collision.c

   1
   2 #include "quakedef.h"
   3 #include "winding.h"
   4
   5 typedef struct
   6 {
   7         // the hull we're tracing through
   8         const hull_t *hull;
   9
  10         // the trace structure to fill in
  11         trace_t *trace;
  12
  13         // start and end of the trace (in model space)
  14         double start[3];
  15         double end[3];
  16
  17         // end - start
  18         double dist[3];
  19
  20         // overrides the CONTENTS_SOLID in the box bsp tree
  21         int boxsupercontents;
  22 }
  23 RecursiveHullCheckTraceInfo_t;
  24
  25 // 1/32 epsilon to keep floating point happy
  26 #define DIST_EPSILON (0.03125)
  27
  28 #define HULLCHECKSTATE_EMPTY 0
  29 #define HULLCHECKSTATE_SOLID 1
  30 #define HULLCHECKSTATE_DONE 2
  31
  32 static int RecursiveHullCheck(RecursiveHullCheckTraceInfo_t *t, int num, double p1f, double p2f, double p1[3], double p2[3])
  33 {
  34         // status variables, these don't need to be saved on the stack when
  35         // recursing...  but are because this should be thread-safe
  36         // (note: tracing against a bbox is not thread-safe, yet)
  37         int ret;
  38         mplane_t *plane;
  39         double t1, t2;
  40
  41         // variables that need to be stored on the stack when recursing
  42         dclipnode_t *node;
  43         int side;
  44         double midf, mid[3];
  45
  46         // LordHavoc: a goto!  everyone flee in terror... :)
  47 loc0:
  48         // check for empty
  49         if (num < 0)
  50         {
  51                 // translate the fake CONTENTS values in the box bsp tree
  52                 if (num == CONTENTS_SOLID)
  53                         num = t->boxsupercontents;
  54                 else
  55                         num = 0;
  56                 if (!t->trace->startfound)
  57                 {
  58                         t->trace->startfound = true;
  59                         t->trace->startsupercontents |= num;
  60                 }
  61                 if (num & t->trace->hitsupercontentsmask)
  62                 {
  63                         // if the first leaf is solid, set startsolid
  64                         if (t->trace->allsolid)
  65                                 t->trace->startsolid = true;
  66                         return HULLCHECKSTATE_SOLID;
  67                 }
  68                 else
  69                 {
  70                         t->trace->allsolid = false;
  71                         return HULLCHECKSTATE_EMPTY;
  72                 }
  73         }
  74
  75         // find the point distances
  76         node = t->hull->clipnodes + num;
  77
  78         plane = t->hull->planes + node->planenum;
  79         if (plane->type < 3)
  80         {
  81                 t1 = p1[plane->type] - plane->dist;
  82                 t2 = p2[plane->type] - plane->dist;
  83         }
  84         else
  85         {
  86                 t1 = DotProduct (plane->normal, p1) - plane->dist;
  87                 t2 = DotProduct (plane->normal, p2) - plane->dist;
  88         }
  89
  90         if (t1 < 0)
  91         {
  92                 if (t2 < 0)
  93                 {
  94                         num = node->children[1];
  95                         goto loc0;
  96                 }
  97                 side = 1;
  98         }
  99         else
 100         {
 101                 if (t2 >= 0)
 102                 {
 103                         num = node->children[0];
 104                         goto loc0;
 105                 }
 106                 side = 0;
 107         }
 108
 109         // the line intersects, find intersection point
 110         // LordHavoc: this uses the original trace for maximum accuracy
 111         if (plane->type < 3)
 112         {
 113                 t1 = t->start[plane->type] - plane->dist;
 114                 t2 = t->end[plane->type] - plane->dist;
 115         }
 116         else
 117         {
 118                 t1 = DotProduct (plane->normal, t->start) - plane->dist;
 119                 t2 = DotProduct (plane->normal, t->end) - plane->dist;
 120         }
 121
 122         midf = t1 / (t1 - t2);
 123         midf = bound(p1f, midf, p2f);
 124         VectorMA(t->start, midf, t->dist, mid);
 125
 126         // recurse both sides, front side first
 127         ret = RecursiveHullCheck (t, node->children[side], p1f, midf, p1, mid);
 128         // if this side is not empty, return what it is (solid or done)
 129         if (ret != HULLCHECKSTATE_EMPTY)
 130                 return ret;
 131
 132         ret = RecursiveHullCheck (t, node->children[side ^ 1], midf, p2f, mid, p2);
 133         // if other side is not solid, return what it is (empty or done)
 134         if (ret != HULLCHECKSTATE_SOLID)
 135                 return ret;
 136
 137         // front is air and back is solid, this is the impact point...
