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         return HULLCHECKSTATE_DONE;
 157 }
 158
 159 #if 0
 160 // used if start and end are the same
 161 static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
 162 {
 163         // If you can read this, you understand BSP trees
 164         while (num >= 0)
 165                 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];
 166
 167         // check for empty
 168         t->trace->endcontents = num;
 169         if (t->trace->thiscontents)
 170         {
 171                 if (num == t->trace->thiscontents)
 172                         t->trace->allsolid = false;
 173                 else
 174                 {
 175                         // if the first leaf is solid, set startsolid
 176                         if (t->trace->allsolid)
 177                                 t->trace->startsolid = true;
 178                 }
 179         }
 180         else
 181         {
 182                 if (num != CONTENTS_SOLID)
 183                 {
 184                         t->trace->allsolid = false;
 185                         if (num == CONTENTS_EMPTY)
 186                                 t->trace->inopen = true;
 187                         else
 188                                 t->trace->inwater = true;
 189                 }
 190                 else
 191                 {
 192                         // if the first leaf is solid, set startsolid
 193                         if (t->trace->allsolid)
 194                                 t->trace->startsolid = true;
 195                 }
 196         }
 197 }
 198 #endif
 199
 200 static hull_t box_hull;
 201 static dclipnode_t box_clipnodes[6];
 202 static mplane_t box_planes[6];
 203
 204 void Collision_Init (void)
 205 {
 206         int             i;
 207         int             side;
 208
 209         //Set up the planes and clipnodes so that the six floats of a bounding box
 210         //can just be stored out and get a proper hull_t structure.
 211
 212         box_hull.clipnodes = box_clipnodes;
 213         box_hull.planes = box_planes;
 214         box_hull.firstclipnode = 0;
 215         box_hull.lastclipnode = 5;
 216
 217         for (i = 0;i < 6;i++)
 218         {
 219                 box_clipnodes[i].planenum = i;
 220
 221                 side = i&1;
 222
 223                 box_clipnodes[i].children[side] = CONTENTS_EMPTY;
 224                 if (i != 5)
 225                         box_clipnodes[i].children[side^1] = i + 1;
 226                 else
 227                         box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
 228
 229                 box_planes[i].type = i>>1;
 230                 box_planes[i].normal[i>>1] = 1;
 231         }
 232 }
 233
 234 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)
 235 {
 236         RecursiveHullCheckTraceInfo_t rhc;
 237         // fill in a default trace
 238         memset(&rhc, 0, sizeof(rhc));
 239         memset(trace, 0, sizeof(trace_t));
 240         //To keep everything totally uniform, bounding boxes are turned into small
 241         //BSP trees instead of being compared directly.
 242         // create a temp hull from bounding box sizes
 243         box_planes[0].dist = cmaxs[0] - mins[0];
 244         box_planes[1].dist = cmins[0] - maxs[0];
 245         box_planes[2].dist = cmaxs[1] - mins[1];
 246         box_planes[3].dist = cmins[1] - maxs[1];
 247         box_planes[4].dist = cmaxs[2] - mins[2];
 248         box_planes[5].dist = cmins[2] - maxs[2];
 249         // trace a line through the generated clipping hull
 250         rhc.boxsupercontents = boxsupercontents;
 251         rhc.hull = &box_hull;
 252         rhc.trace = trace;
 253         rhc.trace->hitsupercontentsmask = hitsupercontentsmask;
 254         rhc.trace->fraction = 1;
 255         rhc.trace->allsolid = true;
 256         VectorCopy(start, rhc.start);
 257         VectorCopy(end, rhc.end);
 258         VectorSubtract(rhc.end, rhc.start, rhc.dist);
 259         RecursiveHullCheck(&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
 260         VectorMA(rhc.start, rhc.trace->fraction, rhc.dist, rhc.trace->endpos);
 261 }
 262
 263
 264
 265
 266
 267
 268
 269
 270
 271
 272
 273
 274
 275
 276
 277 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
 278 {
 279         int i;
 280         Con_Printf("3 %s\n%i\n", name, brush->numpoints);
 281         for (i = 0;i < brush->numpoints;i++)
 282                 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
 283         // FIXME: optimize!
