6 // the hull we're tracing through
9 // the trace structure to fill in
12 // start and end of the trace (in model space)
19 RecursiveHullCheckTraceInfo_t;
21 // 1/32 epsilon to keep floating point happy
22 #define DIST_EPSILON (0.03125)
24 #define HULLCHECKSTATE_EMPTY 0
25 #define HULLCHECKSTATE_SOLID 1
26 #define HULLCHECKSTATE_DONE 2
28 static int RecursiveHullCheck (RecursiveHullCheckTraceInfo_t *t, int num, double p1f, double p2f, double p1[3], double p2[3])
30 // status variables, these don't need to be saved on the stack when
31 // recursing... but are because this should be thread-safe
32 // (note: tracing against a bbox is not thread-safe, yet)
37 // variables that need to be stored on the stack when recursing
42 // LordHavoc: a goto! everyone flee in terror... :)
47 t->trace->endcontents = num;
48 if (t->trace->startcontents)
50 if (num == t->trace->startcontents)
51 t->trace->allsolid = false;
54 // if the first leaf is solid, set startsolid
55 if (t->trace->allsolid)
56 t->trace->startsolid = true;
57 return HULLCHECKSTATE_SOLID;
59 return HULLCHECKSTATE_EMPTY;
63 if (num != CONTENTS_SOLID)
65 t->trace->allsolid = false;
66 if (num == CONTENTS_EMPTY)
67 t->trace->inopen = true;
69 t->trace->inwater = true;
73 // if the first leaf is solid, set startsolid
74 if (t->trace->allsolid)
75 t->trace->startsolid = true;
76 return HULLCHECKSTATE_SOLID;
78 return HULLCHECKSTATE_EMPTY;
82 // find the point distances
83 node = t->hull->clipnodes + num;
85 plane = t->hull->planes + node->planenum;
88 t1 = p1[plane->type] - plane->dist;
89 t2 = p2[plane->type] - plane->dist;
93 t1 = DotProduct (plane->normal, p1) - plane->dist;
94 t2 = DotProduct (plane->normal, p2) - plane->dist;
101 num = node->children[1];
110 num = node->children[0];
116 // the line intersects, find intersection point
117 // LordHavoc: this uses the original trace for maximum accuracy
120 t1 = t->start[plane->type] - plane->dist;
121 t2 = t->end[plane->type] - plane->dist;
125 t1 = DotProduct (plane->normal, t->start) - plane->dist;
126 t2 = DotProduct (plane->normal, t->end) - plane->dist;
129 midf = t1 / (t1 - t2);
130 midf = bound(p1f, midf, p2f);
131 VectorMA(t->start, midf, t->dist, mid);
133 // recurse both sides, front side first
134 ret = RecursiveHullCheck (t, node->children[side], p1f, midf, p1, mid);
135 // if this side is not empty, return what it is (solid or done)
136 if (ret != HULLCHECKSTATE_EMPTY)
139 ret = RecursiveHullCheck (t, node->children[side ^ 1], midf, p2f, mid, p2);
140 // if other side is not solid, return what it is (empty or done)
141 if (ret != HULLCHECKSTATE_SOLID)
144 // front is air and back is solid, this is the impact point...