 138         if (side)
 139         {
 140                 t->trace->plane.dist = -plane->dist;
 141                 VectorNegate (plane->normal, t->trace->plane.normal);
 142         }
 143         else
 144         {
 145                 t->trace->plane.dist = plane->dist;
 146                 VectorCopy (plane->normal, t->trace->plane.normal);
 147         }
 148
 149         // bias away from surface a bit
 150         t1 = DotProduct(t->trace->plane.normal, t->start) - (t->trace->plane.dist + DIST_EPSILON);
 151         t2 = DotProduct(t->trace->plane.normal, t->end) - (t->trace->plane.dist + DIST_EPSILON);
 152
 153         midf = t1 / (t1 - t2);
 154         t->trace->fraction = bound(0.0f, midf, 1.0);
 155
 156         VectorMA(t->start, t->trace->fraction, t->dist, t->trace->endpos);
 157
 158         return HULLCHECKSTATE_DONE;
 159 }
 160
 161 #if 0
 162 // used if start and end are the same
 163 static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
 164 {
 165         // If you can read this, you understand BSP trees
 166         while (num >= 0)
 167                 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];
 168
 169         // check for empty
 170         t->trace->endcontents = num;
 171         if (t->trace->thiscontents)
 172         {
 173                 if (num == t->trace->thiscontents)
 174                         t->trace->allsolid = false;
 175                 else
 176                 {
 177                         // if the first leaf is solid, set startsolid
 178                         if (t->trace->allsolid)
 179                                 t->trace->startsolid = true;
 180                 }
 181         }
 182         else
 183         {
 184                 if (num != CONTENTS_SOLID)
 185                 {
 186                         t->trace->allsolid = false;
 187                         if (num == CONTENTS_EMPTY)
 188                                 t->trace->inopen = true;
 189                         else
 190                                 t->trace->inwater = true;
 191                 }
 192                 else
 193                 {
 194                         // if the first leaf is solid, set startsolid
 195                         if (t->trace->allsolid)
 196                                 t->trace->startsolid = true;
 197                 }
 198         }
 199 }
 200 #endif
 201
 202 static hull_t box_hull;
 203 static dclipnode_t box_clipnodes[6];
 204 static mplane_t box_planes[6];
 205
 206 void Collision_Init (void)
 207 {
 208         int             i;
 209         int             side;
 210
 211         //Set up the planes and clipnodes so that the six floats of a bounding box
 212         //can just be stored out and get a proper hull_t structure.
 213
 214         box_hull.clipnodes = box_clipnodes;
 215         box_hull.planes = box_planes;
 216         box_hull.firstclipnode = 0;
 217         box_hull.lastclipnode = 5;
 218
 219         for (i = 0;i < 6;i++)
 220         {
 221                 box_clipnodes[i].planenum = i;
 222
 223                 side = i&1;
 224
 225                 box_clipnodes[i].children[side] = CONTENTS_EMPTY;
 226                 if (i != 5)
 227                         box_clipnodes[i].children[side^1] = i + 1;
 228                 else
 229                         box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
 230
 231                 box_planes[i].type = i>>1;
 232                 box_planes[i].normal[i>>1] = 1;
 233         }
 234 }
 235
 236 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)
 237 {
 238         RecursiveHullCheckTraceInfo_t rhc;
 239         // fill in a default trace
 240         memset(&rhc, 0, sizeof(rhc));
 241         memset(trace, 0, sizeof(trace_t));
 242         //To keep everything totally uniform, bounding boxes are turned into small
 243         //BSP trees instead of being compared directly.
 244         // create a temp hull from bounding box sizes
 245         box_planes[0].dist = cmaxs[0] - mins[0];
 246         box_planes[1].dist = cmins[0] - maxs[0];
 247         box_planes[2].dist = cmaxs[1] - mins[1];
 248         box_planes[3].dist = cmins[1] - maxs[1];
 249         box_planes[4].dist = cmaxs[2] - mins[2];
 250         box_planes[5].dist = cmins[2] - maxs[2];
 251         // trace a line through the generated clipping hull
 252         rhc.boxsupercontents = boxsupercontents;
 253         rhc.hull = &box_hull;
 254         rhc.trace = trace;
 255         rhc.trace->hitsupercontentsmask = hitsupercontentsmask;
 256         rhc.trace->fraction = 1;
 257         rhc.trace->allsolid = true;
 258         VectorCopy(start, rhc.start);
 259         VectorCopy(end, rhc.end);
 260         VectorSubtract(rhc.end, rhc.start, rhc.dist);
 261         RecursiveHullCheck(&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
 262 }
 263
 264
 265
 266
 267
 268
 269
 270
 271
 272
 273
 274
 275
 276
 277
 278 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
 279 {
 280         int i;
 281         Con_Printf("3 %s\n%i\n", name, brush->numpoints);
 282         for (i = 0;i < brush->numpoints;i++)
 283                 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
 284         // FIXME: optimize!
 285         Con_Printf("4\n%i\n", brush->numplanes);
 286         for (i = 0;i < brush->numplanes;i++)
 287                 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 }
 289
 290 void Collision_ValidateBrush(colbrushf_t *brush)
 291 {
 292         int j, k, pointsoffplanes, printbrush;
 293         float d;
 294         printbrush = false;
 295         if (!brush->numpoints)
 296         {
 297                 Con_Printf("Collision_ValidateBrush: brush with no points!\n");
 298                 printbrush = true;
 299         }
 300 #if 0
 301         // it's ok for a brush to have one point and no planes...