 284         Con_Printf("4\n%i\n", brush->numplanes);
 285         for (i = 0;i < brush->numplanes;i++)
 286                 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);
 287 }
 288
 289 void Collision_ValidateBrush(colbrushf_t *brush)
 290 {
 291         int j, k, pointsoffplanes, printbrush;
 292         float d;
 293         printbrush = false;
 294         if (!brush->numpoints)
 295         {
 296                 Con_Printf("Collision_ValidateBrush: brush with no points!\n");
 297                 printbrush = true;
 298         }
 299 #if 0
 300         // it's ok for a brush to have one point and no planes...
 301         if (brush->numplanes == 0 && brush->numpoints != 1)
 302         {
 303                 Con_Printf("Collision_ValidateBrush: brush with no planes and more than one point!\n");
 304                 printbrush = true;
 305         }
 306 #endif
 307         if (brush->numplanes)
 308         {
 309                 pointsoffplanes = 0;
 310                 for (k = 0;k < brush->numplanes;k++)
 311                 {
 312                         if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
 313                                 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);
 314                         for (j = 0;j < brush->numpoints;j++)
 315                         {
 316                                 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
 317                                 if (d > (1.0f / 8.0f))
 318                                 {
 319                                         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);
 320                                         printbrush = true;
 321                                 }
 322                                 if (fabs(d) > 0.01f)
 323                                         pointsoffplanes++;
 324                         }
 325                 }
 326                 if (pointsoffplanes == 0) // all points are on all planes
 327                 {
 328                         Con_Printf("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
 329                         printbrush = true;
 330                 }
 331         }
 332         if (printbrush)
 333                 Collision_PrintBrushAsQHull(brush, "unnamed");
 334 }
 335
 336 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 337 {
 338         float dist, bestdist;
 339         bestdist = DotProduct(points->v, normal);
 340         points++;
 341         while(--numpoints)
 342         {
 343                 dist = DotProduct(points->v, normal);
 344                 bestdist = min(bestdist, dist);
 345                 points++;
 346         }
 347         return bestdist;
 348 }
 349
 350 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 351 {
 352         float dist, bestdist;
 353         bestdist = DotProduct(points->v, normal);
 354         points++;
 355         while(--numpoints)
 356         {
 357                 dist = DotProduct(points->v, normal);
 358                 bestdist = max(bestdist, dist);
 359                 points++;
 360         }
 361         return bestdist;
 362 }
 363
 364
 365 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents, winding_t *temp1, winding_t *temp2)
 366 {
 367         int j, k, m;
 368         int numpoints, maxpoints, numplanes, maxplanes, numelements, maxelements, numtriangles, numpolypoints, maxpolypoints;
 369         winding_t *w, *temp, *othertemp;
 370         colbrushf_t *brush;
 371         colpointf_t pointsbuf[256];
 372         colplanef_t planesbuf[256];
 373         int elementsbuf[1024];
 374         int polypointbuf[256];
 375         float mins[3], maxs[3];
 376         // construct a collision brush (points, planes, and renderable mesh) from
 377         // a set of planes, this also optimizes out any unnecessary planes (ones
 378         // whose polygon is clipped away by the other planes)
 379         numpoints = 0;maxpoints = 256;
 380         numplanes = 0;maxplanes = 256;
 381         numelements = 0;maxelements = 1024;
 382         numtriangles = 0;
 383         maxpolypoints = 256;
 384         for (j = 0;j < numoriginalplanes;j++)
 385         {
 386                 // add the plane uniquely (no duplicates)
 387                 for (k = 0;k < numplanes;k++)
 388                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
 389                                 break;
 390                 // if the plane is a duplicate, skip it
 391                 if (k < numplanes)
 392                         continue;
 393                 // check if there are too many and skip the brush
 394                 if (numplanes >= 256)
 395                 {
 396                         Con_Printf("Mod_Q3BSP_LoadBrushes: failed to build collision brush: too many planes for buffer\n");
 397                         return NULL;
 398                 }
 399
 400                 // create a large polygon from the plane
 401                 w = temp1;
 402                 othertemp = temp2;
 403                 BufWinding_NewFromPlane(w, originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
 404                 // clip it by all other planes
 405                 for (k = 0;k < numoriginalplanes && w->numpoints;k++)
 406                 {
 407                         if (k != j)
 408                         {
 409                                 // we want to keep the inside of the brush plane so we flip
 410                                 // the cutting plane
 411                                 BufWinding_Divide(w, -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, othertemp, NULL, NULL, NULL);
 412                                 temp = w;
 413                                 w = othertemp;
 414                                 othertemp = temp;
 415                         }
 416                 }
 417                 // if nothing is left, skip it
 418                 if (!w->numpoints)
 419                         continue;
 420
 421                 // copy off the number of points for later when the winding is freed
 422                 numpolypoints = w->numpoints;
 423
 424                 // check if there are too many polygon vertices for buffer
 425                 if (numpolypoints > maxpolypoints)