147 t->trace->plane.dist = -plane->dist;
148 VectorNegate (plane->normal, t->trace->plane.normal);
152 t->trace->plane.dist = plane->dist;
153 VectorCopy (plane->normal, t->trace->plane.normal);
156 // bias away from surface a bit
157 t1 = DotProduct(t->trace->plane.normal, t->start) - (t->trace->plane.dist + DIST_EPSILON);
158 t2 = DotProduct(t->trace->plane.normal, t->end) - (t->trace->plane.dist + DIST_EPSILON);
160 midf = t1 / (t1 - t2);
161 t->trace->fraction = bound(0.0f, midf, 1.0);
163 VectorMA(t->start, t->trace->fraction, t->dist, t->trace->endpos);
165 return HULLCHECKSTATE_DONE;
168 // used if start and end are the same
169 static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
171 // If you can read this, you understand BSP trees
173 num = t->hull->clipnodes[num].children[((t->hull->planes[t->hull->clipnodes[num].planenum].type < 3) ? (t->start[t->hull->planes[t->hull->clipnodes[num].planenum].type]) : (DotProduct(t->hull->planes[t->hull->clipnodes[num].planenum].normal, t->start))) < t->hull->planes[t->hull->clipnodes[num].planenum].dist];
176 t->trace->endcontents = num;
177 if (t->trace->startcontents)
179 if (num == t->trace->startcontents)
180 t->trace->allsolid = false;
183 // if the first leaf is solid, set startsolid
184 if (t->trace->allsolid)
185 t->trace->startsolid = true;
190 if (num != CONTENTS_SOLID)
192 t->trace->allsolid = false;
193 if (num == CONTENTS_EMPTY)
194 t->trace->inopen = true;
196 t->trace->inwater = true;
200 // if the first leaf is solid, set startsolid
201 if (t->trace->allsolid)
202 t->trace->startsolid = true;
207 void Collision_RoundUpToHullSize(const model_t *cmodel, const vec3_t inmins, const vec3_t inmaxs, vec3_t outmins, vec3_t outmaxs)
212 VectorSubtract(inmaxs, inmins, size);
216 hull = &cmodel->hulls[0]; // 0x0x0
217 else if (size[0] <= 32)
219 if (size[2] < 54) // pick the nearest of 36 or 72
220 hull = &cmodel->hulls[3]; // 32x32x36
222 hull = &cmodel->hulls[1]; // 32x32x72
225 hull = &cmodel->hulls[2]; // 64x64x64
230 hull = &cmodel->hulls[0]; // 0x0x0
231 else if (size[0] <= 32)
232 hull = &cmodel->hulls[1]; // 32x32x56
234 hull = &cmodel->hulls[2]; // 64x64x88
236 VectorCopy(inmins, outmins);
237 VectorAdd(inmins, hull->clip_size, outmaxs);
240 static hull_t box_hull;
241 static dclipnode_t box_clipnodes[6];
242 static mplane_t box_planes[6];
244 void Collision_Init (void)
249 //Set up the planes and clipnodes so that the six floats of a bounding box
250 //can just be stored out and get a proper hull_t structure.
252 box_hull.clipnodes = box_clipnodes;
253 box_hull.planes = box_planes;
254 box_hull.firstclipnode = 0;
255 box_hull.lastclipnode = 5;
257 for (i = 0;i < 6;i++)
259 box_clipnodes[i].planenum = i;
263 box_clipnodes[i].children[side] = CONTENTS_EMPTY;
265 box_clipnodes[i].children[side^1] = i + 1;
267 box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
269 box_planes[i].type = i>>1;
270 box_planes[i].normal[i>>1] = 1;
275 static hull_t *HullForBBoxEntity (const vec3_t corigin, const vec3_t cmins, const vec3_t cmaxs, const vec3_t mins, const vec3_t maxs, vec3_t offset)
277 vec3_t hullmins, hullmaxs;
279 // create a temp hull from bounding box sizes
280 VectorCopy (corigin, offset);
281 VectorSubtract (cmins, maxs, hullmins);
282 VectorSubtract (cmaxs, mins, hullmaxs);
284 //To keep everything totally uniform, bounding boxes are turned into small
285 //BSP trees instead of being compared directly.