 302         if (brush->numplanes == 0 && brush->numpoints != 1)
 303         {
 304                 Con_Printf("Collision_ValidateBrush: brush with no planes and more than one point!\n");
 305                 printbrush = true;
 306         }
 307 #endif
 308         if (brush->numplanes)
 309         {
 310                 pointsoffplanes = 0;
 311                 for (k = 0;k < brush->numplanes;k++)
 312                 {
 313                         if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
 314                                 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);
 315                         for (j = 0;j < brush->numpoints;j++)
 316                         {
 317                                 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
 318                                 if (d > (1.0f / 8.0f))
 319                                 {
 320                                         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);
 321                                         printbrush = true;
 322                                 }
 323                                 if (fabs(d) > 0.01f)
 324                                         pointsoffplanes++;
 325                         }
 326                 }
 327                 if (pointsoffplanes == 0) // all points are on all planes
 328                 {
 329                         Con_Printf("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
 330                         printbrush = true;
 331                 }
 332         }
 333         if (printbrush)
 334                 Collision_PrintBrushAsQHull(brush, "unnamed");
 335 }
 336
 337 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 338 {
 339         float dist, bestdist;
 340         bestdist = DotProduct(points->v, normal);
 341         points++;
 342         while(--numpoints)
 343         {
 344                 dist = DotProduct(points->v, normal);
 345                 bestdist = min(bestdist, dist);
 346                 points++;
 347         }
 348         return bestdist;
 349 }
 350
 351 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 352 {
 353         float dist, bestdist;
 354         bestdist = DotProduct(points->v, normal);
 355         points++;
 356         while(--numpoints)
 357         {
 358                 dist = DotProduct(points->v, normal);
 359                 bestdist = max(bestdist, dist);
 360                 points++;
 361         }
 362         return bestdist;
 363 }
 364
 365
 366 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents)
 367 {
 368         int j, k, m;
 369         int numpoints, maxpoints, numplanes, maxplanes, numelements, maxelements, numtriangles, numpolypoints, maxpolypoints;
 370         winding_t *w;
 371         colbrushf_t *brush;
 372         colpointf_t pointsbuf[256];
 373         colplanef_t planesbuf[256];
 374         int elementsbuf[1024];
 375         int polypointbuf[256];
 376         float mins[3], maxs[3];
 377         // construct a collision brush (points, planes, and renderable mesh) from
 378         // a set of planes, this also optimizes out any unnecessary planes (ones
 379         // whose polygon is clipped away by the other planes)
 380         numpoints = 0;maxpoints = 256;
 381         numplanes = 0;maxplanes = 256;
 382         numelements = 0;maxelements = 1024;
 383         numtriangles = 0;
 384         maxpolypoints = 256;
 385         for (j = 0;j < numoriginalplanes;j++)
 386         {
 387                 // add the plane uniquely (no duplicates)
 388                 for (k = 0;k < numplanes;k++)
 389                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
 390                                 break;
 391                 // if the plane is a duplicate, skip it
 392                 if (k < numplanes)
 393                         continue;
 394                 // check if there are too many and skip the brush
 395                 if (numplanes >= 256)
 396                 {
 397                         Con_Printf("Mod_Q3BSP_LoadBrushes: failed to build collision brush: too many planes for buffer\n");
 398                         return NULL;
 399                 }
 400
 401                 // create a large polygon from the plane
 402                 w = Winding_NewFromPlane(originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
 403                 // clip it by all other planes
 404                 for (k = 0;k < numoriginalplanes && w;k++)
 405                 {
 406                         if (k != j)
 407                         {
 408                                 // we want to keep the inside of the brush plane so we flip
 409                                 // the cutting plane
 410                                 w = Winding_Clip(w, -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, true);
 411                         }
 412                 }
 413                 // if nothing is left, skip it
 414                 if (!w)
 415                         continue;
 416
 417                 // copy off the number of points for later when the winding is freed
 418                 numpolypoints = w->numpoints;
 419
 420                 // check if there are too many polygon vertices for buffer
 421                 if (numpolypoints > maxpolypoints)
 422                 {
 423                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 424                         return NULL;
 425                 }
 426
 427                 // check if there are too many triangle elements for buffer
 428                 if (numelements + (w->numpoints - 2) * 3 > maxelements)
 429                 {
 430                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
 431                         return NULL;
 432                 }
 433
 434                 for (k = 0;k < w->numpoints;k++)
 435                 {
 436                         // check if there is already a matching point (no duplicates)
 437                         for (m = 0;m < numpoints;m++)
 438                                 if (VectorDistance2(w->points[k], pointsbuf[m].v) < DIST_EPSILON)
 439                                         break;
 440
 441                         // if there is no match, add a new one
 442                         if (m == numpoints)
 443                         {
 444                                 // check if there are too many and skip the brush
 445                                 if (numpoints >= 256)
 446                                 {
 447                                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 448                                         Winding_Free(w);
 449                                         return NULL;
 450                                 }
 451                                 // add the new one
 452                                 VectorCopy(w->points[k], pointsbuf[numpoints].v);
 453                                 numpoints++;
 454                         }
 455
 456                         // store the index into a buffer
 457                         polypointbuf[k] = m;
 458                 }
 459                 Winding_Free(w);
 460                 w = NULL;
 461
 462                 // add the triangles for the polygon
 463                 // (this particular code makes a triangle fan)
 464                 for (k = 0;k < numpolypoints - 2;k++)
 465                 {
 466                         numtriangles++;
 467                         elementsbuf[numelements++] = polypointbuf[0];
 468                         elementsbuf[numelements++] = polypointbuf[k + 1];
 469                         elementsbuf[numelements++] = polypointbuf[k + 2];
 470                 }
 471
 472                 // add the new plane
 473                 VectorCopy(originalplanes[j].normal, planesbuf[numplanes].normal);
 474                 planesbuf[numplanes].dist = originalplanes[j].dist;
 475                 numplanes++;
 476         }
 477
 478         // recalc distances