 426                 {
 427                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 428                         return NULL;
 429                 }
 430
 431                 // check if there are too many triangle elements for buffer
 432                 if (numelements + (w->numpoints - 2) * 3 > maxelements)
 433                 {
 434                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
 435                         return NULL;
 436                 }
 437
 438                 for (k = 0;k < w->numpoints;k++)
 439                 {
 440                         // check if there is already a matching point (no duplicates)
 441                         for (m = 0;m < numpoints;m++)
 442                                 if (VectorDistance2(w->points[k], pointsbuf[m].v) < DIST_EPSILON)
 443                                         break;
 444
 445                         // if there is no match, add a new one
 446                         if (m == numpoints)
 447                         {
 448                                 // check if there are too many and skip the brush
 449                                 if (numpoints >= 256)
 450                                 {
 451                                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 452                                         Winding_Free(w);
 453                                         return NULL;
 454                                 }
 455                                 // add the new one
 456                                 VectorCopy(w->points[k], pointsbuf[numpoints].v);
 457                                 numpoints++;
 458                         }
 459
 460                         // store the index into a buffer
 461                         polypointbuf[k] = m;
 462                 }
 463                 w = NULL;
 464                 othertemp = NULL;
 465                 temp = NULL;
 466
 467                 // add the triangles for the polygon
 468                 // (this particular code makes a triangle fan)
 469                 for (k = 0;k < numpolypoints - 2;k++)
 470                 {
 471                         numtriangles++;
 472                         elementsbuf[numelements++] = polypointbuf[0];
 473                         elementsbuf[numelements++] = polypointbuf[k + 1];
 474                         elementsbuf[numelements++] = polypointbuf[k + 2];
 475                 }
 476
 477                 // add the new plane
 478                 VectorCopy(originalplanes[j].normal, planesbuf[numplanes].normal);
 479                 planesbuf[numplanes].dist = originalplanes[j].dist;
 480                 numplanes++;
 481         }
 482
 483         // recalc distances
 484         for (j = 0;j < numplanes;j++)
 485                 planesbuf[j].dist = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpoints);
 486
 487         if (numpoints)
 488         {
 489                 VectorCopy(pointsbuf[0].v, mins);
 490                 VectorCopy(pointsbuf[0].v, maxs);
 491                 for (j = 1;j < numpoints;j++)
 492                 {
 493                         mins[0] = min(mins[0], pointsbuf[j].v[0]);
 494                         mins[1] = min(mins[1], pointsbuf[j].v[1]);
 495                         mins[2] = min(mins[2], pointsbuf[j].v[2]);
 496                         maxs[0] = max(maxs[0], pointsbuf[j].v[0]);
 497                         maxs[1] = max(maxs[1], pointsbuf[j].v[1]);
 498                         maxs[2] = max(maxs[2], pointsbuf[j].v[2]);
 499                 }
 500         }
 501
 502         // if nothing is left, there's nothing to allocate
 503         if (numtriangles < 4 || numplanes < 4 || numpoints < 4)
 504                 return NULL;
 505
 506         // allocate the brush and copy to it
 507         brush = Collision_AllocBrushFloat(mempool, numpoints, numplanes, numtriangles, supercontents);
 508         memcpy(brush->points, pointsbuf, numpoints * sizeof(colpointf_t));
 509         memcpy(brush->planes, planesbuf, numplanes * sizeof(colplanef_t));
 510         memcpy(brush->elements, elementsbuf, numtriangles * sizeof(int[3]));
 511         VectorCopy(mins, brush->mins);
 512         VectorCopy(maxs, brush->maxs);
 513         Collision_ValidateBrush(brush);
 514         return brush;
 515 }
 516
 517
 518
 519 colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes, int numtriangles, int supercontents)
 520 {
 521         colbrushf_t *brush;
 522         brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes + sizeof(int[3]) * numtriangles);
 523         brush->supercontents = supercontents;
 524         brush->numplanes = numplanes;
 525         brush->numpoints = numpoints;
 526         brush->numtriangles = numtriangles;
 527         brush->planes = (void *)(brush + 1);
 528         brush->points = (void *)(brush->planes + brush->numplanes);
 529         brush->elements = (void *)(brush->points + brush->numpoints);
 530         return brush;
 531 }
 532
 533 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 534 {
 535         int i;
 536         float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist, temp[3];
 537         colpointf_t *p, *p2;
 538
 539         if (brush->numpoints == 3)
 540         {
 541                 // optimized triangle case
 542                 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
 543                 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
 544                 {
 545                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 546                         brush->numplanes = 0;
 547                         return;
 548                 }
 549                 else
 550                 {
 551                         brush->numplanes = 5;
 552                         VectorNormalize(brush->planes[0].normal);
 553                         brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
 554                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 555                         brush->planes[1].dist = -brush->planes[0].dist;
 556                         VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
 557                         VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
