collision.c

   1
   2 #include "quakedef.h"
   3 #include "polygon.h"
   4
   5 #define COLLISION_SNAPSCALE (8.0f)
   6 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
   7
   8 cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125"};
   9 cvar_t collision_startnudge = {0, "collision_startnudge", "0"};
  10 cvar_t collision_endnudge = {0, "collision_endnudge", "0"};
  11 cvar_t collision_enternudge = {0, "collision_enternudge", "0"};
  12 cvar_t collision_leavenudge = {0, "collision_leavenudge", "0"};
  13
  14 void Collision_Init (void)
  15 {
  16         Cvar_RegisterVariable(&collision_impactnudge);
  17         Cvar_RegisterVariable(&collision_startnudge);
  18         Cvar_RegisterVariable(&collision_endnudge);
  19         Cvar_RegisterVariable(&collision_enternudge);
  20         Cvar_RegisterVariable(&collision_leavenudge);
  21 }
  22
  23
  24
  25
  26
  27
  28
  29
  30
  31
  32
  33
  34
  35
  36 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
  37 {
  38         int i;
  39         Con_Printf("3 %s\n%i\n", name, brush->numpoints);
  40         for (i = 0;i < brush->numpoints;i++)
  41                 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
  42         // FIXME: optimize!
  43         Con_Printf("4\n%i\n", brush->numplanes);
  44         for (i = 0;i < brush->numplanes;i++)
  45                 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);
  46 }
  47
  48 void Collision_ValidateBrush(colbrushf_t *brush)
  49 {
  50         int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
  51         float d;
  52         printbrush = false;
  53         if (!brush->numpoints)
  54         {
  55                 Con_Print("Collision_ValidateBrush: brush with no points!\n");
  56                 printbrush = true;
  57         }
  58 #if 0
  59         // it's ok for a brush to have one point and no planes...
  60         if (brush->numplanes == 0 && brush->numpoints != 1)
  61         {
  62                 Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
  63                 printbrush = true;
  64         }
  65 #endif
  66         if (brush->numplanes)
  67         {
  68                 pointsoffplanes = 0;
  69                 pointswithinsufficientplanes = 0;
  70                 for (k = 0;k < brush->numplanes;k++)
  71                         if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
  72                                 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);
  73                 for (j = 0;j < brush->numpoints;j++)
  74                 {
  75                         pointonplanes = 0;
  76                         for (k = 0;k < brush->numplanes;k++)
  77                         {
  78                                 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
  79                                 if (d > (1.0f / 8.0f))
  80                                 {
  81                                         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);
  82                                         printbrush = true;
  83                                 }
  84                                 if (fabs(d) > 0.125f)
  85                                         pointsoffplanes++;
  86                                 else
  87                                         pointonplanes++;
  88                         }
  89                         if (pointonplanes < 3)
  90                                 pointswithinsufficientplanes++;
  91                 }
  92                 if (pointswithinsufficientplanes)
  93                 {
  94                         Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
  95                         printbrush = true;
  96                 }
  97                 if (pointsoffplanes == 0) // all points are on all planes
  98                 {
  99                         Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
 100                         printbrush = true;
 101                 }
 102         }
 103         if (printbrush)
 104                 Collision_PrintBrushAsQHull(brush, "unnamed");
 105 }
 106
 107 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 108 {
 109         float dist, bestdist;
 110         bestdist = DotProduct(points->v, normal);
 111         points++;
 112         while(--numpoints)
 113         {
 114                 dist = DotProduct(points->v, normal);
 115                 bestdist = min(bestdist, dist);
 116                 points++;
 117         }
 118         return bestdist;
 119 }
 120
 121 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 122 {
 123         float dist, bestdist;
 124         bestdist = DotProduct(points->v, normal);
 125         points++;
 126         while(--numpoints)
 127         {
 128                 dist = DotProduct(points->v, normal);
 129                 bestdist = max(bestdist, dist);
 130                 points++;
 131         }
 132         return bestdist;
 133 }
 134
 135
 136 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents)
 137 {
 138         int j, k, m, w;
 139         int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
 140         colbrushf_t *brush;
 141         colpointf_t pointsbuf[256];
 142         colplanef_t planesbuf[256];
 143         int elementsbuf[1024];
 144         int polypointbuf[256];
 145         int pmaxpoints = 64;
 146         int pnumpoints;
 147         double p[2][3*64];
 148 #if 0
 149         // enable these if debugging to avoid seeing garbage in unused data
 150         memset(pointsbuf, 0, sizeof(pointsbuf));
 151         memset(planesbuf, 0, sizeof(planesbuf));
 152         memset(elementsbuf, 0, sizeof(elementsbuf));
 153         memset(polypointbuf, 0, sizeof(polypointbuf));
 154         memset(p, 0, sizeof(p));
 155 #endif
 156         // construct a collision brush (points, planes, and renderable mesh) from
 157         // a set of planes, this also optimizes out any unnecessary planes (ones
 158         // whose polygon is clipped away by the other planes)
 159         for (j = 0;j < numoriginalplanes;j++)
 160         {
 161                 // add the plane uniquely (no duplicates)
 162                 for (k = 0;k < numplanesbuf;k++)
 163                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
 164                                 break;
 165                 // if the plane is a duplicate, skip it
 166                 if (k < numplanesbuf)
 167                         continue;
 168                 // check if there are too many and skip the brush
 169                 if (numplanesbuf >= maxplanesbuf)
 170                 {
 171                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
 172                         return NULL;
 173                 }
 174
 175                 // create a large polygon from the plane
 176                 w = 0;
 177                 PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, 1024.0*1024.0*1024.0);
 178                 pnumpoints = 4;
 179                 // clip it by all other planes
 180                 for (k = 0;k < numoriginalplanes && pnumpoints && pnumpoints <= pmaxpoints;k++)
 181                 {
 182                         if (k != j)
 183                         {
 184                                 // we want to keep the inside of the brush plane so we flip
 185                                 // the cutting plane
 186                                 PolygonD_Divide(pnumpoints, p[w], -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, 1.0/32.0, pmaxpoints, p[!w], &pnumpoints, 0, NULL, NULL);
 187                                 w = !w;
 188                         }
 189                 }
 190                 // if nothing is left, skip it
 191                 if (pnumpoints < 3)
 192                 {
 193                         //Con_Printf("Collision_NewBrushFromPlanes: warning: polygon for plane %f %f %f %f clipped away\n", originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
 194                         continue;
 195                 }
 196
 197                 for (k = 0;k < pnumpoints;k++)
 198                 {
 199                         int l, m;
 200                         m = 0;
 201                         for (l = 0;l < numoriginalplanes;l++)
 202                                 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < 1.0/8.0)
 203                                         m++;
 204                         if (m < 3)
 205                                 break;
 206                 }
 207                 if (k < pnumpoints)
 208                 {
 209                         Con_Printf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
 210                         //return NULL;
 211                 }
 212
 213                 // check if there are too many polygon vertices for buffer
 214                 if (pnumpoints > pmaxpoints)
 215                 {
 216                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 217                         return NULL;
 218                 }
 219
 220                 // check if there are too many triangle elements for buffer