 479         for (j = 0;j < numplanes;j++)
 480                 planesbuf[j].dist = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpoints);
 481
 482         if (numpoints)
 483         {
 484                 VectorCopy(pointsbuf[0].v, mins);
 485                 VectorCopy(pointsbuf[0].v, maxs);
 486                 for (j = 1;j < numpoints;j++)
 487                 {
 488                         mins[0] = min(mins[0], pointsbuf[j].v[0]);
 489                         mins[1] = min(mins[1], pointsbuf[j].v[1]);
 490                         mins[2] = min(mins[2], pointsbuf[j].v[2]);
 491                         maxs[0] = max(maxs[0], pointsbuf[j].v[0]);
 492                         maxs[1] = max(maxs[1], pointsbuf[j].v[1]);
 493                         maxs[2] = max(maxs[2], pointsbuf[j].v[2]);
 494                 }
 495         }
 496
 497         // if nothing is left, there's nothing to allocate
 498         if (numtriangles < 4 || numplanes < 4 || numpoints < 4)
 499                 return NULL;
 500
 501         // allocate the brush and copy to it
 502         brush = Collision_AllocBrushFloat(mempool, numpoints, numplanes, numtriangles, supercontents);
 503         memcpy(brush->points, pointsbuf, numpoints * sizeof(colpointf_t));
 504         memcpy(brush->planes, planesbuf, numplanes * sizeof(colplanef_t));
 505         memcpy(brush->elements, elementsbuf, numtriangles * sizeof(int[3]));
 506         VectorCopy(mins, brush->mins);
 507         VectorCopy(maxs, brush->maxs);
 508         Collision_ValidateBrush(brush);
 509         return brush;
 510 }
 511
 512
 513
 514 colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes, int numtriangles, int supercontents)
 515 {
 516         colbrushf_t *brush;
 517         brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes + sizeof(int[3]) * numtriangles);
 518         brush->supercontents = supercontents;
 519         brush->numplanes = numplanes;
 520         brush->numpoints = numpoints;
 521         brush->numtriangles = numtriangles;
 522         brush->planes = (void *)(brush + 1);
 523         brush->points = (void *)(brush->planes + brush->numplanes);
 524         brush->elements = (void *)(brush->points + brush->numpoints);
 525         return brush;
 526 }
 527
 528 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 529 {
 530         int i;
 531         float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist, temp[3];
 532         colpointf_t *p, *p2;
 533
 534         if (brush->numpoints == 3)
 535         {
 536                 // optimized triangle case
 537                 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
 538                 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
 539                 {
 540                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 541                         brush->numplanes = 0;
 542                         return;
 543                 }
 544                 else
 545                 {
 546                         brush->numplanes = 5;
 547                         VectorNormalize(brush->planes[0].normal);
 548                         brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
 549                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 550                         brush->planes[1].dist = -brush->planes[0].dist;
 551                         VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
 552                         VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
 553                         VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
 554                         CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
 555                         CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
 556                         CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
 557                         VectorNormalize(brush->planes[2].normal);
 558                         VectorNormalize(brush->planes[3].normal);
 559                         VectorNormalize(brush->planes[4].normal);
 560                         brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
 561                         brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
 562                         brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
 563
 564                         if (developer.integer)
 565                         {
 566                                 // validation code
 567                                 //VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
 568                                 //VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
 569                                 CrossProduct(edge1, edge0, normal);
 570                                 VectorNormalize(normal);
 571                                 VectorSubtract(normal, brush->planes[0].normal, temp);
 572                                 if (VectorLength(temp) > 0.01f)
 573                                         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]);
 574                                 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)
 575                                         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);
 576                                 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
 577                                         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);
 578                                 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
 579                                         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);
 580                                 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
 581                                         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);
 582                                 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
 583                                         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]);
 584                                 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
 585                                         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]);
 586                                 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
 587                                         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]);
 588                                 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)
 589                                         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);
 590                                 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)
 591                                         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);
 592                                 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)
 593                                         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);
 594                                 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)
 595                                         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);
 596                                 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)
 597                                         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);
 598                         }
 599                 }
 600         }
 601         else
 602         {
 603                 // choose best surface normal for polygon's plane
 604                 bestdist = 0;
 605                 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
 606                 {
 607                         VectorSubtract(p[-1].v, p[0].v, edge0);
 608                         VectorSubtract(p[1].v, p[0].v, edge1);
 609                         CrossProduct(edge0, edge1, normal);
 610                         //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
 611                         dist = DotProduct(normal, normal);
