collision.c

   1
   2 #include "quakedef.h"
   3
   4 typedef struct
   5 {
   6         // the hull we're tracing through
   7         const hull_t *hull;
   8
   9         // the trace structure to fill in
  10         trace_t *trace;
  11
  12         // start and end of the trace (in model space)
  13         double start[3];
  14         double end[3];
  15
  16         // end - start
  17         double dist[3];
  18 }
  19 RecursiveHullCheckTraceInfo_t;
  20
  21 // 1/32 epsilon to keep floating point happy
  22 #define DIST_EPSILON (0.03125)
  23
  24 #define HULLCHECKSTATE_EMPTY 0
  25 #define HULLCHECKSTATE_SOLID 1
  26 #define HULLCHECKSTATE_DONE 2
  27
  28 static int RecursiveHullCheck (RecursiveHullCheckTraceInfo_t *t, int num, double p1f, double p2f, double p1[3], double p2[3])
  29 {
  30         // status variables, these don't need to be saved on the stack when
  31         // recursing...  but are because this should be thread-safe
  32         // (note: tracing against a bbox is not thread-safe, yet)
  33         int ret;
  34         mplane_t *plane;
  35         double t1, t2;
  36
  37         // variables that need to be stored on the stack when recursing
  38         dclipnode_t *node;
  39         int side;
  40         double midf, mid[3];
  41
  42         // LordHavoc: a goto!  everyone flee in terror... :)
  43 loc0:
  44         // check for empty
  45         if (num < 0)
  46         {
  47                 t->trace->endcontents = num;
  48                 if (t->trace->startcontents)
  49                 {
  50                         if (num == t->trace->startcontents)
  51                                 t->trace->allsolid = false;
  52                         else
  53                         {
  54                                 // if the first leaf is solid, set startsolid
  55                                 if (t->trace->allsolid)
  56                                         t->trace->startsolid = true;
  57                                 return HULLCHECKSTATE_SOLID;
  58                         }
  59                         return HULLCHECKSTATE_EMPTY;
  60                 }
  61                 else
  62                 {
  63                         if (num != CONTENTS_SOLID)
  64                         {
  65                                 t->trace->allsolid = false;
  66                                 if (num == CONTENTS_EMPTY)
  67                                         t->trace->inopen = true;
  68                                 else
  69                                         t->trace->inwater = true;
  70                         }
  71                         else
  72                         {
  73                                 // if the first leaf is solid, set startsolid
  74                                 if (t->trace->allsolid)
  75                                         t->trace->startsolid = true;
  76                                 return HULLCHECKSTATE_SOLID;
  77                         }
  78                         return HULLCHECKSTATE_EMPTY;
  79                 }
  80         }
  81
  82         // find the point distances
  83         node = t->hull->clipnodes + num;
  84
  85         plane = t->hull->planes + node->planenum;
  86         if (plane->type < 3)
  87         {
  88                 t1 = p1[plane->type] - plane->dist;
  89                 t2 = p2[plane->type] - plane->dist;
  90         }
  91         else
  92         {
  93                 t1 = DotProduct (plane->normal, p1) - plane->dist;
  94                 t2 = DotProduct (plane->normal, p2) - plane->dist;
  95         }
  96
  97         if (t1 < 0)
  98         {
  99                 if (t2 < 0)
 100                 {
 101                         num = node->children[1];
 102                         goto loc0;
 103                 }
 104                 side = 1;
 105         }
 106         else
 107         {
 108                 if (t2 >= 0)
 109                 {
 110                         num = node->children[0];
 111                         goto loc0;
 112                 }
 113                 side = 0;
 114         }
 115
 116         // the line intersects, find intersection point
 117         // LordHavoc: this uses the original trace for maximum accuracy
 118         if (plane->type < 3)
 119         {
 120                 t1 = t->start[plane->type] - plane->dist;
 121                 t2 = t->end[plane->type] - plane->dist;
 122         }
 123         else
 124         {
 125                 t1 = DotProduct (plane->normal, t->start) - plane->dist;
 126                 t2 = DotProduct (plane->normal, t->end) - plane->dist;
 127         }
 128
 129         midf = t1 / (t1 - t2);
 130         midf = bound(p1f, midf, p2f);
 131         VectorMA(t->start, midf, t->dist, mid);
 132
 133         // recurse both sides, front side first
 134         ret = RecursiveHullCheck (t, node->children[side], p1f, midf, p1, mid);
 135         // if this side is not empty, return what it is (solid or done)
 136         if (ret != HULLCHECKSTATE_EMPTY)
 137                 return ret;
 138
 139         ret = RecursiveHullCheck (t, node->children[side ^ 1], midf, p2f, mid, p2);
 140         // if other side is not solid, return what it is (empty or done)
 141         if (ret != HULLCHECKSTATE_SOLID)
 142                 return ret;
 143
 144         // front is air and back is solid, this is the impact point...