 221                 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
 222                 {
 223                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
 224                         return NULL;
 225                 }
 226
 227                 for (k = 0;k < pnumpoints;k++)
 228                 {
 229                         // check if there is already a matching point (no duplicates)
 230                         for (m = 0;m < numpointsbuf;m++)
 231                                 if (VectorDistance2(&p[w][k*3], pointsbuf[m].v) < COLLISION_SNAP)
 232                                         break;
 233
 234                         // if there is no match, add a new one
 235                         if (m == numpointsbuf)
 236                         {
 237                                 // check if there are too many and skip the brush
 238                                 if (numpointsbuf >= maxpointsbuf)
 239                                 {
 240                                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 241                                         return NULL;
 242                                 }
 243                                 // add the new one
 244                                 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
 245                                 numpointsbuf++;
 246                         }
 247
 248                         // store the index into a buffer
 249                         polypointbuf[k] = m;
 250                 }
 251
 252                 // add the triangles for the polygon
 253                 // (this particular code makes a triangle fan)
 254                 for (k = 0;k < pnumpoints - 2;k++)
 255                 {
 256                         elementsbuf[numelementsbuf++] = polypointbuf[0];
 257                         elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
 258                         elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
 259                 }
 260
 261                 // add the new plane
 262                 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
 263                 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
 264                 numplanesbuf++;
 265         }
 266
 267         // validate plane distances
 268         for (j = 0;j < numplanesbuf;j++)
 269         {
 270                 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
 271                 if (fabs(planesbuf[j].dist - d) > (1.0f/32.0f))
 272                         Con_Printf("plane %f %f %f %f mismatches dist %f\n", planesbuf[j].normal[0], planesbuf[j].normal[1], planesbuf[j].normal[2], planesbuf[j].dist, d);
 273         }
 274
 275         // if nothing is left, there's nothing to allocate
 276         if (numelementsbuf < 12 || numplanesbuf < 4 || numpointsbuf < 4)
 277         {
 278                 Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
 279                 return NULL;
 280         }
 281
 282         // allocate the brush and copy to it
 283         brush = Collision_AllocBrushFloat(mempool, numpointsbuf, numplanesbuf, numelementsbuf / 3, supercontents);
 284         for (j = 0;j < brush->numpoints;j++)
 285         {
 286                 brush->points[j].v[0] = pointsbuf[j].v[0];
 287                 brush->points[j].v[1] = pointsbuf[j].v[1];
 288                 brush->points[j].v[2] = pointsbuf[j].v[2];
 289         }
 290         for (j = 0;j < brush->numplanes;j++)
 291         {
 292                 brush->planes[j].normal[0] = planesbuf[j].normal[0];
 293                 brush->planes[j].normal[1] = planesbuf[j].normal[1];
 294                 brush->planes[j].normal[2] = planesbuf[j].normal[2];
 295                 brush->planes[j].dist = planesbuf[j].dist;
 296         }
 297         for (j = 0;j < brush->numtriangles * 3;j++)
 298                 brush->elements[j] = elementsbuf[j];
 299         VectorCopy(brush->points[0].v, brush->mins);
 300         VectorCopy(brush->points[0].v, brush->maxs);
 301         for (j = 1;j < brush->numpoints;j++)
 302         {
 303                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
 304                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
 305                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
 306                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
 307                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
 308                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
 309         }
 310         brush->mins[0] -= 1;
 311         brush->mins[1] -= 1;
 312         brush->mins[2] -= 1;
 313         brush->maxs[0] += 1;
 314         brush->maxs[1] += 1;
 315         brush->maxs[2] += 1;
 316         Collision_ValidateBrush(brush);
 317         return brush;
 318 }
 319
 320
 321
 322 colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes, int numtriangles, int supercontents)
 323 {
 324         colbrushf_t *brush;
 325         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes + sizeof(int[3]) * numtriangles);
 326         brush->supercontents = supercontents;
 327         brush->numplanes = numplanes;
 328         brush->numpoints = numpoints;
 329         brush->numtriangles = numtriangles;
 330         brush->planes = (colplanef_t *)(brush + 1);
 331         brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
 332         brush->elements = (int *)(brush->points + brush->numpoints);
 333         return brush;
 334 }
 335
 336 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 337 {
 338         int i;
 339         float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
 340         colpointf_t *p, *p2;
 341
 342         // FIXME: these probably don't actually need to be normalized if the collision code does not care
 343         if (brush->numpoints == 3)
 344         {
 345                 // optimized triangle case
 346                 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
 347                 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
 348                 {
 349                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 350                         brush->numplanes = 0;
 351                         return;
 352                 }
 353                 else
 354                 {
 355                         brush->numplanes = 5;
 356                         VectorNormalize(brush->planes[0].normal);
 357                         brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
 358                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 359                         brush->planes[1].dist = -brush->planes[0].dist;
 360                         VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
 361                         VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
 362                         VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
 363 #if 1
 364                         {
 365                                 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
 366                                 int i, best;
 367                                 float dist, bestdist;
 368                                 bestdist = fabs(brush->planes[0].normal[0]);
 369                                 best = 0;
 370                                 for (i = 1;i < 3;i++)
 371                                 {
 372                                         dist = fabs(brush->planes[0].normal[i]);
 373                                         if (bestdist < dist)
 374                                         {
 375                                                 bestdist = dist;
 376                                                 best = i;
 377                                         }
 378                                 }
 379                                 VectorClear(projectionnormal);
 380                                 if (brush->planes[0].normal[best] < 0)
 381                                         projectionnormal[best] = -1;
 382                                 else
 383                                         projectionnormal[best] = 1;
 384                                 VectorCopy(edge0, projectionedge0);
 385                                 VectorCopy(edge1, projectionedge1);
 386                                 VectorCopy(edge2, projectionedge2);
 387                                 projectionedge0[best] = 0;
 388                                 projectionedge1[best] = 0;
 389                                 projectionedge2[best] = 0;
 390                                 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
 391                                 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
 392                                 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
 393                         }
 394 #else
 395                         CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
 396                         CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