286 box_planes[0].dist = hullmaxs[0];
287 box_planes[1].dist = hullmins[0];
288 box_planes[2].dist = hullmaxs[1];
289 box_planes[3].dist = hullmins[1];
290 box_planes[4].dist = hullmaxs[2];
291 box_planes[5].dist = hullmins[2];
295 static const hull_t *HullForBrushModel (const model_t *cmodel, const vec3_t corigin, const vec3_t mins, const vec3_t maxs, vec3_t offset)
300 // decide which clipping hull to use, based on the size
301 // explicit hulls in the BSP model
302 VectorSubtract (maxs, mins, size);
303 // LordHavoc: FIXME!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
307 hull = &cmodel->hulls[0]; // 0x0x0
308 else if (size[0] <= 32)
310 if (size[2] < 54) // pick the nearest of 36 or 72
311 hull = &cmodel->hulls[3]; // 32x32x36
313 hull = &cmodel->hulls[1]; // 32x32x72
316 hull = &cmodel->hulls[2]; // 64x64x64
321 hull = &cmodel->hulls[0]; // 0x0x0
322 else if (size[0] <= 32)
323 hull = &cmodel->hulls[1]; // 32x32x56
325 hull = &cmodel->hulls[2]; // 64x64x88
328 // calculate an offset value to center the origin
329 VectorSubtract (hull->clip_mins, mins, offset);
330 VectorAdd (offset, corigin, offset);
335 void Collision_ClipTrace (trace_t *trace, const void *cent, const model_t *cmodel, const vec3_t corigin, const vec3_t cangles, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end)
337 RecursiveHullCheckTraceInfo_t rhc;
338 vec3_t offset, forward, left, up;
339 double startd[3], endd[3], tempd[3];
341 // fill in a default trace
342 memset (&rhc, 0, sizeof(rhc));
343 memset (trace, 0, sizeof(trace_t));
347 rhc.trace->fraction = 1;
348 rhc.trace->allsolid = true;
350 if (cmodel && cmodel->type == mod_brush)
354 // get the clipping hull
355 rhc.hull = HullForBrushModel (cmodel, corigin, mins, maxs, offset);
357 VectorSubtract(start, offset, startd);
358 VectorSubtract(end, offset, endd);
360 // rotate start and end into the model's frame of reference
361 if (cangles[0] || cangles[1] || cangles[2])
363 AngleVectorsFLU (cangles, forward, left, up);
364 VectorCopy(startd, tempd);
365 startd[0] = DotProduct (tempd, forward);
366 startd[1] = DotProduct (tempd, left);
367 startd[2] = DotProduct (tempd, up);
368 VectorCopy(endd, tempd);
369 endd[0] = DotProduct (tempd, forward);
370 endd[1] = DotProduct (tempd, left);
371 endd[2] = DotProduct (tempd, up);
374 // trace a line through the appropriate clipping hull
375 VectorCopy(startd, rhc.start);
376 VectorCopy(endd, rhc.end);
377 VectorCopy(rhc.end, rhc.trace->endpos);
378 VectorSubtract(rhc.end, rhc.start, rhc.dist);
379 if (rhc.dist[0] || rhc.dist[1] || rhc.dist[2])
380 RecursiveHullCheck (&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
382 RecursiveHullCheckPoint (&rhc, rhc.hull->firstclipnode);
383 if (rhc.trace->fraction < 0 || rhc.trace->fraction > 1) Con_Printf("fraction out of bounds %f %s:%d\n", rhc.trace->fraction, __FILE__, __LINE__);
385 // if we hit, unrotate endpos and normal, and store the entity we hit
386 if (rhc.trace->fraction != 1)
388 // rotate endpos back to world frame of reference
389 if (cangles[0] || cangles[1] || cangles[2])
391 VectorNegate (cangles, offset);
392 AngleVectorsFLU (offset, forward, left, up);
394 VectorCopy (rhc.trace->endpos, tempd);
395 rhc.trace->endpos[0] = DotProduct (tempd, forward);
396 rhc.trace->endpos[1] = DotProduct (tempd, left);
397 rhc.trace->endpos[2] = DotProduct (tempd, up);
399 VectorCopy (rhc.trace->plane.normal, tempd);
400 rhc.trace->plane.normal[0] = DotProduct (tempd, forward);
401 rhc.trace->plane.normal[1] = DotProduct (tempd, left);
402 rhc.trace->plane.normal[2] = DotProduct (tempd, up);
404 rhc.trace->ent = (void *) cent;
406 else if (rhc.trace->allsolid || rhc.trace->startsolid)
407 rhc.trace->ent = (void *) cent;
409 VectorAdd (rhc.trace->endpos, offset, rhc.trace->endpos);
415 rhc.hull = HullForBBoxEntity (corigin, cmins, cmaxs, mins, maxs, offset);
417 // trace a line through the generated clipping hull
418 VectorSubtract(start, offset, rhc.start);
419 VectorSubtract(end, offset, rhc.end);
420 VectorCopy(rhc.end, rhc.trace->endpos);
421 VectorSubtract(rhc.end, rhc.start, rhc.dist);
422 if (rhc.dist[0] || rhc.dist[1] || rhc.dist[2])
423 RecursiveHullCheck (&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
425 RecursiveHullCheckPoint (&rhc, rhc.hull->firstclipnode);
426 if (rhc.trace->fraction < 0 || rhc.trace->fraction > 1) Con_Printf("fraction out of bounds %f %s:%d\n", rhc.trace->fraction, __FILE__, __LINE__);