 145         if (side)
 146         {
 147                 t->trace->plane.dist = -plane->dist;
 148                 VectorNegate (plane->normal, t->trace->plane.normal);
 149         }
 150         else
 151         {
 152                 t->trace->plane.dist = plane->dist;
 153                 VectorCopy (plane->normal, t->trace->plane.normal);
 154         }
 155
 156         // bias away from surface a bit
 157         t1 = DotProduct(t->trace->plane.normal, t->start) - (t->trace->plane.dist + DIST_EPSILON);
 158         t2 = DotProduct(t->trace->plane.normal, t->end) - (t->trace->plane.dist + DIST_EPSILON);
 159
 160         midf = t1 / (t1 - t2);
 161         t->trace->fraction = bound(0.0f, midf, 1.0);
 162
 163         VectorMA(t->start, t->trace->fraction, t->dist, t->trace->endpos);
 164
 165         return HULLCHECKSTATE_DONE;
 166 }
 167
 168 // used if start and end are the same
 169 static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
 170 {
 171         // If you can read this, you understand BSP trees
 172         while (num >= 0)
 173                 num = t->hull->clipnodes[num].children[((t->hull->planes[t->hull->clipnodes[num].planenum].type < 3) ? (t->start[t->hull->planes[t->hull->clipnodes[num].planenum].type]) : (DotProduct(t->hull->planes[t->hull->clipnodes[num].planenum].normal, t->start))) < t->hull->planes[t->hull->clipnodes[num].planenum].dist];
 174
 175         // check for empty
 176         t->trace->endcontents = num;
 177         if (t->trace->startcontents)
 178         {
 179                 if (num == t->trace->startcontents)
 180                         t->trace->allsolid = false;
 181                 else
 182                 {
 183                         // if the first leaf is solid, set startsolid
 184                         if (t->trace->allsolid)
 185                                 t->trace->startsolid = true;
 186                 }
 187         }
 188         else
 189         {
 190                 if (num != CONTENTS_SOLID)
 191                 {
 192                         t->trace->allsolid = false;
 193                         if (num == CONTENTS_EMPTY)
 194                                 t->trace->inopen = true;
 195                         else
 196                                 t->trace->inwater = true;
 197                 }
 198                 else
 199                 {
 200                         // if the first leaf is solid, set startsolid
 201                         if (t->trace->allsolid)
 202                                 t->trace->startsolid = true;
 203                 }
 204         }
 205 }
 206
 207 void Collision_RoundUpToHullSize(const model_t *cmodel, const vec3_t inmins, const vec3_t inmaxs, vec3_t outmins, vec3_t outmaxs)
 208 {
 209         vec3_t size;
 210         const hull_t *hull;
 211
 212         VectorSubtract(inmaxs, inmins, size);
 213         if (cmodel->ishlbsp)
 214         {
 215                 if (size[0] < 3)
 216                         hull = &cmodel->hulls[0]; // 0x0x0
 217                 else if (size[0] <= 32)
 218                 {
 219                         if (size[2] < 54) // pick the nearest of 36 or 72
 220                                 hull = &cmodel->hulls[3]; // 32x32x36
 221                         else
 222                                 hull = &cmodel->hulls[1]; // 32x32x72
 223                 }
 224                 else
 225                         hull = &cmodel->hulls[2]; // 64x64x64
 226         }
 227         else
 228         {
 229                 if (size[0] < 3)
 230                         hull = &cmodel->hulls[0]; // 0x0x0
 231                 else if (size[0] <= 32)
 232                         hull = &cmodel->hulls[1]; // 32x32x56
 233                 else
 234                         hull = &cmodel->hulls[2]; // 64x64x88
 235         }
 236         VectorCopy(inmins, outmins);
 237         VectorAdd(inmins, hull->clip_size, outmaxs);
 238 }
 239
 240 static hull_t box_hull;
 241 static dclipnode_t box_clipnodes[6];
 242 static mplane_t box_planes[6];
 243
 244 void Collision_Init (void)
 245 {
 246         int             i;
 247         int             side;
 248
 249         //Set up the planes and clipnodes so that the six floats of a bounding box
 250         //can just be stored out and get a proper hull_t structure.
 251
 252         box_hull.clipnodes = box_clipnodes;
 253         box_hull.planes = box_planes;
 254         box_hull.firstclipnode = 0;
 255         box_hull.lastclipnode = 5;
 256
 257         for (i = 0;i < 6;i++)
 258         {
 259                 box_clipnodes[i].planenum = i;
 260
 261                 side = i&1;
 262
 263                 box_clipnodes[i].children[side] = CONTENTS_EMPTY;
 264                 if (i != 5)
 265                         box_clipnodes[i].children[side^1] = i + 1;
 266                 else
 267                         box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
 268
 269                 box_planes[i].type = i>>1;
 270                 box_planes[i].normal[i>>1] = 1;
 271         }
 272 }
 273
 274
 275 static hull_t *HullForBBoxEntity (const vec3_t corigin, const vec3_t cmins, const vec3_t cmaxs, const vec3_t mins, const vec3_t maxs, vec3_t offset)
 276 {
 277         vec3_t hullmins, hullmaxs;
 278
 279         // create a temp hull from bounding box sizes
 280         VectorCopy (corigin, offset);
 281         VectorSubtract (cmins, maxs, hullmins);
 282         VectorSubtract (cmaxs, mins, hullmaxs);
 283
 284         //To keep everything totally uniform, bounding boxes are turned into small
 285         //BSP trees instead of being compared directly.