 397                         CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
 398 #endif
 399                         VectorNormalize(brush->planes[2].normal);
 400                         VectorNormalize(brush->planes[3].normal);
 401                         VectorNormalize(brush->planes[4].normal);
 402                         brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
 403                         brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
 404                         brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
 405
 406                         if (developer.integer)
 407                         {
 408                                 // validation code
 409 #if 0
 410                                 float temp[3];
 411
 412                                 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
 413                                 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
 414                                 CrossProduct(edge0, edge1, normal);
 415                                 VectorNormalize(normal);
 416                                 VectorSubtract(normal, brush->planes[0].normal, temp);
 417                                 if (VectorLength(temp) > 0.01f)
 418                                         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]);
 419                                 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)
 420                                         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);
 421 #if 0
 422                                 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
 423                                         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);
 424                                 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
 425                                         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);
 426                                 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
 427                                         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);
 428                                 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
 429                                         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]);
 430                                 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
 431                                         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]);
 432                                 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
 433                                         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]);
 434 #endif
 435 #endif
 436                                 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)
 437                                         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);
 438                                 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)
 439                                         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);
 440                                 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)
 441                                         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);
 442                                 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)
 443                                         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);
 444                                 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)
 445                                         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);
 446                         }
 447                 }
 448         }
 449         else
 450         {
 451                 // choose best surface normal for polygon's plane
 452                 bestdist = 0;
 453                 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
 454                 {
 455                         VectorSubtract(p[-1].v, p[0].v, edge0);
 456                         VectorSubtract(p[1].v, p[0].v, edge1);
 457                         CrossProduct(edge0, edge1, normal);
 458                         //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
 459                         dist = DotProduct(normal, normal);
 460                         if (i == 0 || bestdist < dist)
 461                         {
 462                                 bestdist = dist;
 463                                 VectorCopy(normal, brush->planes->normal);
 464                         }
 465                 }
 466                 if (bestdist < 0.0001f)
 467                 {
 468                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 469                         brush->numplanes = 0;
 470                         return;
 471                 }
 472                 else
 473                 {
 474                         brush->numplanes = brush->numpoints + 2;
 475                         VectorNormalize(brush->planes->normal);
 476                         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 477
 478                         // negate plane to create other side
 479                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 480                         brush->planes[1].dist = -brush->planes[0].dist;
 481                         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
 482                         {
 483                                 VectorSubtract(p->v, p2->v, edge0);
 484                                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
 485                                 VectorNormalize(brush->planes[i + 2].normal);
 486                                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
 487                         }
 488                 }
 489         }
 490
 491         if (developer.integer)
 492         {
 493                 // validity check - will be disabled later
 494                 Collision_ValidateBrush(brush);
 495                 for (i = 0;i < brush->numplanes;i++)
 496                 {
 497                         int j;
 498                         for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
 499                                 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
 500                                         Con_Printf("Error in brush plane generation, plane %i\n", i);
 501                 }
 502         }
 503 }
 504
 505 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
 506 {
 507         colbrushf_t *brush;
 508         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
 509         brush->supercontents = supercontents;
 510         brush->numpoints = numpoints;
 511         brush->numplanes = numpoints + 2;
 512         brush->planes = (colplanef_t *)(brush + 1);
 513         brush->points = (colpointf_t *)points;
 514         Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
 515         return brush;
 516 }
 517
 518 // NOTE: start and end of each brush pair must have same numplanes/numpoints
 519 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)
 520 {
 521         int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
 522         float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
 523         const colplanef_t *startplane, *endplane;
 524
 525         VectorClear(newimpactnormal);
 526         enterfrac = -1;
 527         enterfrac2 = -1;
 528         leavefrac = 1;
 529         fstartsolid = true;
 530         fendsolid = true;
 531
 532         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 533         {
 534                 nplane2 = nplane;
 535                 if (nplane2 >= thatbrush_start->numplanes)
 536                 {
 537                         nplane2 -= thatbrush_start->numplanes;
 538                         startplane = thisbrush_start->planes + nplane2;
 539                         endplane = thisbrush_end->planes + nplane2;
 540                         if (developer.integer)
 541                         {
 542                                 // any brush with degenerate planes is not worth handling
 543                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 544                                 {
 545                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
 546                                         return;
 547                                 }
 548                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
 549                                 if (fabs(f - startplane->dist) > 0.125f)
 550                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
 551                         }
 552                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
 553                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
 554                 }
 555                 else
 556                 {
 557                         startplane = thatbrush_start->planes + nplane2;
 558                         endplane = thatbrush_end->planes + nplane2;
 559                         if (developer.integer)
