1168 polyf_brushstart.supercontents = supercontents;
1169 for (i = 0;i < numpoints;i++)
1170 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
1171 polyf_brushend.numpoints = numpoints;
1172 polyf_brushend.numplanes = numpoints + 2;
1173 polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
1174 polyf_brushend.planes = polyf_planesend;
1175 polyf_brushend.supercontents = supercontents;
1176 for (i = 0;i < numpoints;i++)
1177 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
1178 Collision_SnapCopyPoints(numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
1179 Collision_SnapCopyPoints(numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
1180 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
1181 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
1183 //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
1184 //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
1186 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
1191 #define MAX_BRUSHFORBOX 16
1192 static int brushforbox_index = 0;
1193 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1194 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1195 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1196 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
1198 void Collision_InitBrushForBox(void)
1201 for (i = 0;i < MAX_BRUSHFORBOX;i++)
1203 brushforbox_brush[i].supercontents = SUPERCONTENTS_SOLID;
1204 brushforbox_brush[i].numpoints = 8;
1205 brushforbox_brush[i].numplanes = 6;
1206 brushforbox_brush[i].points = brushforbox_point + i * 8;
1207 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1208 brushforpoint_brush[i].supercontents = SUPERCONTENTS_SOLID;
1209 brushforpoint_brush[i].numpoints = 1;
1210 brushforpoint_brush[i].numplanes = 0;
1211 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1212 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1216 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
1221 if (brushforbox_brush[0].numpoints == 0)
1222 Collision_InitBrushForBox();
1223 // FIXME: these probably don't actually need to be normalized if the collision code does not care
1224 if (VectorCompare(mins, maxs))
1227 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1228 VectorCopy(mins, brush->points->v);
1232 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1234 for (i = 0;i < 8;i++)
1236 v[0] = i & 1 ? maxs[0] : mins[0];
1237 v[1] = i & 2 ? maxs[1] : mins[1];
1238 v[2] = i & 4 ? maxs[2] : mins[2];
1239 Matrix4x4_Transform(matrix, v, brush->points[i].v);
1242 for (i = 0;i < 6;i++)
1245 v[i >> 1] = i & 1 ? 1 : -1;
1246 Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1247 VectorNormalize(brush->planes[i].normal);
1250 for (j = 0;j < brush->numplanes;j++)
1251 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1252 VectorCopy(brush->points[0].v, brush->mins);
1253 VectorCopy(brush->points[0].v, brush->maxs);
1254 for (j = 1;j < brush->numpoints;j++)
1256 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1257 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1258 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1259 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1260 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1261 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1263 brush->mins[0] -= 1;
1264 brush->mins[1] -= 1;
1265 brush->mins[2] -= 1;
1266 brush->maxs[0] += 1;
1267 brush->maxs[1] += 1;
1268 brush->maxs[2] += 1;
1269 Collision_ValidateBrush(brush);
1273 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)
1275 colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1276 matrix4x4_t identitymatrix;
1277 vec3_t startmins, startmaxs, endmins, endmaxs;
1279 // create brushes for the collision
1280 VectorAdd(start, mins, startmins);
1281 VectorAdd(start, maxs, startmaxs);
1282 VectorAdd(end, mins, endmins);
1283 VectorAdd(end, maxs, endmaxs);
1284 Matrix4x4_CreateIdentity(&identitymatrix);
1285 boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
1286 thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs);
1287 thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs);
1289 memset(trace, 0, sizeof(trace_t));
1290 trace->hitsupercontentsmask = hitsupercontentsmask;
1291 trace->fraction = 1;
1292 trace->realfraction = 1;
1293 trace->allsolid = true;
1294 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1297 // LordHavoc: currently unused and not yet tested
1298 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1299 // by simply adding the moving sphere's radius to the sphereradius parameter,
1300 // all the results are correct (impactpoint, impactnormal, and fraction)
1301 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1303 double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1304 // make sure the impactpoint and impactnormal are valid even if there is
1306 impactpoint[0] = lineend[0];
1307 impactpoint[1] = lineend[1];
1308 impactpoint[2] = lineend[2];
1309 impactnormal[0] = 0;
1310 impactnormal[1] = 0;
1311 impactnormal[2] = 0;
1312 // calculate line direction
1313 dir[0] = lineend[0] - linestart[0];
1314 dir[1] = lineend[1] - linestart[1];
1315 dir[2] = lineend[2] - linestart[2];
1316 // normalize direction
1317 linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
1320 scale = 1.0 / linelength;
1325 // this dotproduct calculates the distance along the line at which the
1326 // sphere origin is (nearest point to the sphere origin on the line)
1327 impactdist = dir[0] * (sphereorigin[0] - linestart[0]) + dir[1] * (sphereorigin[1] - linestart[1]) + dir[2] * (sphereorigin[2] - linestart[2]);
1328 // calculate point on line at that distance, and subtract the
1329 // sphereorigin from it, so we have a vector to measure for the distance
1330 // of the line from the sphereorigin (deviation, how off-center it is)