 612                         if (i == 0 || bestdist < dist)
 613                         {
 614                                 bestdist = dist;
 615                                 VectorCopy(normal, brush->planes->normal);
 616                         }
 617                 }
 618                 if (bestdist < 0.0001f)
 619                 {
 620                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 621                         brush->numplanes = 0;
 622                         return;
 623                 }
 624                 else
 625                 {
 626                         brush->numplanes = brush->numpoints + 2;
 627                         VectorNormalize(brush->planes->normal);
 628                         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 629
 630                         // negate plane to create other side
 631                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 632                         brush->planes[1].dist = -brush->planes[0].dist;
 633                         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
 634                         {
 635                                 VectorSubtract(p->v, p2->v, edge0);
 636                                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
 637                                 VectorNormalize(brush->planes[i + 2].normal);
 638                                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
 639                         }
 640                 }
 641         }
 642
 643         if (developer.integer)
 644         {
 645                 // validity check - will be disabled later
 646                 Collision_ValidateBrush(brush);
 647                 for (i = 0;i < brush->numplanes;i++)
 648                 {
 649                         int j;
 650                         for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
 651                                 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
 652                                         Con_Printf("Error in brush plane generation, plane %i\n", i);
 653                 }
 654         }
 655 }
 656
 657 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
 658 {
 659         colbrushf_t *brush;
 660         brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
 661         brush->supercontents = supercontents;
 662         brush->numpoints = numpoints;
 663         brush->numplanes = numpoints + 2;
 664         brush->planes = (void *)(brush + 1);
 665         brush->points = (colpointf_t *)points;
 666         Host_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
 667         return brush;
 668 }
 669
 670 #define COLLISIONEPSILON (1.0f / 32.0f)
 671 #define COLLISIONEPSILON2 0//(1.0f / 32.0f)
 672
 673 // NOTE: start and end of each brush pair must have same numplanes/numpoints
 674 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)
 675 {
 676         int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
 677         float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
 678         const colplanef_t *startplane, *endplane;
 679
 680         enterfrac = -1;
 681         leavefrac = 1;
 682         fstartsolid = true;
 683         fendsolid = true;
 684
 685         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 686         {
 687                 nplane2 = nplane;
 688                 if (nplane2 >= thatbrush_start->numplanes)
 689                 {
 690                         nplane2 -= thatbrush_start->numplanes;
 691                         startplane = thisbrush_start->planes + nplane2;
 692                         endplane = thisbrush_end->planes + nplane2;
 693                         if (developer.integer)
 694                         {
 695                                 // any brush with degenerate planes is not worth handling
 696                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 697                                 {
 698                                         Con_Printf("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
 699                                         return;
 700                                 }
 701                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
 702                                 if (fabs(f - startplane->dist) > 0.01f)
 703                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
 704                         }
 705                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 706                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - COLLISIONEPSILON2;
 707                 }
 708                 else
 709                 {
 710                         startplane = thatbrush_start->planes + nplane2;
 711                         endplane = thatbrush_end->planes + nplane2;
 712                         if (developer.integer)
 713                         {
 714                                 // any brush with degenerate planes is not worth handling
 715                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 716                                 {
 717                                         Con_Printf("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
 718                                         return;
 719                                 }
 720                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 721                                 if (fabs(f - startplane->dist) > 0.01f)
 722                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
 723                         }
 724                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist;
 725                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - startplane->dist - COLLISIONEPSILON2;
 726                 }
 727                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 728
 729                 f = d1 - d2;
 730                 if (f >= 0)
 731                 {
 732                         // moving into brush
 733                         if (d2 > 0)
 734                                 return;
 735                         if (d1 < 0)
 736                                 continue;
 737                         // enter
 738                         fstartsolid = false;
 739                         f = (d1 - COLLISIONEPSILON) / f;
 740                         f = bound(0, f, 1);
 741                         if (enterfrac < f)
 742                         {
 743                                 enterfrac = f;
 744                                 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 745                         }
 746                 }
 747                 else
 748                 {
 749                         // moving out of brush
 750                         if (d1 > 0)
 751                                 return;
 752                         if (d2 < 0)
 753                                 continue;
 754                         // leave
 755                         fendsolid = false;
 756                         f = (d1 + COLLISIONEPSILON) / f;
 757                         f = bound(0, f, 1);
 758                         if (leavefrac > f)
 759                                 leavefrac = f;
 760                 }
 761         }
 762
 763         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 764         if (fstartsolid)
 765         {
 766                 trace->startsupercontents |= thatbrush_start->supercontents;
 767                 if (brushsolid)
 768                 {
 769                         trace->startsolid = true;
 770                         if (fendsolid)
 771                                 trace->allsolid = true;
 772                 }
 773         }
 774
 775         // LordHavoc: we need an epsilon nudge here because for a point trace the
 776         // penetrating line segment is normally zero length if this brush was
 777         // generated from a polygon (infinitely thin), and could even be slightly
 778         // positive or negative due to rounding errors in that case.