 560                         {
 561                                 // any brush with degenerate planes is not worth handling
 562                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 563                                 {
 564                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
 565                                         return;
 566                                 }
 567                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 568                                 if (fabs(f - startplane->dist) > 0.125f)
 569                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
 570                         }
 571                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
 572                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
 573                 }
 574                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 575
 576                 if(d1 > d2)
 577                 {
 578                         // moving into brush
 579                         if(d2 > 0)
 580                                 return;
 581                         if(d1 > 0)
 582                         {
 583                                 // enter
 584                                 fstartsolid = false;
 585                                 imove = 1 / (d1 - d2);
 586                                 f = (d1 - collision_enternudge.value) * imove;
 587                                 if (enterfrac < f)
 588                                 {
 589                                         enterfrac = f;
 590                                         enterfrac2 = f - collision_impactnudge.value * imove;
 591                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 592                                 }
 593                         }
 594                 }
 595                 else
 596                 {
 597                         // moving out of brush
 598                         if(d1 > 0)
 599                                 return;
 600                         if(d2 > 0)
 601                         {
 602                                 // leave
 603                                 fendsolid = false;
 604                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 605                                 if (leavefrac > f)
 606                                         leavefrac = f;
 607                         }
 608                 }
 609         }
 610
 611         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 612         if (fstartsolid)
 613         {
 614                 trace->startsupercontents |= thatbrush_start->supercontents;
 615                 if (brushsolid)
 616                 {
 617                         trace->startsolid = true;
 618                         if (fendsolid)
 619                                 trace->allsolid = true;
 620                 }
 621         }
 622
 623         // LordHavoc: we need an epsilon nudge here because for a point trace the
 624         // penetrating line segment is normally zero length if this brush was
 625         // generated from a polygon (infinitely thin), and could even be slightly
 626         // positive or negative due to rounding errors in that case.
 627         if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 628         {
 629 #if 0
 630                 // broken
 631                 if (thatbrush_start->ispolygon)
 632                 {
 633                         d1 = nearestplanedist_float(thatbrush_start->planes[0].normal, thisbrush_start->points, thisbrush_start->numpoints) - thatbrush_start->planes[0].dist - collision_startnudge.value;
 634                         d2 = nearestplanedist_float(thatbrush_end->planes[0].normal, thisbrush_end->points, thisbrush_end->numpoints) - thatbrush_end->planes[0].dist - collision_endnudge.value;
 635                         move = d1 - d2;
 636                         if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
 637                                 return;
 638                         // enter
 639                         imove = 1 / move;
 640                         enterfrac = (d1 - collision_enternudge.value) * imove;
 641                         if (enterfrac < trace->realfraction)
 642                         {
 643                                 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
 644                                 trace->realfraction = bound(0, enterfrac, 1);
 645                                 trace->fraction = bound(0, enterfrac2, 1);
 646                                 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
 647                         }
 648                 }
 649                 else
 650 #endif
 651                 {
 652                         trace->realfraction = bound(0, enterfrac, 1);
 653                         trace->fraction = bound(0, enterfrac2, 1);
 654                         VectorCopy(newimpactnormal, trace->plane.normal);
 655                 }
 656         }
 657 }
 658
 659 // NOTE: start and end brush pair must have same numplanes/numpoints
 660 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
 661 {
 662         int nplane, fstartsolid, fendsolid, brushsolid;
 663         float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
 664         const colplanef_t *startplane, *endplane;
 665
 666         VectorClear(newimpactnormal);
 667         enterfrac = -1;
 668         enterfrac2 = -1;
 669         leavefrac = 1;
 670         fstartsolid = true;
 671         fendsolid = true;
 672
 673         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 674         {
 675                 startplane = thatbrush_start->planes + nplane;
 676                 endplane = thatbrush_end->planes + nplane;
 677                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
 678                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
 679                 if (developer.integer)
 680                 {
 681                         // any brush with degenerate planes is not worth handling
 682                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 683                         {
 684                                 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
 685                                 return;
 686                         }
 687                         if (thatbrush_start->numpoints)
 688                         {
 689                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 690                                 if (fabs(f - startplane->dist) > 0.125f)
 691                                         Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
 692                         }
 693                 }
 694
 695                 if (d1 > d2)
 696                 {
 697                         // moving into brush
 698                         if (d2 > 0)
 699                                 return;
 700                         if (d1 > 0)
 701                         {
 702                                 // enter
 703                                 fstartsolid = false;
 704                                 imove = 1 / (d1 - d2);
 705                                 f = (d1 - collision_enternudge.value) * imove;
 706                                 if (enterfrac < f)
 707                                 {
 708                                         enterfrac = f;
 709                                         enterfrac2 = f - collision_impactnudge.value * imove;
 710                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 711                                 }
 712                         }
 713                 }
 714                 else
 715                 {
 716                         // moving out of brush
 717                         if (d1 > 0)
 718                                 return;
 719                         if (d2 > 0)
 720                         {
 721                                 // leave
 722                                 fendsolid = false;
 723                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 724                                 if (leavefrac > f)
 725                                         leavefrac = f;
 726                         }
 727                 }
 728         }
 729
 730         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 731         if (fstartsolid)
 732         {
 733                 trace->startsupercontents |= thatbrush_start->supercontents;
 734                 if (brushsolid)
 735                 {
 736                         trace->startsolid = true;
 737                         if (fendsolid)
 738                                 trace->allsolid = true;
 739                 }
 740         }
 741
 742         // LordHavoc: we need an epsilon nudge here because for a point trace the
 743         // penetrating line segment is normally zero length if this brush was
 744         // generated from a polygon (infinitely thin), and could even be slightly
 745         // positive or negative due to rounding errors in that case.