 558                         VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
 559                         CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
 560                         CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
 561                         CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
 562                         VectorNormalize(brush->planes[2].normal);
 563                         VectorNormalize(brush->planes[3].normal);
 564                         VectorNormalize(brush->planes[4].normal);
 565                         brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
 566                         brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
 567                         brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
 568
 569                         if (developer.integer)
 570                         {
 571                                 // validation code
 572                                 //VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
 573                                 //VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
 574                                 CrossProduct(edge1, edge0, normal);
 575                                 VectorNormalize(normal);
 576                                 VectorSubtract(normal, brush->planes[0].normal, temp);
 577                                 if (VectorLength(temp) > 0.01f)
 578                                         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]);
 579                                 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)
 580                                         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);
 581                                 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
 582                                         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);
 583                                 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
 584                                         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);
 585                                 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
 586                                         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);
 587                                 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
 588                                         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]);
 589                                 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
 590                                         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]);
 591                                 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
 592                                         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]);
 593                                 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)
 594                                         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);
 595                                 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)
 596                                         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);
 597                                 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)
 598                                         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);
 599                                 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)
 600                                         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);
 601                                 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)
 602                                         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);
 603                         }
 604                 }
 605         }
 606         else
 607         {
 608                 // choose best surface normal for polygon's plane
 609                 bestdist = 0;
 610                 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
 611                 {
 612                         VectorSubtract(p[-1].v, p[0].v, edge0);
 613                         VectorSubtract(p[1].v, p[0].v, edge1);
 614                         CrossProduct(edge0, edge1, normal);
 615                         //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
 616                         dist = DotProduct(normal, normal);
 617                         if (i == 0 || bestdist < dist)
 618                         {
 619                                 bestdist = dist;
 620                                 VectorCopy(normal, brush->planes->normal);
 621                         }
 622                 }
 623                 if (bestdist < 0.0001f)
 624                 {
 625                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 626                         brush->numplanes = 0;
 627                         return;
 628                 }
 629                 else
 630                 {
 631                         brush->numplanes = brush->numpoints + 2;
 632                         VectorNormalize(brush->planes->normal);
 633                         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 634
 635                         // negate plane to create other side
 636                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 637                         brush->planes[1].dist = -brush->planes[0].dist;
 638                         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
 639                         {
 640                                 VectorSubtract(p->v, p2->v, edge0);
 641                                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
 642                                 VectorNormalize(brush->planes[i + 2].normal);
 643                                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
 644                         }
 645                 }
 646         }
 647
 648         if (developer.integer)
 649         {
 650                 // validity check - will be disabled later
 651                 Collision_ValidateBrush(brush);
 652                 for (i = 0;i < brush->numplanes;i++)