428 // if we hit, store the entity we hit
429 if (rhc.trace->fraction != 1)
432 VectorAdd (rhc.trace->endpos, offset, rhc.trace->endpos);
433 rhc.trace->ent = (void *) cent;
435 else if (rhc.trace->allsolid || rhc.trace->startsolid)
436 rhc.trace->ent = (void *) cent;
454 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
457 Con_Printf("3 %s\n%i\n", name, brush->numpoints);
458 for (i = 0;i < brush->numpoints;i++)
459 Con_Printf("%g %g %g\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
461 Con_Printf("4\n%i\n", brush->numplanes);
462 for (i = 0;i < brush->numplanes;i++)
463 Con_Printf("%g %g %g %g\n", brush->planes[i].normal[0], brush->planes[i].normal[1], brush->planes[i].normal[2], brush->planes[i].dist);
467 colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes)
470 brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes);
471 brush->numpoints = numpoints;
472 brush->numplanes = numplanes;
473 brush->planes = (void *)(brush + 1);
474 brush->points = (void *)(brush->planes + brush->numplanes);
478 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
481 float edge0[3], edge1[3], normal[3], dist, bestdist;
484 // choose best surface normal for polygon's plane
486 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
488 VectorSubtract(p[-1].v, p[0].v, edge0);
489 VectorSubtract(p[1].v, p[0].v, edge1);
490 CrossProduct(edge0, edge1, normal);
491 dist = DotProduct(normal, normal);
492 if (i == 0 || bestdist < dist)
495 VectorCopy(normal, brush->planes->normal);
499 VectorNormalize(brush->planes->normal);
500 brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
502 // negate plane to create other side
503 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
504 brush->planes[1].dist = -brush->planes[0].dist;
505 for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
507 VectorSubtract(p->v, p2->v, edge0);
508 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
509 VectorNormalize(brush->planes[i + 2].normal);
510 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
514 // validity check - will be disabled later
515 for (i = 0;i < brush->numplanes;i++)
518 for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
519 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
520 Con_Printf("Error in brush plane generation, plane %i\n", i);
525 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points)
528 brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
529 brush->numpoints = numpoints;
530 brush->numplanes = numpoints + 2;
531 brush->planes = (void *)(brush + 1);
532 brush->points = (colpointf_t *)points;
536 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
538 float dist, bestdist;
539 bestdist = DotProduct(points->v, normal);
543 dist = DotProduct(points->v, normal);
551 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
553 float dist, bestdist;
554 bestdist = DotProduct(points->v, normal);
558 dist = DotProduct(points->v, normal);
566 #define COLLISIONEPSILON (1.0f / 32.0f)
567 #define COLLISIONEPSILON2 0//(1.0f / 32.0f)
569 // NOTE: start and end of each brush pair must have same numplanes/numpoints
570 float Collision_TraceBrushBrushFloat(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end, float *impactnormal, int *startsolid, int *allsolid)
572 int nplane, nplane2, fstartsolid, fendsolid;
573 float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
574 const colplanef_t *startplane, *endplane;
581 for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
584 if (nplane2 >= thatbrush_start->numplanes)
586 nplane2 -= thatbrush_start->numplanes;
587 startplane = thisbrush_start->planes + nplane2;
588 endplane = thisbrush_end->planes + nplane2;
592 startplane = thatbrush_start->planes + nplane2;
593 endplane = thatbrush_end->planes + nplane2;
595 d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
596 d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - COLLISIONEPSILON2;
597 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
609 f = (d1 - COLLISIONEPSILON) / f;
614 VectorBlend(startplane->normal, endplane->normal, enterfrac, newimpactnormal);
619 // moving out of brush
626 f = (d1 + COLLISIONEPSILON) / f;
637 if (fendsolid && allsolid)
641 // LordHavoc: we need an epsilon nudge here because for a point trace the
642 // penetrating line segment is normally zero length if this brush was
643 // generated from a polygon (infinitely thin), and could even be slightly
644 // positive or negative due to rounding errors in that case.