 746         if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 747         {
 748 #if 0
 749                 // broken
 750                 if (thatbrush_start->ispolygon)
 751                 {
 752                         d1 = DotProduct(thatbrush_start->planes[0].normal, linestart) - thatbrush_start->planes[0].dist - collision_startnudge.value;
 753                         d2 = DotProduct(thatbrush_end->planes[0].normal, lineend) - thatbrush_end->planes[0].dist - collision_endnudge.value;
 754                         move = d1 - d2;
 755                         if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
 756                                 return;
 757                         // enter
 758                         imove = 1 / move;
 759                         enterfrac = (d1 - collision_enternudge.value) * imove;
 760                         if (enterfrac < trace->realfraction)
 761                         {
 762                                 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
 763                                 trace->realfraction = bound(0, enterfrac, 1);
 764                                 trace->fraction = bound(0, enterfrac2, 1);
 765                                 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
 766                         }
 767                 }
 768                 else
 769 #endif
 770                 {
 771                         trace->realfraction = bound(0, enterfrac, 1);
 772                         trace->fraction = bound(0, enterfrac2, 1);
 773                         VectorCopy(newimpactnormal, trace->plane.normal);
 774                 }
 775         }
 776 }
 777
 778 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
 779 {
 780         int nplane;
 781         const colplanef_t *plane;
 782
 783         for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
 784                 if (DotProduct(plane->normal, point) > plane->dist)
 785                         return;
 786
 787         trace->startsupercontents |= thatbrush->supercontents;
 788         if (trace->hitsupercontentsmask & thatbrush->supercontents)
 789         {
 790                 trace->startsolid = true;
 791                 trace->allsolid = true;
 792         }
 793 }
 794
 795 static colpointf_t polyf_points[256];
 796 static colplanef_t polyf_planes[256 + 2];
 797 static colbrushf_t polyf_brush;
 798
 799 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
 800 {
 801         while (numpoints--)
 802         {
 803                 out->v[0] = floor(in->v[0] * fractionprecision + 0.5f) * invfractionprecision;
 804                 out->v[1] = floor(in->v[1] * fractionprecision + 0.5f) * invfractionprecision;
 805                 out->v[2] = floor(in->v[2] * fractionprecision + 0.5f) * invfractionprecision;
 806         }
 807 }
 808
 809 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
 810 {
 811         if (numpoints > 256)
 812         {
 813                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 814                 return;
 815         }
 816         polyf_brush.numpoints = numpoints;
 817         polyf_brush.numplanes = numpoints + 2;
 818         //polyf_brush.points = (colpointf_t *)points;
 819         polyf_brush.planes = polyf_planes;
 820         polyf_brush.supercontents = supercontents;
 821         polyf_brush.points = polyf_points;
 822         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 823         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 824         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 825         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 826 }
 827
 828 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)
 829 {
 830         int i;
 831         float facemins[3], facemaxs[3];
 832         polyf_brush.numpoints = 3;
 833         polyf_brush.numplanes = 5;
 834         polyf_brush.points = polyf_points;
 835         polyf_brush.planes = polyf_planes;
 836         polyf_brush.supercontents = supercontents;
 837         for (i = 0;i < numtriangles;i++, element3i += 3)
 838         {
 839                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 840                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 841                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 842                 Collision_SnapCopyPoints(3, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 843                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0])) - 1;
 844                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1])) - 1;
 845                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2])) - 1;
 846                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0])) + 1;
 847                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1])) + 1;
 848                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2])) + 1;
 849                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 850                 {
 851                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 852                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 853                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 854                 }
 855         }
 856 }
 857
 858 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
 859 {
 860         if (numpoints > 256)
 861         {
 862                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 863                 return;
 864         }
 865         polyf_brush.numpoints = numpoints;
 866         polyf_brush.numplanes = numpoints + 2;
 867         //polyf_brush.points = (colpointf_t *)points;
 868         polyf_brush.points = polyf_points;
 869         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 870         polyf_brush.planes = polyf_planes;
 871         polyf_brush.supercontents = supercontents;
 872         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 873         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 874         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 875 }
 876
 877 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)
 878 {
 879         int i;
 880 #if 1
 881         // FIXME: snap vertices?