 653                 {
 654                         int j;
 655                         for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
 656                                 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
 657                                         Con_Printf("Error in brush plane generation, plane %i\n", i);
 658                 }
 659         }
 660 }
 661
 662 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
 663 {
 664         colbrushf_t *brush;
 665         brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
 666         brush->supercontents = supercontents;
 667         brush->numpoints = numpoints;
 668         brush->numplanes = numpoints + 2;
 669         brush->planes = (void *)(brush + 1);
 670         brush->points = (colpointf_t *)points;
 671         Host_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
 672         return brush;
 673 }
 674
 675 #define COLLISIONEPSILON (1.0f / 32.0f)
 676 #define COLLISIONEPSILON2 0//(1.0f / 32.0f)
 677
 678 // NOTE: start and end of each brush pair must have same numplanes/numpoints
 679 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)
 680 {
 681         int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
 682         float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
 683         const colplanef_t *startplane, *endplane;
 684
 685         enterfrac = -1;
 686         leavefrac = 1;
 687         fstartsolid = true;
 688         fendsolid = true;
 689
 690         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 691         {
 692                 nplane2 = nplane;
 693                 if (nplane2 >= thatbrush_start->numplanes)
 694                 {
 695                         nplane2 -= thatbrush_start->numplanes;
 696                         startplane = thisbrush_start->planes + nplane2;
 697                         endplane = thisbrush_end->planes + nplane2;
 698                         if (developer.integer)
 699                         {
 700                                 // any brush with degenerate planes is not worth handling
 701                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 702                                 {
 703                                         Con_Printf("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
 704                                         return;
 705                                 }
 706                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
 707                                 if (fabs(f - startplane->dist) > 0.01f)
 708                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
 709                         }
 710                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 711                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - COLLISIONEPSILON2;
 712                 }
 713                 else
 714                 {
 715                         startplane = thatbrush_start->planes + nplane2;
 716                         endplane = thatbrush_end->planes + nplane2;
 717                         if (developer.integer)
 718                         {
 719                                 // any brush with degenerate planes is not worth handling
 720                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 721                                 {
 722                                         Con_Printf("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
 723                                         return;
 724                                 }
 725                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 726                                 if (fabs(f - startplane->dist) > 0.01f)
 727                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
 728                         }
 729                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist;
 730                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - startplane->dist - COLLISIONEPSILON2;
 731                 }
 732                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 733
 734                 f = d1 - d2;
 735                 if (f >= 0)
 736                 {
 737                         // moving into brush
 738                         if (d2 > 0)
 739                                 return;
 740                         if (d1 < 0)
 741                                 continue;
 742                         // enter
 743                         fstartsolid = false;
 744                         f = (d1 - COLLISIONEPSILON) / f;
 745                         f = bound(0, f, 1);
 746                         if (enterfrac < f)
 747                         {
 748                                 enterfrac = f;
 749                                 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 750                         }
 751                 }
 752                 else
 753                 {
 754                         // moving out of brush
 755                         if (d1 > 0)
 756                                 return;
 757                         if (d2 < 0)
 758                                 continue;
 759                         // leave
 760                         fendsolid = false;
 761                         f = (d1 + COLLISIONEPSILON) / f;
 762                         f = bound(0, f, 1);
 763                         if (leavefrac > f)
 764                                 leavefrac = f;
 765                 }
 766         }
 767
 768         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 769         if (fstartsolid)
 770         {
 771                 trace->startsupercontents |= thatbrush_start->supercontents;
 772                 if (brushsolid)
 773                 {
 774                         trace->startsolid = true;
 775                         if (fendsolid)
 776                                 trace->allsolid = true;
 777                 }
 778         }
 779
 780         // LordHavoc: we need an epsilon nudge here because for a point trace the
 781         // penetrating line segment is normally zero length if this brush was
 782         // generated from a polygon (infinitely thin), and could even be slightly
 783         // positive or negative due to rounding errors in that case.