645 if (enterfrac > -1 && enterfrac < 1 && enterfrac - (1.0f / 1024.0f) <= leavefrac)
647 //if (enterfrac < (1.0f / 1024.0f))
649 enterfrac = bound(0, enterfrac, 1);
650 VectorCopy(newimpactnormal, impactnormal);
656 static colplanef_t polyf_planes[256 + 2];
657 static colbrushf_t polyf_brush;
659 float Collision_TraceBrushPolygonFloat(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, float *impactnormal, int *startsolid, int *allsolid)
663 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
666 polyf_brush.numpoints = numpoints;
667 polyf_brush.numplanes = numpoints + 2;
668 polyf_brush.points = (colpointf_t *)points;
669 polyf_brush.planes = polyf_planes;
670 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
671 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
672 return Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush, impactnormal, startsolid, allsolid);
675 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
676 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
677 static colbrushf_t polyf_brushstart, polyf_brushend;
679 float Collision_TraceBrushPolygonTransformFloat(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, float *impactnormal, const matrix4x4_t *polygonmatrixstart, const matrix4x4_t *polygonmatrixend, int *startsolid, int *allsolid)
684 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
687 polyf_brushstart.numpoints = numpoints;
688 polyf_brushstart.numplanes = numpoints + 2;
689 polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
690 polyf_brushstart.planes = polyf_planesstart;
691 for (i = 0;i < numpoints;i++)
692 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
693 polyf_brushend.numpoints = numpoints;
694 polyf_brushend.numplanes = numpoints + 2;
695 polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
696 polyf_brushend.planes = polyf_planesend;
697 for (i = 0;i < numpoints;i++)
698 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
699 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
700 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
702 //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
703 //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
705 return Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend, impactnormal, startsolid, allsolid);
708 colbrushd_t *Collision_AllocBrushDouble(mempool_t *mempool, int numpoints, int numplanes)
711 brush = Mem_Alloc(mempool, sizeof(colbrushd_t) + sizeof(colpointd_t) * numpoints + sizeof(colplaned_t) * numplanes);
712 brush->numpoints = numpoints;
713 brush->numplanes = numplanes;
714 brush->planes = (void *)(brush + 1);
715 brush->points = (void *)(brush->planes + brush->numplanes);
719 void Collision_CalcPlanesForPolygonBrushDouble(colbrushd_t *brush)
722 double edge0[3], edge1[3], normal[3], dist, bestdist;
725 // choose best surface normal for polygon's plane
727 for (i = 2, p = brush->points + 2;i < brush->numpoints;i++, p++)
729 VectorSubtract(p[-1].v, p[0].v, edge0);
730 VectorSubtract(p[1].v, p[0].v, edge1);
731 CrossProduct(edge0, edge1, normal);
732 dist = DotProduct(normal, normal);
733 if (i == 2 || bestdist < dist)
736 VectorCopy(normal, brush->planes->normal);
740 VectorNormalize(brush->planes->normal);
741 brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
743 // negate plane to create other side
744 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
745 brush->planes[1].dist = -brush->planes[0].dist;
746 for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points + 2;i < brush->numpoints;i++, p = p2, p2++)
748 VectorSubtract(p->v, p2->v, edge0);
749 CrossProduct(edge0, brush->planes->normal, brush->planes[i].normal);
750 VectorNormalize(brush->planes[i].normal);
751 brush->planes[i].dist = DotProduct(p->v, brush->planes[i].normal);
755 // validity check - will be disabled later
756 for (i = 0;i < brush->numplanes;i++)
759 for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