 286         box_planes[0].dist = hullmaxs[0];
 287         box_planes[1].dist = hullmins[0];
 288         box_planes[2].dist = hullmaxs[1];
 289         box_planes[3].dist = hullmins[1];
 290         box_planes[4].dist = hullmaxs[2];
 291         box_planes[5].dist = hullmins[2];
 292         return &box_hull;
 293 }
 294
 295 static const hull_t *HullForBrushModel (const model_t *cmodel, const vec3_t corigin, const vec3_t mins, const vec3_t maxs, vec3_t offset)
 296 {
 297         vec3_t size;
 298         const hull_t *hull;
 299
 300         // decide which clipping hull to use, based on the size
 301         // explicit hulls in the BSP model
 302         VectorSubtract (maxs, mins, size);
 303         // LordHavoc: FIXME!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
 304         if (cmodel->ishlbsp)
 305         {
 306                 if (size[0] < 3)
 307                         hull = &cmodel->hulls[0]; // 0x0x0
 308                 else if (size[0] <= 32)
 309                 {
 310                         if (size[2] < 54) // pick the nearest of 36 or 72
 311                                 hull = &cmodel->hulls[3]; // 32x32x36
 312                         else
 313                                 hull = &cmodel->hulls[1]; // 32x32x72
 314                 }
 315                 else
 316                         hull = &cmodel->hulls[2]; // 64x64x64
 317         }
 318         else
 319         {
 320                 if (size[0] < 3)
 321                         hull = &cmodel->hulls[0]; // 0x0x0
 322                 else if (size[0] <= 32)
 323                         hull = &cmodel->hulls[1]; // 32x32x56
 324                 else
 325                         hull = &cmodel->hulls[2]; // 64x64x88
 326         }
 327
 328         // calculate an offset value to center the origin
 329         VectorSubtract (hull->clip_mins, mins, offset);
 330         VectorAdd (offset, corigin, offset);
 331
 332         return hull;
 333 }
 334
 335 void Collision_ClipTrace (trace_t *trace, const void *cent, const model_t *cmodel, const vec3_t corigin, const vec3_t cangles, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end)
 336 {
 337         RecursiveHullCheckTraceInfo_t rhc;
 338         vec3_t offset, forward, left, up;
 339         double startd[3], endd[3], tempd[3];
 340
 341         // fill in a default trace
 342         memset (&rhc, 0, sizeof(rhc));
 343         memset (trace, 0, sizeof(trace_t));
 344
 345         rhc.trace = trace;
 346
 347         rhc.trace->fraction = 1;
 348         rhc.trace->allsolid = true;
 349
 350         if (cmodel && cmodel->type == mod_brush)
 351         {
 352                 // brush model
 353
 354                 // get the clipping hull
 355                 rhc.hull = HullForBrushModel (cmodel, corigin, mins, maxs, offset);
 356
 357                 VectorSubtract(start, offset, startd);
 358                 VectorSubtract(end, offset, endd);
 359
 360                 // rotate start and end into the model's frame of reference
 361                 if (cangles[0] || cangles[1] || cangles[2])
 362                 {
 363                         AngleVectorsFLU (cangles, forward, left, up);
 364                         VectorCopy(startd, tempd);
 365                         startd[0] = DotProduct (tempd, forward);
 366                         startd[1] = DotProduct (tempd, left);
 367                         startd[2] = DotProduct (tempd, up);
 368                         VectorCopy(endd, tempd);
 369                         endd[0] = DotProduct (tempd, forward);
 370                         endd[1] = DotProduct (tempd, left);
 371                         endd[2] = DotProduct (tempd, up);
 372                 }
 373
 374                 // trace a line through the appropriate clipping hull
 375                 VectorCopy(startd, rhc.start);
 376                 VectorCopy(endd, rhc.end);
 377                 VectorCopy(rhc.end, rhc.trace->endpos);
 378                 VectorSubtract(rhc.end, rhc.start, rhc.dist);
 379                 if (rhc.dist[0] || rhc.dist[1] || rhc.dist[2])
 380                         RecursiveHullCheck (&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
 381                 else
 382                         RecursiveHullCheckPoint (&rhc, rhc.hull->firstclipnode);
 383                 if (rhc.trace->fraction < 0 || rhc.trace->fraction > 1) Con_Printf("fraction out of bounds %f %s:%d\n", rhc.trace->fraction, __FILE__, __LINE__);
 384
 385                 // if we hit, unrotate endpos and normal, and store the entity we hit
 386                 if (rhc.trace->fraction != 1)
 387                 {
 388                         // rotate endpos back to world frame of reference
 389                         if (cangles[0] || cangles[1] || cangles[2])
 390                         {
 391                                 VectorNegate (cangles, offset);
 392                                 AngleVectorsFLU (offset, forward, left, up);
 393
 394                                 VectorCopy (rhc.trace->endpos, tempd);
 395                                 rhc.trace->endpos[0] = DotProduct (tempd, forward);
 396                                 rhc.trace->endpos[1] = DotProduct (tempd, left);
 397                                 rhc.trace->endpos[2] = DotProduct (tempd, up);
 398
 399                                 VectorCopy (rhc.trace->plane.normal, tempd);
 400                                 rhc.trace->plane.normal[0] = DotProduct (tempd, forward);
 401                                 rhc.trace->plane.normal[1] = DotProduct (tempd, left);
 402                                 rhc.trace->plane.normal[2] = DotProduct (tempd, up);
 403                         }
 404                         rhc.trace->ent = (void *) cent;
 405                 }
 406                 else if (rhc.trace->allsolid || rhc.trace->startsolid)
 407                         rhc.trace->ent = (void *) cent;
 408                 // fix offset
 409                 VectorAdd (rhc.trace->endpos, offset, rhc.trace->endpos);
 410         }
 411         else
 412         {
 413                 // bounding box
 414
 415                 rhc.hull = HullForBBoxEntity (corigin, cmins, cmaxs, mins, maxs, offset);
 416
 417                 // trace a line through the generated clipping hull
 418                 VectorSubtract(start, offset, rhc.start);
 419                 VectorSubtract(end, offset, rhc.end);
 420                 VectorCopy(rhc.end, rhc.trace->endpos);
 421                 VectorSubtract(rhc.end, rhc.start, rhc.dist);
 422                 if (rhc.dist[0] || rhc.dist[1] || rhc.dist[2])
 423                         RecursiveHullCheck (&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
 424                 else
 425                         RecursiveHullCheckPoint (&rhc, rhc.hull->firstclipnode);
 426                 if (rhc.trace->fraction < 0 || rhc.trace->fraction > 1) Con_Printf("fraction out of bounds %f %s:%d\n", rhc.trace->fraction, __FILE__, __LINE__);
 427
 428                 // if we hit, store the entity we hit
 429                 if (rhc.trace->fraction != 1)
 430                 {
 431                         // fix offset
 432                         VectorAdd (rhc.trace->endpos, offset, rhc.trace->endpos);
 433                         rhc.trace->ent = (void *) cent;
 434                 }
 435                 else if (rhc.trace->allsolid || rhc.trace->startsolid)
 436                         rhc.trace->ent = (void *) cent;
 437         }
 438 }
 439
 440
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 452
 453
 454 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
 455 {
 456         int i;
 457         Con_Printf("3 %s\n%i\n", name, brush->numpoints);
 458         for (i = 0;i < brush->numpoints;i++)
 459                 Con_Printf("%g %g %g\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
 460         // FIXME: optimize!