 784         if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 785         {
 786                 trace->fraction = bound(0, enterfrac, 1);
 787                 VectorCopy(newimpactnormal, trace->plane.normal);
 788         }
 789 }
 790
 791 // NOTE: start and end brush pair must have same numplanes/numpoints
 792 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
 793 {
 794         int nplane, fstartsolid, fendsolid, brushsolid;
 795         float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
 796         const colplanef_t *startplane, *endplane;
 797
 798         enterfrac = -1;
 799         leavefrac = 1;
 800         fstartsolid = true;
 801         fendsolid = true;
 802
 803         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 804         {
 805                 startplane = thatbrush_start->planes + nplane;
 806                 endplane = thatbrush_end->planes + nplane;
 807                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist;
 808                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - COLLISIONEPSILON2;
 809                 if (developer.integer)
 810                 {
 811                         // any brush with degenerate planes is not worth handling
 812                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 813                         {
 814                                 Con_Printf("Collision_TraceLineBrushFloat: degenerate plane!\n");
 815                                 return;
 816                         }
 817                         f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 818                         if (fabs(f - startplane->dist) > 0.01f)
 819                                 Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
 820                 }
 821
 822                 f = d1 - d2;
 823                 if (f >= 0)
 824                 {
 825                         // moving into brush
 826                         if (d2 > 0)
 827                                 return;
 828                         if (d1 < 0)
 829                                 continue;
 830                         // enter
 831                         fstartsolid = false;
 832                         f = (d1 - COLLISIONEPSILON) / f;
 833                         f = bound(0, f, 1);
 834                         if (enterfrac < f)
 835                         {
 836                                 enterfrac = f;
 837                                 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 838                         }
 839                 }
 840                 else
 841                 {
 842                         // moving out of brush
 843                         if (d1 > 0)
 844                                 return;
 845                         if (d2 < 0)
 846                                 continue;
 847                         // leave
 848                         fendsolid = false;
 849                         f = (d1 + COLLISIONEPSILON) / f;
 850                         f = bound(0, f, 1);
 851                         if (leavefrac > f)
 852                                 leavefrac = f;
 853                 }
 854         }
 855
 856         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 857         if (fstartsolid)
 858         {
 859                 trace->startsupercontents |= thatbrush_start->supercontents;
 860                 if (brushsolid)
 861                 {
 862                         trace->startsolid = true;
 863                         if (fendsolid)
 864                                 trace->allsolid = true;
 865                 }
 866         }
 867
 868         // LordHavoc: we need an epsilon nudge here because for a point trace the
 869         // penetrating line segment is normally zero length if this brush was
 870         // generated from a polygon (infinitely thin), and could even be slightly
 871         // positive or negative due to rounding errors in that case.
 872         if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 873         {
 874                 trace->fraction = bound(0, enterfrac, 1);
 875                 VectorCopy(newimpactnormal, trace->plane.normal);
 876         }
 877 }
 878
 879 static colpointf_t polyf_points[256];
 880 static colplanef_t polyf_planes[256 + 2];
 881 static colbrushf_t polyf_brush;
 882
 883 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
 884 {
 885         if (numpoints > 256)
 886         {
 887                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 888                 return;
 889         }
 890         polyf_brush.numpoints = numpoints;
 891         polyf_brush.numplanes = numpoints + 2;
 892         polyf_brush.points = (colpointf_t *)points;
 893         polyf_brush.planes = polyf_planes;
 894         polyf_brush.supercontents = supercontents;
 895         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 896         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 897         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 898 }
 899
 900 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)
 901 {
 902         int i;
 903         float facemins[3], facemaxs[3];
 904         polyf_brush.numpoints = 3;
 905         polyf_brush.numplanes = 5;
 906         polyf_brush.points = polyf_points;
 907         polyf_brush.planes = polyf_planes;
 908         polyf_brush.supercontents = supercontents;
 909         for (i = 0;i < numtriangles;i++, element3i += 3)
 910         {
 911                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 912                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 913                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 914                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 915                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 916                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 917                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 918                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 919                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 920                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 921                 {
 922                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 923                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 924                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 925                 }
 926         }
 927 }
 928
 929 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
 930 {
 931         if (numpoints > 256)
 932         {
 933                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 934                 return;
 935         }
 936         polyf_brush.numpoints = numpoints;