1331 v[0] = linestart[0] + impactdist * dir[0] - sphereorigin[0];
1332 v[1] = linestart[1] + impactdist * dir[1] - sphereorigin[1];
1333 v[2] = linestart[2] + impactdist * dir[2] - sphereorigin[2];
1334 deviationdist = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
1335 // if outside the radius, it's a miss for sure
1336 // (we do this comparison using squared radius to avoid a sqrt)
1337 if (deviationdist > sphereradius*sphereradius)
1338 return 1; // miss (off to the side)
1339 // nudge back to find the correct impact distance
1340 impactdist += (sqrt(deviationdist) - sphereradius);
1341 if (impactdist >= linelength)
1342 return 1; // miss (not close enough)
1344 return 1; // miss (linestart is past or inside sphere)
1345 // calculate new impactpoint
1346 impactpoint[0] = linestart[0] + impactdist * dir[0];
1347 impactpoint[1] = linestart[1] + impactdist * dir[1];
1348 impactpoint[2] = linestart[2] + impactdist * dir[2];
1349 // calculate impactnormal (surface normal at point of impact)
1350 impactnormal[0] = impactpoint[0] - sphereorigin[0];
1351 impactnormal[1] = impactpoint[1] - sphereorigin[1];
1352 impactnormal[2] = impactpoint[2] - sphereorigin[2];
1353 // normalize impactnormal
1354 scale = impactnormal[0] * impactnormal[0] + impactnormal[1] * impactnormal[1] + impactnormal[2] * impactnormal[2];
1357 scale = 1.0 / sqrt(scale);
1358 impactnormal[0] *= scale;
1359 impactnormal[1] *= scale;
1360 impactnormal[2] *= scale;
1362 // return fraction of movement distance
1363 return impactdist / linelength;
1366 void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const float *point0, const float *point1, const float *point2)
1370 float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1372 // this function executes:
1373 // 32 ops when line starts behind triangle
1374 // 38 ops when line ends infront of triangle
1375 // 43 ops when line fraction is already closer than this triangle
1376 // 72 ops when line is outside edge 01
1377 // 92 ops when line is outside edge 21
1378 // 115 ops when line is outside edge 02
1379 // 123 ops when line impacts triangle and updates trace results
1381 // this code is designed for clockwise triangles, conversion to
1382 // counterclockwise would require swapping some things around...
1383 // it is easier to simply swap the point0 and point2 parameters to this
1384 // function when calling it than it is to rewire the internals.
1386 // calculate the faceplanenormal of the triangle, this represents the front side
1388 VectorSubtract(point0, point1, edge01);
1389 VectorSubtract(point2, point1, edge21);
1390 CrossProduct(edge01, edge21, faceplanenormal);
1391 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1393 faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1394 if (faceplanenormallength2 < 0.0001f)
1396 // calculate the distance
1398 faceplanedist = DotProduct(point0, faceplanenormal);
1400 // if start point is on the back side there is no collision
1401 // (we don't care about traces going through the triangle the wrong way)
1403 // calculate the start distance
1405 d1 = DotProduct(faceplanenormal, linestart);
1406 if (d1 <= faceplanedist)
1409 // calculate the end distance
1411 d2 = DotProduct(faceplanenormal, lineend);
1412 // if both are in front, there is no collision
1413 if (d2 >= faceplanedist)
1416 // from here on we know d1 is >= 0 and d2 is < 0
1417 // this means the line starts infront and ends behind, passing through it
1419 // calculate the recipricol of the distance delta,
1420 // so we can use it multiple times cheaply (instead of division)
1422 d = 1.0f / (d1 - d2);
1423 // calculate the impact fraction by taking the start distance (> 0)
1424 // and subtracting the face plane distance (this is the distance of the
1425 // triangle along that same normal)
1426 // then multiply by the recipricol distance delta
1428 f = (d1 - faceplanedist) * d;
1429 // skip out if this impact is further away than previous ones
1431 if (f > trace->realfraction)
1433 // calculate the perfect impact point for classification of insidedness
1435 impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1436 impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1437 impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1439 // calculate the edge normal and reject if impact is outside triangle
1440 // (an edge normal faces away from the triangle, to get the desired normal
1441 // a crossproduct with the faceplanenormal is used, and because of the way
1442 // the insidedness comparison is written it does not need to be normalized)
1444 // first use the two edges from the triangle plane math
1445 // the other edge only gets calculated if the point survives that long
1448 CrossProduct(edge01, faceplanenormal, edgenormal);
1449 if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1453 CrossProduct(faceplanenormal, edge21, edgenormal);
1454 if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1458 VectorSubtract(point0, point2, edge02);
1459 CrossProduct(faceplanenormal, edge02, edgenormal);
1460 if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1465 // store the new trace fraction
1466 trace->realfraction = f;
1468 // calculate a nudged fraction to keep it out of the surface
1469 // (the main fraction remains perfect)
1470 trace->fraction = f - collision_impactnudge.value * d;
1472 // store the new trace plane (because collisions only happen from
1473 // the front this is always simply the triangle normal, never flipped)
1474 d = 1.0 / sqrt(faceplanenormallength2);
1475 VectorScale(faceplanenormal, d, trace->plane.normal);
1476 trace->plane.dist = faceplanedist * d;
1478 float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1480 // this code is designed for clockwise triangles, conversion to
1481 // counterclockwise would require swapping some things around...