 461         Con_Printf("4\n%i\n", brush->numplanes);
 462         for (i = 0;i < brush->numplanes;i++)
 463                 Con_Printf("%g %g %g %g\n", brush->planes[i].normal[0], brush->planes[i].normal[1], brush->planes[i].normal[2], brush->planes[i].dist);
 464 }
 465
 466
 467 colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes)
 468 {
 469         colbrushf_t *brush;
 470         brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes);
 471         brush->numpoints = numpoints;
 472         brush->numplanes = numplanes;
 473         brush->planes = (void *)(brush + 1);
 474         brush->points = (void *)(brush->planes + brush->numplanes);
 475         return brush;
 476 }
 477
 478 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 479 {
 480         int i;
 481         float edge0[3], edge1[3], normal[3], dist, bestdist;
 482         colpointf_t *p, *p2;
 483
 484         // choose best surface normal for polygon's plane
 485         bestdist = 0;
 486         for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
 487         {
 488                 VectorSubtract(p[-1].v, p[0].v, edge0);
 489                 VectorSubtract(p[1].v, p[0].v, edge1);
 490                 CrossProduct(edge0, edge1, normal);
 491                 dist = DotProduct(normal, normal);
 492                 if (i == 0 || bestdist < dist)
 493                 {
 494                         bestdist = dist;
 495                         VectorCopy(normal, brush->planes->normal);
 496                 }
 497         }
 498
 499         VectorNormalize(brush->planes->normal);
 500         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 501
 502         // negate plane to create other side
 503         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 504         brush->planes[1].dist = -brush->planes[0].dist;
 505         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
 506         {
 507                 VectorSubtract(p->v, p2->v, edge0);
 508                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
 509                 VectorNormalize(brush->planes[i + 2].normal);
 510                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
 511         }
 512
 513 #if 1
 514         // validity check - will be disabled later
 515         for (i = 0;i < brush->numplanes;i++)
 516         {
 517                 int j;
 518                 for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
 519                         if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
 520                                 Con_Printf("Error in brush plane generation, plane %i\n", i);
 521         }
 522 #endif
 523 }
 524
 525 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points)
 526 {
 527         colbrushf_t *brush;
 528         brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
 529         brush->numpoints = numpoints;
 530         brush->numplanes = numpoints + 2;
 531         brush->planes = (void *)(brush + 1);
 532         brush->points = (colpointf_t *)points;
 533         return brush;
 534 }
 535
 536 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 537 {
 538         float dist, bestdist;
 539         bestdist = DotProduct(points->v, normal);
 540         points++;
 541         while(--numpoints)
 542         {
 543                 dist = DotProduct(points->v, normal);
 544                 if (bestdist > dist)
 545                         bestdist = dist;
 546                 points++;
 547         }
 548         return bestdist;
 549 }
 550
 551 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 552 {
 553         float dist, bestdist;
 554         bestdist = DotProduct(points->v, normal);
 555         points++;
 556         while(--numpoints)
 557         {
 558                 dist = DotProduct(points->v, normal);
 559                 if (bestdist < dist)
 560                         bestdist = dist;
 561                 points++;
 562         }
 563         return bestdist;
 564 }
 565
 566 #define COLLISIONEPSILON (1.0f / 32.0f)
 567 #define COLLISIONEPSILON2 0//(1.0f / 32.0f)
 568
 569 // NOTE: start and end of each brush pair must have same numplanes/numpoints
 570 float Collision_TraceBrushBrushFloat(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end, float *impactnormal, int *startsolid, int *allsolid)
 571 {
 572         int nplane, nplane2, fstartsolid, fendsolid;
 573         float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
 574         const colplanef_t *startplane, *endplane;
 575
 576         enterfrac = -1;
 577         leavefrac = 1;
 578         fstartsolid = true;
 579         fendsolid = true;
 580
 581         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 582         {
 583                 nplane2 = nplane;
 584                 if (nplane2 >= thatbrush_start->numplanes)
 585                 {
 586                         nplane2 -= thatbrush_start->numplanes;
 587                         startplane = thisbrush_start->planes + nplane2;
 588                         endplane = thisbrush_end->planes + nplane2;
 589                 }
 590                 else
 591                 {
 592                         startplane = thatbrush_start->planes + nplane2;
 593                         endplane = thatbrush_end->planes + nplane2;
 594                 }
 595                 d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 596                 d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - COLLISIONEPSILON2;
 597                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 598
 599                 f = d1 - d2;
 600                 if (f >= 0)
 601                 {
 602                         // moving into brush
 603                         if (d2 > 0)
 604                                 return 1;
 605                         if (d1 < 0)
 606                                 continue;
 607                         // enter
 608                         fstartsolid = false;
 609                         f = (d1 - COLLISIONEPSILON) / f;
 610                         f = bound(0, f, 1);
 611                         if (enterfrac < f)
 612                         {
 613                                 enterfrac = f;
 614                                 VectorBlend(startplane->normal, endplane->normal, enterfrac, newimpactnormal);
 615                         }
 616                 }
 617                 else if (f < 0)
 618                 {
 619                         // moving out of brush
 620                         if (d1 > 0)
 621                                 return 1;
 622                         if (d2 < 0)
 623                                 continue;
 624                         // leave
 625                         fendsolid = false;
 626                         f = (d1 + COLLISIONEPSILON) / f;
 627                         f = bound(0, f, 1);
 628                         if (leavefrac > f)
 629                                 leavefrac = f;
 630                 }
 631         }
 632
 633         if (fstartsolid)
 634         {
 635                 if (startsolid)
 636                         *startsolid = true;
 637                 if (fendsolid && allsolid)
 638                         *allsolid = true;
 639         }
 640
 641         // LordHavoc: we need an epsilon nudge here because for a point trace the
 642         // penetrating line segment is normally zero length if this brush was
 643         // generated from a polygon (infinitely thin), and could even be slightly
 644         // positive or negative due to rounding errors in that case.