 937         polyf_brush.numplanes = numpoints + 2;
 938         polyf_brush.points = (colpointf_t *)points;
 939         polyf_brush.planes = polyf_planes;
 940         polyf_brush.supercontents = supercontents;
 941         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 942         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 943         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 944 }
 945
 946 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)
 947 {
 948         int i;
 949         float facemins[3], facemaxs[3];
 950         polyf_brush.numpoints = 3;
 951         polyf_brush.numplanes = 5;
 952         polyf_brush.points = polyf_points;
 953         polyf_brush.planes = polyf_planes;
 954         polyf_brush.supercontents = supercontents;
 955         for (i = 0;i < numtriangles;i++, element3i += 3)
 956         {
 957                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 958                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 959                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 960                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 961                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 962                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 963                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 964                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 965                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 966                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 967                 {
 968                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 969                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 970                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 971                 }
 972         }
 973 }
 974
 975
 976 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
 977 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
 978 static colbrushf_t polyf_brushstart, polyf_brushend;
 979
 980 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)
 981 {
 982         int i;
 983         if (numpoints > 256)
 984         {
 985                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 986                 return;
 987         }
 988         polyf_brushstart.numpoints = numpoints;
 989         polyf_brushstart.numplanes = numpoints + 2;
 990         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
 991         polyf_brushstart.planes = polyf_planesstart;
 992         polyf_brushstart.supercontents = supercontents;
 993         for (i = 0;i < numpoints;i++)
 994                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
 995         polyf_brushend.numpoints = numpoints;
 996         polyf_brushend.numplanes = numpoints + 2;
 997         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
 998         polyf_brushend.planes = polyf_planesend;
 999         polyf_brushend.supercontents = supercontents;
1000         for (i = 0;i < numpoints;i++)
1001                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
1002         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
1003         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
1004
1005         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
1006         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
1007
1008         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
1009 }
1010
1011
1012
1013 #define MAX_BRUSHFORBOX 16
1014 static int brushforbox_index = 0;
1015 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1016 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1017 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1018 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
1019
1020 void Collision_InitBrushForBox(void)
1021 {
1022         int i;
1023         for (i = 0;i < MAX_BRUSHFORBOX;i++)
1024         {
1025                 brushforbox_brush[i].supercontents = SUPERCONTENTS_SOLID;
1026                 brushforbox_brush[i].numpoints = 8;
1027                 brushforbox_brush[i].numplanes = 6;
1028                 brushforbox_brush[i].points = brushforbox_point + i * 8;
1029                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1030                 brushforpoint_brush[i].supercontents = SUPERCONTENTS_SOLID;
1031                 brushforpoint_brush[i].numpoints = 1;
1032                 brushforpoint_brush[i].numplanes = 0;
1033                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1034                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1035         }
1036 }
1037
1038 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
1039 {
1040         int i;
1041         vec3_t v;
1042         colbrushf_t *brush;
1043         if (brushforbox_brush[0].numpoints == 0)
1044                 Collision_InitBrushForBox();
1045         if (VectorCompare(mins, maxs))
1046         {
1047                 // point brush
1048                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1049                 VectorCopy(mins, brush->points->v);
1050         }
1051         else
1052         {
1053                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1054                 // FIXME: optimize
1055                 for (i = 0;i < 8;i++)
1056                 {
1057                         v[0] = i & 1 ? maxs[0] : mins[0];
1058                         v[1] = i & 2 ? maxs[1] : mins[1];
1059                         v[2] = i & 4 ? maxs[2] : mins[2];
1060                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1061                 }
1062                 // FIXME: optimize!
1063                 for (i = 0;i < 6;i++)
1064                 {
1065                         VectorClear(v);
1066                         v[i >> 1] = i & 1 ? 1 : -1;
1067                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1068                         VectorNormalize(brush->planes[i].normal);
1069                         brush->planes[i].dist = furthestplanedist_float(brush->planes[i].normal, brush->points, brush->numpoints);
1070                 }
1071         }
1072         Collision_ValidateBrush(brush);
1073         return brush;
1074 }
1075
1076 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)
1077 {
1078         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1079         matrix4x4_t identitymatrix;
1080         vec3_t startmins, startmaxs, endmins, endmaxs;
1081
1082         // create brushes for the collision
1083         VectorAdd(start, mins, startmins);
1084         VectorAdd(start, maxs, startmaxs);
1085         VectorAdd(end, mins, endmins);
1086         VectorAdd(end, maxs, endmaxs);
1087         Matrix4x4_CreateIdentity(&identitymatrix);