1482 // it is easier to simply swap the point0 and point2 parameters to this
1483 // function when calling it than it is to rewire the internals.
1485 // calculate the unnormalized faceplanenormal of the triangle,
1486 // this represents the front side
1487 TriangleNormal(point0, point1, point2, faceplanenormal);
1488 // there's no point in processing a degenerate triangle
1489 // (GIGO - Garbage In, Garbage Out)
1490 if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1492 // calculate the unnormalized distance
1493 faceplanedist = DotProduct(point0, faceplanenormal);
1495 // calculate the unnormalized start distance
1496 d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1497 // if start point is on the back side there is no collision
1498 // (we don't care about traces going through the triangle the wrong way)
1502 // calculate the unnormalized end distance
1503 d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1504 // if both are in front, there is no collision
1508 // from here on we know d1 is >= 0 and d2 is < 0
1509 // this means the line starts infront and ends behind, passing through it
1511 // calculate the recipricol of the distance delta,
1512 // so we can use it multiple times cheaply (instead of division)
1513 d = 1.0f / (d1 - d2);
1514 // calculate the impact fraction by taking the start distance (> 0)
1515 // and subtracting the face plane distance (this is the distance of the
1516 // triangle along that same normal)
1517 // then multiply by the recipricol distance delta
1519 // skip out if this impact is further away than previous ones
1520 if (f > trace->realfraction)
1522 // calculate the perfect impact point for classification of insidedness
1523 impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1524 impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1525 impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1527 // calculate the edge normal and reject if impact is outside triangle
1528 // (an edge normal faces away from the triangle, to get the desired normal
1529 // a crossproduct with the faceplanenormal is used, and because of the way
1530 // the insidedness comparison is written it does not need to be normalized)
1532 VectorSubtract(point2, point0, edge);
1533 CrossProduct(edge, faceplanenormal, edgenormal);
1534 if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1537 VectorSubtract(point0, point1, edge);
1538 CrossProduct(edge, faceplanenormal, edgenormal);
1539 if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1542 VectorSubtract(point1, point2, edge);
1543 CrossProduct(edge, faceplanenormal, edgenormal);
1544 if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1547 // store the new trace fraction
1548 trace->realfraction = bound(0, f, 1);
1550 // store the new trace plane (because collisions only happen from
1551 // the front this is always simply the triangle normal, never flipped)
1552 VectorNormalize(faceplanenormal);
1553 VectorCopy(faceplanenormal, trace->plane.normal);
1554 trace->plane.dist = DotProduct(point0, faceplanenormal);
1556 // calculate the normalized start and end distances
1557 d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1558 d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1560 // calculate a nudged fraction to keep it out of the surface
1561 // (the main fraction remains perfect)
1562 fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1563 trace->fraction = bound(0, fnudged, 1);
1565 // store the new trace endpos
1566 // not needed, it's calculated later when the trace is finished
1567 //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1568 //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1569 //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1573 typedef struct colbspnode_s
1576 struct colbspnode_s *children[2];
1577 // the node is reallocated or split if max is reached
1580 colbrushf_t **colbrushflist;
1583 //colbrushd_t **colbrushdlist;
1587 typedef struct colbsp_s
1590 colbspnode_t *nodes;
1594 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1597 bsp = Mem_Alloc(mempool, sizeof(colbsp_t));
1598 bsp->mempool = mempool;
1599 bsp->nodes = Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1603 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1605 if (node->children[0])
1606 Collision_FreeCollisionBSPNode(node->children[0]);
1607 if (node->children[1])
1608 Collision_FreeCollisionBSPNode(node->children[1]);
1609 while (--node->numcolbrushf)
1610 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1611 //while (--node->numcolbrushd)
1612 // Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1616 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1618 Collision_FreeCollisionBSPNode(bsp->nodes);
1622 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1625 colpointf_t *ps, *pe;
1626 float tempstart[3], tempend[3];
1627 VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1628 VectorCopy(mins, maxs);
1629 for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1631 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1632 VectorLerp(ps->v, endfrac, pe->v, tempend);
1633 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1634 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1635 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1636 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1637 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1638 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));