760 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
761 Con_Printf("Error in brush plane generation, plane %i\n");
766 colbrushd_t *Collision_AllocBrushFromPermanentPolygonDouble(mempool_t *mempool, int numpoints, double *points)
769 brush = Mem_Alloc(mempool, sizeof(colbrushd_t) + sizeof(colplaned_t) * (numpoints + 2));
770 brush->numpoints = numpoints;
771 brush->numplanes = numpoints + 2;
772 brush->planes = (void *)(brush + 1);
773 brush->points = (colpointd_t *)points;
778 double nearestplanedist_double(const double *normal, const colpointd_t *points, int numpoints)
780 double dist, bestdist;
781 bestdist = DotProduct(points->v, normal);
785 dist = DotProduct(points->v, normal);
793 double furthestplanedist_double(const double *normal, const colpointd_t *points, int numpoints)
795 double dist, bestdist;
796 bestdist = DotProduct(points->v, normal);
800 dist = DotProduct(points->v, normal);
808 // NOTE: start and end of each brush pair must have same numplanes/numpoints
809 double Collision_TraceBrushBrushDouble(const colbrushd_t *thisbrush_start, const colbrushd_t *thisbrush_end, const colbrushd_t *thatbrush_start, const colbrushd_t *thatbrush_end, double *impactnormal)
812 double enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
813 const colplaned_t *startplane, *endplane;
818 for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
820 startplane = thatbrush_start->planes + nplane;
821 endplane = thatbrush_end->planes + nplane;
822 d1 = nearestplanedist_double(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_double(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
823 d2 = nearestplanedist_double(endplane->normal, thisbrush_end->points, thisbrush_start->numpoints) - furthestplanedist_double(endplane->normal, thatbrush_end->points, thatbrush_start->numpoints) - (1.0 / 32.0);
838 VectorSubtract(endplane->normal, startplane->normal, newimpactnormal);
839 VectorMA(startplane->normal, enterfrac, impactnormal, newimpactnormal);
844 // moving out of brush
856 for (nplane = 0;nplane < thisbrush_start->numplanes;nplane++)
858 startplane = thisbrush_start->planes + nplane;
859 endplane = thisbrush_end->planes + nplane;
860 d1 = nearestplanedist_double(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_double(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
861 d2 = nearestplanedist_double(endplane->normal, thisbrush_end->points, thisbrush_start->numpoints) - furthestplanedist_double(endplane->normal, thatbrush_end->points, thatbrush_start->numpoints) - (1.0 / 32.0);
876 VectorSubtract(endplane->normal, startplane->normal, newimpactnormal);
877 VectorMA(startplane->normal, enterfrac, impactnormal, newimpactnormal);
882 // moving out of brush
894 // LordHavoc: we need an epsilon nudge here because for a point trace the
895 // penetrating line segment is normally zero length if this brush was
896 // generated from a polygon (infinitely thin), and could even be slightly
897 // positive or negative due to rounding errors in that case.
898 enterfrac -= (1.0 / 16384.0);
899 if (leavefrac - enterfrac >= 0 && enterfrac > -1)
901 VectorCopy(newimpactnormal, impactnormal);
902 enterfrac = bound(0, enterfrac, 1);
908 static colplaned_t polyd_planes[256 + 2];
909 static colbrushd_t polyd_brush;
910 double Collision_TraceBrushPolygonDouble(const colbrushd_t *thisbrush_start, const colbrushd_t *thisbrush_end, int numpoints, const double *points, double *impactnormal)
914 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
917 polyd_brush.numpoints = numpoints;
918 polyd_brush.numplanes = numpoints + 2;
919 polyd_brush.points = (colpointd_t *)points;
920 polyd_brush.planes = polyd_planes;
921 Collision_CalcPlanesForPolygonBrushDouble(&polyd_brush);
922 return Collision_TraceBrushBrushDouble(thisbrush_start, thisbrush_end, &polyd_brush, &polyd_brush, impactnormal);
928 typedef struct colbrushbmodelinfo_s