 779         if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 780         {
 781                 trace->fraction = bound(0, enterfrac, 1);
 782                 VectorCopy(newimpactnormal, trace->plane.normal);
 783         }
 784 }
 785
 786 // NOTE: start and end brush pair must have same numplanes/numpoints
 787 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
 788 {
 789         int nplane, fstartsolid, fendsolid, brushsolid;
 790         float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
 791         const colplanef_t *startplane, *endplane;
 792
 793         enterfrac = -1;
 794         leavefrac = 1;
 795         fstartsolid = true;
 796         fendsolid = true;
 797
 798         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 799         {
 800                 startplane = thatbrush_start->planes + nplane;
 801                 endplane = thatbrush_end->planes + nplane;
 802                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist;
 803                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - COLLISIONEPSILON2;
 804                 if (developer.integer)
 805                 {
 806                         // any brush with degenerate planes is not worth handling
 807                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 808                         {
 809                                 Con_Printf("Collision_TraceLineBrushFloat: degenerate plane!\n");
 810                                 return;
 811                         }
 812                         f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 813                         if (fabs(f - startplane->dist) > 0.01f)
 814                                 Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
 815                 }
 816
 817                 f = d1 - d2;
 818                 if (f >= 0)
 819                 {
 820                         // moving into brush
 821                         if (d2 > 0)
 822                                 return;
 823                         if (d1 < 0)
 824                                 continue;
 825                         // enter
 826                         fstartsolid = false;
 827                         f = (d1 - COLLISIONEPSILON) / f;
 828                         f = bound(0, f, 1);
 829                         if (enterfrac < f)
 830                         {
 831                                 enterfrac = f;
 832                                 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 833                         }
 834                 }
 835                 else
 836                 {
 837                         // moving out of brush
 838                         if (d1 > 0)
 839                                 return;
 840                         if (d2 < 0)
 841                                 continue;
 842                         // leave
 843                         fendsolid = false;
 844                         f = (d1 + COLLISIONEPSILON) / f;
 845                         f = bound(0, f, 1);
 846                         if (leavefrac > f)
 847                                 leavefrac = f;
 848                 }
 849         }
 850
 851         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 852         if (fstartsolid)
 853         {
 854                 trace->startsupercontents |= thatbrush_start->supercontents;
 855                 if (brushsolid)
 856                 {
 857                         trace->startsolid = true;
 858                         if (fendsolid)
 859                                 trace->allsolid = true;
 860                 }
 861         }
 862
 863         // LordHavoc: we need an epsilon nudge here because for a point trace the
 864         // penetrating line segment is normally zero length if this brush was
 865         // generated from a polygon (infinitely thin), and could even be slightly
 866         // positive or negative due to rounding errors in that case.
 867         if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 868         {
 869                 trace->fraction = bound(0, enterfrac, 1);
 870                 VectorCopy(newimpactnormal, trace->plane.normal);
 871         }
 872 }
 873
 874 static colpointf_t polyf_points[256];
 875 static colplanef_t polyf_planes[256 + 2];
 876 static colbrushf_t polyf_brush;
 877
 878 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
 879 {
 880         if (numpoints > 256)
 881         {
 882                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 883                 return;
 884         }
 885         polyf_brush.numpoints = numpoints;
 886         polyf_brush.numplanes = numpoints + 2;
 887         polyf_brush.points = (colpointf_t *)points;
 888         polyf_brush.planes = polyf_planes;
 889         polyf_brush.supercontents = supercontents;
 890         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 891         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 892         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 893 }
 894
 895 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)
 896 {
 897         int i;
 898         float facemins[3], facemaxs[3];
 899         polyf_brush.numpoints = 3;
 900         polyf_brush.numplanes = 5;
 901         polyf_brush.points = polyf_points;
 902         polyf_brush.planes = polyf_planes;
 903         polyf_brush.supercontents = supercontents;
 904         for (i = 0;i < numtriangles;i++, element3i += 3)
 905         {
 906                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 907                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 908                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 909                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 910                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 911                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 912                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 913                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 914                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 915                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 916                 {