 882         for (i = 0;i < numtriangles;i++, element3i += 3)
 883                 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3);
 884 #else
 885         polyf_brush.numpoints = 3;
 886         polyf_brush.numplanes = 5;
 887         polyf_brush.points = polyf_points;
 888         polyf_brush.planes = polyf_planes;
 889         polyf_brush.supercontents = supercontents;
 890         for (i = 0;i < numtriangles;i++, element3i += 3)
 891         {
 892                 float facemins[3], facemaxs[3];
 893                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 894                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 895                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 896                 Collision_SnapCopyPoints(numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 897                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0])) - 1;
 898                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1])) - 1;
 899                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2])) - 1;
 900                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0])) + 1;
 901                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1])) + 1;
 902                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2])) + 1;
 903                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 904                 {
 905                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 906                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 907                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 908                 }
 909         }
 910 #endif
 911 }
 912
 913
 914 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
 915 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
 916 static colbrushf_t polyf_brushstart, polyf_brushend;
 917
 918 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)
 919 {
 920         int i;
 921         if (numpoints > 256)
 922         {
 923                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 924                 return;
 925         }
 926         polyf_brushstart.numpoints = numpoints;
 927         polyf_brushstart.numplanes = numpoints + 2;
 928         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
 929         polyf_brushstart.planes = polyf_planesstart;
 930         polyf_brushstart.supercontents = supercontents;
 931         for (i = 0;i < numpoints;i++)
 932                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
 933         polyf_brushend.numpoints = numpoints;
 934         polyf_brushend.numplanes = numpoints + 2;
 935         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
 936         polyf_brushend.planes = polyf_planesend;
 937         polyf_brushend.supercontents = supercontents;
 938         for (i = 0;i < numpoints;i++)
 939                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
 940         Collision_SnapCopyPoints(numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
 941         Collision_SnapCopyPoints(numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
 942         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
 943         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
 944
 945         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
 946         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
 947
 948         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
 949 }
 950
 951
 952
 953 #define MAX_BRUSHFORBOX 16
 954 static int brushforbox_index = 0;
 955 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
 956 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
 957 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
 958 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
 959
 960 void Collision_InitBrushForBox(void)
 961 {
 962         int i;
 963         for (i = 0;i < MAX_BRUSHFORBOX;i++)
 964         {
 965                 brushforbox_brush[i].supercontents = SUPERCONTENTS_SOLID;
 966                 brushforbox_brush[i].numpoints = 8;
 967                 brushforbox_brush[i].numplanes = 6;
 968                 brushforbox_brush[i].points = brushforbox_point + i * 8;
 969                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
 970                 brushforpoint_brush[i].supercontents = SUPERCONTENTS_SOLID;
 971                 brushforpoint_brush[i].numpoints = 1;
 972                 brushforpoint_brush[i].numplanes = 0;
 973                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
 974                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
 975         }
 976 }
 977
 978 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
 979 {
 980         int i, j;
 981         vec3_t v;
 982         colbrushf_t *brush;
 983         if (brushforbox_brush[0].numpoints == 0)
 984                 Collision_InitBrushForBox();
 985         // FIXME: these probably don't actually need to be normalized if the collision code does not care
 986         if (VectorCompare(mins, maxs))
 987         {
 988                 // point brush
 989                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
 990                 VectorCopy(mins, brush->points->v);
 991         }
 992         else
 993         {
 994                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
 995                 // FIXME: optimize
 996                 for (i = 0;i < 8;i++)
 997                 {
 998                         v[0] = i & 1 ? maxs[0] : mins[0];
 999                         v[1] = i & 2 ? maxs[1] : mins[1];
1000                         v[2] = i & 4 ? maxs[2] : mins[2];
1001                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1002                 }
1003                 // FIXME: optimize!
1004                 for (i = 0;i < 6;i++)
1005                 {
1006                         VectorClear(v);
1007                         v[i >> 1] = i & 1 ? 1 : -1;
1008                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1009                         VectorNormalize(brush->planes[i].normal);
1010                 }
1011         }
1012         for (j = 0;j < brush->numplanes;j++)
1013                 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1014         VectorCopy(brush->points[0].v, brush->mins);
1015         VectorCopy(brush->points[0].v, brush->maxs);
1016         for (j = 1;j < brush->numpoints;j++)
1017         {
1018                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1019                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1020                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1021                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1022                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1023                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1024         }
1025         brush->mins[0] -= 1;
1026         brush->mins[1] -= 1;
1027         brush->mins[2] -= 1;
1028         brush->maxs[0] += 1;
1029         brush->maxs[1] += 1;
1030         brush->maxs[2] += 1;
1031         Collision_ValidateBrush(brush);
1032         return brush;
1033 }
1034
1035 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)
1036 {
1037         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1038         matrix4x4_t identitymatrix;
1039         vec3_t startmins, startmaxs, endmins, endmaxs;
1040
1041         // create brushes for the collision
1042         VectorAdd(start, mins, startmins);
1043         VectorAdd(start, maxs, startmaxs);
1044         VectorAdd(end, mins, endmins);
1045         VectorAdd(end, maxs, endmaxs);
1046         Matrix4x4_CreateIdentity(&identitymatrix);
1047         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
1048         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs);
1049         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs);
1050
1051         memset(trace, 0, sizeof(trace_t));
1052         trace->hitsupercontentsmask = hitsupercontentsmask;
1053         trace->fraction = 1;
1054         trace->realfraction = 1;
1055         trace->allsolid = true;
1056         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1057 }