931 const matrix4x4_t *modelmatrixstart;
932 const matrix4x4_t *modelmatrixend;
933 const colbrushf_t *thisbrush_start;
934 const colbrushf_t *thisbrush_end;
935 float impactnormal[3];
936 float tempimpactnormal[3];
941 colbrushbmodelinfo_t;
943 static int colframecount = 1;
945 void Collision_RecursiveTraceBrushNode(colbrushbmodelinfo_t *info, mnode_t *node)
949 // collide with surfaces marked by this leaf
952 mleaf_t *leaf = (mleaf_t *)node;
954 for (i = 0, mark = leaf->firstmarksurface;i < leaf->nummarksurfaces;i++, mark++)
956 surf = info->model->surfaces + *mark;
957 // don't check a surface twice
958 if (surf->colframe != colframecount)
960 surf->colframe = colframecount;
961 if (surf->flags & SURF_SOLIDCLIP)
963 result = Collision_TraceBrushPolygonFloat(info->thisbrush_start, info->thisbrush_end, surf->poly_numverts, surf->poly_verts, info->tempimpactnormal, &info->startsolid, &info->allsolid);
964 //result = Collision_TraceBrushPolygonTransformFloat(info->thisbrush_start, info->thisbrush_end, surf->poly_numverts, surf->poly_verts, info->tempimpactnormal, info->modelmatrixstart, info->modelmatrixend, &info->startsolid, &info->allsolid);
965 if (info->fraction > result)
967 info->fraction = result;
968 // use the surface's plane instead of the actual
969 // collision plane because the actual collision plane
970 // might be to the side (on a seam between polygons)
971 // or something, we want objects to bounce off the
973 //if (surf->flags & SURF_PLANEBACK)
974 // VectorNegate(surf->plane->normal, info->impactnormal);
976 // VectorCopy(surf->plane->normal, info->impactnormal);
977 VectorCopy(info->tempimpactnormal, info->impactnormal);
985 // recurse down node sides
988 colpointf_t *ps, *pe;
990 // FIXME? if TraceBrushPolygonTransform were to be made usable, the
991 // node planes would need to be transformed too
992 dist1 = node->plane->dist - (1.0f / 8.0f);
993 dist2 = node->plane->dist + (1.0f / 8.0f);
994 for (i = 0, ps = info->thisbrush_start->points, pe = info->thisbrush_end->points;i < info->thisbrush_start->numpoints;i++, ps++, pe++)
996 if (!(bits & 1) && (DotProduct(ps->v, node->plane->normal) > dist1 || DotProduct(pe->v, node->plane->normal) > dist1))
998 if (!(bits & 2) && (DotProduct(ps->v, node->plane->normal) < dist2 || DotProduct(pe->v, node->plane->normal) < dist2))
1002 Collision_RecursiveTraceBrushNode(info, node->children[0]);
1004 Collision_RecursiveTraceBrushNode(info, node->children[1]);
1008 float Collision_TraceBrushBModel(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, model_t *model, float *impactnormal, int *startsolid, int *allsolid)
1010 colbrushbmodelinfo_t info;
1013 info.thisbrush_start = thisbrush_start;
1014 info.thisbrush_end = thisbrush_end;
1016 info.startsolid = false;
1017 info.allsolid = false;
1018 Collision_RecursiveTraceBrushNode(&info, model->nodes + model->hulls[0].firstclipnode);
1019 if (info.fraction < 1)
1020 VectorCopy(info.impactnormal, impactnormal);
1022 *startsolid = info.startsolid;
1024 *allsolid = info.allsolid;
1025 return info.fraction;
1028 float Collision_TraceBrushBModelTransform(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, model_t *model, float *impactnormal, const matrix4x4_t *modelmatrixstart, const matrix4x4_t *modelmatrixend, int *startsolid, int *allsolid)
1030 colbrushbmodelinfo_t info;
1033 info.modelmatrixstart = modelmatrixstart;
1034 info.modelmatrixend = modelmatrixend;
1035 info.thisbrush_start = thisbrush_start;
1036 info.thisbrush_end = thisbrush_end;
1038 info.startsolid = false;
1039 info.allsolid = false;
1040 Collision_RecursiveTraceBrushNode(&info, model->nodes);
1041 if (info.fraction < 1)
1042 VectorCopy(info.impactnormal, impactnormal);
1044 *startsolid = info.startsolid;
1046 *allsolid = info.allsolid;
1047 return info.fraction;
1052 #define MAX_BRUSHFORBOX 16
1053 static int brushforbox_index = 0;