 645         if (enterfrac > -1 && enterfrac < 1 && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 646         {
 647                 //if (enterfrac < (1.0f / 1024.0f))
 648                 //      enterfrac = 0;
 649                 enterfrac = bound(0, enterfrac, 1);
 650                 VectorCopy(newimpactnormal, impactnormal);
 651                 return enterfrac;
 652         }
 653         return 1;
 654 }
 655
 656 static colplanef_t polyf_planes[256 + 2];
 657 static colbrushf_t polyf_brush;
 658
 659 float Collision_TraceBrushPolygonFloat(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, float *impactnormal, int *startsolid, int *allsolid)
 660 {
 661         if (numpoints > 256)
 662         {
 663                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 664                 return 1;
 665         }
 666         polyf_brush.numpoints = numpoints;
 667         polyf_brush.numplanes = numpoints + 2;
 668         polyf_brush.points = (colpointf_t *)points;
 669         polyf_brush.planes = polyf_planes;
 670         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 671         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 672         return Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush, impactnormal, startsolid, allsolid);
 673 }
 674
 675 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
 676 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
 677 static colbrushf_t polyf_brushstart, polyf_brushend;
 678
 679 float Collision_TraceBrushPolygonTransformFloat(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, float *impactnormal, const matrix4x4_t *polygonmatrixstart, const matrix4x4_t *polygonmatrixend, int *startsolid, int *allsolid)
 680 {
 681         int i;
 682         if (numpoints > 256)
 683         {
 684                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 685                 return 1;
 686         }
 687         polyf_brushstart.numpoints = numpoints;
 688         polyf_brushstart.numplanes = numpoints + 2;
 689         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
 690         polyf_brushstart.planes = polyf_planesstart;
 691         for (i = 0;i < numpoints;i++)
 692                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
 693         polyf_brushend.numpoints = numpoints;
 694         polyf_brushend.numplanes = numpoints + 2;
 695         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
 696         polyf_brushend.planes = polyf_planesend;
 697         for (i = 0;i < numpoints;i++)
 698                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
 699         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
 700         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
 701
 702         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
 703         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
 704
 705         return Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend, impactnormal, startsolid, allsolid);
 706 }
 707
 708 colbrushd_t *Collision_AllocBrushDouble(mempool_t *mempool, int numpoints, int numplanes)
 709 {
 710         colbrushd_t *brush;
 711         brush = Mem_Alloc(mempool, sizeof(colbrushd_t) + sizeof(colpointd_t) * numpoints + sizeof(colplaned_t) * numplanes);
 712         brush->numpoints = numpoints;
 713         brush->numplanes = numplanes;
 714         brush->planes = (void *)(brush + 1);
 715         brush->points = (void *)(brush->planes + brush->numplanes);
 716         return brush;
 717 }
 718
 719 void Collision_CalcPlanesForPolygonBrushDouble(colbrushd_t *brush)
 720 {
 721         int i;
 722         double edge0[3], edge1[3], normal[3], dist, bestdist;
 723         colpointd_t *p, *p2;
 724
 725         // choose best surface normal for polygon's plane
 726         bestdist = 0;
 727         for (i = 2, p = brush->points + 2;i < brush->numpoints;i++, p++)
 728         {
 729                 VectorSubtract(p[-1].v, p[0].v, edge0);
 730                 VectorSubtract(p[1].v, p[0].v, edge1);
 731                 CrossProduct(edge0, edge1, normal);
 732                 dist = DotProduct(normal, normal);
 733                 if (i == 2 || bestdist < dist)
 734                 {
 735                         bestdist = dist;
 736                         VectorCopy(normal, brush->planes->normal);
 737                 }
 738         }
 739
 740         VectorNormalize(brush->planes->normal);
 741         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 742
 743         // negate plane to create other side
 744         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 745         brush->planes[1].dist = -brush->planes[0].dist;
 746         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points + 2;i < brush->numpoints;i++, p = p2, p2++)
 747         {
 748                 VectorSubtract(p->v, p2->v, edge0);
 749                 CrossProduct(edge0, brush->planes->normal, brush->planes[i].normal);
 750                 VectorNormalize(brush->planes[i].normal);
 751                 brush->planes[i].dist = DotProduct(p->v, brush->planes[i].normal);
 752         }
 753
 754 #if 1
 755         // validity check - will be disabled later
 756         for (i = 0;i < brush->numplanes;i++)
 757         {
 758                 int j;
 759                 for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
 760                         if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
 761                                 Con_Printf("Error in brush plane generation, plane %i\n");
 762         }
 763 #endif
 764 }
 765
 766 colbrushd_t *Collision_AllocBrushFromPermanentPolygonDouble(mempool_t *mempool, int numpoints, double *points)
 767 {
 768         colbrushd_t *brush;
 769         brush = Mem_Alloc(mempool, sizeof(colbrushd_t) + sizeof(colplaned_t) * (numpoints + 2));
 770         brush->numpoints = numpoints;