1088         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
1089         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs);
1090         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs);
1091
1092         memset(trace, 0, sizeof(trace_t));
1093         trace->hitsupercontentsmask = hitsupercontentsmask;
1094         trace->fraction = 1;
1095         trace->allsolid = true;
1096         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1097 }
1098
1099 // LordHavoc: currently unused and not yet tested
1100 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1101 // by simply adding the moving sphere's radius to the sphereradius parameter,
1102 // all the results are correct (impactpoint, impactnormal, and fraction)
1103 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1104 {
1105         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1106         // make sure the impactpoint and impactnormal are valid even if there is
1107         // no collision
1108         impactpoint[0] = lineend[0];
1109         impactpoint[1] = lineend[1];
1110         impactpoint[2] = lineend[2];
1111         impactnormal[0] = 0;
1112         impactnormal[1] = 0;
1113         impactnormal[2] = 0;
1114         // calculate line direction
1115         dir[0] = lineend[0] - linestart[0];
1116         dir[1] = lineend[1] - linestart[1];
1117         dir[2] = lineend[2] - linestart[2];
1118         // normalize direction
1119         linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
1120         if (linelength)
1121         {
1122                 scale = 1.0 / linelength;
1123                 dir[0] *= scale;
1124                 dir[1] *= scale;
1125                 dir[2] *= scale;
1126         }
1127         // this dotproduct calculates the distance along the line at which the
1128         // sphere origin is (nearest point to the sphere origin on the line)
1129         impactdist = dir[0] * (sphereorigin[0] - linestart[0]) + dir[1] * (sphereorigin[1] - linestart[1]) + dir[2] * (sphereorigin[2] - linestart[2]);
1130         // calculate point on line at that distance, and subtract the
1131         // sphereorigin from it, so we have a vector to measure for the distance
1132         // of the line from the sphereorigin (deviation, how off-center it is)
1133         v[0] = linestart[0] + impactdist * dir[0] - sphereorigin[0];
1134         v[1] = linestart[1] + impactdist * dir[1] - sphereorigin[1];
1135         v[2] = linestart[2] + impactdist * dir[2] - sphereorigin[2];
1136         deviationdist = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
1137         // if outside the radius, it's a miss for sure
1138         // (we do this comparison using squared radius to avoid a sqrt)
1139         if (deviationdist > sphereradius*sphereradius)
1140                 return 1; // miss (off to the side)
1141         // nudge back to find the correct impact distance
1142         impactdist += (sqrt(deviationdist) - sphereradius);
1143         if (impactdist >= linelength)
1144                 return 1; // miss (not close enough)
1145         if (impactdist < 0)
1146                 return 1; // miss (linestart is past or inside sphere)
1147         // calculate new impactpoint
1148         impactpoint[0] = linestart[0] + impactdist * dir[0];
1149         impactpoint[1] = linestart[1] + impactdist * dir[1];
1150         impactpoint[2] = linestart[2] + impactdist * dir[2];
1151         // calculate impactnormal (surface normal at point of impact)
1152         impactnormal[0] = impactpoint[0] - sphereorigin[0];
1153         impactnormal[1] = impactpoint[1] - sphereorigin[1];
1154         impactnormal[2] = impactpoint[2] - sphereorigin[2];
1155         // normalize impactnormal
1156         scale = impactnormal[0] * impactnormal[0] + impactnormal[1] * impactnormal[1] + impactnormal[2] * impactnormal[2];
1157         if (scale)
1158         {
1159                 scale = 1.0 / sqrt(scale);
1160                 impactnormal[0] *= scale;
1161                 impactnormal[1] *= scale;
1162                 impactnormal[2] *= scale;
1163         }
1164         // return fraction of movement distance
1165         return impactdist / linelength;
1166 }
1167
1168 typedef struct colbspnode_s
1169 {
1170         mplane_t plane;
1171         struct colbspnode_s *children[2];
1172         // the node is reallocated or split if max is reached
1173         int numcolbrushf;
1174         int maxcolbrushf;
1175         colbrushf_t **colbrushflist;
1176         //int numcolbrushd;
1177         //int maxcolbrushd;
1178         //colbrushd_t **colbrushdlist;
1179 }
1180 colbspnode_t;
1181
1182 typedef struct colbsp_s
1183 {
1184         mempool_t *mempool;
1185         colbspnode_t *nodes;
1186 }
1187 colbsp_t;
1188
1189 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1190 {
1191         colbsp_t *bsp;
1192         bsp = Mem_Alloc(mempool, sizeof(colbsp_t));
1193         bsp->mempool = mempool;
1194         bsp->nodes = Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1195         return bsp;
1196 }
1197
1198 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1199 {
1200         if (node->children[0])
1201                 Collision_FreeCollisionBSPNode(node->children[0]);
1202         if (node->children[1])
1203                 Collision_FreeCollisionBSPNode(node->children[1]);
1204         while (--node->numcolbrushf)
1205                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1206         //while (--node->numcolbrushd)
1207         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1208         Mem_Free(node);
1209 }
1210
1211 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1212 {
1213         Collision_FreeCollisionBSPNode(bsp->nodes);
1214         Mem_Free(bsp);
1215 }
1216
1217 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1218 {
1219         int i;
1220         colpointf_t *ps, *pe;
1221         float tempstart[3], tempend[3];
1222         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1223         VectorCopy(mins, maxs);
1224         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1225         {
1226                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1227                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1228                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1229                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1230                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1231                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1232                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1233                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1234         }
1235 }
1236