1054 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1055 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1056 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1058 void Collision_InitBrushForBox(void)
1061 for (i = 0;i < MAX_BRUSHFORBOX;i++)
1063 brushforbox_brush[i].numpoints = 8;
1064 brushforbox_brush[i].numplanes = 6;
1065 brushforbox_brush[i].points = brushforbox_point + i * 8;
1066 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1070 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
1075 if (brushforbox_brush[0].numpoints == 0)
1076 Collision_InitBrushForBox();
1077 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1079 for (i = 0;i < 8;i++)
1081 v[0] = i & 1 ? maxs[0] : mins[0];
1082 v[1] = i & 2 ? maxs[1] : mins[1];
1083 v[2] = i & 4 ? maxs[2] : mins[2];
1084 Matrix4x4_Transform(matrix, v, brush->points[i].v);
1087 for (i = 0;i < 6;i++)
1090 v[i >> 1] = i & 1 ? 1 : -1;
1091 Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1092 VectorNormalize(brush->planes[i].normal);
1093 brush->planes[i].dist = furthestplanedist_float(brush->planes[i].normal, brush->points, brush->numpoints);
1098 void Collision_PolygonClipTrace (trace_t *trace, const void *cent, model_t *cmodel, const vec3_t corigin, const vec3_t cangles, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end)
1100 vec3_t impactnormal;
1101 //vec3_t mins2, maxs2;
1102 matrix4x4_t cmatrix, cimatrix, startmatrix, endmatrix;
1103 matrix4x4_t mstartmatrix, mendmatrix, identitymatrix;
1104 colbrushf_t *thisbrush_start, *thisbrush_end, *cbrush;
1106 Matrix4x4_CreateFromQuakeEntity(&cmatrix, corigin[0], corigin[1], corigin[2], cangles[0], cangles[1], cangles[2], 1);
1107 Matrix4x4_Invert_Simple(&cimatrix, &cmatrix);
1108 Matrix4x4_CreateTranslate(&startmatrix, start[0], start[1], start[2]);
1109 Matrix4x4_CreateTranslate(&endmatrix, end[0], end[1], end[2]);
1111 Matrix4x4_CreateIdentity(&identitymatrix);
1112 Matrix4x4_Concat(&mstartmatrix, &cimatrix, &startmatrix);
1113 Matrix4x4_Concat(&mendmatrix, &cimatrix, &endmatrix);
1114 thisbrush_start = Collision_BrushForBox(&mstartmatrix, mins, maxs);
1115 //mins2[0] = mins[0] - 0.0625;mins2[1] = mins[1] - 0.0625;mins2[2] = mins[2] - 0.0625;
1116 //maxs2[0] = maxs[0] + 0.0625;maxs2[1] = maxs[1] + 0.0625;maxs2[2] = maxs[2] + 0.0625;
1117 thisbrush_end = Collision_BrushForBox(&mendmatrix, mins, maxs);
1119 //Collision_PrintBrushAsQHull(thisbrush_start, "thisbrush_start");
1120 //Collision_PrintBrushAsQHull(thisbrush_end, "thisbrush_end");
1121 memset (trace, 0, sizeof(trace_t));
1122 if (cmodel && cmodel->type == mod_brush)
1125 trace->fraction = Collision_TraceBrushBModel(thisbrush_start, thisbrush_end, cmodel, impactnormal, &trace->startsolid, &trace->allsolid);
1126 //trace->fraction = Collision_TraceBrushBModelTransform(thisbrush_start, thisbrush_end, cmodel, trace->plane.normal, &cmatrix, &cmatrix, &trace->startsolid, &trace->allsolid);
1131 cbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
1132 trace->fraction = Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, cbrush, cbrush, impactnormal, &trace->startsolid, &trace->allsolid);
1133 //cbrush = Collision_BrushForBox(&cmatrix, cmins, cmaxs);
1134 //trace->fraction = Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, cbrush, cbrush, trace->plane.normal, &trace->startsolid, &trace->allsolid);
1137 if (trace->fraction < 0 || trace->fraction > 1)
1138 Con_Printf("fraction out of bounds %f %s:%d\n", trace->fraction, __FILE__, __LINE__);
1140 if (trace->fraction < 1)
1142 trace->ent = (void *) cent;
1143 VectorBlend(start, end, trace->fraction, trace->endpos);
1144 Matrix4x4_Transform(&cmatrix, impactnormal, trace->plane.normal);
1145 VectorNormalize(trace->plane.normal);
1146 //Con_Printf("fraction %f normal %f %f %f\n", trace->fraction, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2]);
1149 VectorCopy(end, trace->endpos);