 917                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 918                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 919                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 920                 }
 921         }
 922 }
 923
 924 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
 925 {
 926         if (numpoints > 256)
 927         {
 928                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 929                 return;
 930         }
 931         polyf_brush.numpoints = numpoints;
 932         polyf_brush.numplanes = numpoints + 2;
 933         polyf_brush.points = (colpointf_t *)points;
 934         polyf_brush.planes = polyf_planes;
 935         polyf_brush.supercontents = supercontents;
 936         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 937         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 938         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 939 }
 940
 941 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)
 942 {
 943         int i;
 944         float facemins[3], facemaxs[3];
 945         polyf_brush.numpoints = 3;
 946         polyf_brush.numplanes = 5;
 947         polyf_brush.points = polyf_points;
 948         polyf_brush.planes = polyf_planes;
 949         polyf_brush.supercontents = supercontents;
 950         for (i = 0;i < numtriangles;i++, element3i += 3)
 951         {
 952                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 953                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 954                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 955                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 956                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 957                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 958                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 959                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 960                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 961                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 962                 {
 963                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 964                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 965                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 966                 }
 967         }
 968 }
 969
 970
 971 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
 972 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
 973 static colbrushf_t polyf_brushstart, polyf_brushend;
 974
 975 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)
 976 {
 977         int i;
 978         if (numpoints > 256)
 979         {
 980                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 981                 return;
 982         }
 983         polyf_brushstart.numpoints = numpoints;
 984         polyf_brushstart.numplanes = numpoints + 2;
 985         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
 986         polyf_brushstart.planes = polyf_planesstart;
 987         polyf_brushstart.supercontents = supercontents;
 988         for (i = 0;i < numpoints;i++)
 989                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
 990         polyf_brushend.numpoints = numpoints;
 991         polyf_brushend.numplanes = numpoints + 2;
 992         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
 993         polyf_brushend.planes = polyf_planesend;
 994         polyf_brushend.supercontents = supercontents;
 995         for (i = 0;i < numpoints;i++)
 996                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
 997         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
 998         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
 999
1000         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
1001         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
1002
1003         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
1004 }
1005
1006
1007
1008 #define MAX_BRUSHFORBOX 16
1009 static int brushforbox_index = 0;
1010 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1011 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1012 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1013 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
1014
1015 void Collision_InitBrushForBox(void)
1016 {
1017         int i;
1018         for (i = 0;i < MAX_BRUSHFORBOX;i++)
1019         {
1020                 brushforbox_brush[i].supercontents = SUPERCONTENTS_SOLID;
1021                 brushforbox_brush[i].numpoints = 8;
1022                 brushforbox_brush[i].numplanes = 6;
1023                 brushforbox_brush[i].points = brushforbox_point + i * 8;
1024                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1025                 brushforpoint_brush[i].supercontents = SUPERCONTENTS_SOLID;
1026                 brushforpoint_brush[i].numpoints = 1;
1027                 brushforpoint_brush[i].numplanes = 0;
1028                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1029                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1030         }
1031 }
1032
1033 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
1034 {
1035         int i;
1036         vec3_t v;
1037         colbrushf_t *brush;
1038         if (brushforbox_brush[0].numpoints == 0)
1039                 Collision_InitBrushForBox();
1040         if (VectorCompare(mins, maxs))
1041         {
1042                 // point brush
1043                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1044                 VectorCopy(mins, brush->points->v);
1045         }
1046         else
1047         {
1048                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1049                 // FIXME: optimize
1050                 for (i = 0;i < 8;i++)
1051                 {
1052                         v[0] = i & 1 ? maxs[0] : mins[0];
1053                         v[1] = i & 2 ? maxs[1] : mins[1];
1054                         v[2] = i & 4 ? maxs[2] : mins[2];
1055                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1056                 }
1057                 // FIXME: optimize!