1058
1059 //pseudocode for detecting line/sphere overlap without calculating an impact point
1060 //linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
1061
1062 // LordHavoc: currently unused, but tested
1063 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1064 // by simply adding the moving sphere's radius to the sphereradius parameter,
1065 // all the results are correct (impactpoint, impactnormal, and fraction)
1066 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1067 {
1068         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1069         // make sure the impactpoint and impactnormal are valid even if there is
1070         // no collision
1071         VectorCopy(lineend, impactpoint);
1072         VectorClear(impactnormal);
1073         // calculate line direction
1074         VectorSubtract(lineend, linestart, dir);
1075         // normalize direction
1076         linelength = VectorLength(dir);
1077         if (linelength)
1078         {
1079                 scale = 1.0 / linelength;
1080                 VectorScale(dir, scale, dir);
1081         }
1082         // this dotproduct calculates the distance along the line at which the
1083         // sphere origin is (nearest point to the sphere origin on the line)
1084         impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
1085         // calculate point on line at that distance, and subtract the
1086         // sphereorigin from it, so we have a vector to measure for the distance
1087         // of the line from the sphereorigin (deviation, how off-center it is)
1088         VectorMA(linestart, impactdist, dir, v);
1089         VectorSubtract(v, sphereorigin, v);
1090         deviationdist = VectorLength2(v);
1091         // if outside the radius, it's a miss for sure
1092         // (we do this comparison using squared radius to avoid a sqrt)
1093         if (deviationdist > sphereradius*sphereradius)
1094                 return 1; // miss (off to the side)
1095         // nudge back to find the correct impact distance
1096         impactdist += deviationdist - sphereradius;
1097         if (impactdist >= linelength)
1098                 return 1; // miss (not close enough)
1099         if (impactdist < 0)
1100                 return 1; // miss (linestart is past or inside sphere)
1101         // calculate new impactpoint
1102         VectorMA(linestart, impactdist, dir, impactpoint);
1103         // calculate impactnormal (surface normal at point of impact)
1104         VectorSubtract(impactpoint, sphereorigin, impactnormal);
1105         // normalize impactnormal
1106         VectorNormalize(impactnormal);
1107         // return fraction of movement distance
1108         return impactdist / linelength;
1109 }
1110
1111 void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const float *point0, const float *point1, const float *point2)
1112 {
1113 #if 1
1114         // more optimized
1115         float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1116
1117         // this function executes:
1118         // 32 ops when line starts behind triangle
1119         // 38 ops when line ends infront of triangle
1120         // 43 ops when line fraction is already closer than this triangle
1121         // 72 ops when line is outside edge 01
1122         // 92 ops when line is outside edge 21
1123         // 115 ops when line is outside edge 02
1124         // 123 ops when line impacts triangle and updates trace results
1125
1126         // this code is designed for clockwise triangles, conversion to
1127         // counterclockwise would require swapping some things around...
1128         // it is easier to simply swap the point0 and point2 parameters to this
1129         // function when calling it than it is to rewire the internals.
1130
1131         // calculate the faceplanenormal of the triangle, this represents the front side
1132         // 15 ops
1133         VectorSubtract(point0, point1, edge01);
1134         VectorSubtract(point2, point1, edge21);
1135         CrossProduct(edge01, edge21, faceplanenormal);
1136         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1137         // 6 ops
1138         faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1139         if (faceplanenormallength2 < 0.0001f)
1140                 return;
1141         // calculate the distance
1142         // 5 ops
1143         faceplanedist = DotProduct(point0, faceplanenormal);
1144
1145         // if start point is on the back side there is no collision
1146         // (we don't care about traces going through the triangle the wrong way)
1147
1148         // calculate the start distance
1149         // 6 ops
1150         d1 = DotProduct(faceplanenormal, linestart);
1151         if (d1 <= faceplanedist)
1152                 return;
1153
1154         // calculate the end distance
1155         // 6 ops
1156         d2 = DotProduct(faceplanenormal, lineend);
1157         // if both are in front, there is no collision
1158         if (d2 >= faceplanedist)
1159                 return;
1160
1161         // from here on we know d1 is >= 0 and d2 is < 0
1162         // this means the line starts infront and ends behind, passing through it
1163
1164         // calculate the recipricol of the distance delta,
1165         // so we can use it multiple times cheaply (instead of division)
1166         // 2 ops
1167         d = 1.0f / (d1 - d2);
1168         // calculate the impact fraction by taking the start distance (> 0)
1169         // and subtracting the face plane distance (this is the distance of the
1170         // triangle along that same normal)
1171         // then multiply by the recipricol distance delta
1172         // 2 ops
1173         f = (d1 - faceplanedist) * d;
1174         // skip out if this impact is further away than previous ones
1175         // 1 ops
1176         if (f > trace->realfraction)
1177                 return;
1178         // calculate the perfect impact point for classification of insidedness
1179         // 9 ops
1180         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1181         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1182         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1183
1184         // calculate the edge normal and reject if impact is outside triangle
1185         // (an edge normal faces away from the triangle, to get the desired normal
1186         //  a crossproduct with the faceplanenormal is used, and because of the way
1187         // the insidedness comparison is written it does not need to be normalized)
1188
1189         // first use the two edges from the triangle plane math
1190         // the other edge only gets calculated if the point survives that long
1191
1192         // 20 ops
1193         CrossProduct(edge01, faceplanenormal, edgenormal);
1194         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1195                 return;
1196
1197         // 20 ops
1198         CrossProduct(faceplanenormal, edge21, edgenormal);
1199         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1200                 return;
1201
1202         // 23 ops
1203         VectorSubtract(point0, point2, edge02);
1204         CrossProduct(faceplanenormal, edge02, edgenormal);
1205         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1206                 return;
1207
1208         // 8 ops (rare)
1209
1210         // store the new trace fraction
1211         trace->realfraction = f;
1212
1213         // calculate a nudged fraction to keep it out of the surface
1214         // (the main fraction remains perfect)
1215         trace->fraction = f - collision_impactnudge.value * d;
1216
1217         // store the new trace plane (because collisions only happen from
1218         // the front this is always simply the triangle normal, never flipped)
1219         d = 1.0 / sqrt(faceplanenormallength2);
1220         VectorScale(faceplanenormal, d, trace->plane.normal);
1221         trace->plane.dist = faceplanedist * d;
1222 #else
1223         float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1224
1225         // this code is designed for clockwise triangles, conversion to
1226         // counterclockwise would require swapping some things around...