 771         brush->numplanes = numpoints + 2;
 772         brush->planes = (void *)(brush + 1);
 773         brush->points = (colpointd_t *)points;
 774         return brush;
 775 }
 776
 777
 778 double nearestplanedist_double(const double *normal, const colpointd_t *points, int numpoints)
 779 {
 780         double dist, bestdist;
 781         bestdist = DotProduct(points->v, normal);
 782         points++;
 783         while(--numpoints)
 784         {
 785                 dist = DotProduct(points->v, normal);
 786                 if (bestdist > dist)
 787                         bestdist = dist;
 788                 points++;
 789         }
 790         return bestdist;
 791 }
 792
 793 double furthestplanedist_double(const double *normal, const colpointd_t *points, int numpoints)
 794 {
 795         double dist, bestdist;
 796         bestdist = DotProduct(points->v, normal);
 797         points++;
 798         while(--numpoints)
 799         {
 800                 dist = DotProduct(points->v, normal);
 801                 if (bestdist < dist)
 802                         bestdist = dist;
 803                 points++;
 804         }
 805         return bestdist;
 806 }
 807
 808 // NOTE: start and end of each brush pair must have same numplanes/numpoints
 809 double Collision_TraceBrushBrushDouble(const colbrushd_t *thisbrush_start, const colbrushd_t *thisbrush_end, const colbrushd_t *thatbrush_start, const colbrushd_t *thatbrush_end, double *impactnormal)
 810 {
 811         int nplane;
 812         double enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
 813         const colplaned_t *startplane, *endplane;
 814
 815         enterfrac = -1;
 816         leavefrac = 1;
 817
 818         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 819         {
 820                 startplane = thatbrush_start->planes + nplane;
 821                 endplane = thatbrush_end->planes + nplane;
 822                 d1 = nearestplanedist_double(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_double(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 823                 d2 = nearestplanedist_double(endplane->normal, thisbrush_end->points, thisbrush_start->numpoints) - furthestplanedist_double(endplane->normal, thatbrush_end->points, thatbrush_start->numpoints) - (1.0 / 32.0);
 824
 825                 f = d1 - d2;
 826                 if (f >= 0)
 827                 {
 828                         // moving into brush
 829                         if (d2 > 0)
 830                                 return 1;
 831                         if (d1 < 0)
 832                                 continue;
 833                         // enter
 834                         f = d1 / f;
 835                         if (enterfrac < f)
 836                         {
 837                                 enterfrac = f;
 838                                 VectorSubtract(endplane->normal, startplane->normal, newimpactnormal);
 839                                 VectorMA(startplane->normal, enterfrac, impactnormal, newimpactnormal);
 840                         }
 841                 }
 842                 else
 843                 {
 844                         // moving out of brush
 845                         if (d1 > 0)
 846                                 return 1;
 847                         if (d2 < 0)
 848                                 continue;
 849                         // leave
 850                         f = d1 / f;
 851                         if (leavefrac > f)
 852                                 leavefrac = f;
 853                 }
 854         }
 855
 856         for (nplane = 0;nplane < thisbrush_start->numplanes;nplane++)
 857         {
 858                 startplane = thisbrush_start->planes + nplane;
 859                 endplane = thisbrush_end->planes + nplane;
 860                 d1 = nearestplanedist_double(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_double(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 861                 d2 = nearestplanedist_double(endplane->normal, thisbrush_end->points, thisbrush_start->numpoints) - furthestplanedist_double(endplane->normal, thatbrush_end->points, thatbrush_start->numpoints) - (1.0 / 32.0);
 862
 863                 f = d1 - d2;
 864                 if (f >= 0)
 865                 {
 866                         // moving into brush
 867                         if (d2 > 0)
 868                                 return 1;
 869                         if (d1 < 0)
 870                                 continue;
 871                         // enter
 872                         f = d1 / f;
 873                         if (enterfrac < f)
 874                         {
 875                                 enterfrac = f;
 876                                 VectorSubtract(endplane->normal, startplane->normal, newimpactnormal);
 877                                 VectorMA(startplane->normal, enterfrac, impactnormal, newimpactnormal);
 878                         }
 879                 }
 880                 else
 881                 {
 882                         // moving out of brush
 883                         if (d1 > 0)
 884                                 return 1;
 885                         if (d2 < 0)
 886                                 continue;
 887                         // leave
 888                         f = d1 / f;
 889                         if (leavefrac > f)
 890                                 leavefrac = f;
 891                 }
 892         }
 893
 894         // LordHavoc: we need an epsilon nudge here because for a point trace the
 895         // penetrating line segment is normally zero length if this brush was
 896         // generated from a polygon (infinitely thin), and could even be slightly
 897         // positive or negative due to rounding errors in that case.