1058                 for (i = 0;i < 6;i++)
1059                 {
1060                         VectorClear(v);
1061                         v[i >> 1] = i & 1 ? 1 : -1;
1062                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1063                         VectorNormalize(brush->planes[i].normal);
1064                         brush->planes[i].dist = furthestplanedist_float(brush->planes[i].normal, brush->points, brush->numpoints);
1065                 }
1066         }
1067         Collision_ValidateBrush(brush);
1068         return brush;
1069 }
1070
1071 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)
1072 {
1073         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1074         matrix4x4_t identitymatrix;
1075         vec3_t startmins, startmaxs, endmins, endmaxs;
1076
1077         // create brushes for the collision
1078         VectorAdd(start, mins, startmins);
1079         VectorAdd(start, maxs, startmaxs);
1080         VectorAdd(end, mins, endmins);
1081         VectorAdd(end, maxs, endmaxs);
1082         Matrix4x4_CreateIdentity(&identitymatrix);
1083         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
1084         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs);
1085         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs);
1086
1087         memset(trace, 0, sizeof(trace_t));
1088         trace->hitsupercontentsmask = hitsupercontentsmask;
1089         trace->fraction = 1;
1090         trace->allsolid = true;
1091         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1092 }
1093
1094 // LordHavoc: currently unused and not yet tested
1095 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1096 // by simply adding the moving sphere's radius to the sphereradius parameter,
1097 // all the results are correct (impactpoint, impactnormal, and fraction)
1098 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1099 {
1100         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1101         // make sure the impactpoint and impactnormal are valid even if there is
1102         // no collision
1103         impactpoint[0] = lineend[0];
1104         impactpoint[1] = lineend[1];
1105         impactpoint[2] = lineend[2];
1106         impactnormal[0] = 0;
1107         impactnormal[1] = 0;
1108         impactnormal[2] = 0;
1109         // calculate line direction
1110         dir[0] = lineend[0] - linestart[0];
1111         dir[1] = lineend[1] - linestart[1];
1112         dir[2] = lineend[2] - linestart[2];
1113         // normalize direction
1114         linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
1115         if (linelength)
1116         {
1117                 scale = 1.0 / linelength;
1118                 dir[0] *= scale;
1119                 dir[1] *= scale;
1120                 dir[2] *= scale;
1121         }
1122         // this dotproduct calculates the distance along the line at which the
1123         // sphere origin is (nearest point to the sphere origin on the line)
1124         impactdist = dir[0] * (sphereorigin[0] - linestart[0]) + dir[1] * (sphereorigin[1] - linestart[1]) + dir[2] * (sphereorigin[2] - linestart[2]);
1125         // calculate point on line at that distance, and subtract the
1126         // sphereorigin from it, so we have a vector to measure for the distance
1127         // of the line from the sphereorigin (deviation, how off-center it is)
1128         v[0] = linestart[0] + impactdist * dir[0] - sphereorigin[0];
1129         v[1] = linestart[1] + impactdist * dir[1] - sphereorigin[1];
1130         v[2] = linestart[2] + impactdist * dir[2] - sphereorigin[2];
1131         deviationdist = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
1132         // if outside the radius, it's a miss for sure
1133         // (we do this comparison using squared radius to avoid a sqrt)
1134         if (deviationdist > sphereradius*sphereradius)
1135                 return 1; // miss (off to the side)
1136         // nudge back to find the correct impact distance
1137         impactdist += (sqrt(deviationdist) - sphereradius);
1138         if (impactdist >= linelength)
1139                 return 1; // miss (not close enough)
1140         if (impactdist < 0)
1141                 return 1; // miss (linestart is past or inside sphere)
1142         // calculate new impactpoint
1143         impactpoint[0] = linestart[0] + impactdist * dir[0];
1144         impactpoint[1] = linestart[1] + impactdist * dir[1];
1145         impactpoint[2] = linestart[2] + impactdist * dir[2];
1146         // calculate impactnormal (surface normal at point of impact)
1147         impactnormal[0] = impactpoint[0] - sphereorigin[0];
1148         impactnormal[1] = impactpoint[1] - sphereorigin[1];
1149         impactnormal[2] = impactpoint[2] - sphereorigin[2];
1150         // normalize impactnormal
1151         scale = impactnormal[0] * impactnormal[0] + impactnormal[1] * impactnormal[1] + impactnormal[2] * impactnormal[2];
1152         if (scale)
1153         {
1154                 scale = 1.0 / sqrt(scale);
1155                 impactnormal[0] *= scale;
1156                 impactnormal[1] *= scale;
1157                 impactnormal[2] *= scale;
1158         }
1159         // return fraction of movement distance
1160         return impactdist / linelength;
1161 }
1162
1163 typedef struct colbspnode_s
1164 {
1165         mplane_t plane;
1166         struct colbspnode_s *children[2];
1167         // the node is reallocated or split if max is reached
1168         int numcolbrushf;
1169         int maxcolbrushf;
1170         colbrushf_t **colbrushflist;
1171         //int numcolbrushd;
1172         //int maxcolbrushd;
1173         //colbrushd_t **colbrushdlist;
1174 }
1175 colbspnode_t;
1176
1177 typedef struct colbsp_s
1178 {
1179         mempool_t *mempool;
1180         colbspnode_t *nodes;
1181 }
1182 colbsp_t;
1183
1184 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1185 {
1186         colbsp_t *bsp;
1187         bsp = Mem_Alloc(mempool, sizeof(colbsp_t));
1188         bsp->mempool = mempool;
1189         bsp->nodes = Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1190         return bsp;
1191 }
1192
1193 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1194 {
1195         if (node->children[0])
1196                 Collision_FreeCollisionBSPNode(node->children[0]);
1197         if (node->children[1])
1198                 Collision_FreeCollisionBSPNode(node->children[1]);
1199         while (--node->numcolbrushf)
1200                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1201         //while (--node->numcolbrushd)
1202         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1203         Mem_Free(node);
1204 }
1205
1206 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1207 {
1208         Collision_FreeCollisionBSPNode(bsp->nodes);
1209         Mem_Free(bsp);
1210 }
1211
1212 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1213 {
1214         int i;
1215         colpointf_t *ps, *pe;
1216         float tempstart[3], tempend[3];
1217         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1218         VectorCopy(mins, maxs);
1219         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1220         {
1221                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1222                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1223                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1224                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1225                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1226                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1227                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1228                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1229         }
1230 }
1231