1227         // it is easier to simply swap the point0 and point2 parameters to this
1228         // function when calling it than it is to rewire the internals.
1229
1230         // calculate the unnormalized faceplanenormal of the triangle,
1231         // this represents the front side
1232         TriangleNormal(point0, point1, point2, faceplanenormal);
1233         // there's no point in processing a degenerate triangle
1234         // (GIGO - Garbage In, Garbage Out)
1235         if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1236                 return;
1237         // calculate the unnormalized distance
1238         faceplanedist = DotProduct(point0, faceplanenormal);
1239
1240         // calculate the unnormalized start distance
1241         d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1242         // if start point is on the back side there is no collision
1243         // (we don't care about traces going through the triangle the wrong way)
1244         if (d1 <= 0)
1245                 return;
1246
1247         // calculate the unnormalized end distance
1248         d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1249         // if both are in front, there is no collision
1250         if (d2 >= 0)
1251                 return;
1252
1253         // from here on we know d1 is >= 0 and d2 is < 0
1254         // this means the line starts infront and ends behind, passing through it
1255
1256         // calculate the recipricol of the distance delta,
1257         // so we can use it multiple times cheaply (instead of division)
1258         d = 1.0f / (d1 - d2);
1259         // calculate the impact fraction by taking the start distance (> 0)
1260         // and subtracting the face plane distance (this is the distance of the
1261         // triangle along that same normal)
1262         // then multiply by the recipricol distance delta
1263         f = d1 * d;
1264         // skip out if this impact is further away than previous ones
1265         if (f > trace->realfraction)
1266                 return;
1267         // calculate the perfect impact point for classification of insidedness
1268         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1269         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1270         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1271
1272         // calculate the edge normal and reject if impact is outside triangle
1273         // (an edge normal faces away from the triangle, to get the desired normal
1274         //  a crossproduct with the faceplanenormal is used, and because of the way
1275         // the insidedness comparison is written it does not need to be normalized)
1276
1277         VectorSubtract(point2, point0, edge);
1278         CrossProduct(edge, faceplanenormal, edgenormal);
1279         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1280                 return;
1281
1282         VectorSubtract(point0, point1, edge);
1283         CrossProduct(edge, faceplanenormal, edgenormal);
1284         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1285                 return;
1286
1287         VectorSubtract(point1, point2, edge);
1288         CrossProduct(edge, faceplanenormal, edgenormal);
1289         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1290                 return;
1291
1292         // store the new trace fraction
1293         trace->realfraction = bound(0, f, 1);
1294
1295         // store the new trace plane (because collisions only happen from
1296         // the front this is always simply the triangle normal, never flipped)
1297         VectorNormalize(faceplanenormal);
1298         VectorCopy(faceplanenormal, trace->plane.normal);
1299         trace->plane.dist = DotProduct(point0, faceplanenormal);
1300
1301         // calculate the normalized start and end distances
1302         d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1303         d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1304
1305         // calculate a nudged fraction to keep it out of the surface
1306         // (the main fraction remains perfect)
1307         fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1308         trace->fraction = bound(0, fnudged, 1);
1309
1310         // store the new trace endpos
1311         // not needed, it's calculated later when the trace is finished
1312         //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1313         //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1314         //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1315 #endif
1316 }
1317
1318 typedef struct colbspnode_s
1319 {
1320         mplane_t plane;
1321         struct colbspnode_s *children[2];
1322         // the node is reallocated or split if max is reached
1323         int numcolbrushf;
1324         int maxcolbrushf;
1325         colbrushf_t **colbrushflist;
1326         //int numcolbrushd;
1327         //int maxcolbrushd;
1328         //colbrushd_t **colbrushdlist;
1329 }
1330 colbspnode_t;
1331
1332 typedef struct colbsp_s
1333 {
1334         mempool_t *mempool;
1335         colbspnode_t *nodes;
1336 }
1337 colbsp_t;
1338
1339 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1340 {
1341         colbsp_t *bsp;
1342         bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
1343         bsp->mempool = mempool;
1344         bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1345         return bsp;
1346 }
1347
1348 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1349 {
1350         if (node->children[0])
1351                 Collision_FreeCollisionBSPNode(node->children[0]);
1352         if (node->children[1])
1353                 Collision_FreeCollisionBSPNode(node->children[1]);
1354         while (--node->numcolbrushf)
1355                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1356         //while (--node->numcolbrushd)
1357         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1358         Mem_Free(node);
1359 }
1360
1361 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1362 {
1363         Collision_FreeCollisionBSPNode(bsp->nodes);
1364         Mem_Free(bsp);
1365 }
1366
1367 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1368 {
1369         int i;
1370         colpointf_t *ps, *pe;
1371         float tempstart[3], tempend[3];
1372         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1373         VectorCopy(mins, maxs);
1374         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1375         {
1376                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1377                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1378                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1379                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1380                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1381                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1382                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1383                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1384         }
1385         mins[0] -= 1;
1386         mins[1] -= 1;
1387         mins[2] -= 1;
1388         maxs[0] += 1;
1389         maxs[1] += 1;
1390         maxs[2] += 1;
1391 }
1392