 898         enterfrac -= (1.0 / 16384.0);
 899         if (leavefrac - enterfrac >= 0 && enterfrac > -1)
 900         {
 901                 VectorCopy(newimpactnormal, impactnormal);
 902                 enterfrac = bound(0, enterfrac, 1);
 903                 return enterfrac;
 904         }
 905         return 1;
 906 }
 907
 908 static colplaned_t polyd_planes[256 + 2];
 909 static colbrushd_t polyd_brush;
 910 double Collision_TraceBrushPolygonDouble(const colbrushd_t *thisbrush_start, const colbrushd_t *thisbrush_end, int numpoints, const double *points, double *impactnormal)
 911 {
 912         if (numpoints > 256)
 913         {
 914                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 915                 return 1;
 916         }
 917         polyd_brush.numpoints = numpoints;
 918         polyd_brush.numplanes = numpoints + 2;
 919         polyd_brush.points = (colpointd_t *)points;
 920         polyd_brush.planes = polyd_planes;
 921         Collision_CalcPlanesForPolygonBrushDouble(&polyd_brush);
 922         return Collision_TraceBrushBrushDouble(thisbrush_start, thisbrush_end, &polyd_brush, &polyd_brush, impactnormal);
 923 }
 924
 925
 926
 927
 928 typedef struct colbrushbmodelinfo_s
 929 {
 930         model_t *model;
 931         const matrix4x4_t *modelmatrixstart;
 932         const matrix4x4_t *modelmatrixend;
 933         const colbrushf_t *thisbrush_start;
 934         const colbrushf_t *thisbrush_end;
 935         float impactnormal[3];
 936         float tempimpactnormal[3];
 937         float fraction;
 938         int startsolid;
 939         int allsolid;
 940 }
 941 colbrushbmodelinfo_t;
 942
 943 static int colframecount = 1;
 944
 945 void Collision_RecursiveTraceBrushNode(colbrushbmodelinfo_t *info, mnode_t *node)
 946 {
 947         if (node->contents)
 948         {
 949                 // collide with surfaces marked by this leaf
 950                 int i, *mark;
 951                 float result;
 952                 mleaf_t *leaf = (mleaf_t *)node;
 953                 msurface_t *surf;
 954                 for (i = 0, mark = leaf->firstmarksurface;i < leaf->nummarksurfaces;i++, mark++)
 955                 {
 956                         surf = info->model->surfaces + *mark;
 957                         // don't check a surface twice
 958                         if (surf->colframe != colframecount)
 959                         {
 960                                 surf->colframe = colframecount;
 961                                 if (surf->flags & SURF_SOLIDCLIP)
 962                                 {
 963                                         result = Collision_TraceBrushPolygonFloat(info->thisbrush_start, info->thisbrush_end, surf->poly_numverts, surf->poly_verts, info->tempimpactnormal, &info->startsolid, &info->allsolid);
 964                                         //result = Collision_TraceBrushPolygonTransformFloat(info->thisbrush_start, info->thisbrush_end, surf->poly_numverts, surf->poly_verts, info->tempimpactnormal, info->modelmatrixstart, info->modelmatrixend, &info->startsolid, &info->allsolid);
 965                                         if (info->fraction > result)
 966                                         {
 967                                                 info->fraction = result;
 968                                                 // use the surface's plane instead of the actual
 969                                                 // collision plane because the actual collision plane
 970                                                 // might be to the side (on a seam between polygons)
 971                                                 // or something, we want objects to bounce off the
 972                                                 // front...
 973                                                 //if (surf->flags & SURF_PLANEBACK)
 974                                                 //      VectorNegate(surf->plane->normal, info->impactnormal);
 975                                                 //else
 976                                                 //      VectorCopy(surf->plane->normal, info->impactnormal);
 977                                                 VectorCopy(info->tempimpactnormal, info->impactnormal);
 978                                         }
 979                                 }
 980                         }
 981                 }
 982         }
 983         else
 984         {
 985                 // recurse down node sides
 986                 int i, bits;
 987                 float dist1, dist2;
 988                 colpointf_t *ps, *pe;
 989                 bits = 0;
 990                 // FIXME? if TraceBrushPolygonTransform were to be made usable, the
 991                 // node planes would need to be transformed too
 992                 dist1 = node->plane->dist - (1.0f / 8.0f);
 993                 dist2 = node->plane->dist + (1.0f / 8.0f);
 994                 for (i = 0, ps = info->thisbrush_start->points, pe = info->thisbrush_end->points;i < info->thisbrush_start->numpoints;i++, ps++, pe++)
 995                 {
 996                         if (!(bits & 1) && (DotProduct(ps->v, node->plane->normal) > dist1 || DotProduct(pe->v, node->plane->normal) > dist1))
 997                                 bits |= 1;
 998                         if (!(bits & 2) && (DotProduct(ps->v, node->plane->normal) < dist2 || DotProduct(pe->v, node->plane->normal) < dist2))
 999                                 bits |= 2;
1000                 }
1001                 if (bits & 1)
1002                         Collision_RecursiveTraceBrushNode(info, node->children[0]);
1003                 if (bits & 2)
1004                         Collision_RecursiveTraceBrushNode(info, node->children[1]);
1005         }
1006 }
1007
1008 float Collision_TraceBrushBModel(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, model_t *model, float *impactnormal, int *startsolid, int *allsolid)
1009 {
1010         colbrushbmodelinfo_t info;
1011         colframecount++;
1012         info.model = model;
1013         info.thisbrush_start = thisbrush_start;
1014         info.thisbrush_end = thisbrush_end;
1015         info.fraction = 1;
1016         info.startsolid = false;
1017         info.allsolid = false;
1018         Collision_RecursiveTraceBrushNode(&info, model->nodes + model->hulls[0].firstclipnode);
1019         if (info.fraction < 1)
1020                 VectorCopy(info.impactnormal, impactnormal);
1021         if (startsolid)
1022                 *startsolid = info.startsolid;
1023         if (allsolid)
1024                 *allsolid = info.allsolid;
1025         return info.fraction;
1026 }
1027
1028 float Collision_TraceBrushBModelTransform(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, model_t *model, float *impactnormal, const matrix4x4_t *modelmatrixstart, const matrix4x4_t *modelmatrixend, int *startsolid, int *allsolid)
1029 {
1030         colbrushbmodelinfo_t info;
1031         colframecount++;
1032         info.model = model;
1033         info.modelmatrixstart = modelmatrixstart;
1034         info.modelmatrixend = modelmatrixend;
1035         info.thisbrush_start = thisbrush_start;
1036         info.thisbrush_end = thisbrush_end;
1037         info.fraction = 1;
1038         info.startsolid = false;
1039         info.allsolid = false;
1040         Collision_RecursiveTraceBrushNode(&info, model->nodes);
1041         if (info.fraction < 1)
1042                 VectorCopy(info.impactnormal, impactnormal);
1043         if (startsolid)
1044                 *startsolid = info.startsolid;
1045         if (allsolid)
1046                 *allsolid = info.allsolid;
1047         return info.fraction;
1048 }
1049
1050
1051
1052 #define MAX_BRUSHFORBOX 16
1053 static int brushforbox_index = 0;
1054 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1055 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1056 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1057
1058 void Collision_InitBrushForBox(void)
1059 {
1060         int i;
1061         for (i = 0;i < MAX_BRUSHFORBOX;i++)
1062         {
1063                 brushforbox_brush[i].numpoints = 8;
1064                 brushforbox_brush[i].numplanes = 6;
1065                 brushforbox_brush[i].points = brushforbox_point + i * 8;
1066                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1067         }
1068 }
1069
1070 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
1071 {
1072         int i;
1073         vec3_t v;
1074         colbrushf_t *brush;
1075         if (brushforbox_brush[0].numpoints == 0)
1076                 Collision_InitBrushForBox();
1077         brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1078         // FIXME: optimize
1079         for (i = 0;i < 8;i++)
1080         {
1081                 v[0] = i & 1 ? maxs[0] : mins[0];
1082                 v[1] = i & 2 ? maxs[1] : mins[1];
1083                 v[2] = i & 4 ? maxs[2] : mins[2];
1084                 Matrix4x4_Transform(matrix, v, brush->points[i].v);
1085         }
1086         // FIXME: optimize!
1087         for (i = 0;i < 6;i++)
1088         {
1089                 VectorClear(v);
1090                 v[i >> 1] = i & 1 ? 1 : -1;
1091                 Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1092                 VectorNormalize(brush->planes[i].normal);
1093                 brush->planes[i].dist = furthestplanedist_float(brush->planes[i].normal, brush->points, brush->numpoints);
1094         }
1095         return brush;
1096 }
1097
1098 void Collision_PolygonClipTrace (trace_t *trace, const void *cent, model_t *cmodel, const vec3_t corigin, const vec3_t cangles, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end)
1099 {
1100         vec3_t impactnormal;
1101         //vec3_t mins2, maxs2;
1102         matrix4x4_t cmatrix, cimatrix, startmatrix, endmatrix;
1103         matrix4x4_t mstartmatrix, mendmatrix, identitymatrix;
1104         colbrushf_t *thisbrush_start, *thisbrush_end, *cbrush;
1105
1106         Matrix4x4_CreateFromQuakeEntity(&cmatrix, corigin[0], corigin[1], corigin[2], cangles[0], cangles[1], cangles[2], 1);
1107         Matrix4x4_Invert_Simple(&cimatrix, &cmatrix);
1108         Matrix4x4_CreateTranslate(&startmatrix, start[0], start[1], start[2]);
1109         Matrix4x4_CreateTranslate(&endmatrix, end[0], end[1], end[2]);
1110
1111         Matrix4x4_CreateIdentity(&identitymatrix);
1112         Matrix4x4_Concat(&mstartmatrix, &cimatrix, &startmatrix);
1113         Matrix4x4_Concat(&mendmatrix, &cimatrix, &endmatrix);
1114         thisbrush_start = Collision_BrushForBox(&mstartmatrix, mins, maxs);
1115         //mins2[0] = mins[0] - 0.0625;mins2[1] = mins[1] - 0.0625;mins2[2] = mins[2] - 0.0625;
1116         //maxs2[0] = maxs[0] + 0.0625;maxs2[1] = maxs[1] + 0.0625;maxs2[2] = maxs[2] + 0.0625;
1117         thisbrush_end = Collision_BrushForBox(&mendmatrix, mins, maxs);
1118
1119         //Collision_PrintBrushAsQHull(thisbrush_start, "thisbrush_start");
1120         //Collision_PrintBrushAsQHull(thisbrush_end, "thisbrush_end");
1121         memset (trace, 0, sizeof(trace_t));
1122         if (cmodel && cmodel->type == mod_brush)
1123         {
1124                 // brush model
1125                 trace->fraction = Collision_TraceBrushBModel(thisbrush_start, thisbrush_end, cmodel, impactnormal, &trace->startsolid, &trace->allsolid);
1126                 //trace->fraction = Collision_TraceBrushBModelTransform(thisbrush_start, thisbrush_end, cmodel, trace->plane.normal, &cmatrix, &cmatrix, &trace->startsolid, &trace->allsolid);
1127         }
1128         else
1129         {
1130                 // bounding box
1131                 cbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
1132                 trace->fraction = Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, cbrush, cbrush, impactnormal, &trace->startsolid, &trace->allsolid);
1133                 //cbrush = Collision_BrushForBox(&cmatrix, cmins, cmaxs);
1134                 //trace->fraction = Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, cbrush, cbrush, trace->plane.normal, &trace->startsolid, &trace->allsolid);
1135         }
1136
1137         if (trace->fraction < 0 || trace->fraction > 1)
1138                 Con_Printf("fraction out of bounds %f %s:%d\n", trace->fraction, __FILE__, __LINE__);
1139
1140         if (trace->fraction < 1)
1141         {
1142                 trace->ent = (void *) cent;
1143                 VectorBlend(start, end, trace->fraction, trace->endpos);
1144                 Matrix4x4_Transform(&cmatrix, impactnormal, trace->plane.normal);
1145                 VectorNormalize(trace->plane.normal);
1146                 //Con_Printf("fraction %f normal %f %f %f\n", trace->fraction, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2]);
1147         }
1148         else
1149                 VectorCopy(end, trace->endpos);
1150 }
1151